ruby-bullet 0.1.0-x86-linux → 0.1.1-x86-linux
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- checksums.yaml +7 -0
- data/README.md +3 -0
- data/Rakefile +14 -2
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +2 -2
- data/bindings/bullet/interface/bullet_wrap.cpp +17548 -6035
- data/bindings/bullet/interface/bullet_wrap.h +7 -7
- data/bindings/bullet/interface/bullet_wrap.o +0 -0
- data/lib/bullet.so +0 -0
- data/lib/ruby-bullet/version.rb +1 -1
- data/ruby-bullet.gemspec +0 -3
- metadata +169 -444
- data/deps/include/bullet/Bullet-C-Api.h +0 -176
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +0 -1051
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +0 -82
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +0 -270
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +0 -80
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +0 -1257
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +0 -146
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +0 -110
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h +0 -151
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +0 -469
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h +0 -40
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h +0 -579
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +0 -171
- data/deps/include/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h +0 -51
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h +0 -36
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h +0 -66
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h +0 -66
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h +0 -44
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h +0 -48
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h +0 -45
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h +0 -172
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h +0 -524
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h +0 -509
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h +0 -86
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h +0 -95
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h +0 -116
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h +0 -109
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h +0 -84
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h +0 -137
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h +0 -54
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btGhostObject.h +0 -175
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h +0 -46
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h +0 -128
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h +0 -81
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h +0 -75
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h +0 -66
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h +0 -69
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btUnionFind.h +0 -129
- data/deps/include/bullet/BulletCollision/CollisionShapes/btBox2dShape.h +0 -369
- data/deps/include/bullet/BulletCollision/CollisionShapes/btBoxShape.h +0 -312
- data/deps/include/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h +0 -139
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h +0 -173
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h +0 -27
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCollisionShape.h +0 -150
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCompoundShape.h +0 -212
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConcaveShape.h +0 -60
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConeShape.h +0 -103
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h +0 -80
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h +0 -122
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h +0 -224
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h +0 -105
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h +0 -62
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexShape.h +0 -84
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h +0 -75
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCylinderShape.h +0 -200
- data/deps/include/bullet/BulletCollision/CollisionShapes/btEmptyShape.h +0 -70
- data/deps/include/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +0 -161
- data/deps/include/bullet/BulletCollision/CollisionShapes/btMaterial.h +0 -35
- data/deps/include/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h +0 -60
- data/deps/include/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h +0 -99
- data/deps/include/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h +0 -120
- data/deps/include/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h +0 -65
- data/deps/include/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +0 -112
- data/deps/include/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h +0 -93
- data/deps/include/bullet/BulletCollision/CollisionShapes/btShapeHull.h +0 -59
- data/deps/include/bullet/BulletCollision/CollisionShapes/btSphereShape.h +0 -73
- data/deps/include/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h +0 -103
- data/deps/include/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h +0 -162
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h +0 -74
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h +0 -69
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h +0 -42
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h +0 -133
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h +0 -84
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h +0 -241
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h +0 -69
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h +0 -89
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleShape.h +0 -182
- data/deps/include/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h +0 -87
- data/deps/include/bullet/BulletCollision/Gimpact/btBoxCollision.h +0 -647
- data/deps/include/bullet/BulletCollision/Gimpact/btClipPolygon.h +0 -182
- data/deps/include/bullet/BulletCollision/Gimpact/btContactProcessing.h +0 -145
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactBvh.h +0 -396
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h +0 -306
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h +0 -60
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h +0 -372
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactShape.h +0 -1171
- data/deps/include/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h +0 -163
- data/deps/include/bullet/BulletCollision/Gimpact/btGeometryOperations.h +0 -212
- data/deps/include/bullet/BulletCollision/Gimpact/btQuantization.h +0 -88
- data/deps/include/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h +0 -180
- data/deps/include/bullet/BulletCollision/Gimpact/gim_array.h +0 -326
- data/deps/include/bullet/BulletCollision/Gimpact/gim_basic_geometry_operations.h +0 -543
- data/deps/include/bullet/BulletCollision/Gimpact/gim_bitset.h +0 -123
- data/deps/include/bullet/BulletCollision/Gimpact/gim_box_collision.h +0 -590
- data/deps/include/bullet/BulletCollision/Gimpact/gim_box_set.h +0 -674
- data/deps/include/bullet/BulletCollision/Gimpact/gim_clip_polygon.h +0 -210
- data/deps/include/bullet/BulletCollision/Gimpact/gim_contact.h +0 -164
- data/deps/include/bullet/BulletCollision/Gimpact/gim_geom_types.h +0 -97
- data/deps/include/bullet/BulletCollision/Gimpact/gim_geometry.h +0 -42
- data/deps/include/bullet/BulletCollision/Gimpact/gim_hash_table.h +0 -902
- data/deps/include/bullet/BulletCollision/Gimpact/gim_linear_math.h +0 -1573
- data/deps/include/bullet/BulletCollision/Gimpact/gim_math.h +0 -157
- data/deps/include/bullet/BulletCollision/Gimpact/gim_memory.h +0 -190
- data/deps/include/bullet/BulletCollision/Gimpact/gim_radixsort.h +0 -406
- data/deps/include/bullet/BulletCollision/Gimpact/gim_tri_collision.h +0 -379
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h +0 -59
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h +0 -73
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h +0 -42
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h +0 -91
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h +0 -50
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h +0 -75
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h +0 -43
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h +0 -103
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h +0 -158
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h +0 -40
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +0 -228
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h +0 -64
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h +0 -46
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h +0 -72
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h +0 -63
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h +0 -50
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h +0 -179
- data/deps/include/bullet/BulletCollision/btBulletCollisionCommon.h +0 -69
- data/deps/include/bullet/BulletDynamics/Character/btCharacterControllerInterface.h +0 -46
- data/deps/include/bullet/BulletDynamics/Character/btKinematicCharacterController.h +0 -163
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h +0 -346
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h +0 -52
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h +0 -71
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +0 -87
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h +0 -614
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h +0 -99
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h +0 -58
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h +0 -381
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h +0 -156
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h +0 -161
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +0 -130
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h +0 -333
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h +0 -107
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h +0 -191
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h +0 -98
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h +0 -452
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h +0 -62
- data/deps/include/bullet/BulletDynamics/Dynamics/btActionInterface.h +0 -46
- data/deps/include/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +0 -203
- data/deps/include/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h +0 -151
- data/deps/include/bullet/BulletDynamics/Dynamics/btRigidBody.h +0 -691
- data/deps/include/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h +0 -89
