1 files changed, 116 insertions, 0 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/LinearMath/MatrixOperations.cs b/libraries/ModifiedBulletX/ModifiedBulletX/LinearMath/MatrixOperations.cs
new file mode 100644
index 0000000..04e42d9
--- /dev/null
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/LinearMath/MatrixOperations.cs
@@ -0,0 +1,116 @@
+/*
+  Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
+  Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
+  This software is provided 'as-is', without any express or implied
+  warranty.  In no event will the authors be held liable for any damages
+  arising from the use of this software.
+  Permission is granted to anyone to use this software for any purpose,
+  including commercial applications, and to alter it and redistribute it
+  freely, subject to the following restrictions:
+  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.
+  2. Altered source versions must be plainly marked as such, and must not be
+     misrepresented as being the original software.
+  3. This notice may not be removed or altered from any source distribution.
+*/
+using System;
+using System.Collections.Generic;
+using System.Text;
+using MonoXnaCompactMaths;
+namespace XnaDevRu.BulletX
+{
+        internal static class MatrixOperations
+        {
+                public static void SetRotation(ref Matrix m, Quaternion q)
+                {
+                        float d = q.LengthSquared();
+                        BulletDebug.Assert(d != 0);
+                        float s = 2f / d;
+                        float xs = q.X * s, ys = q.Y * s, zs = q.Z * s;
+                        float wx = q.W * xs, wy = q.W * ys, wz = q.W * zs;
+                        float xx = q.X * xs, xy = q.X * ys, xz = q.X * zs;
+                        float yy = q.Y * ys, yz = q.Y * zs, zz = q.Z * zs;
+                        m = new Matrix(1 - (yy + zz), xy - wz, xz + wy, 0,
+                                                        xy + wz, 1 - (xx + zz), yz - wx, 0,
+                                                        xz - wy, yz + wx, 1 - (xx + yy), 0,
+                                                        m.M41, m.M42, m.M43, 1);
+                }
+                public static Quaternion GetRotation(Matrix m)
+                {
+                        Quaternion q = new Quaternion();
+                        float trace = m.M11 + m.M22 + m.M33;
+                        if (trace > 0)
+                        {
+                                float s = (float)Math.Sqrt(trace + 1);
+                                q.W = s * 0.5f;
+                                s = 0.5f / s;
+                                q.X = (m.M32 - m.M23) * s;
+                                q.Y = (m.M13 - m.M31) * s;
+                                q.Z = (m.M21 - m.M12) * s;
+                        }
+                        else
+                        {
+                                int i = m.M11 < m.M22 ?
+                                        (m.M22 < m.M33 ? 2 : 1) :
+                                        (m.M11 < m.M33 ? 2 : 0);
+                                int j = (i + 1) % 3;
+                                int k = (i + 2) % 3;
+                                float s = (float)Math.Sqrt(MathHelper.GetElement(m, i, i) - MathHelper.GetElement(m, j, j) - MathHelper.GetElement(m, k, k) + 1);
+                                MathHelper.SetElement(ref q, i, s * 0.5f);
+                                s = 0.5f / s;
+                                q.W = (MathHelper.GetElement(m, k, j) - MathHelper.GetElement(m, j, k)) * s;
+                                MathHelper.SetElement(ref q, j, (MathHelper.GetElement(m, j, i) + MathHelper.GetElement(m, i, j)) * s);
+                                MathHelper.SetElement(ref q, k, (MathHelper.GetElement(m, k, i) + MathHelper.GetElement(m, i, k)) * s);
+                        }
+                        return q;
+                }
+                public static Matrix Scaled(Matrix m, Vector3 v)
+                {
+                        return new Matrix(  m.M11 * v.X, m.M12 * v.Y, m.M13 * v.Z, 0,
+                                                                m.M21 * v.X, m.M22 * v.Y, m.M23 * v.Z, 0,
