534 lines
11 KiB
C++
534 lines
11 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///original version written by Erwin Coumans, October 2013
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#ifndef BT_MATRIX_X_H
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#define BT_MATRIX_X_H
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include <stdio.h>
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//#define BT_DEBUG_OSTREAM
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#ifdef BT_DEBUG_OSTREAM
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#include <iostream>
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#include <iomanip> // std::setw
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#endif //BT_DEBUG_OSTREAM
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class btIntSortPredicate
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{
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public:
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bool operator()(const int& a, const int& b) const
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{
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return a < b;
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}
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};
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template <typename T>
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struct btVectorX
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{
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btAlignedObjectArray<T> m_storage;
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btVectorX()
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{
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}
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btVectorX(int numRows)
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{
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m_storage.resize(numRows);
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}
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void resize(int rows)
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{
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m_storage.resize(rows);
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}
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int cols() const
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{
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return 1;
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}
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int rows() const
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{
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return m_storage.size();
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}
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int size() const
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{
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return rows();
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}
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T nrm2() const
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{
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T norm = T(0);
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int nn = rows();
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{
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if (nn == 1)
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{
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norm = btFabs((*this)[0]);
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}
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else
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{
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T scale = 0.0;
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T ssq = 1.0;
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/* The following loop is equivalent to this call to the LAPACK
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auxiliary routine: CALL SLASSQ( N, X, INCX, SCALE, SSQ ) */
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for (int ix = 0; ix < nn; ix++)
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{
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if ((*this)[ix] != 0.0)
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{
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T absxi = btFabs((*this)[ix]);
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if (scale < absxi)
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{
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T temp;
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temp = scale / absxi;
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ssq = ssq * (temp * temp) + BT_ONE;
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scale = absxi;
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}
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else
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{
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T temp;
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temp = absxi / scale;
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ssq += temp * temp;
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}
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}
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}
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norm = scale * sqrt(ssq);
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}
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}
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return norm;
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}
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void setZero()
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{
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if (m_storage.size())
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{
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// for (int i=0;i<m_storage.size();i++)
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// m_storage[i]=0;
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//memset(&m_storage[0],0,sizeof(T)*m_storage.size());
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btSetZero(&m_storage[0], m_storage.size());
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}
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}
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const T& operator[](int index) const
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{
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return m_storage[index];
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}
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T& operator[](int index)
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{
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return m_storage[index];
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}
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T* getBufferPointerWritable()
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{
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return m_storage.size() ? &m_storage[0] : 0;
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}
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const T* getBufferPointer() const
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{
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return m_storage.size() ? &m_storage[0] : 0;
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}
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};
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/*
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template <typename T>
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void setElem(btMatrixX<T>& mat, int row, int col, T val)
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{
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mat.setElem(row,col,val);
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}
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*/
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template <typename T>
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struct btMatrixX
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{
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int m_rows;
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int m_cols;
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int m_operations;
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int m_resizeOperations;
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int m_setElemOperations;
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btAlignedObjectArray<T> m_storage;
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mutable btAlignedObjectArray<btAlignedObjectArray<int> > m_rowNonZeroElements1;
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T* getBufferPointerWritable()
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{
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return m_storage.size() ? &m_storage[0] : 0;
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}
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const T* getBufferPointer() const
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{
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return m_storage.size() ? &m_storage[0] : 0;
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}
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btMatrixX()
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: m_rows(0),
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m_cols(0),
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m_operations(0),
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m_resizeOperations(0),
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m_setElemOperations(0)
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{
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}
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btMatrixX(int rows, int cols)
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: m_rows(rows),
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m_cols(cols),
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m_operations(0),
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m_resizeOperations(0),
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m_setElemOperations(0)
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{
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resize(rows, cols);
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}
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void resize(int rows, int cols)
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{
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m_resizeOperations++;
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m_rows = rows;
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m_cols = cols;
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{
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BT_PROFILE("m_storage.resize");
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m_storage.resize(rows * cols);
