546 lines
19 KiB
C
546 lines
19 KiB
C
|
/*************************************************************************
|
||
|
|
* *
|
||
|
|
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
|
||
|
|
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
|
||
|
|
* *
|
||
|
|
* This library is free software; you can redistribute it and/or *
|
||
|
|
* modify it under the terms of EITHER: *
|
||
|
|
* (1) The GNU Lesser General Public License as published by the Free *
|
||
|
|
* Software Foundation; either version 2.1 of the License, or (at *
|
||
|
|
* your option) any later version. The text of the GNU Lesser *
|
||
|
|
* General Public License is included with this library in the *
|
||
|
|
* file LICENSE.TXT. *
|
||
|
|
* (2) The BSD-style license that is included with this library in *
|
||
|
|
* the file LICENSE-BSD.TXT. *
|
||
|
|
* *
|
||
|
|
* This library is distributed in the hope that it will be useful, *
|
||
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
|
||
|
|
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
|
||
|
|
* *
|
||
|
|
*************************************************************************/
|
||
|
|
|
||
|
|
#ifndef _ODE_ODEMATH_H_
|
||
|
|
#define _ODE_ODEMATH_H_
|
||
|
|
|
||
|
|
#include <ode/common.h>
|
||
|
|
|
||
|
|
/*
|
||
|
|
* macro to access elements i,j in an NxM matrix A, independent of the
|
||
|
|
* matrix storage convention.
|
||
|
|
*/
|
||
|
|
#define dACCESS33(A,i,j) ((A)[(i)*4+(j)])
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Macro to test for valid floating point values
|
||
|
|
*/
|
||
|
|
#define dVALIDVEC3(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2])))
|
||
|
|
#define dVALIDVEC4(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]) || dIsNan(v[3])))
|
||
|
|
#define dVALIDMAT3(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11])))
|
||
|
|
#define dVALIDMAT4(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]) || dIsNan(m[12]) || dIsNan(m[13]) || dIsNan(m[14]) || dIsNan(m[15]) ))
|
||
|
|
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dZeroVector3(dVector3 res)
|
||
|
|
{
|
||
|
|
res[dV3E_X] = REAL(0.0);
|
||
|
|
res[dV3E_Y] = REAL(0.0);
|
||
|
|
res[dV3E_Z] = REAL(0.0);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dAssignVector3(dVector3 res, dReal x, dReal y, dReal z)
|
||
|
|
{
|
||
|
|
res[dV3E_X] = x;
|
||
|
|
res[dV3E_Y] = y;
|
||
|
|
res[dV3E_Z] = z;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dZeroMatrix3(dMatrix3 res)
|
||
|
|
{
|
||
|
|
res[dM3E_XX] = REAL(0.0); res[dM3E_XY] = REAL(0.0); res[dM3E_XZ] = REAL(0.0);
|
||
|
|
res[dM3E_YX] = REAL(0.0); res[dM3E_YY] = REAL(0.0); res[dM3E_YZ] = REAL(0.0);
|
||
|
|
res[dM3E_ZX] = REAL(0.0); res[dM3E_ZY] = REAL(0.0); res[dM3E_ZZ] = REAL(0.0);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dZeroMatrix4(dMatrix4 res)
|
||
|
|
{
|
||
|
|
res[dM4E_XX] = REAL(0.0); res[dM4E_XY] = REAL(0.0); res[dM4E_XZ] = REAL(0.0); res[dM4E_XO] = REAL(0.0);
|
||
|
|
res[dM4E_YX] = REAL(0.0); res[dM4E_YY] = REAL(0.0); res[dM4E_YZ] = REAL(0.0); res[dM4E_YO] = REAL(0.0);
|
||
|
|
res[dM4E_ZX] = REAL(0.0); res[dM4E_ZY] = REAL(0.0); res[dM4E_ZZ] = REAL(0.0); res[dM4E_ZO] = REAL(0.0);
|
||
|
|
res[dM4E_OX] = REAL(0.0); res[dM4E_OY] = REAL(0.0); res[dM4E_OZ] = REAL(0.0); res[dM4E_OO] = REAL(0.0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Some vector math */
