From 405a4b836de20f7d3effaf70f67e64a5c1db8b75 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 10 Jun 2016 19:58:46 +0200
Subject: [PATCH] Clean code and remove unused files.
---
CMakeLists.txt | 3 +-
include/hpp/fcl/ccd/interval_matrix.h | 4 -
include/hpp/fcl/ccd/interval_vector.h | 12 +-
include/hpp/fcl/ccd/taylor_vector.h | 18 +-
include/hpp/fcl/eigen/math_details.h | 767 -----------
.../fcl/eigen/plugins/ccd/interval-matrix.h | 0
.../fcl/eigen/plugins/ccd/interval-vector.h | 7 -
include/hpp/fcl/eigen/product.h | 39 -
include/hpp/fcl/eigen/taylor_operator.h | 25 -
include/hpp/fcl/eigen/vec_3fx.h | 770 -----------
include/hpp/fcl/math/math_details.h | 501 --------
include/hpp/fcl/math/matrix_3f.h | 22 -
include/hpp/fcl/math/matrix_3fx.h | 481 -------
include/hpp/fcl/math/tools.h | 26 -
include/hpp/fcl/math/vec_3f.h | 25 -
include/hpp/fcl/math/vec_3fx.h | 245 ----
include/hpp/fcl/simd/math_simd_details.h | 1143 -----------------
include/hpp/fcl/simd/simd_intersect.h | 243 ----
18 files changed, 24 insertions(+), 4307 deletions(-)
delete mode 100644 include/hpp/fcl/eigen/math_details.h
delete mode 100644 include/hpp/fcl/eigen/plugins/ccd/interval-matrix.h
delete mode 100644 include/hpp/fcl/eigen/plugins/ccd/interval-vector.h
delete mode 100644 include/hpp/fcl/eigen/product.h
delete mode 100644 include/hpp/fcl/eigen/taylor_operator.h
delete mode 100644 include/hpp/fcl/eigen/vec_3fx.h
delete mode 100644 include/hpp/fcl/math/math_details.h
delete mode 100644 include/hpp/fcl/math/matrix_3fx.h
delete mode 100644 include/hpp/fcl/math/vec_3fx.h
delete mode 100644 include/hpp/fcl/simd/math_simd_details.h
delete mode 100644 include/hpp/fcl/simd/simd_intersect.h
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d0e5356c..fa2b020f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -48,9 +48,8 @@ setup_project()
set(FCL_HAVE_SSE FALSE CACHE BOOL "Enable SSE vectorization")
-# add_optional_dependency("eigen3 >= 3.0.0")
add_required_dependency("eigen3 >= 3.0.0")
-set(FCL_HAVE_EIGEN TRUE CACHE BOOL "Use eigen matrix type when possible")
+set(FCL_HAVE_EIGEN TRUE)
include_directories(${EIGEN3_INCLUDE_DIRS})
# Required dependencies
diff --git a/include/hpp/fcl/ccd/interval_matrix.h b/include/hpp/fcl/ccd/interval_matrix.h
index 6ad14b0d..f828387a 100644
--- a/include/hpp/fcl/ccd/interval_matrix.h
+++ b/include/hpp/fcl/ccd/interval_matrix.h
@@ -99,10 +99,6 @@ struct IMatrix3
IMatrix3& rotationConstrain();
void print() const;
-
-#ifdef FCL_CCD_INTERVALMATRIX_PLUGIN
-# include FCL_CCD_INTERVALMATRIX_PLUGIN
-#endif
};
IMatrix3 rotationConstrain(const IMatrix3& m);
diff --git a/include/hpp/fcl/ccd/interval_vector.h b/include/hpp/fcl/ccd/interval_vector.h
index 7c1216b9..a996f041 100644
--- a/include/hpp/fcl/ccd/interval_vector.h
+++ b/include/hpp/fcl/ccd/interval_vector.h
@@ -157,9 +157,15 @@ struct IVector3
bool overlap(const IVector3& v) const;
bool contain(const IVector3& v) const;
-#ifdef FCL_CCD_INTERVALVECTOR_PLUGIN
-# include FCL_CCD_INTERVALVECTOR_PLUGIN
-#endif
+ template <typename Derived>
+ IVector3& operator=(const Eigen::MatrixBase<Derived>& other)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived, 3); \
