Changeset 8393 for code/trunk/src/external/bullet/LinearMath/btMatrix3x3.h

Timestamp:

May 3, 2011, 5:07:42 AM (13 years ago)

Author:

rgrieder

Message:

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

File:

• code/trunk/src/external/bullet/LinearMath/btMatrix3x3.h (modified) (3 diffs)

code/trunk/src/external/bullet/LinearMath/btMatrix3x3.h

@@ -111 +111 @@
         btMatrix3x3& operator*=(const btMatrix3x3& m); 
 
-        /** @brief Set from a carray of btScalars 
-        *  @param m A pointer to the beginning of an array of 9 btScalars */
+        /** @brief Adds by the target matrix on the right
+        *  @param m matrix to be applied 
+        * Equivilant to this = this + m */
+        btMatrix3x3& operator+=(const btMatrix3x3& m); 
+
+        /** @brief Substractss by the target matrix on the right
+        *  @param m matrix to be applied 
+        * Equivilant to this = this - m */
+        btMatrix3x3& operator-=(const btMatrix3x3& m); 
+
+        /** @brief Set from the rotational part of a 4x4 OpenGL matrix
+        *  @param m A pointer to the beginning of the array of scalars*/
         void setFromOpenGLSubMatrix(const btScalar *m)
         {
@@ -209 +219 @@
         }
 
-        /**@brief Fill the values of the matrix into a 9 element array 
+        /**@brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective
         * @param m The array to be filled */
         void getOpenGLSubMatrix(btScalar *m) const 
@@ -524 +534 @@
 }
 
+SIMD_FORCE_INLINE btMatrix3x3& 
+btMatrix3x3::operator+=(const btMatrix3x3& m)
+{
+        setValue(
+                m_el[0][0]+m.m_el[0][0], 
+                m_el[0][1]+m.m_el[0][1],
+                m_el[0][2]+m.m_el[0][2],
+                m_el[1][0]+m.m_el[1][0], 
+                m_el[1][1]+m.m_el[1][1],
+                m_el[1][2]+m.m_el[1][2],
+                m_el[2][0]+m.m_el[2][0], 
+                m_el[2][1]+m.m_el[2][1],
+                m_el[2][2]+m.m_el[2][2]);
+        return *this;
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+operator*(const btMatrix3x3& m, const btScalar & k)
+{
+        return btMatrix3x3(
+                m[0].x()*k,m[0].y()*k,m[0].z()*k,
+                m[1].x()*k,m[1].y()*k,m[1].z()*k,
+                m[2].x()*k,m[2].y()*k,m[2].z()*k);
+}
+
+ SIMD_FORCE_INLINE btMatrix3x3 
+operator+(const btMatrix3x3& m1, const btMatrix3x3& m2)
+{
+        return btMatrix3x3(
+        m1[0][0]+m2[0][0], 
+        m1[0][1]+m2[0][1],
+        m1[0][2]+m2[0][2],
+        m1[1][0]+m2[1][0], 
+        m1[1][1]+m2[1][1],
+        m1[1][2]+m2[1][2],
+        m1[2][0]+m2[2][0], 
+        m1[2][1]+m2[2][1],
+        m1[2][2]+m2[2][2]);
+}
+
+SIMD_FORCE_INLINE btMatrix3x3 
+operator-(const btMatrix3x3& m1, const btMatrix3x3& m2)
+{
+        return btMatrix3x3(
+        m1[0][0]-m2[0][0], 
+        m1[0][1]-m2[0][1],
+        m1[0][2]-m2[0][2],
+        m1[1][0]-m2[1][0], 
+        m1[1][1]-m2[1][1],
+        m1[1][2]-m2[1][2],
+        m1[2][0]-m2[2][0], 
+        m1[2][1]-m2[2][1],
+        m1[2][2]-m2[2][2]);
+}
+
+
+SIMD_FORCE_INLINE btMatrix3x3& 
+btMatrix3x3::operator-=(const btMatrix3x3& m)
+{
+        setValue(
+        m_el[0][0]-m.m_el[0][0], 
+        m_el[0][1]-m.m_el[0][1],
+        m_el[0][2]-m.m_el[0][2],
+        m_el[1][0]-m.m_el[1][0], 
+        m_el[1][1]-m.m_el[1][1],
+        m_el[1][2]-m.m_el[1][2],
+        m_el[2][0]-m.m_el[2][0], 
+        m_el[2][1]-m.m_el[2][1],
+        m_el[2][2]-m.m_el[2][2]);
+        return *this;
+}
+
+
 SIMD_FORCE_INLINE btScalar 
 btMatrix3x3::determinant() const