555 lines
10 KiB
C
555 lines
10 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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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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///original version written by Erwin Coumans, October 2013
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#ifndef BT_MATRIX_X_H
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#define BT_MATRIX_X_H
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include <stdio.h>
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//#define BT_DEBUG_OSTREAM
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#ifdef BT_DEBUG_OSTREAM
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#include <iostream>
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#include <iomanip> // std::setw
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#endif //BT_DEBUG_OSTREAM
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class btIntSortPredicate
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{
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public:
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bool operator() ( const int& a, const int& b ) const
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{
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return a < b;
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}
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};
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template <typename T>
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struct btVectorX
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{
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btAlignedObjectArray<T> m_storage;
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btVectorX()
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{
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}
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btVectorX(int numRows)
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{
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m_storage.resize(numRows);
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}
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void resize(int rows)
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{
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m_storage.resize(rows);
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}
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int cols() const
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{
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return 1;
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}
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int rows() const
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{
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return m_storage.size();
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}
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int size() const
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{
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return rows();
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}
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T nrm2() const
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{
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T norm = T(0);
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int nn = rows();
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{
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if (nn == 1)
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{
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norm = btFabs((*this)[0]);
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}
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else
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{
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T scale = 0.0;
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T ssq = 1.0;
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/* The following loop is equivalent to this call to the LAPACK
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auxiliary routine: CALL SLASSQ( N, X, INCX, SCALE, SSQ ) */
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for (int ix=0;ix<nn;ix++)
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{
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if ((*this)[ix] != 0.0)
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{
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T absxi = btFabs((*this)[ix]);
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if (scale < absxi)
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{
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T temp;
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temp = scale / absxi;
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ssq = ssq * (temp * temp) + BT_ONE;
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scale = absxi;
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}
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else
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{
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T temp;
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temp = absxi / scale;
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ssq += temp * temp;
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}
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}
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}
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norm = scale * sqrt(ssq);
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}
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}
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return norm;
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}
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void setZero()
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{
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if (m_storage.size())
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{
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// for (int i=0;i<m_storage.size();i++)
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// m_storage[i]=0;
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//memset(&m_storage[0],0,sizeof(T)*m_storage.size());
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btSetZero(&m_storage[0],m_storage.size());
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}
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}
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const T& operator[] (int index) const
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{
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return m_storage[index];
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}
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T& operator[] (int index)
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{
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return m_storage[index];
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}
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T* getBufferPointerWritable()
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{
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return m_storage.size() ? &m_storage[0] : 0;
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}
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const T* getBufferPointer() const
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{
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return m_storage.size() ? &m_storage[0] : 0;
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}
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};
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/*
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template <typename T>
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void setElem(btMatrixX<T>& mat, int row, int col, T val)
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{
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mat.setElem(row,col,val);
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}
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*/
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template <typename T>
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struct btMatrixX
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{
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int m_rows;
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int m_cols;
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int m_operations;
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int m_resizeOperations;
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int m_setElemOperations;
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btAlignedObjectArray<T> m_storage;
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mutable btAlignedObjectArray< btAlignedObjectArray<int> > m_rowNonZeroElements1;
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T* getBufferPointerWritable()
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{
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return m_storage.size() ? &m_storage[0] : 0;
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}
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const T* getBufferPointer() const
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{
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return m_storage.size() ? &m_storage[0] : 0;
