411 lines
13 KiB
C++
411 lines
13 KiB
C++
/*
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Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
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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 btMatrix3x3_H
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#define btMatrix3x3_H
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#include "btScalar.h"
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#include "btVector3.h"
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#include "btQuaternion.h"
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class btMatrix3x3 {
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public:
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btMatrix3x3 () {}
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// explicit btMatrix3x3(const btScalar *m) { setFromOpenGLSubMatrix(m); }
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explicit btMatrix3x3(const btQuaternion& q) { setRotation(q); }
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/*
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template <typename btScalar>
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Matrix3x3(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
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{
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setEulerYPR(yaw, pitch, roll);
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}
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*/
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btMatrix3x3(const btScalar& xx, const btScalar& xy, const btScalar& xz,
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const btScalar& yx, const btScalar& yy, const btScalar& yz,
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const btScalar& zx, const btScalar& zy, const btScalar& zz)
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{
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setValue(xx, xy, xz,
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yx, yy, yz,
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zx, zy, zz);
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}
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SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other)
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{
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m_el[0] = other.m_el[0];
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m_el[1] = other.m_el[1];
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m_el[2] = other.m_el[2];
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}
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SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other)
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{
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m_el[0] = other.m_el[0];
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m_el[1] = other.m_el[1];
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m_el[2] = other.m_el[2];
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return *this;
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}
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SIMD_FORCE_INLINE btVector3 getColumn(int i) const
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{
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return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
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}
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SIMD_FORCE_INLINE const btVector3& getRow(int i) const
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{
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return m_el[i];
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}
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SIMD_FORCE_INLINE btVector3& operator[](int i)
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{
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btFullAssert(0 <= i && i < 3);
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return m_el[i];
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}
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SIMD_FORCE_INLINE const btVector3& operator[](int i) const
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{
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btFullAssert(0 <= i && i < 3);
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return m_el[i];
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}
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btMatrix3x3& operator*=(const btMatrix3x3& m);
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void setFromOpenGLSubMatrix(const btScalar *m)
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{
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m_el[0].setValue(m[0],m[4],m[8]);
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m_el[1].setValue(m[1],m[5],m[9]);
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m_el[2].setValue(m[2],m[6],m[10]);
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}
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void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz,
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const btScalar& yx, const btScalar& yy, const btScalar& yz,
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const btScalar& zx, const btScalar& zy, const btScalar& zz)
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{
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m_el[0].setValue(xx,xy,xz);
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m_el[1].setValue(yx,yy,yz);
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m_el[2].setValue(zx,zy,zz);
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}
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void setRotation(const btQuaternion& q)
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{
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btScalar d = q.length2();
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btFullAssert(d != btScalar(0.0));
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btScalar s = btScalar(2.0) / d;
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btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s;
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btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs;
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btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs;
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btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs;
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setValue(btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
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xy + wz, btScalar(1.0) - (xx + zz), yz - wx,
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xz - wy, yz + wx, btScalar(1.0) - (xx + yy));
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}
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void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
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{
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btScalar cy(btCos(yaw));
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btScalar sy(btSin(yaw));
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btScalar cp(btCos(pitch));
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btScalar sp(btSin(pitch));
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btScalar cr(btCos(roll));
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btScalar sr(btSin(roll));
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btScalar cc = cy * cr;
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btScalar cs = cy * sr;
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btScalar sc = sy * cr;
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btScalar ss = sy * sr;
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setValue(cc - sp * ss, -cs - sp * sc, -sy * cp,
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cp * sr, cp * cr, -sp,
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sc + sp * cs, -ss + sp * cc, cy * cp);
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}
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/**
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* setEulerZYX
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* @param euler a const reference to a btVector3 of euler angles
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* These angles are used to produce a rotation matrix. The euler
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* angles are applied in ZYX order. I.e a vector is first rotated
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* about X then Y and then Z
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**/
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void setEulerZYX(btScalar eulerX,btScalar eulerY,btScalar eulerZ) {
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btScalar ci ( btCos(eulerX));
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btScalar cj ( btCos(eulerY));
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btScalar ch ( btCos(eulerZ));
