Changeset 2882 for code/trunk/src/bullet/LinearMath/btQuaternion.h

Timestamp:

Mar 31, 2009, 8:05:51 PM (16 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/LinearMath/btQuaternion.h (modified) (6 diffs)

code/trunk/src/bullet/LinearMath/btQuaternion.h

@@ -20 +20 @@
 
 #include "btVector3.h"
+#include "btQuadWord.h"
 
 /**@brief The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. */
@@ -58 +59 @@
         {
                 btScalar d = axis.length();
-                assert(d != btScalar(0.0));
+                btAssert(d != btScalar(0.0));
                 btScalar s = btSin(angle * btScalar(0.5)) / d;
                 setValue(axis.x() * s, axis.y() * s, axis.z() * s, 
@@ -177 +178 @@
         btQuaternion operator/(const btScalar& s) const
         {
-                assert(s != btScalar(0.0));
+                btAssert(s != btScalar(0.0));
                 return *this * (btScalar(1.0) / s);
         }
@@ -185 +186 @@
         btQuaternion& operator/=(const btScalar& s) 
         {
-                assert(s != btScalar(0.0));
+                btAssert(s != btScalar(0.0));
                 return *this *= btScalar(1.0) / s;
         }
@@ -199 +200 @@
         {
                 btScalar s = btSqrt(length2() * q.length2());
-                assert(s != btScalar(0.0));
+                btAssert(s != btScalar(0.0));
                 return btAcos(dot(q) / s);
         }
@@ -275 +276 @@
         }
 
+        static const btQuaternion&      getIdentity()
+        {
+                static const btQuaternion identityQuat(btScalar(0.),btScalar(0.),btScalar(0.),btScalar(1.));
+                return identityQuat;
+        }
+
         SIMD_FORCE_INLINE const btScalar& getW() const { return m_floats[3]; }