+ setValue (other.derived());
+ // const Vec3f& tmp (other);
+ // setValue (tmp);
+ return *this;
+ }
};
IVector3 bound(const IVector3& i, const Vec3f& v);
diff --git a/include/hpp/fcl/ccd/taylor_vector.h b/include/hpp/fcl/ccd/taylor_vector.h
index be570a38..fedd6c11 100644
--- a/include/hpp/fcl/ccd/taylor_vector.h
+++ b/include/hpp/fcl/ccd/taylor_vector.h
@@ -40,10 +40,8 @@
#include <hpp/fcl/ccd/interval_vector.h>
#include <hpp/fcl/ccd/taylor_model.h>
-
-#if FCL_HAVE_EIGEN
-#include <hpp/fcl/eigen/taylor_operator.h>
-#endif
+#include <hpp/fcl/math/vec_3f.h>
+#include <hpp/fcl/math/matrix_3f.h>
namespace fcl
{
@@ -106,8 +104,20 @@ public:
const boost::shared_ptr<TimeInterval>& getTimeInterval() const;
};
+class TMatrix3;
+
void generateTVector3ForLinearFunc(TVector3& v, const Vec3f& position, const Vec3f& velocity);
+template<int Col> struct TaylorReturnType {};
+template<> struct TaylorReturnType<1> { typedef TVector3 type; typedef Vec3f eigen_type; };
+template<> struct TaylorReturnType<3> { typedef TMatrix3 type; typedef Matrix3f eigen_type; };
+
+template<typename Derived>
+typename TaylorReturnType<Derived::ColsAtCompileTime>::type operator * (const Eigen::MatrixBase<Derived>& v, const TaylorModel& a)
+{
+ const typename TaylorReturnType<Derived::ColsAtCompileTime>::eigen_type b = v.derived();
+ return b * a;
+}
TVector3 operator * (const Vec3f& v, const TaylorModel& a);
TVector3 operator + (const Vec3f& v1, const TVector3& v2);
diff --git a/include/hpp/fcl/eigen/math_details.h b/include/hpp/fcl/eigen/math_details.h
deleted file mode 100644
index 0f2437da..00000000
--- a/include/hpp/fcl/eigen/math_details.h
+++ /dev/null
@@ -1,767 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2011-2014, Willow Garage, Inc.
- * Copyright (c) 2014-2015, Open Source Robotics Foundation
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of Open Source Robotics Foundation nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Joseph Mirabel */
-
-#ifndef FCL_EIGEN_DETAILS_H
-#define FCL_EIGEN_DETAILS_H
-
-#include <Eigen/Dense>
-#include <Eigen/Geometry>
-
-namespace fcl
-{
-
-namespace details
-{
-
-template <typename T>
-struct eigen_wrapper_v3
-{
- typedef T meta_type;
- typedef Eigen::Matrix <T, 3, 1> vector_type;
-
- vector_type v;
-
- eigen_wrapper_v3() { setValue(0); }
-
- template <typename Derived>
- eigen_wrapper_v3(const Eigen::MatrixBase <Derived>& value) :
- v (value)
- {}
-
- eigen_wrapper_v3(T x) :
- v (vector_type::Constant (x))
- {}
-
- eigen_wrapper_v3(T* x) :
- v (vector_type::Constant (*x))
- {}
-
- eigen_wrapper_v3(T x, T y, T z) :
- v (x, y, z)
- {}
-
- inline void setValue(T x, T y, T z)
- {
- v << x, y, z;
- }
-
- inline void setValue(T x)
- {
- v.setConstant (x);
- }
-
- inline eigen_wrapper_v3<T>& ubound(const eigen_wrapper_v3<T>& u)
- {
- v = v.cwiseMin (u.v);
- return *this;
- }
-
- inline eigen_wrapper_v3<T>& lbound(const eigen_wrapper_v3<T>& l)
- {
- v = v.cwiseMax (l.v);
- return *this;
- }
-
- T operator [] (size_t i) const { return v[i]; }
- T& operator [] (size_t i) { return v[i]; }
-