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btScalar si ( btSin(eulerX));
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btScalar sj ( btSin(eulerY));
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btScalar sh ( btSin(eulerZ));
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btScalar cc = ci * ch;
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btScalar cs = ci * sh;
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btScalar sc = si * ch;
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btScalar ss = si * sh;
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setValue(cj * ch, sj * sc - cs, sj * cc + ss,
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cj * sh, sj * ss + cc, sj * cs - sc,
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-sj, cj * si, cj * ci);
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}
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void setIdentity()
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{
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setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0),
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btScalar(0.0), btScalar(1.0), btScalar(0.0),
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btScalar(0.0), btScalar(0.0), btScalar(1.0));
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}
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void getOpenGLSubMatrix(btScalar *m) const
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{
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m[0] = btScalar(m_el[0].x());
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m[1] = btScalar(m_el[1].x());
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m[2] = btScalar(m_el[2].x());
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m[3] = btScalar(0.0);
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m[4] = btScalar(m_el[0].y());
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m[5] = btScalar(m_el[1].y());
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m[6] = btScalar(m_el[2].y());
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m[7] = btScalar(0.0);
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m[8] = btScalar(m_el[0].z());
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m[9] = btScalar(m_el[1].z());
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m[10] = btScalar(m_el[2].z());
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m[11] = btScalar(0.0);
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}
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void getRotation(btQuaternion& q) const
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{
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btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
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btScalar temp[4];
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if (trace > btScalar(0.0))
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{
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btScalar s = btSqrt(trace + btScalar(1.0));
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temp[3]=(s * btScalar(0.5));
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s = btScalar(0.5) / s;
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temp[0]=((m_el[2].y() - m_el[1].z()) * s);
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temp[1]=((m_el[0].z() - m_el[2].x()) * s);
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temp[2]=((m_el[1].x() - m_el[0].y()) * s);
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}
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else
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{
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int i = m_el[0].x() < m_el[1].y() ?
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(m_el[1].y() < m_el[2].z() ? 2 : 1) :
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(m_el[0].x() < m_el[2].z() ? 2 : 0);
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int j = (i + 1) % 3;
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int k = (i + 2) % 3;
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btScalar s = btSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0));
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temp[i] = s * btScalar(0.5);
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s = btScalar(0.5) / s;
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temp[3] = (m_el[k][j] - m_el[j][k]) * s;
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temp[j] = (m_el[j][i] + m_el[i][j]) * s;
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temp[k] = (m_el[k][i] + m_el[i][k]) * s;
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}
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q.setValue(temp[0],temp[1],temp[2],temp[3]);
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}
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void getEuler(btScalar& yaw, btScalar& pitch, btScalar& roll) const
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{
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if (btScalar(m_el[1].z()) < btScalar(1))
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{
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if (btScalar(m_el[1].z()) > -btScalar(1))
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{
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yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x()));
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pitch = btScalar(btAsin(-m_el[1].y()));
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roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z()));
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}
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else
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{
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yaw = btScalar(-btAtan2(-m_el[0].y(), m_el[0].z()));
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pitch = SIMD_HALF_PI;
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roll = btScalar(0.0);
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}
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}
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else
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{
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yaw = btScalar(btAtan2(-m_el[0].y(), m_el[0].z()));
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pitch = -SIMD_HALF_PI;
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roll = btScalar(0.0);
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}
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}
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btMatrix3x3 scaled(const btVector3& s) const
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{
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return btMatrix3x3(m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(),
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m_el[1].x() * s.x(), m_el[1].y() * s.y(), m_el[1].z() * s.z(),
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m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z());
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}
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btScalar determinant() const;
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btMatrix3x3 adjoint() const;
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btMatrix3x3 absolute() const;
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btMatrix3x3 transpose() const;
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btMatrix3x3 inverse() const;
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btMatrix3x3 transposeTimes(const btMatrix3x3& m) const;
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btMatrix3x3 timesTranspose(const btMatrix3x3& m) const;
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SIMD_FORCE_INLINE btScalar tdotx(const btVector3& v) const
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{
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return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z();
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}
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SIMD_FORCE_INLINE btScalar tdoty(const btVector3& v) const
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{
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return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z();
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}
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SIMD_FORCE_INLINE btScalar tdotz(const btVector3& v) const
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{
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return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z();
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}
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protected:
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btScalar cofac(int r1, int c1, int r2, int c2) const
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{
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return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
