b7901c773c
Stop include Bullet headers using `-isystem` for GCC/Clang as it misleads SCons into not properly rebuilding all files when headers change. This means we also need to make sure Bullet builds without warning, and current version fares fairly well, there were just a couple to fix (patch included). Increase minimum version for distro packages to 2.90 (this was never released as the "next" version after 2.89 was 3.05... but that covers it too).
171 lines
4.4 KiB
C++
171 lines
4.4 KiB
C++
//
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// btReducedVector.cpp
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// LinearMath
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//
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// Created by Xuchen Han on 4/4/20.
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//
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#include <stdio.h>
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#include "btReducedVector.h"
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#include <cmath>
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// returns the projection of this onto other
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btReducedVector btReducedVector::proj(const btReducedVector& other) const
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{
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btReducedVector ret(m_sz);
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btScalar other_length2 = other.length2();
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if (other_length2 < SIMD_EPSILON)
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{
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return ret;
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}
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return other*(this->dot(other))/other_length2;
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}
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void btReducedVector::normalize()
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{
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if (this->length2() < SIMD_EPSILON)
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{
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m_indices.clear();
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m_vecs.clear();
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return;
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}
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*this /= std::sqrt(this->length2());
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}
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bool btReducedVector::testAdd() const
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{
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int sz = 5;
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btAlignedObjectArray<int> id1;
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id1.push_back(1);
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id1.push_back(3);
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btAlignedObjectArray<btVector3> v1;
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v1.push_back(btVector3(1,0,1));
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v1.push_back(btVector3(3,1,5));
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btAlignedObjectArray<int> id2;
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id2.push_back(2);
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id2.push_back(3);
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id2.push_back(5);
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btAlignedObjectArray<btVector3> v2;
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v2.push_back(btVector3(2,3,1));
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v2.push_back(btVector3(3,4,9));
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v2.push_back(btVector3(0,4,0));
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btAlignedObjectArray<int> id3;
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id3.push_back(1);
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id3.push_back(2);
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id3.push_back(3);
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id3.push_back(5);
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btAlignedObjectArray<btVector3> v3;
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v3.push_back(btVector3(1,0,1));
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v3.push_back(btVector3(2,3,1));
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v3.push_back(btVector3(6,5,14));
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v3.push_back(btVector3(0,4,0));
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btReducedVector rv1(sz, id1, v1);
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btReducedVector rv2(sz, id2, v2);
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btReducedVector ans(sz, id3, v3);
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bool ret = ((ans == rv1+rv2) && (ans == rv2+rv1));
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if (!ret)
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printf("btReducedVector testAdd failed\n");
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return ret;
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}
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bool btReducedVector::testMinus() const
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{
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int sz = 5;
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btAlignedObjectArray<int> id1;
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id1.push_back(1);
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id1.push_back(3);
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btAlignedObjectArray<btVector3> v1;
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v1.push_back(btVector3(1,0,1));
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v1.push_back(btVector3(3,1,5));
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btAlignedObjectArray<int> id2;
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id2.push_back(2);
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id2.push_back(3);
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id2.push_back(5);
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btAlignedObjectArray<btVector3> v2;
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v2.push_back(btVector3(2,3,1));
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v2.push_back(btVector3(3,4,9));
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v2.push_back(btVector3(0,4,0));
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btAlignedObjectArray<int> id3;
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id3.push_back(1);
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id3.push_back(2);
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id3.push_back(3);
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id3.push_back(5);
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btAlignedObjectArray<btVector3> v3;
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v3.push_back(btVector3(-1,-0,-1));
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v3.push_back(btVector3(2,3,1));
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v3.push_back(btVector3(0,3,4));
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v3.push_back(btVector3(0,4,0));
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btReducedVector rv1(sz, id1, v1);
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btReducedVector rv2(sz, id2, v2);
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btReducedVector ans(sz, id3, v3);
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bool ret = (ans == rv2-rv1);
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if (!ret)
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printf("btReducedVector testMinus failed\n");
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return ret;
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}
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bool btReducedVector::testDot() const
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{
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int sz = 5;
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btAlignedObjectArray<int> id1;
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id1.push_back(1);
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id1.push_back(3);
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btAlignedObjectArray<btVector3> v1;
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v1.push_back(btVector3(1,0,1));
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v1.push_back(btVector3(3,1,5));
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btAlignedObjectArray<int> id2;
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id2.push_back(2);
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id2.push_back(3);
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id2.push_back(5);
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btAlignedObjectArray<btVector3> v2;
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v2.push_back(btVector3(2,3,1));
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v2.push_back(btVector3(3,4,9));
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v2.push_back(btVector3(0,4,0));
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btReducedVector rv1(sz, id1, v1);
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btReducedVector rv2(sz, id2, v2);
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btScalar ans = 58;
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bool ret = (ans == rv2.dot(rv1) && ans == rv1.dot(rv2));
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ans = 14+16+9+16+81;
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ret &= (ans==rv2.dot(rv2));
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if (!ret)
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printf("btReducedVector testDot failed\n");
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return ret;
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}
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bool btReducedVector::testMultiply() const
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{
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int sz = 5;
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btAlignedObjectArray<int> id1;
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id1.push_back(1);
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id1.push_back(3);
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btAlignedObjectArray<btVector3> v1;
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v1.push_back(btVector3(1,0,1));
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v1.push_back(btVector3(3,1,5));
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btScalar s = 2;
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btReducedVector rv1(sz, id1, v1);
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btAlignedObjectArray<int> id2;
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id2.push_back(1);
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id2.push_back(3);
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btAlignedObjectArray<btVector3> v2;
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v2.push_back(btVector3(2,0,2));
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v2.push_back(btVector3(6,2,10));
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btReducedVector ans(sz, id2, v2);
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bool ret = (ans == rv1*s);
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if (!ret)
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printf("btReducedVector testMultiply failed\n");
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return ret;
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}
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void btReducedVector::test() const
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{
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bool ans = testAdd() && testMinus() && testDot() && testMultiply();
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if (ans)
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{
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printf("All tests passed\n");
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}
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else
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{
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printf("Tests failed\n");
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}
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}
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