- inline eigen_wrapper_v3<T> operator + (const eigen_wrapper_v3<T>& other) const { return eigen_wrapper_v3<T>(v + other.v); }
- inline eigen_wrapper_v3<T> operator - (const eigen_wrapper_v3<T>& other) const { return eigen_wrapper_v3<T>(v - other.v); }
- inline eigen_wrapper_v3<T> operator * (const eigen_wrapper_v3<T>& other) const { return eigen_wrapper_v3<T>(v.cwiseProduct (other.v)); }
- inline eigen_wrapper_v3<T> operator / (const eigen_wrapper_v3<T>& other) const { return (eigen_wrapper_v3<T>(v) /= other); }
- inline eigen_wrapper_v3<T>& operator += (const eigen_wrapper_v3<T>& other) { v += other.v; return *this; }
- inline eigen_wrapper_v3<T>& operator -= (const eigen_wrapper_v3<T>& other) { v -= other.v; return *this; }
- inline eigen_wrapper_v3<T>& operator *= (const eigen_wrapper_v3<T>& other) { v = v.cwiseProduct (other.v); return *this; }
- inline eigen_wrapper_v3<T>& operator /= (const eigen_wrapper_v3<T>& other) { v = v.cwiseQuotient (other.v); return *this; }
- inline eigen_wrapper_v3<T> operator + (T t) const { return eigen_wrapper_v3<T>((v.array() + t).matrix()); }
- inline eigen_wrapper_v3<T> operator - (T t) const { return eigen_wrapper_v3<T>((v.array() - t).matrix()); }
- inline eigen_wrapper_v3<T> operator * (T t) const { return eigen_wrapper_v3<T>(v * t); }
- inline eigen_wrapper_v3<T> operator / (T t) const { return eigen_wrapper_v3<T>(v / t); }
- inline eigen_wrapper_v3<T>& operator += (T t) { v.array() += t; return *this; }
- inline eigen_wrapper_v3<T>& operator -= (T t) { v.array() -= t; return *this; }
- inline eigen_wrapper_v3<T>& operator *= (T t) { v.array() *= t; return *this; }
- inline eigen_wrapper_v3<T>& operator /= (T t) { v.array() /= t; return *this; }
- inline eigen_wrapper_v3<T> operator - () const { return eigen_wrapper_v3<T>(-v); }
-};
-
-
-template <typename T>
-static inline eigen_wrapper_v3<T> cross_prod(const eigen_wrapper_v3<T>& l, const eigen_wrapper_v3<T>& r)
-{
- return eigen_wrapper_v3<T>(l.v.cross (r.v));
-}
-
-template <typename T>
-static inline T dot_prod3(const eigen_wrapper_v3<T>& l, const eigen_wrapper_v3<T>& r)
-{
- return l.v.dot(r.v);
-}
-
-template <typename T>
-static inline eigen_wrapper_v3<T> min(const eigen_wrapper_v3<T>& x, const eigen_wrapper_v3<T>& y)
-{
- return eigen_wrapper_v3<T>(x.v.cwiseMin (y.v));
-}
-
-template <typename T>
-static inline eigen_wrapper_v3<T> max(const eigen_wrapper_v3<T>& x, const eigen_wrapper_v3<T>& y)
-{
- return eigen_wrapper_v3<T>(x.v.cwiseMax(y.v));
-}
-
-template <typename T>
-static inline eigen_wrapper_v3<T> abs(const eigen_wrapper_v3<T>& x)
-{
- return eigen_wrapper_v3<T>(x.v.cwiseAbs());
-}
-
-template <typename T>
-static inline bool equal(const eigen_wrapper_v3<T>& x, const eigen_wrapper_v3<T>& y, T epsilon)
-{
- return ((x.v - y.v).cwiseAbs ().array () < epsilon).all();
-}
-
-namespace internal {
- template <typename Derived, int Size> struct assign {
- static Eigen::Matrix<typename Derived::Scalar, 4, 1> run (const Eigen::MatrixBase <Derived>& value)
- {
- assert (false);
- }
- };
-
- template <typename Derived> struct assign <Derived, 3> {
