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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
module ode.odemath;
import ode.common;
/+
/*
* macro to access elements i,j in an NxM matrix A, independent of the
* matrix storage convention.
*/
#define dACCESS33(A,i,j) ((A)[(i)*4+(j)])
/*
* 3-way dot product. dDOTpq means that elements of `a' and `b' are spaced
* p and q indexes apart respectively. dDOT() means dDOT11.
* in C++ we could use function templates to get all the versions of these
* functions - but on some compilers this will result in sub-optimal code.
*/
#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
#define dDOT(a,b) dDOTpq(a,b,1,1)
#define dDOT13(a,b) dDOTpq(a,b,1,3)
#define dDOT31(a,b) dDOTpq(a,b,3,1)
#define dDOT33(a,b) dDOTpq(a,b,3,3)
#define dDOT14(a,b) dDOTpq(a,b,1,4)
#define dDOT41(a,b) dDOTpq(a,b,4,1)
#define dDOT44(a,b) dDOTpq(a,b,4,4)
/*
* cross product, set a = b x c. dCROSSpqr means that elements of `a', `b'
* and `c' are spaced p, q and r indexes apart respectively.
* dCROSS() means dCROSS111. `op' is normally `=', but you can set it to
* +=, -= etc to get other effects.
*/
#define dCROSS(a,op,b,c) \
(a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
(a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
(a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]);
#define dCROSSpqr(a,op,b,c,p,q,r) \
(a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \
(a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \
(a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]);
#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4)
#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1)
#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4)
#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1)
#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4)
#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1)
#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4)
/*
* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
* A is stored by rows, and has `skip' elements per row. the matrix is
* assumed to be already zero, so this does not write zero elements!
* if (plus,minus) is (+,-) then a positive version will be written.
* if (plus,minus) is (-,+) then a negative version will be written.
*/
#define dCROSSMAT(A,a,skip,plus,minus) \
(A)[1] = minus (a)[2]; \
(A)[2] = plus (a)[1]; \
(A)[(skip)+0] = plus (a)[2]; \
(A)[(skip)+2] = minus (a)[0]; \
(A)[2*(skip)+0] = minus (a)[1]; \
(A)[2*(skip)+1] = plus (a)[0];
/*
* compute the distance between two 3-vectors
*/
#define dDISTANCE(a,b) \
(dSqrt( ((a)[0]-(b)[0])*((a)[0]-(b)[0]) + ((a)[1]-(b)[1])*((a)[1]-(b)[1]) + ((a)[2]-(b)[2])*((a)[2]-(b)[2]) ))
/*
* special case matrix multipication, with operator selection
*/
#define dMULTIPLYOP0_331(A,op,B,C) \
(A)[0] op dDOT((B),(C)); \
(A)[1] op dDOT((B+4),(C)); \
(A)[2] op dDOT((B+8),(C));
#define dMULTIPLYOP1_331(A,op,B,C) \
(A)[0] op dDOT41((B),(C)); \
(A)[1] op dDOT41((B+1),(C)); \
(A)[2] op dDOT41((B+2),(C));
#define dMULTIPLYOP0_133(A,op,B,C) \
(A)[0] op dDOT14((B),(C)); \
(A)[1] op dDOT14((B),(C+1)); \
(A)[2] op dDOT14((B),(C+2));
#define dMULTIPLYOP0_333(A,op,B,C) \
(A)[0] op dDOT14((B),(C)); \
(A)[1] op dDOT14((B),(C+1)); \
(A)[2] op dDOT14((B),(C+2)); \
(A)[4] op dDOT14((B+4),(C)); \
(A)[5] op dDOT14((B+4),(C+1)); \
(A)[6] op dDOT14((B+4),(C+2)); \
(A)[8] op dDOT14((B+8),(C)); \
(A)[9] op dDOT14((B+8),(C+1)); \
(A)[10] op dDOT14((B+8),(C+2));
#define dMULTIPLYOP1_333(A,op,B,C) \
(A)[0] op dDOT44((B),(C)); \
(A)[1] op dDOT44((B),(C+1)); \
(A)[2] op dDOT44((B),(C+2)); \
(A)[4] op dDOT44((B+1),(C)); \
(A)[5] op dDOT44((B+1),(C+1)); \
(A)[6] op dDOT44((B+1),(C+2)); \
(A)[8] op dDOT44((B+2),(C)); \
(A)[9] op dDOT44((B+2),(C+1)); \
(A)[10] op dDOT44((B+2),(C+2));
#define dMULTIPLYOP2_333(A,op,B,C) \
(A)[0] op dDOT((B),(C)); \
(A)[1] op dDOT((B),(C+4)); \
(A)[2] op dDOT((B),(C+8)); \
(A)[4] op dDOT((B+4),(C)); \
(A)[5] op dDOT((B+4),(C+4)); \
(A)[6] op dDOT((B+4),(C+8)); \
(A)[8] op dDOT((B+8),(C)); \
(A)[9] op dDOT((B+8),(C+4)); \
(A)[10] op dDOT((B+8),(C+8));
#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C)
#define dMULTIPLY0_133(A,B,C) dMULTIPLYOP0_133(A,=,B,C)
#define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
#define dMULTIPLY1_333(A,B,C) dMULTIPLYOP1_333(A,=,B,C)
#define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C)
#define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C)
#define dMULTIPLYADD1_331(A,B,C) dMULTIPLYOP1_331(A,+=,B,C)
#define dMULTIPLYADD0_133(A,B,C) dMULTIPLYOP0_133(A,+=,B,C)
#define dMULTIPLYADD0_333(A,B,C) dMULTIPLYOP0_333(A,+=,B,C)
#define dMULTIPLYADD1_333(A,B,C) dMULTIPLYOP1_333(A,+=,B,C)
#define dMULTIPLYADD2_333(A,B,C) dMULTIPLYOP2_333(A,+=,B,C)
+/
extern(C):
/*
* normalize 3x1 and 4x1 vectors (i.e. scale them to unit length)
*/
void dNormalize3 (ref dVector3 a);
void dNormalize4 (ref dVector4 a);
/*
* given a unit length "normal" vector n, generate vectors p and q vectors
* that are an orthonormal basis for the plane space perpendicular to n.
* i.e. this makes p,q such that n,p,q are all perpendicular to each other.
* q will equal n x p. if n is not unit length then p will be unit length but
* q wont be.
*/
void dPlaneSpace (ref dVector3 n, ref dVector3 p, ref dVector3 q);
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