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}
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btMatrixX()
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:m_rows(0),
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m_cols(0),
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m_operations(0),
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m_resizeOperations(0),
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m_setElemOperations(0)
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{
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}
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btMatrixX(int rows,int cols)
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:m_rows(rows),
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m_cols(cols),
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m_operations(0),
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m_resizeOperations(0),
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m_setElemOperations(0)
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{
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resize(rows,cols);
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}
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void resize(int rows, int cols)
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{
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m_resizeOperations++;
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m_rows = rows;
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m_cols = cols;
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{
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BT_PROFILE("m_storage.resize");
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m_storage.resize(rows*cols);
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}
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}
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int cols() const
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{
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return m_cols;
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}
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int rows() const
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{
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return m_rows;
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}
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///we don't want this read/write operator(), because we cannot keep track of non-zero elements, use setElem instead
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/*T& operator() (int row,int col)
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{
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return m_storage[col*m_rows+row];
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}
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*/
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void addElem(int row,int col, T val)
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{
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if (val)
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{
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if (m_storage[col+row*m_cols]==0.f)
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{
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setElem(row,col,val);
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} else
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{
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m_storage[row*m_cols+col] += val;
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}
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}
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}
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void setElem(int row,int col, T val)
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{
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m_setElemOperations++;
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m_storage[row*m_cols+col] = val;
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}
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void mulElem(int row,int col, T val)
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{
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m_setElemOperations++;
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//mul doesn't change sparsity info
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m_storage[row*m_cols+col] *= val;
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}
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void copyLowerToUpperTriangle()
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{
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int count=0;
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for (int row=0;row<rows();row++)
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{
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for (int col=0;col<row;col++)
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{
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setElem(col,row, (*this)(row,col));
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count++;
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}
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}
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//printf("copyLowerToUpperTriangle copied %d elements out of %dx%d=%d\n", count,rows(),cols(),cols()*rows());
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}
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const T& operator() (int row,int col) const
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{
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return m_storage[col+row*m_cols];
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}
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void setZero()
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{
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{
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BT_PROFILE("storage=0");
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btSetZero(&m_storage[0],m_storage.size());
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//memset(&m_storage[0],0,sizeof(T)*m_storage.size());
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//for (int i=0;i<m_storage.size();i++)
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// m_storage[i]=0;
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}
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}
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void setIdentity()
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{
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btAssert(rows() == cols());
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setZero();
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for (int row=0;row<rows();row++)
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{
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setElem(row,row,1);
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}
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}
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void printMatrix(const char* msg)
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{
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printf("%s ---------------------\n",msg);
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for (int i=0;i<rows();i++)
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{
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printf("\n");
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for (int j=0;j<cols();j++)
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{
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printf("%2.1f\t",(*this)(i,j));
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}
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}
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printf("\n---------------------\n");
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}
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void rowComputeNonZeroElements() const
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{
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m_rowNonZeroElements1.resize(rows());
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for (int i=0;i<rows();i++)
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{
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m_rowNonZeroElements1[i].resize(0);
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for (int j=0;j<cols();j++)
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{
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if ((*this)(i,j)!=0.f)
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{
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m_rowNonZeroElements1[i].push_back(j);
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}
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}
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}
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}
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btMatrixX transpose() const
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{
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//transpose is optimized for sparse matrices
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btMatrixX tr(m_cols,m_rows);
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tr.setZero();
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for (int i=0;i<m_cols;i++)