- static Eigen::Matrix<typename Derived::Scalar, 4, 1> run (const Eigen::MatrixBase <Derived>& value)
- {
- return (Eigen::Matrix<typename Derived::Scalar, 4, 1> () << value, 0).finished ();
- }
- };
-
- template <typename Derived> struct assign <Derived, 4> {
- static Eigen::Matrix<typename Derived::Scalar, 4, 1> run (const Eigen::MatrixBase <Derived>& value)
- {
- return value;
- }
- };
-}
-
-template <typename T>
-struct eigen_wrapper_v4
-{
- typedef T meta_type;
- typedef Eigen::Matrix <T, 4, 1> vector_type;
-
- vector_type v;
-
- eigen_wrapper_v4() { setValue(0); }
-
- template <typename Derived>
- eigen_wrapper_v4(const Eigen::MatrixBase <Derived>& value) :
- v (internal::assign <Derived, Derived::SizeAtCompileTime>::run (value))
- {}
-
- eigen_wrapper_v4(T x) :
- v (vector_type::Constant (x))
- {
- v[3] = 0;
- }
-
- eigen_wrapper_v4(T* x) :
- v (vector_type::Constant (*x))
- {
- v[3] = 0;
- }
-
- eigen_wrapper_v4(T x, T y, T z) :
- v (x, y, z, 0)
- {}
-
- inline typename vector_type::template FixedSegmentReturnType<3>::Type d () { return v.template head <3> (); }
-
- inline typename vector_type::template ConstFixedSegmentReturnType<3>::Type d () const { return v.template head <3> (); }
-
- inline void setValue(T x, T y, T z, T w = 0)
- {
- v << x, y, z, w;
- }
-
- inline void setValue(T x)
- {
- d().setConstant (x);
- v[3] = 0;
- }
-
- inline eigen_wrapper_v4<T>& ubound(const eigen_wrapper_v4<T>& u)
- {
- v = v.cwiseMin (u.v);
- return *this;
- }
-
- inline eigen_wrapper_v4<T>& lbound(const eigen_wrapper_v4<T>& l)
- {
- v = v.cwiseMax (l.v);
- return *this;
- }
-
- T operator [] (size_t i) const { return v[i]; }
- T& operator [] (size_t i) { return v[i]; }
-
- inline eigen_wrapper_v4<T> operator + (const eigen_wrapper_v4<T>& other) const { return eigen_wrapper_v4<T>(v + other.v); }
- inline eigen_wrapper_v4<T> operator - (const eigen_wrapper_v4<T>& other) const { return eigen_wrapper_v4<T>(v - other.v); }
- inline eigen_wrapper_v4<T> operator * (const eigen_wrapper_v4<T>& other) const { return eigen_wrapper_v4<T>(v.cwiseProduct (other.v)); }
- inline eigen_wrapper_v4<T> operator / (const eigen_wrapper_v4<T>& other) const { return (eigen_wrapper_v4<T>(v) /= other); }
- inline eigen_wrapper_v4<T>& operator += (const eigen_wrapper_v4<T>& other) { v += other.v; return *this; }
- inline eigen_wrapper_v4<T>& operator -= (const eigen_wrapper_v4<T>& other) { v -= other.v; return *this; }
- inline eigen_wrapper_v4<T>& operator *= (const eigen_wrapper_v4<T>& other) { v = v.cwiseProduct (other.v); return *this; }
- inline eigen_wrapper_v4<T>& operator /= (const eigen_wrapper_v4<T>& other) { d() = d().cwiseQuotient (other.d()); return *this; }
- inline eigen_wrapper_v4<T> operator + (T t) const { return eigen_wrapper_v4<T>((d().array() + t).matrix()); }
- inline eigen_wrapper_v4<T> operator - (T t) const { return eigen_wrapper_v4<T>((d().array() - t).matrix()); }
- inline eigen_wrapper_v4<T> operator * (T t) const { return eigen_wrapper_v4<T>(v * t); }
- inline eigen_wrapper_v4<T> operator / (T t) const { return eigen_wrapper_v4<T>(v / t); }
- inline eigen_wrapper_v4<T>& operator += (T t) { d().array() += t; return *this; }
