mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
c0c4c8ba3f
remove btMultiSapBroadphase.* make collisionFilterGroup/collisionFilterMark int (instead of short int)
154 lines
2.9 KiB
C++
154 lines
2.9 KiB
C++
/*
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*
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* Mathematics Subpackage (VrMath)
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*
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*
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* Author: Samuel R. Buss, sbuss@ucsd.edu.
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* Web page: http://math.ucsd.edu/~sbuss/MathCG
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*
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*
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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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*
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*/
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#include <math.h>
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#include "LinearR3.h"
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#if 0
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/****************************************************************
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Axes
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*****************************************************************/
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static float xx[] = {
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0., 1., 0., 1.
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};
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static float xy[] = {
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-.5, .5, .5, -.5
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};
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static int xorder[] = {
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1, 2, -3, 4
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};
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static float yx[] = {
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0., 0., -.5, .5
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};
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static float yy[] = {
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0.f, .6f, 1.f, 1.f
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};
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static int yorder[] = {
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1, 2, 3, -2, 4
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};
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static float zx[] = {
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1., 0., 1., 0., .25, .75
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};
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static float zy[] = {
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.5, .5, -.5, -.5, 0., 0.
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};
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static int zorder[] = {
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1, 2, 3, 4, -5, 6
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};
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#endif
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#define LENFRAC 0.10
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#define BASEFRAC 1.10
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/****************************************************************
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Arrow
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*****************************************************************/
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/* size of wings as fraction of length: */
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#define WINGS 0.10
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/* axes: */
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#define X 1
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#define Y 2
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#define Z 3
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/* x, y, z, axes: */
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//static float axx[3] = { 1., 0., 0. };
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//static float ayy[3] = { 0., 1., 0. };
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//static float azz[3] = { 0., 0., 1. };
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/* function declarations: */
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void cross( float [3], float [3], float [3] );
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float dot( float [3], float [3] );
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float unit( float [3], float [3] );
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float dot( float v1[3], float v2[3] )
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{
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return( v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2] );
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}
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void
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cross( float v1[3], float v2[3], float vout[3] )
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{
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float tmp[3];
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tmp[0] = v1[1]*v2[2] - v2[1]*v1[2];
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tmp[1] = v2[0]*v1[2] - v1[0]*v2[2];
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tmp[2] = v1[0]*v2[1] - v2[0]*v1[1];
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vout[0] = tmp[0];
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vout[1] = tmp[1];
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vout[2] = tmp[2];
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}
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float
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unit( float vin[3], float vout[3] )
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{
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float dist, f ;
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dist = vin[0]*vin[0] + vin[1]*vin[1] + vin[2]*vin[2];
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if( dist > 0.0 )
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{
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dist = sqrt( dist );
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f = 1. / dist;
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vout[0] = f * vin[0];
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vout[1] = f * vin[1];
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vout[2] = f * vin[2];
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}
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else
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{
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vout[0] = vin[0];
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vout[1] = vin[1];
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vout[2] = vin[2];
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}
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return( dist );
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}
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