- data/deps/include/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h +0 -236
- data/deps/include/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h +0 -35
- data/deps/include/bullet/BulletDynamics/Vehicle/btWheelInfo.h +0 -119
- data/deps/include/bullet/BulletDynamics/btBulletDynamicsCommon.h +0 -48
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverBuffer_DX11.h +0 -323
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11.h +0 -103
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11SIMDAware.h +0 -173
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverTriangleData_DX11.h +0 -96
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexBuffer_DX11.h +0 -107
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexData_DX11.h +0 -63
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h +0 -691
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.h +0 -81
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverBuffer_OpenCL.h +0 -209
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCL.h +0 -99
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCLSIMDAware.h +0 -169
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.h +0 -62
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverTriangleData_OpenCL.h +0 -84
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h +0 -166
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexData_OpenCL.h +0 -52
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h +0 -527
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h +0 -81
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h +0 -748
- data/deps/include/bullet/BulletMultiThreaded/HeapManager.h +0 -117
- data/deps/include/bullet/BulletMultiThreaded/PlatformDefinitions.h +0 -99
- data/deps/include/bullet/BulletMultiThreaded/PosixThreadSupport.h +0 -142
- data/deps/include/bullet/BulletMultiThreaded/PpuAddressSpace.h +0 -37
- data/deps/include/bullet/BulletMultiThreaded/SequentialThreadSupport.h +0 -96
- data/deps/include/bullet/BulletMultiThreaded/SpuCollisionObjectWrapper.h +0 -40
- data/deps/include/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.h +0 -163
- data/deps/include/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h +0 -120
- data/deps/include/bullet/BulletMultiThreaded/SpuDoubleBuffer.h +0 -126
- data/deps/include/bullet/BulletMultiThreaded/SpuFakeDma.h +0 -135
- data/deps/include/bullet/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h +0 -72
- data/deps/include/bullet/BulletMultiThreaded/SpuLibspe2Support.h +0 -180
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h +0 -167
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h +0 -128
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h +0 -106
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h +0 -51
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h +0 -140
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h +0 -19
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h +0 -48
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h +0 -70
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h +0 -65
- data/deps/include/bullet/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h +0 -54
- data/deps/include/bullet/BulletMultiThreaded/SpuSampleTaskProcess.h +0 -153
- data/deps/include/bullet/BulletMultiThreaded/SpuSync.h +0 -149
- data/deps/include/bullet/BulletMultiThreaded/TrbDynBody.h +0 -79
- data/deps/include/bullet/BulletMultiThreaded/TrbStateVec.h +0 -339
- data/deps/include/bullet/BulletMultiThreaded/Win32ThreadSupport.h +0 -138
- data/deps/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphase.h +0 -138
- data/deps/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h +0 -430
- data/deps/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h +0 -61
- data/deps/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedTypes.h +0 -67
- data/deps/include/bullet/BulletMultiThreaded/btGpuDefines.h +0 -211
- data/deps/include/bullet/BulletMultiThreaded/btGpuUtilsSharedCode.h +0 -55
- data/deps/include/bullet/BulletMultiThreaded/btGpuUtilsSharedDefs.h +0 -52
- data/deps/include/bullet/BulletMultiThreaded/btParallelConstraintSolver.h +0 -285
- data/deps/include/bullet/BulletMultiThreaded/btThreadSupportInterface.h +0 -85
- data/deps/include/bullet/BulletMultiThreaded/vectormath2bullet.h +0 -73
- data/deps/include/bullet/BulletSoftBody/btDefaultSoftBodySolver.h +0 -63
- data/deps/include/bullet/BulletSoftBody/btSoftBody.h +0 -987
- data/deps/include/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h +0 -153
- data/deps/include/bullet/BulletSoftBody/btSoftBodyData.h +0 -217
- data/deps/include/bullet/BulletSoftBody/btSoftBodyHelpers.h +0 -143
- data/deps/include/bullet/BulletSoftBody/btSoftBodyInternals.h +0 -930
- data/deps/include/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h +0 -48
- data/deps/include/bullet/BulletSoftBody/btSoftBodySolverVertexBuffer.h +0 -165
- data/deps/include/bullet/BulletSoftBody/btSoftBodySolvers.h +0 -154
- data/deps/include/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.h +0 -75
- data/deps/include/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h +0 -107
- data/deps/include/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.h +0 -69
- data/deps/include/bullet/BulletSoftBody/btSparseSDF.h +0 -306
- data/deps/include/bullet/LinearMath/btAabbUtil2.h +0 -236
- data/deps/include/bullet/LinearMath/btAlignedAllocator.h +0 -107
- data/deps/include/bullet/LinearMath/btAlignedObjectArray.h +0 -494
- data/deps/include/bullet/LinearMath/btConvexHull.h +0 -241
- data/deps/include/bullet/LinearMath/btConvexHullComputer.h +0 -103
- data/deps/include/bullet/LinearMath/btDefaultMotionState.h +0 -40
- data/deps/include/bullet/LinearMath/btGeometryUtil.h +0 -42
- data/deps/include/bullet/LinearMath/btGrahamScan2dConvexHull.h +0 -110
- data/deps/include/bullet/LinearMath/btHashMap.h +0 -450
- data/deps/include/bullet/LinearMath/btIDebugDraw.h +0 -418
- data/deps/include/bullet/LinearMath/btList.h +0 -73
- data/deps/include/bullet/LinearMath/btMatrix3x3.h +0 -771
- data/deps/include/bullet/LinearMath/btMinMax.h +0 -71
- data/deps/include/bullet/LinearMath/btMotionState.h +0 -40
- data/deps/include/bullet/LinearMath/btPoolAllocator.h +0 -121
- data/deps/include/bullet/LinearMath/btQuadWord.h +0 -180
- data/deps/include/bullet/LinearMath/btQuaternion.h +0 -430
- data/deps/include/bullet/LinearMath/btQuickprof.h +0 -203
- data/deps/include/bullet/LinearMath/btRandom.h +0 -42
- data/deps/include/bullet/LinearMath/btScalar.h +0 -539
- data/deps/include/bullet/LinearMath/btSerializer.h +0 -639
- data/deps/include/bullet/LinearMath/btStackAlloc.h +0 -116
- data/deps/include/bullet/LinearMath/btTransform.h +0 -307
- data/deps/include/bullet/LinearMath/btTransformUtil.h +0 -228
- data/deps/include/bullet/LinearMath/btVector3.h +0 -766
- data/deps/include/bullet/MiniCL/MiniCLTask/MiniCLTask.h +0 -62
- data/deps/include/bullet/MiniCL/MiniCLTaskScheduler.h +0 -194
- data/deps/include/bullet/MiniCL/cl.h +0 -867
- data/deps/include/bullet/MiniCL/cl_MiniCL_Defs.h +0 -439
- data/deps/include/bullet/MiniCL/cl_gl.h +0 -113
- data/deps/include/bullet/MiniCL/cl_platform.h +0 -254
- data/deps/include/bullet/btBulletCollisionCommon.h +0 -69
- data/deps/include/bullet/btBulletDynamicsCommon.h +0 -48
- data/deps/include/bullet/vectormath/scalar/boolInVec.h +0 -225
- data/deps/include/bullet/vectormath/scalar/floatInVec.h +0 -343
- data/deps/include/bullet/vectormath/scalar/mat_aos.h +0 -1630
- data/deps/include/bullet/vectormath/scalar/quat_aos.h +0 -433
- data/deps/include/bullet/vectormath/scalar/vec_aos.h +0 -1426
- data/deps/include/bullet/vectormath/scalar/vectormath_aos.h +0 -1872
- data/deps/include/bullet/vectormath/sse/boolInVec.h +0 -247
- data/deps/include/bullet/vectormath/sse/floatInVec.h +0 -340
- data/deps/include/bullet/vectormath/sse/mat_aos.h +0 -2190
- data/deps/include/bullet/vectormath/sse/quat_aos.h +0 -579
- data/deps/include/bullet/vectormath/sse/vec_aos.h +0 -1455
- data/deps/include/bullet/vectormath/sse/vecidx_aos.h +0 -80
- data/deps/include/bullet/vectormath/sse/vectormath_aos.h +0 -2547
- data/deps/include/bullet/vectormath/vmInclude.h +0 -27
- data/deps/lib/libBulletCollision.a +0 -0
- data/deps/lib/libBulletDynamics.a +0 -0
- data/deps/lib/libBulletMultiThreaded.a +0 -0
- data/deps/lib/libBulletSoftBody.a +0 -0
- data/deps/lib/libBulletSoftBodySolvers_OpenCL_Mini.a +0 -0
- data/deps/lib/libLinearMath.a +0 -0
- data/deps/lib/libMiniCL.a +0 -0
@@ -1,1630 +0,0 @@
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/*
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Copyright (C) 2009 Sony Computer Entertainment Inc.
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All rights reserved.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef _VECTORMATH_MAT_AOS_CPP_H
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#define _VECTORMATH_MAT_AOS_CPP_H
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namespace Vectormath {
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namespace Aos {
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//-----------------------------------------------------------------------------
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// Constants
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#define _VECTORMATH_PI_OVER_2 1.570796327f
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//-----------------------------------------------------------------------------
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// Definitions
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inline Matrix3::Matrix3( const Matrix3 & mat )
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{
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mCol0 = mat.mCol0;
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mCol1 = mat.mCol1;
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mCol2 = mat.mCol2;
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}
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inline Matrix3::Matrix3( float scalar )
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{
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mCol0 = Vector3( scalar );
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mCol1 = Vector3( scalar );
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mCol2 = Vector3( scalar );
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}
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inline Matrix3::Matrix3( const Quat & unitQuat )
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{
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float qx, qy, qz, qw, qx2, qy2, qz2, qxqx2, qyqy2, qzqz2, qxqy2, qyqz2, qzqw2, qxqz2, qyqw2, qxqw2;
