/usr/include/bullet/Bullet3Common/shared/b3Mat3x3.h is in libbullet-dev 2.87+dfsg-2.
This file is owned by root:root, with mode 0o644.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 | #ifndef B3_MAT3x3_H
#define B3_MAT3x3_H
#include "Bullet3Common/shared/b3Quat.h"
#ifdef __cplusplus
#include "Bullet3Common/b3Matrix3x3.h"
#define b3Mat3x3 b3Matrix3x3
#define b3Mat3x3ConstArg const b3Matrix3x3&
inline b3Mat3x3 b3QuatGetRotationMatrix(b3QuatConstArg quat)
{
return b3Mat3x3(quat);
}
inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg mat)
{
return mat.absolute();
}
#define b3GetRow(m,row) m.getRow(row)
__inline
b3Float4 mtMul3(b3Float4ConstArg a, b3Mat3x3ConstArg b)
{
return b*a;
}
#else
typedef struct
{
b3Float4 m_row[3];
}b3Mat3x3;
#define b3Mat3x3ConstArg const b3Mat3x3
#define b3GetRow(m,row) (m.m_row[row])
inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)
{
b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);
b3Mat3x3 out;
out.m_row[0].x=1-2*quat2.y-2*quat2.z;
out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;
out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;
out.m_row[0].w = 0.f;
out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;
out.m_row[1].y=1-2*quat2.x-2*quat2.z;
out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;
out.m_row[1].w = 0.f;
out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;
out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;
out.m_row[2].z=1-2*quat2.x-2*quat2.y;
out.m_row[2].w = 0.f;
return out;
}
inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)
{
b3Mat3x3 out;
out.m_row[0] = fabs(matIn.m_row[0]);
out.m_row[1] = fabs(matIn.m_row[1]);
out.m_row[2] = fabs(matIn.m_row[2]);
return out;
}
__inline
b3Mat3x3 mtZero();
__inline
b3Mat3x3 mtIdentity();
__inline
b3Mat3x3 mtTranspose(b3Mat3x3 m);
__inline
b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);
__inline
b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);
__inline
b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);
__inline
b3Mat3x3 mtZero()
{
b3Mat3x3 m;
m.m_row[0] = (b3Float4)(0.f);
m.m_row[1] = (b3Float4)(0.f);
m.m_row[2] = (b3Float4)(0.f);
return m;
}
__inline
b3Mat3x3 mtIdentity()
{
b3Mat3x3 m;
m.m_row[0] = (b3Float4)(1,0,0,0);
m.m_row[1] = (b3Float4)(0,1,0,0);
m.m_row[2] = (b3Float4)(0,0,1,0);
return m;
}
__inline
b3Mat3x3 mtTranspose(b3Mat3x3 m)
{
b3Mat3x3 out;
out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);
out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);
out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);
return out;
}
__inline
b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)
{
b3Mat3x3 transB;
transB = mtTranspose( b );
b3Mat3x3 ans;
// why this doesn't run when 0ing in the for{}
a.m_row[0].w = 0.f;
a.m_row[1].w = 0.f;
a.m_row[2].w = 0.f;
for(int i=0; i<3; i++)
{
// a.m_row[i].w = 0.f;
ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);
ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);
ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);
ans.m_row[i].w = 0.f;
}
return ans;
}
__inline
b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)
{
b3Float4 ans;
ans.x = b3Dot3F4( a.m_row[0], b );
ans.y = b3Dot3F4( a.m_row[1], b );
ans.z = b3Dot3F4( a.m_row[2], b );
ans.w = 0.f;
return ans;
}
__inline
b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)
{
b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
b3Float4 ans;
ans.x = b3Dot3F4( a, colx );
ans.y = b3Dot3F4( a, coly );
ans.z = b3Dot3F4( a, colz );
return ans;
}
#endif
#endif //B3_MAT3x3_H
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