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@@ -4,8 +4,8 @@ Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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-Permission is granted to anyone to use this software for any purpose,
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-including commercial applications, and to alter it and redistribute it freely,
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+Permission is granted to anyone to use this software for any purpose,
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+including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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@@ -196,14 +196,7 @@ struct btMatrixX
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m_storage.resize(rows * cols);
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}
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}
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- int cols() const
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- {
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- return m_cols;
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- }
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- int rows() const
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- {
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- return m_rows;
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- }
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+
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///we don't want this read/write operator(), because we cannot keep track of non-zero elements, use setElem instead
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/*T& operator() (int row,int col)
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{
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@@ -243,7 +236,7 @@ struct btMatrixX
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void copyLowerToUpperTriangle()
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{
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int count = 0;
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- for (int row = 0; row < rows(); row++)
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+ for (int row = 0; row < m_rows; row++)
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{
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for (int col = 0; col < row; col++)
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{
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@@ -251,7 +244,7 @@ struct btMatrixX
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count++;
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}
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}
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- //printf("copyLowerToUpperTriangle copied %d elements out of %dx%d=%d\n", count,rows(),cols(),cols()*rows());
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+ //printf("copyLowerToUpperTriangle copied %d elements out of %dx%d=%d\n", count,m_rows,m_cols,m_cols*m_rows);
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}
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const T& operator()(int row, int col) const
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@@ -275,10 +268,10 @@ struct btMatrixX
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void setIdentity()
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{
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- btAssert(rows() == cols());
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+ btAssert(m_rows == m_cols);
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setZero();
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- for (int row = 0; row < rows(); row++)
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+ for (int row = 0; row < m_rows; row++)
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{
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setElem(row, row, 1);
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}
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@@ -287,10 +280,10 @@ struct btMatrixX
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void printMatrix(const char* msg) const
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{
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printf("%s ---------------------\n", msg);
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- for (int i = 0; i < rows(); i++)
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+ for (int i = 0; i < m_rows; i++)
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{
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printf("\n");
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- for (int j = 0; j < cols(); j++)
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+ for (int j = 0; j < m_cols; j++)
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{
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printf("%2.1f\t", (*this)(i, j));
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}
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@@ -300,11 +293,11 @@ struct btMatrixX
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void rowComputeNonZeroElements() const
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{
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- m_rowNonZeroElements1.resize(rows());
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- for (int i = 0; i < rows(); i++)
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+ m_rowNonZeroElements1.resize(m_rows);
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+ for (int i = 0; i < m_rows; i++)
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{
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m_rowNonZeroElements1[i].resize(0);
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- for (int j = 0; j < cols(); j++)
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+ for (int j = 0; j < m_cols; j++)
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{
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if ((*this)(i, j) != 0.f)
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{
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@@ -333,20 +326,20 @@ struct btMatrixX
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btMatrixX operator*(const btMatrixX& other)
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{
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//btMatrixX*btMatrixX implementation, brute force
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- btAssert(cols() == other.rows());
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+ btAssert(m_cols == other.m_rows);
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- btMatrixX res(rows(), other.cols());
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+ btMatrixX res(m_rows, other.m_cols);
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res.setZero();
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// BT_PROFILE("btMatrixX mul");
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- for (int i = 0; i < rows(); ++i)
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+ for (int i = 0; i < m_rows; ++i)
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{
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{
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- for (int j = 0; j < other.cols(); ++j)
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+ for (int j = 0; j < other.m_cols; ++j)
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{
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T dotProd = 0;
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{
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{
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- int c = cols();
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+ int c = m_cols;
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for (int k = 0; k < c; k++)
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{
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@@ -428,11 +421,11 @@ struct btMatrixX
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void setSubMatrix(int rowstart, int colstart, int rowend, int colend, const btMatrixX& block)
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{
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- btAssert(rowend + 1 - rowstart == block.rows());
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- btAssert(colend + 1 - colstart == block.cols());
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- for (int row = 0; row < block.rows(); row++)
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+ btAssert(rowend + 1 - rowstart == block.m_rows);
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+ btAssert(colend + 1 - colstart == block.m_cols);
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+ for (int row = 0; row < block.m_rows; row++)
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{
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- for (int col = 0; col < block.cols(); col++)
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+ for (int col = 0; col < block.m_cols; col++)
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{
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setElem(rowstart + row, colstart + col, block(row, col));
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}
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@@ -453,9 +446,9 @@ struct btMatrixX
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btMatrixX negative()
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{
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- btMatrixX neg(rows(), cols());
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- for (int i = 0; i < rows(); i++)
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- for (int j = 0; j < cols(); j++)
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+ btMatrixX neg(m_rows, m_cols);
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+ for (int i = 0; i < m_rows; i++)
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+ for (int j = 0; j < m_cols; j++)
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{
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T v = (*this)(i, j);
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neg.setElem(i, j, -v);
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@@ -476,13 +469,13 @@ std::ostream& operator<<(std::ostream& os, const btMatrixX<T>& mat)
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{
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os << " [";
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//printf("%s ---------------------\n",msg);
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- for (int i = 0; i < mat.rows(); i++)
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+ for (int i = 0; i < mat.m_rows; i++)
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{
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- for (int j = 0; j < mat.cols(); j++)
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+ for (int j = 0; j < mat.m_cols; j++)
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{
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os << std::setw(12) << mat(i, j);
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}
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- if (i != mat.rows() - 1)
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+ if (i != mat.m_rows - 1)
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os << std::endl
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<< " ";
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}
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Daniele Bartolini