* Adjustment: Initial CMake reworking.

Engine/lib/bullet/examples/ThirdPartyLibs/BussIK/Misc.cpp

@@ -0,0 +1,153 @@
+/*
+*
+* Mathematics Subpackage (VrMath)
+*
+*
+* Author: Samuel R. Buss, sbuss@ucsd.edu.
+* Web page: http://math.ucsd.edu/~sbuss/MathCG
+*
+*
+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.
+*
+*
+*/
+
+#include <math.h>
+#include "LinearR3.h"
+
+
+
+/****************************************************************
+							 Axes 
+*****************************************************************/
+static float xx[] = {
+		0., 1., 0., 1.
+	      };
+
+static float xy[] = {
+		-.5, .5, .5, -.5
+	      };
+
+static int xorder[] = {
+		1, 2, -3, 4
+		};
+
+
+static float yx[] = {
+		0., 0., -.5, .5
+	      };
+
+static float yy[] = {
+		0.f, .6f, 1.f, 1.f
+	      };
+
+static int yorder[] = {
+		1, 2, 3, -2, 4
+		};
+
+
+static float zx[] = {
+		1., 0., 1., 0., .25, .75
+	      };
+
+static float zy[] = {
+		.5, .5, -.5, -.5, 0., 0.
+	      };
+
+static int zorder[] = {
+		1, 2, 3, 4, -5, 6
+		};
+
+#define LENFRAC		0.10
+#define BASEFRAC	1.10
+
+
+/****************************************************************
+							 Arrow 
+*****************************************************************/
+
+/* size of wings as fraction of length:					*/
+
+#define WINGS	0.10
+
+
+/* axes:								*/
+
+#define X	1
+#define Y	2
+#define Z	3
+
+
+/* x, y, z, axes:							*/
+
+static float axx[3] = { 1., 0., 0. };
+static float ayy[3] = { 0., 1., 0. };
+static float azz[3] = { 0., 0., 1. };
+
+
+
+/* function declarations:						*/
+
+void	cross( float [3], float [3], float [3] );
+float	dot( float [3], float [3] );
+float	unit( float [3], float [3] );
+
+
+
+
+
+float dot( float v1[3], float v2[3] )
+{
+	return( v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2] );
+}
+
+
+
+void
+cross( float v1[3], float v2[3], float vout[3] )
+{
+	float tmp[3];
+
+	tmp[0] = v1[1]*v2[2] - v2[1]*v1[2];
+	tmp[1] = v2[0]*v1[2] - v1[0]*v2[2];
+	tmp[2] = v1[0]*v2[1] - v2[0]*v1[1];
+
+	vout[0] = tmp[0];
+	vout[1] = tmp[1];
+	vout[2] = tmp[2];
+}
+
+
+
+float
+unit( float vin[3], float vout[3] )
+{
+	float dist, f ;
+
+	dist = vin[0]*vin[0] + vin[1]*vin[1] + vin[2]*vin[2];
+
+	if( dist > 0.0 )
+	{
+		dist = sqrt( dist );
+		f = 1. / dist;
+		vout[0] = f * vin[0];
+		vout[1] = f * vin[1];
+		vout[2] = f * vin[2];
+	}
+	else
+	{
+		vout[0] = vin[0];
+		vout[1] = vin[1];
+		vout[2] = vin[2];
+	}
+
+	return( dist );
+}