- inline eigen_wrapper_v4<T>& operator -= (T t) { d().array() -= t; return *this; }
- inline eigen_wrapper_v4<T>& operator *= (T t) { v.array() *= t; return *this; }
- inline eigen_wrapper_v4<T>& operator /= (T t) { v.array() /= t; return *this; }
- inline eigen_wrapper_v4<T> operator - () const { return eigen_wrapper_v4<T>(-v); }
-} __attribute__ ((aligned));
-
-
-template <typename T>
-static inline eigen_wrapper_v4<T> cross_prod(const eigen_wrapper_v4<T>& l, const eigen_wrapper_v4<T>& r)
-{
- return eigen_wrapper_v4<T>(l.v.cross3 (r.v));
-}
-
-template <typename T>
-static inline T dot_prod3(const eigen_wrapper_v4<T>& l, const eigen_wrapper_v4<T>& r)
-{
- return l.v.dot(r.v);
-}
-
-template <typename T>
-static inline eigen_wrapper_v4<T> min(const eigen_wrapper_v4<T>& x, const eigen_wrapper_v4<T>& y)
-{
- return eigen_wrapper_v4<T>(x.v.cwiseMin (y.v));
-}
-
-template <typename T>
-static inline eigen_wrapper_v4<T> max(const eigen_wrapper_v4<T>& x, const eigen_wrapper_v4<T>& y)
-{
- return eigen_wrapper_v4<T>(x.v.cwiseMax(y.v));
-}
-
-template <typename T>
-static inline eigen_wrapper_v4<T> abs(const eigen_wrapper_v4<T>& x)
-{
- return eigen_wrapper_v4<T>(x.v.cwiseAbs());
-}
-
-template <typename T>
-static inline bool equal(const eigen_wrapper_v4<T>& x, const eigen_wrapper_v4<T>& y, T epsilon)
-{
- return ((x.v - y.v).cwiseAbs ().array () < epsilon).all();
-}
-
-template <typename T>
-struct eigen_v3 :
- Eigen::Matrix <T, 3, 1>
-{
- typedef T meta_type;
- typedef Eigen::Matrix <T, 3, 1> Base;
-
- eigen_v3(void): Base () { this->setZero (); }
-
- // This constructor allows you to construct MyVectorType from Eigen expressions
- template<typename OtherDerived>
- eigen_v3(const Eigen::MatrixBase<OtherDerived>& other)
- : Base(other)
- {}
-
- // This method allows you to assign Eigen expressions to MyVectorType
- template<typename OtherDerived>
- eigen_v3& operator= (const Eigen::MatrixBase <OtherDerived>& other)
- {
- this->Base::operator=(other);
- return *this;
- }
-
- eigen_v3(T x) :
- Base (x, x, x)
- {}
-
- eigen_v3(T* x) :
- Base (*x, *x, *x)
- {}
-
- eigen_v3(T x, T y, T z) :
- Base (x, y, z)
- {}
-
- inline void setValue(T x, T y, T z)
- {
- this->operator[] (0) = x;
- this->operator[] (1) = y;
- this->operator[] (2) = z;
- }
-
- inline void setValue(T x)
- {
- this->setConstant (x);
- }
-
- template<typename OtherDerived>
- inline eigen_v3<T>& ubound(const Eigen::MatrixBase<OtherDerived>& u)
- {
- *this = this->cwiseMin (u);
- return *this;
- }
-
- template<typename OtherDerived>
- inline eigen_v3<T>& lbound(const Eigen::MatrixBase<OtherDerived>& l)
- {
- *this = this->cwiseMax (l);
- return *this;
- }
-
- // T operator [] (size_t i) const { return v[i]; }
- // T& operator [] (size_t i) { return v[i]; }
-
- // inline eigen_wrapper_v3<T> operator + (const eigen_wrapper_v3<T>& other) const { return eigen_wrapper_v3<T>(v + other.v); }
- // inline eigen_wrapper_v3<T> operator - (const eigen_wrapper_v3<T>& other) const { return eigen_wrapper_v3<T>(v[0] - other.v[0], v[1] - other.v[1], v[2] - other.v[2]); }