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qx = unitQuat.getX();
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qy = unitQuat.getY();
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qz = unitQuat.getZ();
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qw = unitQuat.getW();
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qx2 = ( qx + qx );
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qy2 = ( qy + qy );
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qz2 = ( qz + qz );
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qxqx2 = ( qx * qx2 );
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qxqy2 = ( qx * qy2 );
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qxqz2 = ( qx * qz2 );
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qxqw2 = ( qw * qx2 );
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qyqy2 = ( qy * qy2 );
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qyqz2 = ( qy * qz2 );
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qyqw2 = ( qw * qy2 );
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qzqz2 = ( qz * qz2 );
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qzqw2 = ( qw * qz2 );
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mCol0 = Vector3( ( ( 1.0f - qyqy2 ) - qzqz2 ), ( qxqy2 + qzqw2 ), ( qxqz2 - qyqw2 ) );
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mCol1 = Vector3( ( qxqy2 - qzqw2 ), ( ( 1.0f - qxqx2 ) - qzqz2 ), ( qyqz2 + qxqw2 ) );
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mCol2 = Vector3( ( qxqz2 + qyqw2 ), ( qyqz2 - qxqw2 ), ( ( 1.0f - qxqx2 ) - qyqy2 ) );
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}
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inline Matrix3::Matrix3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2 )
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{
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mCol0 = _col0;
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mCol1 = _col1;
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mCol2 = _col2;
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}
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inline Matrix3 & Matrix3::setCol0( const Vector3 & _col0 )
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{
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mCol0 = _col0;
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return *this;
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}
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inline Matrix3 & Matrix3::setCol1( const Vector3 & _col1 )
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{
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mCol1 = _col1;
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return *this;
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}
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inline Matrix3 & Matrix3::setCol2( const Vector3 & _col2 )
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{
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mCol2 = _col2;
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return *this;
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}
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inline Matrix3 & Matrix3::setCol( int col, const Vector3 & vec )
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{
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*(&mCol0 + col) = vec;
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return *this;
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}
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inline Matrix3 & Matrix3::setRow( int row, const Vector3 & vec )
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{
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mCol0.setElem( row, vec.getElem( 0 ) );
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mCol1.setElem( row, vec.getElem( 1 ) );
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mCol2.setElem( row, vec.getElem( 2 ) );
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return *this;
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}
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inline Matrix3 & Matrix3::setElem( int col, int row, float val )
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{
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Vector3 tmpV3_0;
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tmpV3_0 = this->getCol( col );
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tmpV3_0.setElem( row, val );
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this->setCol( col, tmpV3_0 );
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return *this;
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}
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inline float Matrix3::getElem( int col, int row ) const
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{
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return this->getCol( col ).getElem( row );
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}
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inline const Vector3 Matrix3::getCol0( ) const
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{
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return mCol0;
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}
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inline const Vector3 Matrix3::getCol1( ) const
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{
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return mCol1;
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}
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inline const Vector3 Matrix3::getCol2( ) const
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{
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return mCol2;
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}
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inline const Vector3 Matrix3::getCol( int col ) const
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{
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return *(&mCol0 + col);
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}
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inline const Vector3 Matrix3::getRow( int row ) const
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{
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return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) );
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}
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inline Vector3 & Matrix3::operator []( int col )
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{
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return *(&mCol0 + col);
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}
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inline const Vector3 Matrix3::operator []( int col ) const
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{
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return *(&mCol0 + col);
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}
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inline Matrix3 & Matrix3::operator =( const Matrix3 & mat )
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{
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mCol0 = mat.mCol0;
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mCol1 = mat.mCol1;
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mCol2 = mat.mCol2;
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return *this;
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}
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inline const Matrix3 transpose( const Matrix3 & mat )
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{
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return Matrix3(
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Vector3( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX() ),
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Vector3( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY() ),
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Vector3( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ() )
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);
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}
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inline const Matrix3 inverse( const Matrix3 & mat )
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{
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Vector3 tmp0, tmp1, tmp2;
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float detinv;
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tmp0 = cross( mat.getCol1(), mat.getCol2() );
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tmp1 = cross( mat.getCol2(), mat.getCol0() );
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tmp2 = cross( mat.getCol0(), mat.getCol1() );
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detinv = ( 1.0f / dot( mat.getCol2(), tmp2 ) );
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return Matrix3(
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Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) ),
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Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) ),
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Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) )
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);
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}
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inline float determinant( const Matrix3 & mat )
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{
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return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) );
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}
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inline const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const
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{
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return Matrix3(
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( mCol0 + mat.mCol0 ),
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( mCol1 + mat.mCol1 ),
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( mCol2 + mat.mCol2 )
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);
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}
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inline const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const