|
||
|
|
ODE_PURE_INLINE void dAddVectors3(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
const dReal res_0 = a[0] + b[0];
|
||
|
|
const dReal res_1 = a[1] + b[1];
|
||
|
|
const dReal res_2 = a[2] + b[2];
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[0] = res_0; res[1] = res_1; res[2] = res_2;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dSubtractVectors3(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
const dReal res_0 = a[0] - b[0];
|
||
|
|
const dReal res_1 = a[1] - b[1];
|
||
|
|
const dReal res_2 = a[2] - b[2];
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[0] = res_0; res[1] = res_1; res[2] = res_2;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dAddVectorScaledVector3(dReal *res, const dReal *a, const dReal *b, dReal b_scale)
|
||
|
|
{
|
||
|
|
const dReal res_0 = a[0] + b_scale * b[0];
|
||
|
|
const dReal res_1 = a[1] + b_scale * b[1];
|
||
|
|
const dReal res_2 = a[2] + b_scale * b[2];
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[0] = res_0; res[1] = res_1; res[2] = res_2;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dAddScaledVectors3(dReal *res, const dReal *a, const dReal *b, dReal a_scale, dReal b_scale)
|
||
|
|
{
|
||
|
|
const dReal res_0 = a_scale * a[0] + b_scale * b[0];
|
||
|
|
const dReal res_1 = a_scale * a[1] + b_scale * b[1];
|
||
|
|
const dReal res_2 = a_scale * a[2] + b_scale * b[2];
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[0] = res_0; res[1] = res_1; res[2] = res_2;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dAddThreeScaledVectors3(dReal *res, const dReal *a, const dReal *b, const dReal *c, dReal a_scale, dReal b_scale, dReal c_scale)
|
||
|
|
{
|
||
|
|
const dReal res_0 = a_scale * a[0] + b_scale * b[0] + c_scale * c[0];
|
||
|
|
const dReal res_1 = a_scale * a[1] + b_scale * b[1] + c_scale * c[1];
|
||
|
|
const dReal res_2 = a_scale * a[2] + b_scale * b[2] + c_scale * c[2];
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[0] = res_0; res[1] = res_1; res[2] = res_2;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dScaleVector3(dReal *res, dReal nScale)
|
||
|
|
{
|
||
|
|
res[0] *= nScale ;
|
||
|
|
res[1] *= nScale ;
|
||
|
|
res[2] *= nScale ;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dNegateVector3(dReal *res)
|
||
|
|
{
|
||
|
|
res[0] = -res[0];
|
||
|
|
res[1] = -res[1];
|
||
|
|
res[2] = -res[2];
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dCopyVector3(dReal *res, const dReal *a)
|
||
|
|
{
|
||
|
|
const dReal res_0 = a[0];
|
||
|
|
const dReal res_1 = a[1];
|
||
|
|
const dReal res_2 = a[2];
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[0] = res_0; res[1] = res_1; res[2] = res_2;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dCopyScaledVector3(dReal *res, const dReal *a, dReal nScale)
|
||
|
|
{
|
||
|
|
const dReal res_0 = a[0] * nScale;
|
||
|
|
const dReal res_1 = a[1] * nScale;
|
||
|
|
const dReal res_2 = a[2] * nScale;
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[0] = res_0; res[1] = res_1; res[2] = res_2;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dCopyNegatedVector3(dReal *res, const dReal *a)
|
||
|
|
{
|
||
|
|
const dReal res_0 = -a[0];
|
||
|
|
const dReal res_1 = -a[1];
|
||
|
|
const dReal res_2 = -a[2];