+                                                                m.M31 * v.X, m.M32 * v.Y, m.M33 * v.Z, 0,
+                                                                0, 0, 0, 1);
+                }
+                
+                public static Matrix Multiply(Matrix a, Matrix b)
+                {
+                        /*return btMatrix3x3(
+                        m2.tdot(0, m1[0]), m2.tdot(1, m1[0]), m2.tdot(2, m1[0]),
+                        m2.tdot(0, m1[1]), m2.tdot(1, m1[1]), m2.tdot(2, m1[1]),
+                        m2.tdot(0, m1[2]), m2.tdot(1, m1[2]), m2.tdot(2, m1[2]));*/
+                        return new Matrix(
+                                Dot(b, 0, MathHelper.GetRow(a, 1)), Dot(b, 1, MathHelper.GetRow(a, 1)), Dot(b, 2, MathHelper.GetRow(a, 1)), 0,
+                                Dot(b, 0, MathHelper.GetRow(a, 2)), Dot(b, 1, MathHelper.GetRow(a, 2)), Dot(b, 2, MathHelper.GetRow(a, 2)), 0,
+                                Dot(b, 0, MathHelper.GetRow(a, 3)), Dot(b, 1, MathHelper.GetRow(a, 3)), Dot(b, 2, MathHelper.GetRow(a, 3)), 0,
+                                0, 0, 0, 1);
+                }
+                public static float Dot(Matrix m, int c, Vector3 v) 
+                {
+                        return MathHelper.GetElement(m, 0, c) * v.X + MathHelper.GetElement(m, 1, c) * v.Y + MathHelper.GetElement(m, 2, c) * v.Z;
+                }
+                public static Matrix Transpose(Matrix m)
+                {
+                        return new Matrix(      m.M11, m.M21, m.M31, 0,
+                                                                m.M12, m.M22, m.M32, 0,
+                                                                m.M13, m.M23, m.M33, 0,
+                                                                0, 0, 0, 1);
+                }
+        }
+}

diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/LinearMath/MatrixOperations.cs b/libraries/ModifiedBulletX/ModifiedBulletX/LinearMath/MatrixOperations.cs new file mode 100644 index 0000000..04e42d9 --- /dev/null +++ b/libraries/ModifiedBulletX/ModifiedBulletX/LinearMath/MatrixOperations.cs
@@ -0,0 +1,116 @@
	1	/*
	2	Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
	3	Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
	4
	5	This software is provided 'as-is', without any express or implied
	6	warranty. In no event will the authors be held liable for any damages
	7	arising from the use of this software.
	8
	9	Permission is granted to anyone to use this software for any purpose,
	10	including commercial applications, and to alter it and redistribute it
	11	freely, subject to the following restrictions:
	12
	13	1. The origin of this software must not be misrepresented; you must not
	14	claim that you wrote the original software. If you use this software
	15	in a product, an acknowledgment in the product documentation would be
	16	appreciated but is not required.
	17	2. Altered source versions must be plainly marked as such, and must not be
	18	misrepresented as being the original software.
	19	3. This notice may not be removed or altered from any source distribution.
	20	*/
	21
	22	using System;
	23	using System.Collections.Generic;
	24	using System.Text;
	25	using MonoXnaCompactMaths;
	26
	27	namespace XnaDevRu.BulletX
	28	{
	29	internal static class MatrixOperations
	30	{
	31	public static void SetRotation(ref Matrix m, Quaternion q)
	32	{
	33	float d = q.LengthSquared();
	34	BulletDebug.Assert(d != 0);
	35	float s = 2f / d;
	36	float xs = q.X * s, ys = q.Y * s, zs = q.Z * s;
	37	float wx = q.W * xs, wy = q.W * ys, wz = q.W * zs;
	38	float xx = q.X * xs, xy = q.X * ys, xz = q.X * zs;
	39	float yy = q.Y * ys, yz = q.Y * zs, zz = q.Z * zs;
	40	m = new Matrix(1 - (yy + zz), xy - wz, xz + wy, 0,
	41	xy + wz, 1 - (xx + zz), yz - wx, 0,
	42	xz - wy, yz + wx, 1 - (xx + yy), 0,
	43	m.M41, m.M42, m.M43, 1);
	44	}
	45
	46	public static Quaternion GetRotation(Matrix m)
	47	{
	48	Quaternion q = new Quaternion();
	49
	50	float trace = m.M11 + m.M22 + m.M33;
	51
	52	if (trace > 0)
	53	{
	54	float s = (float)Math.Sqrt(trace + 1);
	55	q.W = s * 0.5f;
	56	s = 0.5f / s;
	57
	58	q.X = (m.M32 - m.M23) * s;
	59	q.Y = (m.M13 - m.M31) * s;
	60	q.Z = (m.M21 - m.M12) * s;
	61	}
	62	else
	63	{
	64	int i = m.M11 < m.M22 ?