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{
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return Matrix3(
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( mCol0 - mat.mCol0 ),
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( mCol1 - mat.mCol1 ),
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( mCol2 - mat.mCol2 )
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);
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}
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inline Matrix3 & Matrix3::operator +=( const Matrix3 & mat )
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{
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*this = *this + mat;
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return *this;
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}
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inline Matrix3 & Matrix3::operator -=( const Matrix3 & mat )
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{
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*this = *this - mat;
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return *this;
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}
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inline const Matrix3 Matrix3::operator -( ) const
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{
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return Matrix3(
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( -mCol0 ),
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( -mCol1 ),
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( -mCol2 )
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);
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}
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inline const Matrix3 absPerElem( const Matrix3 & mat )
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{
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return Matrix3(
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absPerElem( mat.getCol0() ),
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absPerElem( mat.getCol1() ),
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absPerElem( mat.getCol2() )
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);
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}
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inline const Matrix3 Matrix3::operator *( float scalar ) const
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{
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return Matrix3(
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( mCol0 * scalar ),
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( mCol1 * scalar ),
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( mCol2 * scalar )
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);
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}
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inline Matrix3 & Matrix3::operator *=( float scalar )
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{
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*this = *this * scalar;
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return *this;
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}
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inline const Matrix3 operator *( float scalar, const Matrix3 & mat )
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{
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return mat * scalar;
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}
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inline const Vector3 Matrix3::operator *( const Vector3 & vec ) const
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{
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return Vector3(
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( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ),
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( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ),
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( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) )
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);
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}
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inline const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const
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{
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return Matrix3(
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( *this * mat.mCol0 ),
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( *this * mat.mCol1 ),
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( *this * mat.mCol2 )
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);
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}
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inline Matrix3 & Matrix3::operator *=( const Matrix3 & mat )
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{
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*this = *this * mat;
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return *this;
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}
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inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 )
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{
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return Matrix3(
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mulPerElem( mat0.getCol0(), mat1.getCol0() ),
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mulPerElem( mat0.getCol1(), mat1.getCol1() ),
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mulPerElem( mat0.getCol2(), mat1.getCol2() )
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);
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}
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inline const Matrix3 Matrix3::identity( )
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{
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return Matrix3(
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Vector3::xAxis( ),
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Vector3::yAxis( ),
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Vector3::zAxis( )
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);
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}
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inline const Matrix3 Matrix3::rotationX( float radians )
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{
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float s, c;
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s = sinf( radians );
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c = cosf( radians );
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return Matrix3(
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Vector3::xAxis( ),
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Vector3( 0.0f, c, s ),
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Vector3( 0.0f, -s, c )
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);
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}
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inline const Matrix3 Matrix3::rotationY( float radians )
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{
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float s, c;
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s = sinf( radians );
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c = cosf( radians );
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return Matrix3(
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Vector3( c, 0.0f, -s ),
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Vector3::yAxis( ),
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Vector3( s, 0.0f, c )
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);
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}
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inline const Matrix3 Matrix3::rotationZ( float radians )
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{
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float s, c;
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s = sinf( radians );
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c = cosf( radians );
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return Matrix3(
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Vector3( c, s, 0.0f ),
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Vector3( -s, c, 0.0f ),
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Vector3::zAxis( )
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);
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}
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339
|
-
|
340
|
-
inline const Matrix3 Matrix3::rotationZYX( const Vector3 & radiansXYZ )
|
341
|
-
{
|
342
|
-
float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1;
|
343
|
-
sX = sinf( radiansXYZ.getX() );
|
344
|
-
cX = cosf( radiansXYZ.getX() );
|
345
|
-
sY = sinf( radiansXYZ.getY() );
|
346
|
-
cY = cosf( radiansXYZ.getY() );
|
347
|
-
sZ = sinf( radiansXYZ.getZ() );
|
348
|
-
cZ = cosf( radiansXYZ.getZ() );
|
349
|
-
tmp0 = ( cZ * sY );
|
350
|
-
tmp1 = ( sZ * sY );
|
351
|
-
return Matrix3(
|
352
|
-
Vector3( ( cZ * cY ), ( sZ * cY ), -sY ),
|
353
|
-
Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ),
|
354
|
-
Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) )
|
355
|
-
);
|
356
|
-
}
|
357
|
-
|
358
|
-
inline const Matrix3 Matrix3::rotation( float radians, const Vector3 & unitVec )
|
359
|
-
{
|
360
|
-
float x, y, z, s, c, oneMinusC, xy, yz, zx;
|
361
|
-
s = sinf( radians );
|
362
|
-
c = cosf( radians );
|
363
|
-
x = unitVec.getX();
|
364
|
-
y = unitVec.getY();
|
365
|
-
z = unitVec.getZ();
|
366
|
-
xy = ( x * y );
|
367
|
-
yz = ( y * z );
|
368
|
-
zx = ( z * x );
|
369
|
-
oneMinusC = ( 1.0f - c );
|
370
|
-
return Matrix3(
|
371
|
-
Vector3( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ) ),
|
372
|
-
Vector3( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ) ),
|
373
|
-
Vector3( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ) )
|
374
|
-
);
|
375
|
-
}
|
376
|
-
|
377
|
-
inline const Matrix3 Matrix3::rotation( const Quat & unitQuat )
|
378
|
-
{
|
379
|
-
return Matrix3( unitQuat );
|
380
|
-
}
|
381
|
-
|
382
|
-
inline const Matrix3 Matrix3::scale( const Vector3 & scaleVec )
|
383
|
-
{
|
384
|
-
return Matrix3(
|
385
|
-
Vector3( scaleVec.getX(), 0.0f, 0.0f ),
|
386
|
-
Vector3( 0.0f, scaleVec.getY(), 0.0f ),
|
387
|
-
Vector3( 0.0f, 0.0f, scaleVec.getZ() )