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}
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btVector3 m_el[3];
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};
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SIMD_FORCE_INLINE btMatrix3x3&
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btMatrix3x3::operator*=(const btMatrix3x3& m)
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{
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setValue(m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
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m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),
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m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]));
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return *this;
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}
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SIMD_FORCE_INLINE btScalar
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btMatrix3x3::determinant() const
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{
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return triple((*this)[0], (*this)[1], (*this)[2]);
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}
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SIMD_FORCE_INLINE btMatrix3x3
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btMatrix3x3::absolute() const
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{
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return btMatrix3x3(
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btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()),
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btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()),
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btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z()));
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}
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SIMD_FORCE_INLINE btMatrix3x3
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btMatrix3x3::transpose() const
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{
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return btMatrix3x3(m_el[0].x(), m_el[1].x(), m_el[2].x(),
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m_el[0].y(), m_el[1].y(), m_el[2].y(),
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m_el[0].z(), m_el[1].z(), m_el[2].z());
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}
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SIMD_FORCE_INLINE btMatrix3x3
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btMatrix3x3::adjoint() const
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{
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return btMatrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
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cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
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cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
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}
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SIMD_FORCE_INLINE btMatrix3x3
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btMatrix3x3::inverse() const
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{
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btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
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btScalar det = (*this)[0].dot(co);
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btFullAssert(det != btScalar(0.0));
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btScalar s = btScalar(1.0) / det;
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return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
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co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
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co.z() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
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}
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SIMD_FORCE_INLINE btMatrix3x3
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btMatrix3x3::transposeTimes(const btMatrix3x3& m) const
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{
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return btMatrix3x3(
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m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(),
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m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(),
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m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(),
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m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(),
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m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(),
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m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(),
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m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(),
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m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(),
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m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].x());
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}
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SIMD_FORCE_INLINE btMatrix3x3
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btMatrix3x3::timesTranspose(const btMatrix3x3& m) const
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{
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return btMatrix3x3(
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m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
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m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]),
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m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2]));
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}
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SIMD_FORCE_INLINE btVector3
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operator*(const btMatrix3x3& m, const btVector3& v)
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{
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return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
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}
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SIMD_FORCE_INLINE btVector3
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operator*(const btVector3& v, const btMatrix3x3& m)
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{
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return btVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
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}
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SIMD_FORCE_INLINE btMatrix3x3
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operator*(const btMatrix3x3& m1, const btMatrix3x3& m2)
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{
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return btMatrix3x3(
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m2.tdotx( m1[0]), m2.tdoty( m1[0]), m2.tdotz( m1[0]),
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m2.tdotx( m1[1]), m2.tdoty( m1[1]), m2.tdotz( m1[1]),
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m2.tdotx( m1[2]), m2.tdoty( m1[2]), m2.tdotz( m1[2]));
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}
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/*
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SIMD_FORCE_INLINE btMatrix3x3 btMultTransposeLeft(const btMatrix3x3& m1, const btMatrix3x3& m2) {
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return btMatrix3x3(
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m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0],
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m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1],
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m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2],
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m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0],
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m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1],
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m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2],
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m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0],
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m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1],
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m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
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}
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*/
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#endif
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