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for (int j=0;j<m_rows;j++)
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{
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T v = (*this)(j,i);
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if (v)
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{
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tr.setElem(i,j,v);
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}
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}
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return tr;
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}
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btMatrixX operator*(const btMatrixX& other)
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{
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//btMatrixX*btMatrixX implementation, brute force
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btAssert(cols() == other.rows());
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btMatrixX res(rows(),other.cols());
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res.setZero();
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// BT_PROFILE("btMatrixX mul");
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for (int j=0; j < res.cols(); ++j)
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{
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{
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for (int i=0; i < res.rows(); ++i)
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{
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T dotProd=0;
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// T dotProd2=0;
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//int waste=0,waste2=0;
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{
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// bool useOtherCol = true;
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{
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for (int v=0;v<rows();v++)
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{
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T w = (*this)(i,v);
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if (other(v,j)!=0.f)
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{
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dotProd+=w*other(v,j);
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}
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}
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}
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}
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if (dotProd)
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res.setElem(i,j,dotProd);
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}
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}
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}
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return res;
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}
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// this assumes the 4th and 8th rows of B and C are zero.
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void multiplyAdd2_p8r (const btScalar *B, const btScalar *C, int numRows, int numRowsOther ,int row, int col)
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{
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const btScalar *bb = B;
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for ( int i = 0;i<numRows;i++)
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{
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const btScalar *cc = C;
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for ( int j = 0;j<numRowsOther;j++)
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{
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btScalar sum;
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sum = bb[0]*cc[0];
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sum += bb[1]*cc[1];
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sum += bb[2]*cc[2];
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sum += bb[4]*cc[4];
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sum += bb[5]*cc[5];
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sum += bb[6]*cc[6];
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addElem(row+i,col+j,sum);
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cc += 8;
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}
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bb += 8;
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}
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}
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void multiply2_p8r (const btScalar *B, const btScalar *C, int numRows, int numRowsOther, int row, int col)
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{
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btAssert (numRows>0 && numRowsOther>0 && B && C);
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const btScalar *bb = B;
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for ( int i = 0;i<numRows;i++)
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{
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const btScalar *cc = C;
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for ( int j = 0;j<numRowsOther;j++)
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{
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btScalar sum;
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sum = bb[0]*cc[0];
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sum += bb[1]*cc[1];
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sum += bb[2]*cc[2];
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||
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|
sum += bb[4]*cc[4];
|
||
|
|
sum += bb[5]*cc[5];
|
||
|
|
sum += bb[6]*cc[6];
|
||
|
|
setElem(row+i,col+j,sum);
|
||
|
|
cc += 8;
|
||
|
|
}
|
||
|
|
bb += 8;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void setSubMatrix(int rowstart,int colstart,int rowend,int colend,const T value)
|
||
|
|
{
|
||
|
|
int numRows = rowend+1-rowstart;
|
||
|
|
int numCols = colend+1-colstart;
|
||
|
|
|
||
|
|
for (int row=0;row<numRows;row++)
|
||
|
|
{
|
||
|
|
for (int col=0;col<numCols;col++)
|
||
|
|
{
|
||
|
|
setElem(rowstart+row,colstart+col,value);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void setSubMatrix(int rowstart,int colstart,int rowend,int colend,const btMatrixX& block)
|
||
|
|
{
|
||
|
|
btAssert(rowend+1-rowstart == block.rows());
|
||
|
|
btAssert(colend+1-colstart == block.cols());
|
||
|
|
for (int row=0;row<block.rows();row++)
|
||
|
|
{
|
||
|
|
for (int col=0;col<block.cols();col++)
|
||
|
|
{
|
||
|
|
setElem(rowstart+row,colstart+col,block(row,col));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
void setSubMatrix(int rowstart,int colstart,int rowend,int colend,const btVectorX<T>& block)
|
||
|
|
{
|
||
|
|
btAssert(rowend+1-rowstart == block.rows());
|
||
|
|
btAssert(colend+1-colstart == block.cols());
|
||
|
|
for (int row=0;row<block.rows();row++)
|
||
|
|
{
|
||
|
|
for (int col=0;col<block.cols();col++)
|
||
|
|
{
|
||
|
|
setElem(rowstart+row,colstart+col,block[row]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
btMatrixX negative()
|
||
|
|
{
|
||
|
|
btMatrixX neg(rows(),cols());
|
||
|
|
for (int i=0;i<rows();i++)
|
||
|
|
for (int j=0;j<cols();j++)
|
||
|
|
{
|
||
|
|
T v = (*this)(i,j);
|
||
|
|
neg.setElem(i,j,-v);
|
||
|
|
}
|
||
|
|
return neg;
|
||
|
|
}
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
typedef btMatrixX<float> btMatrixXf;
|
||
|
|
typedef btVectorX<float> btVectorXf;
|
||
|
|
|
||
|
|
typedef btMatrixX<double> btMatrixXd;
|
||
|
|
typedef btVectorX<double> btVectorXd;
|
||
|
|
|
||
|
|
|
||
|
|
#ifdef BT_DEBUG_OSTREAM
|
||
|
|
template <typename T>
|
||
|
|
std::ostream& operator<< (std::ostream& os, const btMatrixX<T>& mat)
|
||
|
|
{
|
||
|
|
|
||
|
|
os << " [";
|
||
|
|
//printf("%s ---------------------\n",msg);
|
||
|
|
for (int i=0;i<mat.rows();i++)
|
||
|
|
{
|
||
|
|
for (int j=0;j<mat.cols();j++)
|
||
|
|
{
|
||
|
|
os << std::setw(12) << mat(i,j);
|
||
|
|
}
|
||
|
|
if (i!=mat.rows()-1)
|
||
|
|
os << std::endl << " ";
|
||
|
|
}
|
||
|
|
os << " ]";
|
||
|
|
//printf("\n---------------------\n");
|
||
|
|
|
||
|
|
return os;
|
||
|
|
}
|
||
|
|
template <typename T>
|
||
|
|
std::ostream& operator<< (std::ostream& os, const btVectorX<T>& mat)
|
||
|
|
{
|
||
|
|
|
||
|
|
os << " [";
|
||
|
|
//printf("%s ---------------------\n",msg);
|
||
|
|
for (int i=0;i<mat.rows();i++)
|
||
|
|
{
|
||
|
|
os << std::setw(12) << mat[i];
|
||
|
|
if (i!=mat.rows()-1)
|
||
|
|
os << std::endl << " ";
|
||
|
|
}
|
||
|
|
os << " ]";
|
||
|
|
//printf("\n---------------------\n");
|
||
|
|
|
||
|
|
return os;
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif //BT_DEBUG_OSTREAM
|
||
|
|
|
||
|
|
|
||
|
|
inline void setElem(btMatrixXd& mat, int row, int col, double val)
|
||
|
|
{
|
||
|
|
mat.setElem(row,col,val);
|
||
|
|
}
|
||
|
|
|
||
|
|
inline void setElem(btMatrixXf& mat, int row, int col, float val)
|
||
|
|
{
|
||
|
|
mat.setElem(row,col,val);
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef BT_USE_DOUBLE_PRECISION
|
||
|
|
#define btVectorXu btVectorXd
|
||
|
|
#define btMatrixXu btMatrixXd
|
||
|
|
#else
|
||
|
|
#define btVectorXu btVectorXf
|
||
|
|
#define btMatrixXu btMatrixXf
|
||
|
|
#endif //BT_USE_DOUBLE_PRECISION
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#endif//BT_MATRIX_H_H
|