- // inline eigen_wrapper_v3<T> operator * (const eigen_wrapper_v3<T>& other) const { return eigen_wrapper_v3<T>(v[0] * other.v[0], v[1] * other.v[1], v[2] * other.v[2]); }
- // inline eigen_v3<T> operator / (const eigen_v3<T>& other) const { return eigen_v3<T>(this->array().cwiseQuotient (other)); }
- inline eigen_v3<T>& operator += (const eigen_v3<T>& other) { return static_cast<eigen_v3<T>&>(this->Base::operator+= (other)); }
- inline eigen_v3<T>& operator -= (const eigen_v3<T>& other) { return static_cast<eigen_v3<T>&>(this->Base::operator-= (other)); }
- inline eigen_v3<T>& operator *= (const eigen_v3<T>& other) { return static_cast<eigen_v3<T>&>(this->array().operator*=(other)); }
- inline eigen_v3<T>& operator /= (const eigen_v3<T>& other) { return static_cast<eigen_v3<T>&>(this->array().operator/=(other)); }
- // inline eigen_wrapper_v4<T>& operator /= (const eigen_wrapper_v4<T>& other) { = d().cwiseQuotient (other.d()); return *this; }
- // inline eigen_wrapper_v3<T>& operator *= (const eigen_wrapper_v3<T>& other) { return this->Base::operator*= (other); }
- // inline eigen_wrapper_v3<T>& operator /= (const eigen_wrapper_v3<T>& other) { return this->Base::operator/= (other); }
- // inline eigen_wrapper_v3<T> operator + (T t) const { return eigen_wrapper_v3<T>(v + t); }
- // inline eigen_wrapper_v3<T> operator - (T t) const { return eigen_wrapper_v3<T>(v - t); }
- // inline eigen_wrapper_v3<T> operator * (T t) const { return eigen_wrapper_v3<T>(v * t); }
- // inline eigen_wrapper_v3<T> operator / (T t) const { return eigen_wrapper_v3<T>(v / t); }
- inline eigen_v3<T>& operator += (T t) { this->array() += t; return *this; }
- inline eigen_v3<T>& operator -= (T t) { this->array() -= t; return *this; }
- inline eigen_v3<T>& operator *= (T t) { this->array() *= t; return *this; }
- inline eigen_v3<T>& operator /= (T t) { this->array() /= t; return *this; }
- // inline eigen_wrapper_v3<T> operator - () const { return eigen_wrapper_v3<T>(-v); }
-};
-
-
-template <typename T>
-static inline eigen_v3<T> cross_prod(const eigen_v3<T>& l, const eigen_v3<T>& r)
-{
- return l.cross (r);
-}
-
-template <typename T>
-static inline T dot_prod3(const eigen_v3<T>& l, const eigen_v3<T>& r)
-{
- return l.dot(r);
-}
-
-template <typename T>
-static inline eigen_v3<T> min(const eigen_v3<T>& x, const eigen_v3<T>& y)
-{
- return x.cwiseMin (y);
-}
-
-template <typename T>
-static inline eigen_v3<T> max(const eigen_v3<T>& x, const eigen_v3<T>& y)
-{
- return x.cwiseMax(y);
-}
-
-template <typename T>
-static inline eigen_v3<T> abs(const eigen_v3<T>& x)
-{
- return x.cwiseAbs();
-}
-
-template <typename T>
-static inline bool equal(const eigen_v3<T>& x, const eigen_v3<T>& y, T epsilon)
-{
- return ((x - y).cwiseAbs ().array () < epsilon).all();
-}
-
-template<typename T>
-struct eigen_wrapper_m3
-{
- typedef T meta_type;
- typedef eigen_wrapper_v3<T> vector_type;
- typedef Eigen::Matrix <T, 3, 3, Eigen::RowMajor> matrix_type;
- typedef Eigen::Matrix <T, 3, 1> inner_col_type;
- typedef typename matrix_type::ConstRowXpr ConstRowXpr;
-
- matrix_type m;
- eigen_wrapper_m3() {};
-
- template <typename Derived>
