BulletSim initial checkin

1 files changed, 195 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3x3.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3x3.cs
new file mode 100644
index 0000000..76cf063
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3x3.cs
@@ -0,0 +1,195 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class float3x3
+    {
+        public float3 x = new float3();
+        public float3 y = new float3();
+        public float3 z = new float3();
+
+        public float3x3()
+        {
+        }
+
+        public float3x3(float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz)
+        {
+            x = new float3(xx, xy, xz);
+            y = new float3(yx, yy, yz);
+            z = new float3(zx, zy, zz);
+        }
+
+        public float3x3(float3 _x, float3 _y, float3 _z)
+        {
+            x = new float3(_x);
+            y = new float3(_y);
+            z = new float3(_z);
+        }
+
+        public float3 this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public float this[int i, int j]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0:
+                        switch (j)
+                        {
+                            case 0: return x.x;
+                            case 1: return x.y;
+                            case 2: return x.z;
+                        }
+                        break;
+                    case 1:
+                        switch (j)
+                        {
+                            case 0: return y.x;
+                            case 1: return y.y;
+                            case 2: return y.z;
+                        }
+                        break;
+                    case 2:
+                        switch (j)
+                        {
+                            case 0: return z.x;
+                            case 1: return z.y;
+                            case 2: return z.z;
+                        }
+                        break;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+            set
+            {
+                switch (i)
+                {
+                    case 0:
+                        switch (j)
+                        {
+                            case 0: x.x = value; return;
+                            case 1: x.y = value; return;
+                            case 2: x.z = value; return;
+                        }
+                        break;
+                    case 1:
+                        switch (j)
+                        {
+                            case 0: y.x = value; return;
+                            case 1: y.y = value; return;
+                            case 2: y.z = value; return;
+                        }
+                        break;
+                    case 2:
+                        switch (j)
+                        {
+                            case 0: z.x = value; return;
+                            case 1: z.y = value; return;
+                            case 2: z.z = value; return;
+                        }
+                        break;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public static float3x3 Transpose(float3x3 m)
+        {
+            return new float3x3(new float3(m.x.x, m.y.x, m.z.x), new float3(m.x.y, m.y.y, m.z.y), new float3(m.x.z, m.y.z, m.z.z));
+        }
+
+        public static float3x3 operator *(float3x3 a, float3x3 b)
+        {
+            return new float3x3(a.x * b, a.y * b, a.z * b);
+        }
+
+        public static float3x3 operator *(float3x3 a, float s)
+        {
+            return new float3x3(a.x * s, a.y * s, a.z * s);
+        }
+
+        public static float3x3 operator /(float3x3 a, float s)
+        {
+            float t = 1f / s;
+            return new float3x3(a.x * t, a.y * t, a.z * t);
+        }
+
+        public static float3x3 operator +(float3x3 a, float3x3 b)
+        {
+            return new float3x3(a.x + b.x, a.y + b.y, a.z + b.z);
+        }
+
+        public static float3x3 operator -(float3x3 a, float3x3 b)
+        {
+            return new float3x3(a.x - b.x, a.y - b.y, a.z - b.z);
+        }
+
+        public static float Determinant(float3x3 m)
+        {
+            return m.x.x * m.y.y * m.z.z + m.y.x * m.z.y * m.x.z + m.z.x * m.x.y * m.y.z - m.x.x * m.z.y * m.y.z - m.y.x * m.x.y * m.z.z - m.z.x * m.y.y * m.x.z;
+        }
+
+        public static float3x3 Inverse(float3x3 a)
+        {
+            float3x3 b = new float3x3();
+            float d = Determinant(a);
+            Debug.Assert(d != 0);
+            for (int i = 0; i < 3; i++)
+            {
+                for (int j = 0; j < 3; j++)
+                {
+                    int i1 = (i + 1) % 3;
+                    int i2 = (i + 2) % 3;
+                    int j1 = (j + 1) % 3;
+                    int j2 = (j + 2) % 3;
+
+                    // reverse indexs i&j to take transpose
+                    b[i, j] = (a[i1][j1] * a[i2][j2] - a[i1][j2] * a[i2][j1]) / d;
+                }
+            }
+            return b;
+        }
+    }
+}