|
388
|
-
);
|
389
|
-
}
|
390
|
-
|
391
|
-
inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec )
|
392
|
-
{
|
393
|
-
return Matrix3(
|
394
|
-
( mat.getCol0() * scaleVec.getX( ) ),
|
395
|
-
( mat.getCol1() * scaleVec.getY( ) ),
|
396
|
-
( mat.getCol2() * scaleVec.getZ( ) )
|
397
|
-
);
|
398
|
-
}
|
399
|
-
|
400
|
-
inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat )
|
401
|
-
{
|
402
|
-
return Matrix3(
|
403
|
-
mulPerElem( mat.getCol0(), scaleVec ),
|
404
|
-
mulPerElem( mat.getCol1(), scaleVec ),
|
405
|
-
mulPerElem( mat.getCol2(), scaleVec )
|
406
|
-
);
|
407
|
-
}
|
408
|
-
|
409
|
-
inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 )
|
410
|
-
{
|
411
|
-
return Matrix3(
|
412
|
-
select( mat0.getCol0(), mat1.getCol0(), select1 ),
|
413
|
-
select( mat0.getCol1(), mat1.getCol1(), select1 ),
|
414
|
-
select( mat0.getCol2(), mat1.getCol2(), select1 )
|
415
|
-
);
|
416
|
-
}
|
417
|
-
|
418
|
-
#ifdef _VECTORMATH_DEBUG
|
419
|
-
|
420
|
-
inline void print( const Matrix3 & mat )
|
421
|
-
{
|
422
|
-
print( mat.getRow( 0 ) );
|
423
|
-
print( mat.getRow( 1 ) );
|
424
|
-
print( mat.getRow( 2 ) );
|
425
|
-
}
|
426
|
-
|
427
|
-
inline void print( const Matrix3 & mat, const char * name )
|
428
|
-
{
|
429
|
-
printf("%s:\n", name);
|
430
|
-
print( mat );
|
431
|
-
}
|
432
|
-
|
433
|
-
#endif
|
434
|
-
|
435
|
-
inline Matrix4::Matrix4( const Matrix4 & mat )
|
436
|
-
{
|
437
|
-
mCol0 = mat.mCol0;
|
438
|
-
mCol1 = mat.mCol1;
|
439
|
-
mCol2 = mat.mCol2;
|
440
|
-
mCol3 = mat.mCol3;
|
441
|
-
}
|
442
|
-
|
443
|
-
inline Matrix4::Matrix4( float scalar )
|
444
|
-
{
|
445
|
-
mCol0 = Vector4( scalar );
|
446
|
-
mCol1 = Vector4( scalar );
|
447
|
-
mCol2 = Vector4( scalar );
|
448
|
-
mCol3 = Vector4( scalar );
|
449
|
-
}
|
450
|
-
|
451
|
-
inline Matrix4::Matrix4( const Transform3 & mat )
|
452
|
-
{
|
453
|
-
mCol0 = Vector4( mat.getCol0(), 0.0f );
|
454
|
-
mCol1 = Vector4( mat.getCol1(), 0.0f );
|
455
|
-
mCol2 = Vector4( mat.getCol2(), 0.0f );
|
456
|
-
mCol3 = Vector4( mat.getCol3(), 1.0f );
|
457
|
-
}
|
458
|
-
|
459
|
-
inline Matrix4::Matrix4( const Vector4 & _col0, const Vector4 & _col1, const Vector4 & _col2, const Vector4 & _col3 )
|
460
|
-
{
|
461
|
-
mCol0 = _col0;
|
462
|
-
mCol1 = _col1;
|
463
|
-
mCol2 = _col2;
|
464
|
-
mCol3 = _col3;
|
465
|
-
}
|
466
|
-
|
467
|
-
inline Matrix4::Matrix4( const Matrix3 & mat, const Vector3 & translateVec )
|
468
|
-
{
|
469
|
-
mCol0 = Vector4( mat.getCol0(), 0.0f );
|
470
|
-
mCol1 = Vector4( mat.getCol1(), 0.0f );
|
471
|
-
mCol2 = Vector4( mat.getCol2(), 0.0f );
|
472
|
-
mCol3 = Vector4( translateVec, 1.0f );
|
473
|
-
}
|
474
|
-
|
475
|
-
inline Matrix4::Matrix4( const Quat & unitQuat, const Vector3 & translateVec )
|
476
|
-
{
|
477
|
-
Matrix3 mat;
|
478
|
-
mat = Matrix3( unitQuat );
|
479
|
-
mCol0 = Vector4( mat.getCol0(), 0.0f );
|
480
|
-
mCol1 = Vector4( mat.getCol1(), 0.0f );
|
481
|
-
mCol2 = Vector4( mat.getCol2(), 0.0f );
|
482
|
-
mCol3 = Vector4( translateVec, 1.0f );
|
483
|
-
}
|
484
|
-
|
485
|
-
inline Matrix4 & Matrix4::setCol0( const Vector4 & _col0 )
|
486
|
-
{
|
487
|
-
mCol0 = _col0;
|
488
|
-
return *this;
|
489
|
-
}
|
490
|
-
|
491
|
-
inline Matrix4 & Matrix4::setCol1( const Vector4 & _col1 )
|
492
|
-
{
|
493
|
-
mCol1 = _col1;
|
494
|
-
return *this;
|
495
|
-
}
|
496
|
-
|
497
|
-
inline Matrix4 & Matrix4::setCol2( const Vector4 & _col2 )
|
498
|
-
{
|
499
|
-
mCol2 = _col2;
|
500
|
-
return *this;
|
501
|
-
}
|
502
|
-
|
503
|
-
inline Matrix4 & Matrix4::setCol3( const Vector4 & _col3 )
|
504
|
-
{
|
505
|
-
mCol3 = _col3;
|
506
|
-
return *this;
|
507
|
-
}
|
508
|
-
|
509
|
-
inline Matrix4 & Matrix4::setCol( int col, const Vector4 & vec )
|
510
|
-
{
|
511
|
-
*(&mCol0 + col) = vec;
|
512
|
-
return *this;
|
513
|
-
}
|
514
|
-
|
515
|
-
inline Matrix4 & Matrix4::setRow( int row, const Vector4 & vec )
|
516
|
-
{
|
517
|
-
mCol0.setElem( row, vec.getElem( 0 ) );
|
518
|
-
mCol1.setElem( row, vec.getElem( 1 ) );
|
519
|
-
mCol2.setElem( row, vec.getElem( 2 ) );
|
520
|
-
mCol3.setElem( row, vec.getElem( 3 ) );
|
521
|
-
return *this;
|
522
|
-
}
|
523
|
-
|
524
|
-
inline Matrix4 & Matrix4::setElem( int col, int row, float val )
|
525
|
-
{
|
526
|
-
Vector4 tmpV3_0;
|
527
|
-
tmpV3_0 = this->getCol( col );
|
528
|
-
tmpV3_0.setElem( row, val );
|
529
|
-
this->setCol( col, tmpV3_0 );
|
530
|
-
return *this;
|
531
|
-
}
|
532
|
-
|
533
|
-
inline float Matrix4::getElem( int col, int row ) const
|
534
|
-
{
|
535
|
-
return this->getCol( col ).getElem( row );
|
536
|
-
}
|
537
|
-
|
538
|
-
inline const Vector4 Matrix4::getCol0( ) const
|
539
|
-
{
|
540
|
-
return mCol0;
|
541
|
-
}
|
542
|
-
|
543
|
-
inline const Vector4 Matrix4::getCol1( ) const
|
544
|
-
{
|
545
|
-
return mCol1;
|
546
|
-
}
|
547
|
-
|
548
|
-
inline const Vector4 Matrix4::getCol2( ) const
|
549
|
-
{
|
550
|
-
return mCol2;
|
551
|
-
}
|
552
|
-
|
553
|
-
inline const Vector4 Matrix4::getCol3( ) const
|
554
|
-
{
|
555
|
-
return mCol3;
|
556
|
-
}
|
557
|
-
|
558
|
-
inline const Vector4 Matrix4::getCol( int col ) const
|
559
|
-
{
|
560
|
-
return *(&mCol0 + col);
|
561
|
-
}
|
562
|
-
|
563
|
-
inline const Vector4 Matrix4::getRow( int row ) const
|
564
|
-
{
|
565
|
-
return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) );
|
566
|
-
}
|
567
|
-
|
568
|
-
inline Vector4 & Matrix4::operator []( int col )
|
569
|
-
{
|
570
|
-
return *(&mCol0 + col);
|
571
|
-
}
|
572
|
-
|
573
|
-
inline const Vector4 Matrix4::operator []( int col ) const
|
574
|
-
{
|
575
|
-
return *(&mCol0 + col);
|
576
|
-
}
|
577
|
-
|
578
|
-
inline Matrix4 & Matrix4::operator =( const Matrix4 & mat )
|
579
|
-
{
|
580
|
-
mCol0 = mat.mCol0;
|
581
|
-
mCol1 = mat.mCol1;
|
582
|
-
mCol2 = mat.mCol2;
|
583
|
-
mCol3 = mat.mCol3;
|
584
|
-
return *this;
|
585
|
-
}
|
586
|
-
|
587
|
-
inline const Matrix4 transpose( const Matrix4 & mat )
|
588
|
-
{
|
589
|
-
return Matrix4(
|
590
|
-
Vector4( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX(), mat.getCol3().getX() ),
|
591
|
-
Vector4( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY(), mat.getCol3().getY() ),
|
592
|
-
Vector4( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ(), mat.getCol3().getZ() ),
|
593
|
-
Vector4( mat.getCol0().getW(), mat.getCol1().getW(), mat.getCol2().getW(), mat.getCol3().getW() )
|
594
|
-
);
|
595
|
-
}
|
596
|
-
|
597
|
-
inline const Matrix4 inverse( const Matrix4 & mat )
|
598
|
-
{
|
599
|
-
Vector4 res0, res1, res2, res3;
|
600
|
-
float mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5, detInv;
|
601
|
-
mA = mat.getCol0().getX();
|
602
|
-
mB = mat.getCol0().getY();
|
603
|
-
mC = mat.getCol0().getZ();
|
604
|
-
mD = mat.getCol0().getW();
|
605
|
-
mE = mat.getCol1().getX();
|
606
|
-
mF = mat.getCol1().getY();
|
607
|
-
mG = mat.getCol1().getZ();
|
608
|
-
mH = mat.getCol1().getW();
|
609
|
-
mI = mat.getCol2().getX();
|
610
|
-
mJ = mat.getCol2().getY();
|
611
|
-
mK = mat.getCol2().getZ();
|
612
|
-
mL = mat.getCol2().getW();
|
613
|
-
mM = mat.getCol3().getX();
|
614
|
-
mN = mat.getCol3().getY();
|
615
|
-
mO = mat.getCol3().getZ();
|
616
|
-
mP = mat.getCol3().getW();
|
617
|
-
tmp0 = ( ( mK * mD ) - ( mC * mL ) );
|
618
|
-
tmp1 = ( ( mO * mH ) - ( mG * mP ) );
|
619
|
-
tmp2 = ( ( mB * mK ) - ( mJ * mC ) );
|
620
|
-
tmp3 = ( ( mF * mO ) - ( mN * mG ) );
|
621
|
-
tmp4 = ( ( mJ * mD ) - ( mB * mL ) );
|
622
|
-
tmp5 = ( ( mN * mH ) - ( mF * mP ) );
|
623
|
-
res0.setX( ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ) );
|
624
|
-
res0.setY( ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ) );
|
625
|
-
res0.setZ( ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ) );
|
626
|
-
res0.setW( ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ) );
|
627
|
-
detInv = ( 1.0f / ( ( ( ( mA * res0.getX() ) + ( mE * res0.getY() ) ) + ( mI * res0.getZ() ) ) + ( mM * res0.getW() ) ) );
|
628
|
-
res1.setX( ( mI * tmp1 ) );
|
629
|
-
res1.setY( ( mM * tmp0 ) );
|
630
|
-
res1.setZ( ( mA * tmp1 ) );
|
631
|
-
res1.setW( ( mE * tmp0 ) );
|
632
|
-
res3.setX( ( mI * tmp3 ) );
|
633
|
-
res3.setY( ( mM * tmp2 ) );
|
634
|
-
res3.setZ( ( mA * tmp3 ) );
|
635
|
-
res3.setW( ( mE * tmp2 ) );
|
636
|
-
res2.setX( ( mI * tmp5 ) );
|
637
|
-
res2.setY( ( mM * tmp4 ) );
|
638
|
-
res2.setZ( ( mA * tmp5 ) );
|
639
|
-
res2.setW( ( mE * tmp4 ) );
|
640
|
-
tmp0 = ( ( mI * mB ) - ( mA * mJ ) );
|
641
|
-
tmp1 = ( ( mM * mF ) - ( mE * mN ) );
|
642
|
-
tmp2 = ( ( mI * mD ) - ( mA * mL ) );
|
643
|
-
tmp3 = ( ( mM * mH ) - ( mE * mP ) );
|
644
|
-
tmp4 = ( ( mI * mC ) - ( mA * mK ) );
|
645
|
-
tmp5 = ( ( mM * mG ) - ( mE * mO ) );
|
646
|
-
res2.setX( ( ( ( mL * tmp1 ) - ( mJ * tmp3 ) ) + res2.getX() ) );
|
647
|
-
res2.setY( ( ( ( mP * tmp0 ) - ( mN * tmp2 ) ) + res2.getY() ) );
|
648
|
-
res2.setZ( ( ( ( mB * tmp3 ) - ( mD * tmp1 ) ) - res2.getZ() ) );
|
649
|
-
res2.setW( ( ( ( mF * tmp2 ) - ( mH * tmp0 ) ) - res2.getW() ) );
|
650
|
-
res3.setX( ( ( ( mJ * tmp5 ) - ( mK * tmp1 ) ) + res3.getX() ) );
|
651
|
-
res3.setY( ( ( ( mN * tmp4 ) - ( mO * tmp0 ) ) + res3.getY() ) );
|
652
|
-
res3.setZ( ( ( ( mC * tmp1 ) - ( mB * tmp5 ) ) - res3.getZ() ) );
|
653
|
-
res3.setW( ( ( ( mG * tmp0 ) - ( mF * tmp4 ) ) - res3.getW() ) );
|
654
|
-
res1.setX( ( ( ( mK * tmp3 ) - ( mL * tmp5 ) ) - res1.getX() ) );
|
655
|
-
res1.setY( ( ( ( mO * tmp2 ) - ( mP * tmp4 ) ) - res1.getY() ) );
|
656
|
-
res1.setZ( ( ( ( mD * tmp5 ) - ( mC * tmp3 ) ) + res1.getZ() ) );
|
657
|
-
res1.setW( ( ( ( mH * tmp4 ) - ( mG * tmp2 ) ) + res1.getW() ) );
|
658
|
-
return Matrix4(
|
659
|
-
( res0 * detInv ),
|
660
|
-
( res1 * detInv ),
|
661
|
-
( res2 * detInv ),
|
662
|
-
( res3 * detInv )
|
663
|
-
);
|
664
|
-
}
|
665
|
-
|
666
|
-
inline const Matrix4 affineInverse( const Matrix4 & mat )
|
667
|
-
{
|
668
|
-
Transform3 affineMat;
|
669
|
-
affineMat.setCol0( mat.getCol0().getXYZ( ) );
|
670
|
-
affineMat.setCol1( mat.getCol1().getXYZ( ) );
|
671
|
-
affineMat.setCol2( mat.getCol2().getXYZ( ) );
|
672
|
-
affineMat.setCol3( mat.getCol3().getXYZ( ) );
|
673
|
-
return Matrix4( inverse( affineMat ) );
|
674
|
-
}
|
675
|
-
|
676
|
-
inline const Matrix4 orthoInverse( const Matrix4 & mat )
|
677
|
-
{
|
678
|
-
Transform3 affineMat;
|
679
|
-
affineMat.setCol0( mat.getCol0().getXYZ( ) );
|
680
|
-
affineMat.setCol1( mat.getCol1().getXYZ( ) );
|
681
|
-
affineMat.setCol2( mat.getCol2().getXYZ( ) );
|
682
|
-
affineMat.setCol3( mat.getCol3().getXYZ( ) );
|
683
|
-
return Matrix4( orthoInverse( affineMat ) );
|
684
|
-
}
|
685
|
-
|
686
|
-
inline float determinant( const Matrix4 & mat )