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[0] = res_0; res[1] = res_1; res[2] = res_2;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dCopyVector4(dReal *res, const dReal *a)
|
||
|
|
{
|
||
|
|
const dReal res_0 = a[0];
|
||
|
|
const dReal res_1 = a[1];
|
||
|
|
const dReal res_2 = a[2];
|
||
|
|
const dReal res_3 = a[3];
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[0] = res_0; res[1] = res_1; res[2] = res_2; res[3] = res_3;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dCopyMatrix4x4(dReal *res, const dReal *a)
|
||
|
|
{
|
||
|
|
dCopyVector4(res + 0, a + 0);
|
||
|
|
dCopyVector4(res + 4, a + 4);
|
||
|
|
dCopyVector4(res + 8, a + 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dCopyMatrix4x3(dReal *res, const dReal *a)
|
||
|
|
{
|
||
|
|
dCopyVector3(res + 0, a + 0);
|
||
|
|
dCopyVector3(res + 4, a + 4);
|
||
|
|
dCopyVector3(res + 8, a + 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dGetMatrixColumn3(dReal *res, const dReal *a, unsigned n)
|
||
|
|
{
|
||
|
|
const dReal res_0 = a[n + 0];
|
||
|
|
const dReal res_1 = a[n + 4];
|
||
|
|
const dReal res_2 = a[n + 8];
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[0] = res_0; res[1] = res_1; res[2] = res_2;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE dReal dCalcVectorLength3(const dReal *a)
|
||
|
|
{
|
||
|
|
return dSqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE dReal dCalcVectorLengthSquare3(const dReal *a)
|
||
|
|
{
|
||
|
|
return (a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE dReal dCalcPointDepth3(const dReal *test_p, const dReal *plane_p, const dReal *plane_n)
|
||
|
|
{
|
||
|
|
return (plane_p[0] - test_p[0]) * plane_n[0] + (plane_p[1] - test_p[1]) * plane_n[1] + (plane_p[2] - test_p[2]) * plane_n[2];
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* 3-way dot product. _dCalcVectorDot3 means that elements of `a' and `b' are spaced
|
||
|
|
* step_a and step_b indexes apart respectively. dCalcVectorDot3() means dDot311.
|
||
|
|
*/
|
||
|
|
|
||
|
|
ODE_PURE_INLINE dReal _dCalcVectorDot3(const dReal *a, const dReal *b, unsigned step_a, unsigned step_b)
|
||
|
|
{
|
||
|
|
return a[0] * b[0] + a[step_a] * b[step_b] + a[2 * step_a] * b[2 * step_b];
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
ODE_PURE_INLINE dReal dCalcVectorDot3 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,1); }
|
||
|
|
ODE_PURE_INLINE dReal dCalcVectorDot3_13 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,3); }
|
||
|
|
ODE_PURE_INLINE dReal dCalcVectorDot3_31 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,1); }
|
||
|
|
ODE_PURE_INLINE dReal dCalcVectorDot3_33 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,3); }
|
||
|
|
ODE_PURE_INLINE dReal dCalcVectorDot3_14 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,4); }
|
||
|
|
ODE_PURE_INLINE dReal dCalcVectorDot3_41 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,1); }
|
||
|
|
ODE_PURE_INLINE dReal dCalcVectorDot3_44 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,4); }
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* cross product, set res = a x b. _dCalcVectorCross3 means that elements of `res', `a'
|
||
|
|
* and `b' are spaced step_res, step_a and step_b indexes apart respectively.
|
||
|
|
* dCalcVectorCross3() means dCross3111.
