Changeset 7983 for code/branches/kicklib/src/external/bullet/LinearMath/btVector3.h

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/LinearMath/btVector3.h (modified) (17 diffs)

code/branches/kicklib/src/external/bullet/LinearMath/btVector3.h

@@ -20 +20 @@
 
 #include "btScalar.h"
-#include "btScalar.h"
 #include "btMinMax.h"
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btVector3Data btVector3DoubleData
+#define btVector3DataName "btVector3DoubleData"
+#else
+#define btVector3Data btVector3FloatData
+#define btVector3DataName "btVector3FloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
+
+
+
 /**@brief btVector3 can be used to represent 3D points and vectors.
  * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
  * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
  */
-
 ATTRIBUTE_ALIGNED16(class) btVector3
 {
@@ -32 +42 @@
 
 #if defined (__SPU__) && defined (__CELLOS_LV2__)
-        union {
-                vec_float4 mVec128;
                 btScalar        m_floats[4];
-        };
 public:
-        vec_float4      get128() const
-        {
-                return mVec128;
+        SIMD_FORCE_INLINE const vec_float4&     get128() const
+        {
+                return *((const vec_float4*)&m_floats[0]);
         }
 public:
 #else //__CELLOS_LV2__ __SPU__
-#ifdef BT_USE_SSE // WIN32
+#ifdef BT_USE_SSE // _WIN32
         union {
                 __m128 mVec128;
@@ -142 +149 @@
         SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;
 
+        SIMD_FORCE_INLINE btVector3& safeNormalize() 
+        {
+                btVector3 absVec = this->absolute();
+                int maxIndex = absVec.maxAxis();
+                if (absVec[maxIndex]>0)
+                {
+                        *this /= absVec[maxIndex];
+                        return *this /= length();
+                }
+                setValue(1,0,0);
+                return *this;
+        }
+
   /**@brief Normalize this vector 
    * x^2 + y^2 + z^2 = 1 */
@@ -152 +172 @@
         SIMD_FORCE_INLINE btVector3 normalized() const;
 
-  /**@brief Rotate this vector 
+  /**@brief Return a rotated version of this vector
    * @param wAxis The axis to rotate about 
    * @param angle The angle to rotate by */
-        SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle );
+        SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle ) const;
 
   /**@brief Return the angle between this and another vector
@@ -307 +327 @@
                         m_floats[1]=y;
                         m_floats[2]=z;
-                        m_floats[3] = 0.f;
+                        m_floats[3] = btScalar(0.);
                 }
 
@@ -316 +336 @@
                         v2->setValue(-y()       ,x()    ,0.);
                 }
+
+                void    setZero()
+                {
+                        setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+                }
+
+                SIMD_FORCE_INLINE bool isZero() const 
+                {
+                        return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0);
+                }
+
+                SIMD_FORCE_INLINE bool fuzzyZero() const 
+                {
+                        return length2() < SIMD_EPSILON;
+                }
+
+                SIMD_FORCE_INLINE       void    serialize(struct        btVector3Data& dataOut) const;
+
+                SIMD_FORCE_INLINE       void    deSerialize(const struct        btVector3Data& dataIn);
+
+                SIMD_FORCE_INLINE       void    serializeFloat(struct   btVector3FloatData& dataOut) const;
+
+                SIMD_FORCE_INLINE       void    deSerializeFloat(const struct   btVector3FloatData& dataIn);
+
+                SIMD_FORCE_INLINE       void    serializeDouble(struct  btVector3DoubleData& dataOut) const;
+
+                SIMD_FORCE_INLINE       void    deSerializeDouble(const struct  btVector3DoubleData& dataIn);
 
 };
@@ -377 +424 @@
 /**@brief Return the dot product between two vectors */
 SIMD_FORCE_INLINE btScalar 
-dot(const btVector3& v1, const btVector3& v2) 
+btDot(const btVector3& v1, const btVector3& v2) 
 { 
         return v1.dot(v2); 
@@ -385 +432 @@
 /**@brief Return the distance squared between two vectors */
 SIMD_FORCE_INLINE btScalar
-distance2(const btVector3& v1, const btVector3& v2) 
+btDistance2(const btVector3& v1, const btVector3& v2) 
 { 
         return v1.distance2(v2); 
@@ -393 +440 @@
 /**@brief Return the distance between two vectors */
 SIMD_FORCE_INLINE btScalar
-distance(const btVector3& v1, const btVector3& v2) 
+btDistance(const btVector3& v1, const btVector3& v2) 
 { 
         return v1.distance(v2); 
@@ -400 +447 @@
 /**@brief Return the angle between two vectors */
 SIMD_FORCE_INLINE btScalar
-angle(const btVector3& v1, const btVector3& v2) 
+btAngle(const btVector3& v1, const btVector3& v2) 
 { 
         return v1.angle(v2); 
@@ -407 +454 @@
 /**@brief Return the cross product of two vectors */
 SIMD_FORCE_INLINE btVector3 
-cross(const btVector3& v1, const btVector3& v2) 
+btCross(const btVector3& v1, const btVector3& v2) 
 { 
         return v1.cross(v2); 
@@ -413 +460 @@
 