|
687
|
-
{
|
688
|
-
float dx, dy, dz, dw, mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5;
|
689
|
-
mA = mat.getCol0().getX();
|
690
|
-
mB = mat.getCol0().getY();
|
691
|
-
mC = mat.getCol0().getZ();
|
692
|
-
mD = mat.getCol0().getW();
|
693
|
-
mE = mat.getCol1().getX();
|
694
|
-
mF = mat.getCol1().getY();
|
695
|
-
mG = mat.getCol1().getZ();
|
696
|
-
mH = mat.getCol1().getW();
|
697
|
-
mI = mat.getCol2().getX();
|
698
|
-
mJ = mat.getCol2().getY();
|
699
|
-
mK = mat.getCol2().getZ();
|
700
|
-
mL = mat.getCol2().getW();
|
701
|
-
mM = mat.getCol3().getX();
|
702
|
-
mN = mat.getCol3().getY();
|
703
|
-
mO = mat.getCol3().getZ();
|
704
|
-
mP = mat.getCol3().getW();
|
705
|
-
tmp0 = ( ( mK * mD ) - ( mC * mL ) );
|
706
|
-
tmp1 = ( ( mO * mH ) - ( mG * mP ) );
|
707
|
-
tmp2 = ( ( mB * mK ) - ( mJ * mC ) );
|
708
|
-
tmp3 = ( ( mF * mO ) - ( mN * mG ) );
|
709
|
-
tmp4 = ( ( mJ * mD ) - ( mB * mL ) );
|
710
|
-
tmp5 = ( ( mN * mH ) - ( mF * mP ) );
|
711
|
-
dx = ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) );
|
712
|
-
dy = ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) );
|
713
|
-
dz = ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) );
|
714
|
-
dw = ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) );
|
715
|
-
return ( ( ( ( mA * dx ) + ( mE * dy ) ) + ( mI * dz ) ) + ( mM * dw ) );
|
716
|
-
}
|
717
|
-
|
718
|
-
inline const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const
|
719
|
-
{
|
720
|
-
return Matrix4(
|
721
|
-
( mCol0 + mat.mCol0 ),
|
722
|
-
( mCol1 + mat.mCol1 ),
|
723
|
-
( mCol2 + mat.mCol2 ),
|
724
|
-
( mCol3 + mat.mCol3 )
|
725
|
-
);
|
726
|
-
}
|
727
|
-
|
728
|
-
inline const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const
|
729
|
-
{
|
730
|
-
return Matrix4(
|
731
|
-
( mCol0 - mat.mCol0 ),
|
732
|
-
( mCol1 - mat.mCol1 ),
|
733
|
-
( mCol2 - mat.mCol2 ),
|
734
|
-
( mCol3 - mat.mCol3 )
|
735
|
-
);
|
736
|
-
}
|
737
|
-
|
738
|
-
inline Matrix4 & Matrix4::operator +=( const Matrix4 & mat )
|
739
|
-
{
|
740
|
-
*this = *this + mat;
|
741
|
-
return *this;
|
742
|
-
}
|
743
|
-
|
744
|
-
inline Matrix4 & Matrix4::operator -=( const Matrix4 & mat )
|
745
|
-
{
|
746
|
-
*this = *this - mat;
|
747
|
-
return *this;
|
748
|
-
}
|
749
|
-
|
750
|
-
inline const Matrix4 Matrix4::operator -( ) const
|
751
|
-
{
|
752
|
-
return Matrix4(
|
753
|
-
( -mCol0 ),
|
754
|
-
( -mCol1 ),
|
755
|
-
( -mCol2 ),
|
756
|
-
( -mCol3 )
|
757
|
-
);
|
758
|
-
}
|
759
|
-
|
760
|
-
inline const Matrix4 absPerElem( const Matrix4 & mat )
|
761
|
-
{
|
762
|
-
return Matrix4(
|
763
|
-
absPerElem( mat.getCol0() ),
|
764
|
-
absPerElem( mat.getCol1() ),
|
765
|
-
absPerElem( mat.getCol2() ),
|
766
|
-
absPerElem( mat.getCol3() )
|
767
|
-
);
|
768
|
-
}
|
769
|
-
|
770
|
-
inline const Matrix4 Matrix4::operator *( float scalar ) const
|
771
|
-
{
|
772
|
-
return Matrix4(
|
773
|
-
( mCol0 * scalar ),
|
774
|
-
( mCol1 * scalar ),
|
775
|
-
( mCol2 * scalar ),
|
776
|
-
( mCol3 * scalar )
|
777
|
-
);
|
778
|
-
}
|
779
|
-
|
780
|
-
inline Matrix4 & Matrix4::operator *=( float scalar )
|
781
|
-
{
|
782
|
-
*this = *this * scalar;
|
783
|
-
return *this;
|
784
|
-
}
|
785
|
-
|
786
|
-
inline const Matrix4 operator *( float scalar, const Matrix4 & mat )
|
787
|
-
{
|
788
|
-
return mat * scalar;
|
789
|
-
}
|
790
|
-
|
791
|
-
inline const Vector4 Matrix4::operator *( const Vector4 & vec ) const
|
792
|
-
{
|
793
|
-
return Vector4(
|
794
|
-
( ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ) + ( mCol3.getX() * vec.getW() ) ),
|
795
|
-
( ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ) + ( mCol3.getY() * vec.getW() ) ),
|
796
|
-
( ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ( mCol3.getZ() * vec.getW() ) ),
|
797
|
-
( ( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) ) + ( mCol3.getW() * vec.getW() ) )
|
798
|
-
);
|
799
|
-
}
|
800
|
-
|
801
|
-
inline const Vector4 Matrix4::operator *( const Vector3 & vec ) const
|
802
|
-
{
|
803
|
-
return Vector4(
|
804
|
-
( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ),
|
805
|
-
( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ),
|
806
|
-
( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ),
|
807
|
-
( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) )
|
808
|
-
);
|
809
|
-
}
|
810
|
-
|
811
|
-
inline const Vector4 Matrix4::operator *( const Point3 & pnt ) const
|
812
|
-
{
|
813
|
-
return Vector4(
|
814
|
-
( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ),
|
815
|
-
( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ),
|
816
|
-
( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() ),
|
817
|
-
( ( ( ( mCol0.getW() * pnt.getX() ) + ( mCol1.getW() * pnt.getY() ) ) + ( mCol2.getW() * pnt.getZ() ) ) + mCol3.getW() )
|
818
|
-
);
|
819
|
-
}
|
820
|
-
|
821
|
-
inline const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const
|
822
|
-
{
|
823
|
-
return Matrix4(
|
824
|
-
( *this * mat.mCol0 ),
|
825
|
-
( *this * mat.mCol1 ),
|
826
|
-
( *this * mat.mCol2 ),
|
827
|
-
( *this * mat.mCol3 )
|
828
|
-
);
|
829
|
-
}
|
830
|
-
|
831
|
-
inline Matrix4 & Matrix4::operator *=( const Matrix4 & mat )
|
832
|
-
{
|
833
|
-
*this = *this * mat;
|
834
|
-
return *this;
|
835
|
-
}
|
836
|
-
|
837
|
-
inline const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const
|
838
|
-
{
|
839
|
-
return Matrix4(
|
840
|
-
( *this * tfrm.getCol0() ),
|
841
|
-
( *this * tfrm.getCol1() ),
|
842
|
-
( *this * tfrm.getCol2() ),
|
843
|
-
( *this * Point3( tfrm.getCol3() ) )
|
844
|
-
);
|
845
|
-
}
|
846
|
-
|
847
|
-
inline Matrix4 & Matrix4::operator *=( const Transform3 & tfrm )
|
848
|
-
{
|
849
|
-
*this = *this * tfrm;
|
850
|
-
return *this;
|
851
|
-
}
|
852
|
-
|
853
|
-
inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 )
|
854
|
-
{
|
855
|
-
return Matrix4(
|
856
|
-
mulPerElem( mat0.getCol0(), mat1.getCol0() ),
|
857
|
-
mulPerElem( mat0.getCol1(), mat1.getCol1() ),
|
858
|
-
mulPerElem( mat0.getCol2(), mat1.getCol2() ),
|
859
|
-
mulPerElem( mat0.getCol3(), mat1.getCol3() )
|
860
|
-
);
|
861
|
-
}
|
862
|
-
|
863
|
-
inline const Matrix4 Matrix4::identity( )
|
864
|
-
{
|
865
|
-
return Matrix4(
|
866
|
-
Vector4::xAxis( ),
|
867
|
-
Vector4::yAxis( ),
|
868
|
-
Vector4::zAxis( ),
|
869
|
-
Vector4::wAxis( )
|
870
|
-
);
|
871
|
-
}
|
872
|
-
|
873
|
-
inline Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 )
|
874
|
-
{
|
875
|
-
mCol0.setXYZ( mat3.getCol0() );
|
876
|
-
mCol1.setXYZ( mat3.getCol1() );
|
877
|
-
mCol2.setXYZ( mat3.getCol2() );
|
878
|
-
return *this;
|
879
|
-
}
|
880
|
-
|
881
|
-
inline const Matrix3 Matrix4::getUpper3x3( ) const
|
882
|
-
{
|
883
|
-
return Matrix3(
|
884
|
-
mCol0.getXYZ( ),
|
885
|
-
mCol1.getXYZ( ),
|
886
|
-
mCol2.getXYZ( )
|
887
|
-
);
|
888
|
-
}
|
889
|
-
|
890
|
-
inline Matrix4 & Matrix4::setTranslation( const Vector3 & translateVec )
|
891
|
-
{
|
892
|
-
mCol3.setXYZ( translateVec );
|
893
|
-
return *this;
|
894
|
-
}
|
895
|
-
|
896
|
-
inline const Vector3 Matrix4::getTranslation( ) const
|
897
|
-
{
|
898
|
-
return mCol3.getXYZ( );
|
899
|
-
}
|
900
|
-
|
901
|
-
inline const Matrix4 Matrix4::rotationX( float radians )
|
902
|
-
{
|
903
|
-
float s, c;
|
904
|
-
s = sinf( radians );
|
905
|
-
c = cosf( radians );
|
906
|
-
return Matrix4(
|
907
|
-
Vector4::xAxis( ),
|
908
|
-
Vector4( 0.0f, c, s, 0.0f ),
|
909
|
-
Vector4( 0.0f, -s, c, 0.0f ),
|
910
|
-
Vector4::wAxis( )
|
911
|
-
);
|
912
|
-
}
|
913
|
-
|
914
|
-
inline const Matrix4 Matrix4::rotationY( float radians )
|
915
|
-
{
|
916
|
-
float s, c;
|
917
|
-
s = sinf( radians );
|
918
|
-
c = cosf( radians );
|
919
|
-
return Matrix4(
|
920
|
-
Vector4( c, 0.0f, -s, 0.0f ),
|
921
|
-
Vector4::yAxis( ),
|
922
|
-
Vector4( s, 0.0f, c, 0.0f ),
|
923
|
-
Vector4::wAxis( )
|
924
|
-
);
|
925
|
-
}
|
926
|
-
|
927
|
-
inline const Matrix4 Matrix4::rotationZ( float radians )
|
928
|
-
{
|
929
|
-
float s, c;
|
930
|
-
s = sinf( radians );
|
931
|
-
c = cosf( radians );
|
932
|
-
return Matrix4(
|
933
|
-
Vector4( c, s, 0.0f, 0.0f ),
|
934
|
-
Vector4( -s, c, 0.0f, 0.0f ),
|
935
|
-
Vector4::zAxis( ),
|
936
|
-
Vector4::wAxis( )
|
937
|
-
);
|
938
|
-
}
|
939
|
-
|
940
|
-
inline const Matrix4 Matrix4::rotationZYX( const Vector3 & radiansXYZ )
|
941
|
-
{
|
942
|
-
float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1;
|
943
|
-
sX = sinf( radiansXYZ.getX() );
|
944
|
-
cX = cosf( radiansXYZ.getX() );
|
945
|
-
sY = sinf( radiansXYZ.getY() );
|
946
|
-
cY = cosf( radiansXYZ.getY() );
|
947
|
-
sZ = sinf( radiansXYZ.getZ() );
|
948
|
-
cZ = cosf( radiansXYZ.getZ() );
|
949
|
-
tmp0 = ( cZ * sY );
|
950
|
-
tmp1 = ( sZ * sY );
|
951
|
-
return Matrix4(
|
952
|
-
Vector4( ( cZ * cY ), ( sZ * cY ), -sY, 0.0f ),
|
953
|
-
Vector4( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ), 0.0f ),
|
954
|
-
Vector4( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ), 0.0f ),
|
955
|
-
Vector4::wAxis( )
|
956
|
-
);
|
957
|
-
}
|
958
|
-
|
959
|
-
inline const Matrix4 Matrix4::rotation( float radians, const Vector3 & unitVec )
|
960
|
-
{
|
961
|
-
float x, y, z, s, c, oneMinusC, xy, yz, zx;
|
962
|
-
s = sinf( radians );
|
963
|
-
c = cosf( radians );
|
964
|
-
x = unitVec.getX();
|
965
|
-
y = unitVec.getY();
|
966
|
-
z = unitVec.getZ();
|
967
|
-
xy = ( x * y );
|
968
|
-
yz = ( y * z );
|
969
|
-
zx = ( z * x );
|
970
|
-
oneMinusC = ( 1.0f - c );
|
971
|
-
return Matrix4(
|
972
|
-
Vector4( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ), 0.0f ),
|
973
|
-
Vector4( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ), 0.0f ),
|
974
|
-
Vector4( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ), 0.0f ),
|
975
|
-
Vector4::wAxis( )
|
976
|
-
);
|
977
|
-
}
|
978
|
-
|
979
|
-
inline const Matrix4 Matrix4::rotation( const Quat & unitQuat )
|
980
|
-
{
|
981
|
-
return Matrix4( Transform3::rotation( unitQuat ) );
|
982
|
-
}
|
983
|
-
|
984
|
-
inline const Matrix4 Matrix4::scale( const Vector3 & scaleVec )
|
985
|
-
{
|
986
|
-
return Matrix4(
|
987
|
-
Vector4( scaleVec.getX(), 0.0f, 0.0f, 0.0f ),
|
988
|
-
Vector4( 0.0f, scaleVec.getY(), 0.0f, 0.0f ),
|
989
|
-
Vector4( 0.0f, 0.0f, scaleVec.getZ(), 0.0f ),
|
990
|
-
Vector4::wAxis( )
|
991
|
-
);
|
992
|
-
}
|
993
|
-
|
994
|
-
inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec )
|
995
|
-
{
|
996
|
-
return Matrix4(
|
997
|
-
( mat.getCol0() * scaleVec.getX( ) ),
|
998
|
-
( mat.getCol1() * scaleVec.getY( ) ),
|
999
|
-
( mat.getCol2() * scaleVec.getZ( ) ),
|
1000
|
-
mat.getCol3()
|
1001
|
-
);
|
1002
|
-
}
|
1003
|
-
|
1004
|
-
inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat )
|
1005
|
-
{
|
1006
|
-
Vector4 scale4;
|
1007
|
-
scale4 = Vector4( scaleVec, 1.0f );
|
1008
|
-
return Matrix4(
|
1009
|
-
mulPerElem( mat.getCol0(), scale4 ),
|
1010
|
-
mulPerElem( mat.getCol1(), scale4 ),
|
1011
|
-
mulPerElem( mat.getCol2(), scale4 ),
|
1012
|
-
mulPerElem( mat.getCol3(), scale4 )
|
1013
|
-
);
|
1014
|
-
}
|
1015
|
-
|
1016
|
-
inline const Matrix4 Matrix4::translation( const Vector3 & translateVec )
|
1017
|
-
{
|
1018
|
-
return Matrix4(
|
1019
|
-
Vector4::xAxis( ),
|
1020
|
-
Vector4::yAxis( ),
|
1021
|
-
Vector4::zAxis( ),
|
1022
|
-
Vector4( translateVec, 1.0f )
|
1023
|
-
);
|
1024
|
-
}
|
1025
|
-
|
1026
|
-
inline const Matrix4 Matrix4::lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec )
|
1027
|
-
{
|
1028
|
-
Matrix4 m4EyeFrame;
|
1029
|
-
Vector3 v3X, v3Y, v3Z;
|
1030
|
-
v3Y = normalize( upVec );
|
1031
|
-
v3Z = normalize( ( eyePos - lookAtPos ) );
|
1032
|
-
v3X = normalize( cross( v3Y, v3Z ) );
|
1033
|
-
v3Y = cross( v3Z, v3X );
|
1034
|
-
m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) );
|
1035
|
-
return orthoInverse( m4EyeFrame );
|
1036
|
-
}
|
1037
|
-
|
1038
|
-
inline const Matrix4 Matrix4::perspective( float fovyRadians, float aspect, float zNear, float zFar )
|
1039
|
-
{
|
1040
|
-
float f, rangeInv;
|
1041
|
-
f = tanf( ( (float)( _VECTORMATH_PI_OVER_2 ) - ( 0.5f * fovyRadians ) ) );
|
1042
|
-
rangeInv = ( 1.0f / ( zNear - zFar ) );
|
1043
|
-
return Matrix4(
|
1044
|
-
Vector4( ( f / aspect ), 0.0f, 0.0f, 0.0f ),
|
1045
|
-
Vector4( 0.0f, f, 0.0f, 0.0f ),
|
1046
|
-
Vector4( 0.0f, 0.0f, ( ( zNear + zFar ) * rangeInv ), -1.0f ),
|
1047
|
-
Vector4( 0.0f, 0.0f, ( ( ( zNear * zFar ) * rangeInv ) * 2.0f ), 0.0f )
|
1048
|
-
);
|
1049
|
-
}
|
1050
|
-
|
1051
|
-
inline const Matrix4 Matrix4::frustum( float left, float right, float bottom, float top, float zNear, float zFar )
|
1052
|
-
{
|
1053
|
-
float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf, n2;
|
1054
|
-
sum_rl = ( right + left );
|
1055
|
-
sum_tb = ( top + bottom );
|
1056
|
-
sum_nf = ( zNear + zFar );
|
1057
|
-
inv_rl = ( 1.0f / ( right - left ) );
|
1058
|
-
inv_tb = ( 1.0f / ( top - bottom ) );
|
1059
|
-
inv_nf = ( 1.0f / ( zNear - zFar ) );
|
1060
|
-
n2 = ( zNear + zNear );
|
1061
|
-
return Matrix4(
|
1062
|
-
Vector4( ( n2 * inv_rl ), 0.0f, 0.0f, 0.0f ),
|
1063
|
-
Vector4( 0.0f, ( n2 * inv_tb ), 0.0f, 0.0f ),
|
1064
|
-
Vector4( ( sum_rl * inv_rl ), ( sum_tb * inv_tb ), ( sum_nf * inv_nf ), -1.0f ),
|
1065
|
-
Vector4( 0.0f, 0.0f, ( ( n2 * inv_nf ) * zFar ), 0.0f )
|
1066
|
-
);
|
1067
|
-
}
|
1068
|
-
|
1069
|
-
inline const Matrix4 Matrix4::orthographic( float left, float right, float bottom, float top, float zNear, float zFar )
|
1070
|
-
{
|
1071
|
-
float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf;
|
1072
|
-
sum_rl = ( right + left );
|
1073
|
-
sum_tb = ( top + bottom );
|
1074
|
-
sum_nf = ( zNear + zFar );
|
1075
|
-
inv_rl = ( 1.0f / ( right - left ) );
|
1076
|
-
inv_tb = ( 1.0f / ( top - bottom ) );
|
1077
|
-
inv_nf = ( 1.0f / ( zNear - zFar ) );
|
1078
|
-
return Matrix4(
|
1079
|
-
Vector4( ( inv_rl + inv_rl ), 0.0f, 0.0f, 0.0f ),
|
1080
|
-
Vector4( 0.0f, ( inv_tb + inv_tb ), 0.0f, 0.0f ),
|
1081
|
-
Vector4( 0.0f, 0.0f, ( inv_nf + inv_nf ), 0.0f ),
|
1082
|
-
Vector4( ( -sum_rl * inv_rl ), ( -sum_tb * inv_tb ), ( sum_nf * inv_nf ), 1.0f )
|
1083
|
-
);
|
1084
|
-
}
|
1085
|
-
|
1086
|
-
inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 )
|
1087
|
-
{
|
1088
|
-
return Matrix4(
|
1089
|
-
select( mat0.getCol0(), mat1.getCol0(), select1 ),
|
1090
|
-
select( mat0.getCol1(), mat1.getCol1(), select1 ),
|
1091
|
-
select( mat0.getCol2(), mat1.getCol2(), select1 ),
|
1092
|
-
select( mat0.getCol3(), mat1.getCol3(), select1 )
|
1093
|
-
);
|
1094
|
-
}
|
1095
|
-
|
1096
|
-
#ifdef _VECTORMATH_DEBUG
|
1097
|
-
|
1098
|
-
inline void print( const Matrix4 & mat )
|
1099
|
-
{
|
1100
|
-
print( mat.getRow( 0 ) );
|
1101
|
-
print( mat.getRow( 1 ) );
|
1102
|
-
print( mat.getRow( 2 ) );
|
1103
|
-
print( mat.getRow( 3 ) );
|
1104
|
-
}
|
1105
|
-
|
1106
|
-
inline void print( const Matrix4 & mat, const char * name )
|
1107
|
-
{
|
1108
|
-
printf("%s:\n", name);
|
1109
|
-
print( mat );
|
1110
|
-
}
|
1111
|
-
|
1112
|
-
#endif
|
1113
|
-
|
1114
|
-
inline Transform3::Transform3( const Transform3 & tfrm )
|
1115
|
-
{
|
1116
|
-
mCol0 = tfrm.mCol0;
|
1117
|
-
mCol1 = tfrm.mCol1;
|
1118
|
-
mCol2 = tfrm.mCol2;
|
1119
|
-
mCol3 = tfrm.mCol3;
|
1120
|
-
}
|
1121
|
-
|
1122
|
-
inline Transform3::Transform3( float scalar )
|
1123
|
-
{
|
1124
|
-
mCol0 = Vector3( scalar );
|
1125
|
-
mCol1 = Vector3( scalar );
|
1126
|
-
mCol2 = Vector3( scalar );
|
1127
|
-
mCol3 = Vector3( scalar );
|
1128
|
-
}
|
1129
|
-
|
1130
|
-
inline Transform3::Transform3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2, const Vector3 & _col3 )
|
1131
|
-
{
|
1132
|
-
mCol0 = _col0;
|
1133
|
-
mCol1 = _col1;
|
1134
|
-
mCol2 = _col2;
|
1135
|
-
mCol3 = _col3;
|
1136
|
-
}
|
1137
|
-
|
1138
|
-
inline Transform3::Transform3( const Matrix3 & tfrm, const Vector3 & translateVec )
|
1139
|
-
{
|
1140
|
-
this->setUpper3x3( tfrm );
|
1141
|
-
this->setTranslation( translateVec );
|
1142
|
-
}
|
1143
|
-
|
1144
|
-
inline Transform3::Transform3( const Quat & unitQuat, const Vector3 & translateVec )
|
1145
|
-
{
|
1146
|
-
this->setUpper3x3( Matrix3( unitQuat ) );
|
1147
|
-
this->setTranslation( translateVec );
|
1148
|
-
}
|
1149
|
-
|
1150
|
-
inline Transform3 & Transform3::setCol0( const Vector3 & _col0 )
|
1151
|
-
{
|
1152
|
-
mCol0 = _col0;
|
1153
|
-
return *this;
|
1154
|
-
}
|
1155
|
-
|
1156
|
-
inline Transform3 & Transform3::setCol1( const Vector3 & _col1 )
|
1157
|
-
{
|
1158
|
-
mCol1 = _col1;
|
1159
|
-
return *this;
|
1160
|
-
}
|
1161
|
-
|
1162
|
-
inline Transform3 & Transform3::setCol2( const Vector3 & _col2 )
|
1163
|
-
{
|
1164
|
-
mCol2 = _col2;
|
1165
|
-
return *this;
|
1166
|
-
}
|
1167
|
-
|
1168
|
-
inline Transform3 & Transform3::setCol3( const Vector3 & _col3 )
|
1169
|
-
{
|
1170
|
-
mCol3 = _col3;
|
1171
|
-
return *this;
|
1172
|
-
}
|
1173
|
-
|
1174
|
-
inline Transform3 & Transform3::setCol( int col, const Vector3 & vec )
|
1175
|
-
{
|
1176
|
-
*(&mCol0 + col) = vec;
|
1177
|
-
return *this;
|
1178
|
-
}
|
1179
|
-
|
1180
|
-
inline Transform3 & Transform3::setRow( int row, const Vector4 & vec )
|
1181
|
-
{
|
1182
|
-
mCol0.setElem( row, vec.getElem( 0 ) );
|
1183
|
-
mCol1.setElem( row, vec.getElem( 1 ) );
|
1184
|
-
mCol2.setElem( row, vec.getElem( 2 ) );
|
1185
|
-
mCol3.setElem( row, vec.getElem( 3 ) );
|
1186
|
-
return *this;
|
1187
|
-
}
|
1188
|
-
|
1189
|
-
inline Transform3 & Transform3::setElem( int col, int row, float val )
|
1190
|
-
{
|
1191
|
-
Vector3 tmpV3_0;
|
1192
|
-
tmpV3_0 = this->getCol( col );
|
1193
|
-
tmpV3_0.setElem( row, val );
|
1194
|
-
this->setCol( col, tmpV3_0 );
|
1195
|
-
return *this;
|
1196
|
-
}
|
1197
|
-
|
1198
|
-
inline float Transform3::getElem( int col, int row ) const
|
1199
|
-
{
|
1200
|
-
return this->getCol( col ).getElem( row );
|
1201
|
-
}
|
1202
|
-
|
1203
|
-
inline const Vector3 Transform3::getCol0( ) const
|
1204
|
-
{
|
1205
|
-
return mCol0;
|
1206
|
-
}
|
1207
|
-
|
1208
|
-
inline const Vector3 Transform3::getCol1( ) const
|
1209
|
-
{
|
1210
|
-
return mCol1;
|
1211
|
-
}
|
1212
|
-
|
1213
|
-
inline const Vector3 Transform3::getCol2( ) const
|
1214
|
-
{
|
1215
|
-
return mCol2;
|
1216
|
-
}
|
1217
|
-
|
1218
|
-
inline const Vector3 Transform3::getCol3( ) const
|
1219
|
-
{
|
1220
|
-
return mCol3;
|
1221
|
-
}
|
1222
|
-
|
1223
|
-
inline const Vector3 Transform3::getCol( int col ) const
|
1224
|
-
{
|
1225
|
-
return *(&mCol0 + col);
|
1226
|
-
}
|
1227
|
-
|
1228
|
-
inline const Vector4 Transform3::getRow( int row ) const
|
1229
|
-
{
|
1230
|
-
return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) );
|
1231
|
-
}
|
1232
|
-
|
1233
|
-
inline Vector3 & Transform3::operator []( int col )
|
1234
|
-
{
|
1235
|
-
return *(&mCol0 + col);
|
1236
|
-
}
|
1237
|
-
|
1238
|
-
inline const Vector3 Transform3::operator []( int col ) const
|
1239
|
-
{
|
1240
|
-
return *(&mCol0 + col);
|
1241
|
-
}
|
1242
|
-
|
1243
|
-
inline Transform3 & Transform3::operator =( const Transform3 & tfrm )
|
1244
|
-
{
|
1245
|
-
mCol0 = tfrm.mCol0;
|
1246
|
-
mCol1 = tfrm.mCol1;
|
1247
|
-
mCol2 = tfrm.mCol2;
|
1248
|
-
mCol3 = tfrm.mCol3;
|
1249
|
-
return *this;
|
1250
|
-
}
|
1251
|
-
|
1252
|
-
inline const Transform3 inverse( const Transform3 & tfrm )
|
1253
|
-
{
|
1254
|
-
Vector3 tmp0, tmp1, tmp2, inv0, inv1, inv2;
|
1255
|
-
float detinv;
|
1256
|
-
tmp0 = cross( tfrm.getCol1(), tfrm.getCol2() );
|
1257
|
-
tmp1 = cross( tfrm.getCol2(), tfrm.getCol0() );
|
1258
|
-
tmp2 = cross( tfrm.getCol0(), tfrm.getCol1() );
|
1259
|
-
detinv = ( 1.0f / dot( tfrm.getCol2(), tmp2 ) );
|
1260
|
-
inv0 = Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) );
|
1261
|
-
inv1 = Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) );
|
1262
|
-
inv2 = Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) );
|
1263
|
-
return Transform3(
|
1264
|
-
inv0,
|
1265
|
-
inv1,
|
1266
|
-
inv2,
|
1267
|
-
Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) )
|
1268
|
-
);
|
1269
|
-
}
|
1270
|
-
|
1271
|
-
inline const Transform3 orthoInverse( const Transform3 & tfrm )
|
1272
|
-
{
|
1273
|
-
Vector3 inv0, inv1, inv2;
|
1274
|
-
inv0 = Vector3( tfrm.getCol0().getX(), tfrm.getCol1().getX(), tfrm.getCol2().getX() );
|
1275
|
-
inv1 = Vector3( tfrm.getCol0().getY(), tfrm.getCol1().getY(), tfrm.getCol2().getY() );
|
1276
|
-
inv2 = Vector3( tfrm.getCol0().getZ(), tfrm.getCol1().getZ(), tfrm.getCol2().getZ() );
|
1277
|
-
return Transform3(
|
1278
|
-
inv0,
|
1279
|
-
inv1,
|
1280
|
-
inv2,
|
1281
|
-
Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) )
|
1282
|
-
);
|
1283
|
-
}
|
1284
|
-
|
1285
|
-
inline const Transform3 absPerElem( const Transform3 & tfrm )
|
1286
|
-
{
|
1287
|
-
return Transform3(
|
1288
|
-
absPerElem( tfrm.getCol0() ),
|
1289
|
-
absPerElem( tfrm.getCol1() ),
|
1290
|
-
absPerElem( tfrm.getCol2() ),
|
1291
|
-
absPerElem( tfrm.getCol3() )
|
1292
|
-
);
|
1293
|
-
}
|
1294
|
-
|
1295
|
-
inline const Vector3 Transform3::operator *( const Vector3 & vec ) const
|
1296
|
-
{
|
1297
|
-
return Vector3(
|
1298
|
-
( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ),
|
1299
|
-
( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ),
|
1300
|
-
( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) )
|
1301
|
-
);
|
1302
|
-
}
|
1303
|
-
|
1304