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}
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}
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int cols() const
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{
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return m_cols;
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}
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int rows() const
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{
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return m_rows;
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}
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///we don't want this read/write operator(), because we cannot keep track of non-zero elements, use setElem instead
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/*T& operator() (int row,int col)
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{
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return m_storage[col*m_rows+row];
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}
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*/
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void addElem(int row, int col, T val)
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{
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if (val)
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{
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if (m_storage[col + row * m_cols] == 0.f)
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{
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setElem(row, col, val);
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}
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else
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{
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m_storage[row * m_cols + col] += val;
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}
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}
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}
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void setElem(int row, int col, T val)
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{
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m_setElemOperations++;
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m_storage[row * m_cols + col] = val;
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}
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void mulElem(int row, int col, T val)
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{
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m_setElemOperations++;
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//mul doesn't change sparsity info
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m_storage[row * m_cols + col] *= val;
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}
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void copyLowerToUpperTriangle()
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{
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int count = 0;
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for (int row = 0; row < rows(); row++)
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{
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for (int col = 0; col < row; col++)
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{
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setElem(col, row, (*this)(row, col));
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count++;
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}
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}
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//printf("copyLowerToUpperTriangle copied %d elements out of %dx%d=%d\n", count,rows(),cols(),cols()*rows());
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}
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const T& operator()(int row, int col) const
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{
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return m_storage[col + row * m_cols];
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}
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void setZero()
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{
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{
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BT_PROFILE("storage=0");
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if (m_storage.size())
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{
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btSetZero(&m_storage[0], m_storage.size());
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}
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//memset(&m_storage[0],0,sizeof(T)*m_storage.size());
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//for (int i=0;i<m_storage.size();i++)
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// m_storage[i]=0;
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}
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}
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void setIdentity()
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{
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btAssert(rows() == cols());
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setZero();
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for (int row = 0; row < rows(); row++)
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{
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setElem(row, row, 1);
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}
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}
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void printMatrix(const char* msg) const
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{
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printf("%s ---------------------\n", msg);
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for (int i = 0; i < rows(); i++)
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{
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printf("\n");
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for (int j = 0; j < cols(); j++)
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{
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printf("%2.1f\t", (*this)(i, j));
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}
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}
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printf("\n---------------------\n");
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}
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void rowComputeNonZeroElements() const
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{
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m_rowNonZeroElements1.resize(rows());
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for (int i = 0; i < rows(); i++)
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{
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m_rowNonZeroElements1[i].resize(0);
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for (int j = 0; j < cols(); j++)
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{
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if ((*this)(i, j) != 0.f)
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{
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m_rowNonZeroElements1[i].push_back(j);
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}
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}
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}
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}
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btMatrixX transpose() const
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{
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//transpose is optimized for sparse matrices
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btMatrixX tr(m_cols, m_rows);
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tr.setZero();
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for (int i = 0; i < m_cols; i++)
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for (int j = 0; j < m_rows; j++)
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{
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T v = (*this)(j, i);
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if (v)
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{
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tr.setElem(i, j, v);
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}
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}
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return tr;
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}
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btMatrixX operator*(const btMatrixX& other)
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{
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//btMatrixX*btMatrixX implementation, brute force
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btAssert(cols() == other.rows());
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btMatrixX res(rows(), other.cols());
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res.setZero();
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// BT_PROFILE("btMatrixX mul");
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for (int i = 0; i < rows(); ++i)
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{
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{
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for (int j = 0; j < other.cols(); ++j)
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{
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T dotProd = 0;
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{
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{
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int r = rows();
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int c = cols();
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for (int k = 0; k < cols(); k++)
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{
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T w = (*this)(i, k);
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if (other(k, j) != 0.f)
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{
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dotProd += w * other(k, j);
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}
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}
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}
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}
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if (dotProd)
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res.setElem(i, j, dotProd);
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}
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}
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}
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return res;
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}
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// this assumes the 4th and 8th rows of B and C are zero.
