From 134f86e8d5c414409631b25b8c6f0ee45fbd8631 Mon Sep 17 00:00:00 2001 From: David Walter Seikel Date: Thu, 3 Nov 2016 21:44:39 +1000 Subject: Initial update to OpenSim 0.8.2.1 source code. --- .../ConvexDecompositionDotNet/float3x3.cs | 195 +++++++++++++++++++++ 1 file changed, 195 insertions(+) create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs (limited to 'OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs') diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs new file mode 100644 index 0000000..c420fde --- /dev/null +++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs @@ -0,0 +1,195 @@ +/* The MIT License + * + * Copyright (c) 2010 Intel Corporation. + * All rights reserved. + * + * Based on the convexdecomposition library from + * 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.PhysicsModule.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; + } + } +} -- cgit v1.1