|
-
inline const Point3 Transform3::operator *( const Point3 & pnt ) const
|
1305
|
-
{
|
1306
|
-
return Point3(
|
1307
|
-
( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ),
|
1308
|
-
( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ),
|
1309
|
-
( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() )
|
1310
|
-
);
|
1311
|
-
}
|
1312
|
-
|
1313
|
-
inline const Transform3 Transform3::operator *( const Transform3 & tfrm ) const
|
1314
|
-
{
|
1315
|
-
return Transform3(
|
1316
|
-
( *this * tfrm.mCol0 ),
|
1317
|
-
( *this * tfrm.mCol1 ),
|
1318
|
-
( *this * tfrm.mCol2 ),
|
1319
|
-
Vector3( ( *this * Point3( tfrm.mCol3 ) ) )
|
1320
|
-
);
|
1321
|
-
}
|
1322
|
-
|
1323
|
-
inline Transform3 & Transform3::operator *=( const Transform3 & tfrm )
|
1324
|
-
{
|
1325
|
-
*this = *this * tfrm;
|
1326
|
-
return *this;
|
1327
|
-
}
|
1328
|
-
|
1329
|
-
inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 )
|
1330
|
-
{
|
1331
|
-
return Transform3(
|
1332
|
-
mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ),
|
1333
|
-
mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ),
|
1334
|
-
mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ),
|
1335
|
-
mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() )
|
1336
|
-
);
|
1337
|
-
}
|
1338
|
-
|
1339
|
-
inline const Transform3 Transform3::identity( )
|
1340
|
-
{
|
1341
|
-
return Transform3(
|
1342
|
-
Vector3::xAxis( ),
|
1343
|
-
Vector3::yAxis( ),
|
1344
|
-
Vector3::zAxis( ),
|
1345
|
-
Vector3( 0.0f )
|
1346
|
-
);
|
1347
|
-
}
|
1348
|
-
|
1349
|
-
inline Transform3 & Transform3::setUpper3x3( const Matrix3 & tfrm )
|
1350
|
-
{
|
1351
|
-
mCol0 = tfrm.getCol0();
|
1352
|
-
mCol1 = tfrm.getCol1();
|
1353
|
-
mCol2 = tfrm.getCol2();
|
1354
|
-
return *this;
|
1355
|
-
}
|
1356
|
-
|
1357
|
-
inline const Matrix3 Transform3::getUpper3x3( ) const
|
1358
|
-
{
|
1359
|
-
return Matrix3( mCol0, mCol1, mCol2 );
|
1360
|
-
}
|
1361
|
-
|
1362
|
-
inline Transform3 & Transform3::setTranslation( const Vector3 & translateVec )
|
1363
|
-
{
|
1364
|
-
mCol3 = translateVec;
|
1365
|
-
return *this;
|
1366
|
-
}
|
1367
|
-
|
1368
|
-
inline const Vector3 Transform3::getTranslation( ) const
|
1369
|
-
{
|
1370
|
-
return mCol3;
|
1371
|
-
}
|
1372
|
-
|
1373
|
-
inline const Transform3 Transform3::rotationX( float radians )
|
1374
|
-
{
|
1375
|
-
float s, c;
|
1376
|
-
s = sinf( radians );
|
1377
|
-
c = cosf( radians );
|
1378
|
-
return Transform3(
|
1379
|
-
Vector3::xAxis( ),
|
1380
|
-
Vector3( 0.0f, c, s ),
|
1381
|
-
Vector3( 0.0f, -s, c ),
|
1382
|
-
Vector3( 0.0f )
|
1383
|
-
);
|
1384
|
-
}
|
1385
|
-
|
1386
|
-
inline const Transform3 Transform3::rotationY( float radians )
|
1387
|
-
{
|
1388
|
-
float s, c;
|
1389
|
-
s = sinf( radians );
|
1390
|
-
c = cosf( radians );
|
1391
|
-
return Transform3(
|
1392
|
-
Vector3( c, 0.0f, -s ),
|
1393
|
-
Vector3::yAxis( ),
|
1394
|
-
Vector3( s, 0.0f, c ),
|
1395
|
-
Vector3( 0.0f )
|
1396
|
-
);
|
1397
|
-
}
|
1398
|
-
|
1399
|
-
inline const Transform3 Transform3::rotationZ( float radians )
|
1400
|
-
{
|
1401
|
-
float s, c;
|
1402
|
-
s = sinf( radians );
|
1403
|
-
c = cosf( radians );
|
1404
|
-
return Transform3(
|
1405
|
-
Vector3( c, s, 0.0f ),
|
1406
|
-
Vector3( -s, c, 0.0f ),
|
1407
|
-
Vector3::zAxis( ),
|
1408
|
-
Vector3( 0.0f )
|
1409
|
-
);
|
1410
|
-
}
|
1411
|
-
|
1412
|
-
inline const Transform3 Transform3::rotationZYX( const Vector3 & radiansXYZ )
|
1413
|
-
{
|
1414
|
-
float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1;
|
1415
|
-
sX = sinf( radiansXYZ.getX() );
|
1416
|
-
cX = cosf( radiansXYZ.getX() );
|
1417
|
-
sY = sinf( radiansXYZ.getY() );
|
1418
|
-
cY = cosf( radiansXYZ.getY() );
|
1419
|
-
sZ = sinf( radiansXYZ.getZ() );
|
1420
|
-
cZ = cosf( radiansXYZ.getZ() );
|
1421
|
-
tmp0 = ( cZ * sY );
|
1422
|
-
tmp1 = ( sZ * sY );
|
1423
|
-
return Transform3(
|
1424
|
-
Vector3( ( cZ * cY ), ( sZ * cY ), -sY ),
|
1425
|
-
Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ),
|
1426
|
-
Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ),
|
1427
|
-
Vector3( 0.0f )
|
1428
|
-
);
|
1429
|
-
}
|
1430
|
-
|
1431
|
-
inline const Transform3 Transform3::rotation( float radians, const Vector3 & unitVec )
|
1432
|
-
{
|
1433
|
-
return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( 0.0f ) );
|
1434
|
-
}
|
1435
|
-
|
1436
|
-
inline const Transform3 Transform3::rotation( const Quat & unitQuat )
|
1437
|
-
{
|
1438
|
-
return Transform3( Matrix3( unitQuat ), Vector3( 0.0f ) );
|
1439
|
-
}
|
1440
|
-
|
1441
|
-
inline const Transform3 Transform3::scale( const Vector3 & scaleVec )
|
1442
|
-
{
|
1443
|
-
return Transform3(
|
1444
|
-
Vector3( scaleVec.getX(), 0.0f, 0.0f ),
|
1445
|
-
Vector3( 0.0f, scaleVec.getY(), 0.0f ),
|
1446
|
-
Vector3( 0.0f, 0.0f, scaleVec.getZ() ),
|
1447
|
-
Vector3( 0.0f )
|
1448
|
-
);
|
1449
|
-
}
|
1450
|
-
|
1451
|
-
inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec )
|
1452
|
-
{
|
1453
|
-
return Transform3(
|
1454
|
-
( tfrm.getCol0() * scaleVec.getX( ) ),
|
1455
|
-
( tfrm.getCol1() * scaleVec.getY( ) ),
|
1456
|
-
( tfrm.getCol2() * scaleVec.getZ( ) ),
|
1457
|
-
tfrm.getCol3()
|
1458
|
-
);
|
1459
|
-
}
|
1460
|
-
|
1461
|
-
inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm )
|
1462
|
-
{
|
1463
|
-
return Transform3(
|
1464
|
-
mulPerElem( tfrm.getCol0(), scaleVec ),
|
1465
|
-
mulPerElem( tfrm.getCol1(), scaleVec ),
|
1466
|
-
mulPerElem( tfrm.getCol2(), scaleVec ),
|
1467
|
-
mulPerElem( tfrm.getCol3(), scaleVec )
|
1468
|
-
);
|
1469
|
-
}
|
1470
|
-
|
1471
|
-
inline const Transform3 Transform3::translation( const Vector3 & translateVec )
|
1472
|
-
{
|
1473
|
-
return Transform3(
|
1474
|
-
Vector3::xAxis( ),
|
1475
|
-
Vector3::yAxis( ),
|
1476
|
-
Vector3::zAxis( ),
|
1477
|
-
translateVec
|
1478
|
-
);
|
1479
|
-
}
|
1480
|
-
|
1481
|
-
inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 )
|
1482
|
-
{
|
1483
|
-
return Transform3(
|
1484
|
-
select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ),
|
1485
|
-
select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ),
|
1486
|
-
select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ),
|
1487
|
-
select( tfrm0.getCol3(), tfrm1.getCol3(), select1 )
|
1488
|
-
);
|
1489
|
-
}
|
1490
|
-
|
1491
|
-
#ifdef _VECTORMATH_DEBUG
|
1492
|
-
|
1493
|
-
inline void print( const Transform3 & tfrm )
|
1494
|
-
{
|
1495
|
-
print( tfrm.getRow( 0 ) );
|
1496
|
-
print( tfrm.getRow( 1 ) );
|
1497
|
-
print( tfrm.getRow( 2 ) );
|
1498
|
-
}
|
1499
|
-
|
1500
|
-
inline void print( const Transform3 & tfrm, const char * name )
|
1501
|
-
{
|
1502
|
-
printf("%s:\n", name);
|
1503
|
-
print( tfrm );
|
1504
|
-
}
|
1505
|
-
|
1506
|
-
#endif
|
1507
|
-
|
1508
|
-
inline Quat::Quat( const Matrix3 & tfrm )
|
1509
|
-
{
|
1510
|
-
float trace, radicand, scale, xx, yx, zx, xy, yy, zy, xz, yz, zz, tmpx, tmpy, tmpz, tmpw, qx, qy, qz, qw;
|
1511
|
-
int negTrace, ZgtX, ZgtY, YgtX;
|
1512
|
-
int largestXorY, largestYorZ, largestZorX;
|
1513
|
-
|
1514
|
-
xx = tfrm.getCol0().getX();
|
1515
|
-
yx = tfrm.getCol0().getY();
|
1516
|
-
zx = tfrm.getCol0().getZ();
|
1517
|
-
xy = tfrm.getCol1().getX();
|
1518
|
-
yy = tfrm.getCol1().getY();
|
1519
|
-
zy = tfrm.getCol1().getZ();
|
1520
|
-
xz = tfrm.getCol2().getX();
|
1521
|
-
yz = tfrm.getCol2().getY();
|
1522
|
-
zz = tfrm.getCol2().getZ();
|
1523
|
-
|
1524
|
-
trace = ( ( xx + yy ) + zz );
|
1525
|
-
|
1526
|
-
negTrace = ( trace < 0.0f );
|
1527
|
-
ZgtX = zz > xx;
|
1528
|
-
ZgtY = zz > yy;
|
1529
|
-
YgtX = yy > xx;
|
1530
|
-
largestXorY = ( !ZgtX || !ZgtY ) && negTrace;
|
1531
|
-
largestYorZ = ( YgtX || ZgtX ) && negTrace;
|
1532
|
-
largestZorX = ( ZgtY || !YgtX ) && negTrace;
|
1533
|
-
|
1534
|
-
if ( largestXorY )
|
1535
|
-
{
|
1536
|
-
zz = -zz;
|
1537
|
-
xy = -xy;
|
1538
|
-
}
|
1539
|
-
if ( largestYorZ )
|
1540
|
-
{
|
1541
|
-
xx = -xx;
|
1542
|
-
yz = -yz;
|
1543
|
-
}
|
1544
|
-
if ( largestZorX )
|
1545
|
-
{
|
1546
|
-
yy = -yy;
|
1547
|
-
zx = -zx;
|
1548
|
-
}
|
1549
|
-
|
1550
|
-
radicand = ( ( ( xx + yy ) + zz ) + 1.0f );
|
1551
|
-
scale = ( 0.5f * ( 1.0f / sqrtf( radicand ) ) );
|
1552
|
-
|
1553
|
-
tmpx = ( ( zy - yz ) * scale );
|
1554
|
-
tmpy = ( ( xz - zx ) * scale );
|
1555
|
-
tmpz = ( ( yx - xy ) * scale );
|
1556
|
-
tmpw = ( radicand * scale );
|
1557
|
-
qx = tmpx;
|
1558
|
-
qy = tmpy;
|
1559
|
-
qz = tmpz;
|
1560
|
-
qw = tmpw;
|
1561
|
-
|
1562
|
-
if ( largestXorY )
|
1563
|
-
{
|
1564
|
-
qx = tmpw;
|
1565
|
-
qy = tmpz;
|
1566
|
-
qz = tmpy;
|
1567
|
-
qw = tmpx;
|
1568
|
-
}
|
1569
|
-
if ( largestYorZ )
|
1570
|
-
{
|
1571
|
-
tmpx = qx;
|
1572
|
-
tmpz = qz;
|
1573
|
-
qx = qy;
|
1574
|
-
qy = tmpx;
|
1575
|
-
qz = qw;
|
1576
|
-
qw = tmpz;
|
1577
|
-
}
|
1578
|
-
|
1579
|
-
mX = qx;
|
1580
|
-
mY = qy;
|
1581
|
-
mZ = qz;
|
1582
|
-
mW = qw;
|
1583
|
-
}
|
1584
|
-
|
1585
|
-
inline const Matrix3 outer( const Vector3 & tfrm0, const Vector3 & tfrm1 )
|
1586
|
-
{
|
1587
|
-
return Matrix3(
|
1588
|
-
( tfrm0 * tfrm1.getX( ) ),
|
1589
|
-
( tfrm0 * tfrm1.getY( ) ),
|
1590
|
-
( tfrm0 * tfrm1.getZ( ) )
|
1591
|
-
);
|
1592
|
-
}
|
1593
|
-
|
1594
|
-
inline const Matrix4 outer( const Vector4 & tfrm0, const Vector4 & tfrm1 )
|
1595
|
-
{
|
1596
|
-
return Matrix4(
|
1597
|
-
( tfrm0 * tfrm1.getX( ) ),
|
1598
|
-
( tfrm0 * tfrm1.getY( ) ),
|
1599
|
-
( tfrm0 * tfrm1.getZ( ) ),
|
1600
|
-
( tfrm0 * tfrm1.getW( ) )
|
1601
|
-
);
|
1602
|
-
}
|
1603
|
-
|
1604
|
-
inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat )
|
1605
|
-
{
|
1606
|
-
return Vector3(
|
1607
|
-
( ( ( vec.getX() * mat.getCol0().getX() ) + ( vec.getY() * mat.getCol0().getY() ) ) + ( vec.getZ() * mat.getCol0().getZ() ) ),
|
1608
|
-
( ( ( vec.getX() * mat.getCol1().getX() ) + ( vec.getY() * mat.getCol1().getY() ) ) + ( vec.getZ() * mat.getCol1().getZ() ) ),
|
1609
|
-
( ( ( vec.getX() * mat.getCol2().getX() ) + ( vec.getY() * mat.getCol2().getY() ) ) + ( vec.getZ() * mat.getCol2().getZ() ) )
|
1610
|
-
);
|
1611
|
-
}
|
1612
|
-
|
1613
|
-
inline const Matrix3 crossMatrix( const Vector3 & vec )
|
1614
|
-
{
|
1615
|
-
return Matrix3(
|
1616
|
-
Vector3( 0.0f, vec.getZ(), -vec.getY() ),
|
1617
|
-
Vector3( -vec.getZ(), 0.0f, vec.getX() ),
|
1618
|
-
Vector3( vec.getY(), -vec.getX(), 0.0f )
|
1619
|
-
);
|
1620
|
-
}
|
1621
|
-
|
1622
|
-
inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat )
|
1623
|
-
{
|
1624
|
-
return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) );
|
1625
|
-
}
|
1626
|
-
|
1627
|
-
} // namespace Aos
|
1628
|
-
} // namespace Vectormath
|
1629
|
-
|
1630
|
-
#endif
|