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void multiplyAdd2_p8r(const btScalar* B, const btScalar* C, int numRows, int numRowsOther, int row, int col)
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{
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const btScalar* bb = B;
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for (int i = 0; i < numRows; i++)
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{
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const btScalar* cc = C;
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for (int j = 0; j < numRowsOther; j++)
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{
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btScalar sum;
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sum = bb[0] * cc[0];
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sum += bb[1] * cc[1];
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sum += bb[2] * cc[2];
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sum += bb[4] * cc[4];
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sum += bb[5] * cc[5];
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sum += bb[6] * cc[6];
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addElem(row + i, col + j, sum);
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cc += 8;
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}
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bb += 8;
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}
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}
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void multiply2_p8r(const btScalar* B, const btScalar* C, int numRows, int numRowsOther, int row, int col)
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{
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btAssert(numRows > 0 && numRowsOther > 0 && B && C);
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const btScalar* bb = B;
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for (int i = 0; i < numRows; i++)
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{
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const btScalar* cc = C;
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for (int j = 0; j < numRowsOther; j++)
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{
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btScalar sum;
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sum = bb[0] * cc[0];
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sum += bb[1] * cc[1];
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sum += bb[2] * cc[2];
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sum += bb[4] * cc[4];
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sum += bb[5] * cc[5];
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sum += bb[6] * cc[6];
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setElem(row + i, col + j, sum);
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cc += 8;
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}
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bb += 8;
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}
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}
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void setSubMatrix(int rowstart, int colstart, int rowend, int colend, const T value)
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{
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int numRows = rowend + 1 - rowstart;
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int numCols = colend + 1 - colstart;
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for (int row = 0; row < numRows; row++)
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{
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for (int col = 0; col < numCols; col++)
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{
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setElem(rowstart + row, colstart + col, value);
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}
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}
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}
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void setSubMatrix(int rowstart, int colstart, int rowend, int colend, const btMatrixX& block)
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{
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btAssert(rowend + 1 - rowstart == block.rows());
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btAssert(colend + 1 - colstart == block.cols());
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for (int row = 0; row < block.rows(); row++)
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{
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for (int col = 0; col < block.cols(); col++)
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{
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setElem(rowstart + row, colstart + col, block(row, col));
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}
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}
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}
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void setSubMatrix(int rowstart, int colstart, int rowend, int colend, const btVectorX<T>& block)
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{
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btAssert(rowend + 1 - rowstart == block.rows());
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btAssert(colend + 1 - colstart == block.cols());
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for (int row = 0; row < block.rows(); row++)
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{
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for (int col = 0; col < block.cols(); col++)
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{
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setElem(rowstart + row, colstart + col, block[row]);
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}
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}
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}
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btMatrixX negative()
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{
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btMatrixX neg(rows(), cols());
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for (int i = 0; i < rows(); i++)
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for (int j = 0; j < cols(); j++)
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{
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T v = (*this)(i, j);
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neg.setElem(i, j, -v);
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}
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return neg;
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}
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};
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typedef btMatrixX<float> btMatrixXf;
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typedef btVectorX<float> btVectorXf;
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typedef btMatrixX<double> btMatrixXd;
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typedef btVectorX<double> btVectorXd;
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#ifdef BT_DEBUG_OSTREAM
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template <typename T>
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std::ostream& operator<<(std::ostream& os, const btMatrixX<T>& mat)
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{
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os << " [";
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//printf("%s ---------------------\n",msg);
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for (int i = 0; i < mat.rows(); i++)
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{
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for (int j = 0; j < mat.cols(); j++)
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{
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os << std::setw(12) << mat(i, j);
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}
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if (i != mat.rows() - 1)
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os << std::endl
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<< " ";
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}
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os << " ]";
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//printf("\n---------------------\n");
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return os;
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}
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template <typename T>
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std::ostream& operator<<(std::ostream& os, const btVectorX<T>& mat)
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{
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os << " [";
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//printf("%s ---------------------\n",msg);
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for (int i = 0; i < mat.rows(); i++)
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{
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os << std::setw(12) << mat[i];
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if (i != mat.rows() - 1)
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os << std::endl
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<< " ";
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}
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os << " ]";
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//printf("\n---------------------\n");
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return os;
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}
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#endif //BT_DEBUG_OSTREAM
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inline void setElem(btMatrixXd& mat, int row, int col, double val)
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{
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mat.setElem(row, col, val);
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}
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inline void setElem(btMatrixXf& mat, int row, int col, float val)
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{
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mat.setElem(row, col, val);
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}
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#ifdef BT_USE_DOUBLE_PRECISION
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#define btVectorXu btVectorXd
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#define btMatrixXu btMatrixXd
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#else
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#define btVectorXu btVectorXf
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#define btMatrixXu btMatrixXf
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#endif //BT_USE_DOUBLE_PRECISION
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#endif //BT_MATRIX_H_H
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