|
||
|
|
*/
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void _dCalcVectorCross3(dReal *res, const dReal *a, const dReal *b, unsigned step_res, unsigned step_a, unsigned step_b)
|
||
|
|
{
|
||
|
|
const dReal res_0 = a[ step_a]*b[2*step_b] - a[2*step_a]*b[ step_b];
|
||
|
|
const dReal res_1 = a[2*step_a]*b[ 0] - a[ 0]*b[2*step_b];
|
||
|
|
const dReal res_2 = a[ 0]*b[ step_b] - a[ step_a]*b[ 0];
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[ 0] = res_0;
|
||
|
|
res[ step_res] = res_1;
|
||
|
|
res[2*step_res] = res_2;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dCalcVectorCross3 (dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 1); }
|
||
|
|
ODE_PURE_INLINE void dCalcVectorCross3_114(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 4); }
|
||
|
|
ODE_PURE_INLINE void dCalcVectorCross3_141(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 1); }
|
||
|
|
ODE_PURE_INLINE void dCalcVectorCross3_144(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 4); }
|
||
|
|
ODE_PURE_INLINE void dCalcVectorCross3_411(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 1); }
|
||
|
|
ODE_PURE_INLINE void dCalcVectorCross3_414(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 4); }
|
||
|
|
ODE_PURE_INLINE void dCalcVectorCross3_441(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 1); }
|
||
|
|
ODE_PURE_INLINE void dCalcVectorCross3_444(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 4); }
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dAddVectorCross3(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dReal tmp[3];
|
||
|
|
dCalcVectorCross3(tmp, a, b);
|
||
|
|
dAddVectors3(res, res, tmp);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dSubtractVectorCross3(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dReal tmp[3];
|
||
|
|
dCalcVectorCross3(tmp, a, b);
|
||
|
|
dSubtractVectors3(res, res, tmp);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
|
||
|
|
* A is stored by rows, and has `skip' elements per row. the matrix is
|
||
|
|
* assumed to be already zero, so this does not write zero elements!
|
||
|
|
* if (plus,minus) is (+,-) then a positive version will be written.
|
||
|
|
* if (plus,minus) is (-,+) then a negative version will be written.
|
||
|
|
*/
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dSetCrossMatrixPlus(dReal *res, const dReal *a, unsigned skip)
|
||
|
|
{
|
||
|
|
const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2];
|
||
|
|
res[1] = -a_2;
|
||
|
|
res[2] = +a_1;
|
||
|
|
res[skip+0] = +a_2;
|
||
|
|
res[skip+2] = -a_0;
|
||
|
|
res[2*skip+0] = -a_1;
|
||
|
|
res[2*skip+1] = +a_0;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dSetCrossMatrixMinus(dReal *res, const dReal *a, unsigned skip)
|
||
|
|
{
|
||
|
|
const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2];
|
||
|
|
res[1] = +a_2;
|
||
|
|
res[2] = -a_1;
|
||
|
|
res[skip+0] = -a_2;
|
||
|
|
res[skip+2] = +a_0;
|
||
|
|
res[2*skip+0] = +a_1;
|
||
|
|
res[2*skip+1] = -a_0;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* compute the distance between two 3D-vectors
|
||
|
|
*/
|
||
|
|
|
||
|
|
ODE_PURE_INLINE dReal dCalcPointsDistance3(const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dReal res;
|
||
|
|
dReal tmp[3];
|
||
|
|
dSubtractVectors3(tmp, a, b);
|
||
|
|
res = dCalcVectorLength3(tmp);
|
||
|
|
return res;
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* special case matrix multiplication, with operator selection
|
||
|
|
*/
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiplyHelper0_331(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
const dReal res_0 = dCalcVectorDot3(a, b);
|
||
|
|
const dReal res_1 = dCalcVectorDot3(a + 4, b);
|
||
|
|
const dReal res_2 = dCalcVectorDot3(a + 8, b);
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[0] = res_0; res[1] = res_1; res[2] = res_2;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiplyHelper1_331(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
const dReal res_0 = dCalcVectorDot3_41(a, b);
|
||
|
|
const dReal res_1 = dCalcVectorDot3_41(a + 1, b);
|
||
|
|
const dReal res_2 = dCalcVectorDot3_41(a + 2, b);
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[0] = res_0; res[1] = res_1; res[2] = res_2;
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiplyHelper0_133(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dMultiplyHelper1_331(res, b, a);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiplyHelper1_133(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
const dReal res_0 = dCalcVectorDot3_44(a, b);
|
||
|
|
const dReal res_1 = dCalcVectorDot3_44(a + 1, b);
|
||
|
|
const dReal res_2 = dCalcVectorDot3_44(a + 2, b);
|
||
|
|
/* Only assign after all the calculations are over to avoid incurring memory aliasing*/
|
||
|
|
res[0] = res_0; res[1] = res_1; res[2] = res_2;
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
Note: NEVER call any of these functions/macros with the same variable for A and C,
|
||
|
|
it is not equivalent to A*=B.