- eigen_wrapper_m3(const Eigen::MatrixBase <Derived>& matrix) :
- m (matrix)
- {}
-
- eigen_wrapper_m3(T xx, T xy, T xz,
- T yx, T yy, T yz,
- T zx, T zy, T zz)
- {
- setValue(xx, xy, xz,
- yx, yy, yz,
- zx, zy, zz);
- }
-
- eigen_wrapper_m3(const vector_type& v1, const vector_type& v2, const vector_type& v3)
- {
- m << v1.v, v2.v, v3.v;
- }
-
- eigen_wrapper_m3(const eigen_wrapper_m3<T>& other) { m = other.m; }
-
- inline inner_col_type getColumn(size_t i) const { return m.col (i); }
- inline ConstRowXpr getRow(size_t i) const { return m.row (i); }
-
- inline T operator() (size_t i, size_t j) const { return m(i, j); }
- inline T& operator() (size_t i, size_t j) { return m(i, j); }
-
- inline vector_type operator * (const vector_type& v) const { return vector_type(m * v.v); }
-
- inline eigen_wrapper_m3<T> operator * (const eigen_wrapper_m3<T>& other) const { return eigen_wrapper_m3<T>(m * other.m); }
- inline eigen_wrapper_m3<T> operator + (const eigen_wrapper_m3<T>& other) const { return eigen_wrapper_m3<T>(m + other.m); }
- inline eigen_wrapper_m3<T> operator - (const eigen_wrapper_m3<T>& other) const { return eigen_wrapper_m3<T>(m - other.m); }
-
- inline eigen_wrapper_m3<T> operator + (T c) const { return eigen_wrapper_m3<T>(m + c); }
- inline eigen_wrapper_m3<T> operator - (T c) const { return eigen_wrapper_m3<T>(m - c); }
- inline eigen_wrapper_m3<T> operator * (T c) const { return eigen_wrapper_m3<T>(m * c); }
- inline eigen_wrapper_m3<T> operator / (T c) const { return eigen_wrapper_m3<T>(m / c); }
-
- inline eigen_wrapper_m3<T>& operator *= (const eigen_wrapper_m3<T>& other) { m *= other.m; return *this; }
- inline eigen_wrapper_m3<T>& operator += (const eigen_wrapper_m3<T>& other) { m += other.m; return *this; }
- inline eigen_wrapper_m3<T>& operator -= (const eigen_wrapper_m3<T>& other) { m -= other.m; return *this; }
-
- inline eigen_wrapper_m3<T>& operator += (T c) { m.array() += c; return *this; }
- inline eigen_wrapper_m3<T>& operator -= (T c) { m.array() -= c; return *this; }
- inline eigen_wrapper_m3<T>& operator *= (T c) { m.array() *= c; return *this; }
- inline eigen_wrapper_m3<T>& operator /= (T c) { m.array() /= c; return *this; }
-
-
- void setIdentity() { m.setIdentity (); }
-
- void setZero() { m.setZero(); }
-
- static const eigen_wrapper_m3<T>& getIdentity()
- {
- static const eigen_wrapper_m3<T> I(matrix_type::Identity ());
- return I;
- }
-
- T determinant() const { return m.determinant (); }
-
- eigen_wrapper_m3<T>& transpose()
- {
- m.transposeInPlace ();
- return *this;
- }
-
- eigen_wrapper_m3<T>& inverse()
- {
- m = m.inverse().eval();
- return *this;
- }
-
- eigen_wrapper_m3<T> transposeTimes(const eigen_wrapper_m3<T>& other) const
- {
- return eigen_wrapper_m3<T>(m.transpose () * other.m);
- }
-
- eigen_wrapper_m3<T> timesTranspose(const eigen_wrapper_m3<T>& other) const
- {
- return eigen_wrapper_m3<T>(m * other.transpose ());
- }
-
- vector_type transposeTimes(const vector_type& other) const
- {
- return vector_type(m.transpose () * other.v);
- }
-
- inline T transposeDotX(const vector_type& other) const
- {
- return m.col(0).dot(other.v);
