Changeset 8351 for code/trunk/src/external/bullet/LinearMath/btQuaternion.h

Timestamp:

Apr 28, 2011, 7:15:14 AM (13 years ago)

Author:

rgrieder

Message:

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

• *Support for Mac OS X*
• Visual Studio 2010 support
• Bullet library update to 2.77
• OIS library update to 1.3
• Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
• Improved install target
• Compiles now with GCC 4.6
• Ogre Cg Shader plugin activated for Linux if available
• And of course lots of bug fixes

There are also some regressions:

• No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
• In game console is not working in main menu for CEGUI 0.7
• Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
• And of course lots of new bugs we don't yet know about

File:

• code/trunk/src/external/bullet/LinearMath/btQuaternion.h (modified) (4 diffs)

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

@@ -210 +210 @@
         }
 
-
-  /**@brief Return the inverse of this quaternion */
+        /**@brief Return the axis of the rotation represented by this quaternion */
+        btVector3 getAxis() const
+        {
+                btScalar s_squared = btScalar(1.) - btPow(m_floats[3], btScalar(2.));
+                if (s_squared < btScalar(10.) * SIMD_EPSILON) //Check for divide by zero
+                        return btVector3(1.0, 0.0, 0.0);  // Arbitrary
+                btScalar s = btSqrt(s_squared);
+                return btVector3(m_floats[0] / s, m_floats[1] / s, m_floats[2] / s);
+        }
+
+        /**@brief Return the inverse of this quaternion */
         btQuaternion inverse() const
         {
@@ -253 +262 @@
         }
 
+        /**@todo document this and it's use */
+        SIMD_FORCE_INLINE btQuaternion nearest( const btQuaternion& qd) const 
+        {
+                btQuaternion diff,sum;
+                diff = *this - qd;
+                sum = *this + qd;
+                if( diff.dot(diff) < sum.dot(sum) )
+                        return qd;
+                return (-qd);
+        }
+
+
   /**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion
    * @param q The other quaternion to interpolate with 
@@ -265 +286 @@
                         btScalar s0 = btSin((btScalar(1.0) - t) * theta);
                         btScalar s1 = btSin(t * theta);   
-                        return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d,
-                                (m_floats[1] * s0 + q.y() * s1) * d,
-                                (m_floats[2] * s0 + q.z() * s1) * d,
-                                (m_floats[3] * s0 + q.m_floats[3] * s1) * d);
+                        if (dot(q) < 0) // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
+                          return btQuaternion((m_floats[0] * s0 + -q.x() * s1) * d,
+                                              (m_floats[1] * s0 + -q.y() * s1) * d,
+                                              (m_floats[2] * s0 + -q.z() * s1) * d,
+                                              (m_floats[3] * s0 + -q.m_floats[3] * s1) * d);
+                        else
+                          return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d,
+                                              (m_floats[1] * s0 + q.y() * s1) * d,
+                                              (m_floats[2] * s0 + q.z() * s1) * d,
+                                              (m_floats[3] * s0 + q.m_floats[3] * s1) * d);
+                        
                 }
                 else
@@ -379 +407 @@
 
         if (d < -1.0 + SIMD_EPSILON)
-                return btQuaternion(0.0f,1.0f,0.0f,0.0f); // just pick any vector
+        {
+                btVector3 n,unused;
+                btPlaneSpace1(v0,n,unused);
+                return btQuaternion(n.x(),n.y(),n.z(),0.0f); // just pick any vector that is orthogonal to v0
+        }
 
         btScalar  s = btSqrt((1.0f + d) * 2.0f);