|
||
|
|
*/
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiply0_331(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dMultiplyHelper0_331(res, a, b);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiply1_331(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dMultiplyHelper1_331(res, a, b);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiply0_133(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dMultiplyHelper0_133(res, a, b);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiply0_333(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dMultiplyHelper0_133(res + 0, a + 0, b);
|
||
|
|
dMultiplyHelper0_133(res + 4, a + 4, b);
|
||
|
|
dMultiplyHelper0_133(res + 8, a + 8, b);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiply1_333(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dMultiplyHelper1_133(res + 0, b, a + 0);
|
||
|
|
dMultiplyHelper1_133(res + 4, b, a + 1);
|
||
|
|
dMultiplyHelper1_133(res + 8, b, a + 2);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiply2_333(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dMultiplyHelper0_331(res + 0, b, a + 0);
|
||
|
|
dMultiplyHelper0_331(res + 4, b, a + 4);
|
||
|
|
dMultiplyHelper0_331(res + 8, b, a + 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiplyAdd0_331(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dReal tmp[3];
|
||
|
|
dMultiplyHelper0_331(tmp, a, b);
|
||
|
|
dAddVectors3(res, res, tmp);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiplyAdd1_331(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dReal tmp[3];
|
||
|
|
dMultiplyHelper1_331(tmp, a, b);
|
||
|
|
dAddVectors3(res, res, tmp);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiplyAdd0_133(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dReal tmp[3];
|
||
|
|
dMultiplyHelper0_133(tmp, a, b);
|
||
|
|
dAddVectors3(res, res, tmp);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiplyAdd0_333(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dReal tmp[3];
|
||
|
|
dMultiplyHelper0_133(tmp, a + 0, b);
|
||
|
|
dAddVectors3(res+ 0, res + 0, tmp);
|
||
|
|
dMultiplyHelper0_133(tmp, a + 4, b);
|
||
|
|
dAddVectors3(res + 4, res + 4, tmp);
|
||
|
|
dMultiplyHelper0_133(tmp, a + 8, b);
|
||
|
|
dAddVectors3(res + 8, res + 8, tmp);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiplyAdd1_333(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dReal tmp[3];
|
||
|
|
dMultiplyHelper1_133(tmp, b, a + 0);
|
||
|
|
dAddVectors3(res + 0, res + 0, tmp);
|
||
|
|
dMultiplyHelper1_133(tmp, b, a + 1);
|
||
|
|
dAddVectors3(res + 4, res + 4, tmp);
|
||
|
|
dMultiplyHelper1_133(tmp, b, a + 2);
|
||
|
|
dAddVectors3(res + 8, res + 8, tmp);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE void dMultiplyAdd2_333(dReal *res, const dReal *a, const dReal *b)
|
||
|
|
{
|
||
|
|
dReal tmp[3];
|
||
|
|
dMultiplyHelper0_331(tmp, b, a + 0);
|
||
|
|
dAddVectors3(res + 0, res + 0, tmp);
|
||
|
|
dMultiplyHelper0_331(tmp, b, a + 4);
|
||
|
|
dAddVectors3(res + 4, res + 4, tmp);
|
||
|
|
dMultiplyHelper0_331(tmp, b, a + 8);
|
||
|
|
dAddVectors3(res + 8, res + 8, tmp);
|
||
|
|
}
|
||
|
|
|
||
|
|
ODE_PURE_INLINE dReal dCalcMatrix3Det( const dReal* mat )
|
||
|
|
{
|
||
|
|
dReal det;
|
||
|
|
|
||
|
|
det = mat[0] * ( mat[5]*mat[10] - mat[9]*mat[6] )
|
||
|
|
- mat[1] * ( mat[4]*mat[10] - mat[8]*mat[6] )
|
||
|
|
+ mat[2] * ( mat[4]*mat[9] - mat[8]*mat[5] );
|
||
|
|
|
||
|
|
return( det );
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
Closed form matrix inversion, copied from
|
||
|
|
collision_util.h for use in the stepper.
