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Viewing changes to extern/bullet2/src/LinearMath/btTransformUtil.h

  • Committer: Package Import Robot
  • Author(s): Matteo F. Vescovi
  • Date: 2012-07-23 08:54:18 UTC
  • mfrom: (14.2.16 sid)
  • mto: (14.2.19 sid)
  • mto: This revision was merged to the branch mainline in revision 42.
  • Revision ID: package-import@ubuntu.com-20120723085418-9foz30v6afaf5ffs
Tags: 2.63a-2
http://bugs.debian.org/658075
* debian/: Cycles support added (Closes: #658075)
  For now, this top feature has been enabled only
  on [any-amd64 any-i386] architectures because
  of OpenImageIO failing on all others
* debian/: scripts installation path changed
  from /usr/lib to /usr/share:
  + debian/patches/: patchset re-worked for path changing
  + debian/control: "Breaks" field added on yafaray-exporter

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Lines of Context:
extern/bullet2/src/LinearMath/btTransformUtil.h
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#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
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#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x))))          /* reciprocal square root */
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SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
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{
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}
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SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q)
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{
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  if (btFabs(n.z()) > SIMDSQRT12) {
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    // choose p in y-z plane
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    btScalar a = n[1]*n[1] + n[2]*n[2];
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    btScalar k = btRecipSqrt (a);
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    p.setValue(0,-n[2]*k,n[1]*k);
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    // set q = n x p
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    q.setValue(a*k,-n[0]*p[2],n[0]*p[1]);
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  }
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  else {
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    // choose p in x-y plane
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    btScalar a = n.x()*n.x() + n.y()*n.y();
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    btScalar k = btRecipSqrt (a);
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    p.setValue(-n.y()*k,n.x()*k,0);
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    // set q = n x p
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    q.setValue(-n.z()*p.y(),n.z()*p.x(),a*k);
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  }
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}
 
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        static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)
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        {
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                btQuaternion orn1 = orn0.farthest(orn1a);
 
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                btQuaternion orn1 = orn0.nearest(orn1a);
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                btQuaternion dorn = orn1 * orn0.inverse();
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                ///floating point inaccuracy can lead to w component > 1..., which breaks 
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                dorn.normalize();
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                angle = dorn.getAngle();
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                axis = btVector3(dorn.x(),dorn.y(),dorn.z());
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                axis[3] = btScalar(0.);
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                        btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB);
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                        btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
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                        btVector3 relLinVel = (linVelB-linVelA);
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                        btScalar relLinVelocLength = (linVelB-linVelA).dot(m_separatingNormal);
 
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                        btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
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                        if (relLinVelocLength<0.f)
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                        {
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                                relLinVelocLength = 0.f;
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        void    initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
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        {
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                m_separatingNormal = separatingVector;
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                m_separatingDistance = separatingDistance;
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                const btVector3& toPosA = transA.getOrigin();
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                const btVector3& toPosB = transB.getOrigin();
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                btQuaternion toOrnA = transA.getRotation();
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                btQuaternion toOrnB = transB.getRotation();
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                m_posA = toPosA;
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                m_posB = toPosB;
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                m_ornA = toOrnA;
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                m_ornB = toOrnB;
 
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                if (m_separatingDistance>0.f)
 
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                {
 
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                        m_separatingNormal = separatingVector;
 
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                        const btVector3& toPosA = transA.getOrigin();
 
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                        const btVector3& toPosB = transB.getOrigin();
 
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                        btQuaternion toOrnA = transA.getRotation();
 
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                        btQuaternion toOrnB = transB.getRotation();
 
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                        m_posA = toPosA;
 
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                        m_posB = toPosB;
 
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                        m_ornA = toOrnA;
 
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                        m_ornB = toOrnB;
 
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                }
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        }
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};