	65	(m.M22 < m.M33 ? 2 : 1) :
	66	(m.M11 < m.M33 ? 2 : 0);
	67	int j = (i + 1) % 3;
	68	int k = (i + 2) % 3;
	69
	70	float s = (float)Math.Sqrt(MathHelper.GetElement(m, i, i) - MathHelper.GetElement(m, j, j) - MathHelper.GetElement(m, k, k) + 1);
	71	MathHelper.SetElement(ref q, i, s * 0.5f);
	72	s = 0.5f / s;
	73
	74	q.W = (MathHelper.GetElement(m, k, j) - MathHelper.GetElement(m, j, k)) * s;
	75	MathHelper.SetElement(ref q, j, (MathHelper.GetElement(m, j, i) + MathHelper.GetElement(m, i, j)) * s);
	76	MathHelper.SetElement(ref q, k, (MathHelper.GetElement(m, k, i) + MathHelper.GetElement(m, i, k)) * s);
	77	}
	78
	79	return q;
	80	}
	81
	82	public static Matrix Scaled(Matrix m, Vector3 v)
	83	{
	84	return new Matrix( m.M11 * v.X, m.M12 * v.Y, m.M13 * v.Z, 0,
	85	m.M21 * v.X, m.M22 * v.Y, m.M23 * v.Z, 0,
	86	m.M31 * v.X, m.M32 * v.Y, m.M33 * v.Z, 0,
	87	0, 0, 0, 1);
	88	}
	89
	90	public static Matrix Multiply(Matrix a, Matrix b)
	91	{
	92	/*return btMatrix3x3(
	93	m2.tdot(0, m1[0]), m2.tdot(1, m1[0]), m2.tdot(2, m1[0]),
	94	m2.tdot(0, m1[1]), m2.tdot(1, m1[1]), m2.tdot(2, m1[1]),
	95	m2.tdot(0, m1[2]), m2.tdot(1, m1[2]), m2.tdot(2, m1[2]));*/
	96	return new Matrix(
	97	Dot(b, 0, MathHelper.GetRow(a, 1)), Dot(b, 1, MathHelper.GetRow(a, 1)), Dot(b, 2, MathHelper.GetRow(a, 1)), 0,
	98	Dot(b, 0, MathHelper.GetRow(a, 2)), Dot(b, 1, MathHelper.GetRow(a, 2)), Dot(b, 2, MathHelper.GetRow(a, 2)), 0,
	99	Dot(b, 0, MathHelper.GetRow(a, 3)), Dot(b, 1, MathHelper.GetRow(a, 3)), Dot(b, 2, MathHelper.GetRow(a, 3)), 0,
	100	0, 0, 0, 1);
	101	}
	102
	103	public static float Dot(Matrix m, int c, Vector3 v)
	104	{
	105	return MathHelper.GetElement(m, 0, c) * v.X + MathHelper.GetElement(m, 1, c) * v.Y + MathHelper.GetElement(m, 2, c) * v.Z;
	106	}
	107
	108	public static Matrix Transpose(Matrix m)
	109	{
	110	return new Matrix( m.M11, m.M21, m.M31, 0,
	111	m.M12, m.M22, m.M32, 0,
	112	m.M13, m.M23, m.M33, 0,
	113	0, 0, 0, 1);
	114	}
	115	}
	116	}