|
||
|
|
|
||
|
|
Returns the determinant.
|
||
|
|
returns 0 and does nothing
|
||
|
|
if the matrix is singular.
|
||
|
|
*/
|
||
|
|
ODE_PURE_INLINE dReal dInvertMatrix3(dReal *dst, const dReal *ma)
|
||
|
|
{
|
||
|
|
dReal det;
|
||
|
|
dReal detRecip;
|
||
|
|
|
||
|
|
det = dCalcMatrix3Det( ma );
|
||
|
|
|
||
|
|
|
||
|
|
/* Setting an arbitrary non-zero threshold
|
||
|
|
for the determinant doesn't do anyone
|
||
|
|
any favors. The condition number is the
|
||
|
|
important thing. If all the eigen-values
|
||
|
|
of the matrix are small, so is the
|
||
|
|
determinant, but it can still be well
|
||
|
|
conditioned.
|
||
|
|
A single extremely large eigen-value could
|
||
|
|
push the determinant over threshold, but
|
||
|
|
produce a very unstable result if the other
|
||
|
|
eigen-values are small. So we just say that
|
||
|
|
the determinant must be non-zero and trust the
|
||
|
|
caller to provide well-conditioned matrices.
|
||
|
|
*/
|
||
|
|
if ( det == 0 )
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
detRecip = dRecip(det);
|
||
|
|
|
||
|
|
dst[0] = ( ma[5]*ma[10] - ma[6]*ma[9] ) * detRecip;
|
||
|
|
dst[1] = ( ma[9]*ma[2] - ma[1]*ma[10] ) * detRecip;
|
||
|
|
dst[2] = ( ma[1]*ma[6] - ma[5]*ma[2] ) * detRecip;
|
||
|
|
|
||
|
|
dst[4] = ( ma[6]*ma[8] - ma[4]*ma[10] ) * detRecip;
|
||
|
|
dst[5] = ( ma[0]*ma[10] - ma[8]*ma[2] ) * detRecip;
|
||
|
|
dst[6] = ( ma[4]*ma[2] - ma[0]*ma[6] ) * detRecip;
|
||
|
|
|
||
|
|
dst[8] = ( ma[4]*ma[9] - ma[8]*ma[5] ) * detRecip;
|
||
|
|
dst[9] = ( ma[8]*ma[1] - ma[0]*ma[9] ) * detRecip;
|
||
|
|
dst[10] = ( ma[0]*ma[5] - ma[1]*ma[4] ) * detRecip;
|
||
|
|
|
||
|
|
return det;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/* Include legacy macros here */
|
||
|
|
#include <ode/odemath_legacy.h>
|
||
|
|
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*
|
||
|
|
* normalize 3x1 and 4x1 vectors (i.e. scale them to unit length)
|
||
|
|
*/
|
||
|
|
|
||
|
|
/* For DLL export*/
|
||
|
|
ODE_API int dSafeNormalize3 (dVector3 a);
|
||
|
|
ODE_API int dSafeNormalize4 (dVector4 a);
|
||
|
|
ODE_API void dNormalize3 (dVector3 a); /* Potentially asserts on zero vec*/
|
||
|
|
ODE_API void dNormalize4 (dVector4 a); /* Potentially asserts on zero vec*/
|
||
|
|
|
||
|
|
/*
|
||
|
|
* given a unit length "normal" vector n, generate vectors p and q vectors
|
||
|
|
* that are an orthonormal basis for the plane space perpendicular to n.
|
||
|
|
* i.e. this makes p,q such that n,p,q are all perpendicular to each other.
|
||
|
|
* q will equal n x p. if n is not unit length then p will be unit length but
|
||
|
|
* q wont be.
|
||
|
|
*/
|
||
|
|
|
||
|
|
ODE_API void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q);
|
||
|
|
/* Makes sure the matrix is a proper rotation, returns a boolean status */
|
||
|
|
ODE_API int dOrthogonalizeR(dMatrix3 m);
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
#endif
|