 SIMD_FORCE_INLINE btScalar
-triple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
+btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
 {
         return v1.triple(v2, v3);
@@ -445 +492 @@
 } 
 
-SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar angle )
+SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar angle ) const
 {
         // wAxis must be a unit lenght vector
@@ -489 +536 @@
         {
                 int maxIndex = -1;
-                btScalar maxVal = btScalar(-1e30);
+                btScalar maxVal = btScalar(-BT_LARGE_FLOAT);
                 if (m_floats[0] > maxVal)
                 {
@@ -522 +569 @@
         {
                 int minIndex = -1;
-                btScalar minVal = btScalar(1e30);
+                btScalar minVal = btScalar(BT_LARGE_FLOAT);
                 if (m_floats[0] < minVal)
                 {
@@ -585 +632 @@
                 }
 
-
- 
 
 };
@@ -636 +681 @@
 }
 
+template <class T>
+SIMD_FORCE_INLINE void btPlaneSpace1 (const T& n, T& p, T& q)
+{
+  if (btFabs(n[2]) > SIMDSQRT12) {
+    // choose p in y-z plane
+    btScalar a = n[1]*n[1] + n[2]*n[2];
+    btScalar k = btRecipSqrt (a);
+    p[0] = 0;
+        p[1] = -n[2]*k;
+        p[2] = n[1]*k;
+    // set q = n x p
+    q[0] = a*k;
+        q[1] = -n[0]*p[2];
+        q[2] = n[0]*p[1];
+  }
+  else {
+    // choose p in x-y plane
+    btScalar a = n[0]*n[0] + n[1]*n[1];
+    btScalar k = btRecipSqrt (a);
+    p[0] = -n[1]*k;
+        p[1] = n[0]*k;
+        p[2] = 0;
+    // set q = n x p
+    q[0] = -n[2]*p[1];
+        q[1] = n[2]*p[0];
+        q[2] = a*k;
+  }
+}
+
+
+struct  btVector3FloatData
+{
+        float   m_floats[4];
+};
+
+struct  btVector3DoubleData
+{
+        double  m_floats[4];
+
+};
+
+SIMD_FORCE_INLINE       void    btVector3::serializeFloat(struct        btVector3FloatData& dataOut) const
+{
+        ///could also do a memcpy, check if it is worth it
+        for (int i=0;i<4;i++)
+                dataOut.m_floats[i] = float(m_floats[i]);
+}
+
+SIMD_FORCE_INLINE void  btVector3::deSerializeFloat(const struct        btVector3FloatData& dataIn)
+{
+        for (int i=0;i<4;i++)
+                m_floats[i] = btScalar(dataIn.m_floats[i]);
+}
+
+
+SIMD_FORCE_INLINE       void    btVector3::serializeDouble(struct       btVector3DoubleData& dataOut) const
+{
+        ///could also do a memcpy, check if it is worth it
+        for (int i=0;i<4;i++)
+                dataOut.m_floats[i] = double(m_floats[i]);
+}
+
+SIMD_FORCE_INLINE void  btVector3::deSerializeDouble(const struct       btVector3DoubleData& dataIn)
+{
+        for (int i=0;i<4;i++)
+                m_floats[i] = btScalar(dataIn.m_floats[i]);
+}
+
+
+SIMD_FORCE_INLINE       void    btVector3::serialize(struct     btVector3Data& dataOut) const
+{
+        ///could also do a memcpy, check if it is worth it
+        for (int i=0;i<4;i++)
+                dataOut.m_floats[i] = m_floats[i];
+}
+
+SIMD_FORCE_INLINE void  btVector3::deSerialize(const struct     btVector3Data& dataIn)
+{
+        for (int i=0;i<4;i++)
+                m_floats[i] = dataIn.m_floats[i];
+}
+
+
 #endif //SIMD__VECTOR3_H