- }
-
- inline T transposeDotY(const vector_type& other) const
- {
- return m.col(1).dot(other.v);
- }
-
- inline T transposeDotZ(const vector_type& other) const
- {
- return m.col(2).dot(other.v);
- }
-
- inline T transposeDot(size_t i, const vector_type& other) const
- {
- return m.col (i).dot(other.v);
- }
-
- inline T dotX(const vector_type& other) const
- {
- return m.row (0).dot (other.v);
- }
-
- inline T dotY(const vector_type& other) const
- {
- return m.row (1).dot (other.v);
- }
-
- inline T dotZ(const vector_type& other) const
- {
- return m.row (2).dot (other.v);
- }
-
- inline T dot(size_t i, const vector_type& other) const
- {
- return m.row (i).dot (other.v);
- }
-
- inline void setValue(T xx, T xy, T xz,
- T yx, T yy, T yz,
- T zx, T zy, T zz)
- {
- m << xx, xy, xz,
- yx, yy, yz,
- zx, zy, zz;
- }
-
- inline void setValue(T x) { m.setConstant (x); }
-};
-
-
-template<typename T>
-eigen_wrapper_m3<T> abs(const eigen_wrapper_m3<T>& m)
-{
- return eigen_wrapper_m3<T>(m.m.cwiseAbs ());
-}
-
-template<typename T>
-eigen_wrapper_m3<T> transpose(const eigen_wrapper_m3<T>& m)
-{
- return eigen_wrapper_m3<T>(m.m.transpose ());
-}
-
-
-template<typename T>
-eigen_wrapper_m3<T> inverse(const eigen_wrapper_m3<T>& m)
-{
- return eigen_wrapper_m3<T> (m.m.inverse().eval ());
-}
-
-template<typename T>
-struct eigen_m3 :
- Eigen::Matrix <T, 3, 3>
-{
- typedef T meta_type;
- typedef eigen_v3<T> vector_type;
- typedef Eigen::Matrix <T, 3, 3> Base;
-
- typedef typename Base::ColXpr ColXpr;
- typedef typename Base::ConstColXpr ConstColXpr;
- typedef typename Base::RowXpr RowXpr;
- typedef typename Base::ConstRowXpr ConstRowXpr;
-
- eigen_m3(void): Base () { }
-
- // This constructor allows you to construct MyVectorType from Eigen expressions
- template<typename OtherDerived>
- eigen_m3(const Eigen::MatrixBase<OtherDerived>& other)
- : Base(other)
- {}
-
- // This method allows you to assign Eigen expressions to MyVectorType
- template<typename OtherDerived>
- eigen_m3& operator= (const Eigen::MatrixBase <OtherDerived>& other)
- {
- this->Base::operator=(other);
- return *this;
- }
-
- eigen_m3(T xx, T xy, T xz,
- T yx, T yy, T yz,
- T zx, T zy, T zz)
- {
- setValue(xx, xy, xz,
- yx, yy, yz,
- zx, zy, zz);
- }
-
- eigen_m3(const vector_type& v1, const vector_type& v2, const vector_type& v3)
- {
- this->row(1) = v1;
- this->row(2) = v2;
- this->row(3) = v3;
- }
-
- inline ColXpr col(size_t i) { return this->Base::col (i); }
- inline RowXpr row(size_t i) { return this->Base::row (i); }
- inline ConstColXpr col(size_t i) const { return this->Base::col (i); }
- inline ConstRowXpr row(size_t i) const { return this->Base::row (i); }
-
- inline eigen_m3<T>& operator *= (const eigen_m3<T>& other) { return static_cast<eigen_m3<T>&>(this->operator*=(other)); }
- inline eigen_m3<T>& operator += (const eigen_m3<T>& other) { return static_cast<eigen_m3<T>&>(this->operator+=(other)); }
- inline eigen_m3<T>& operator -= (const eigen_m3<T>& other) { return static_cast<eigen_m3<T>&>(this->operator-=(other)); }
-
- inline eigen_m3<T>& operator += (T c) { return static_cast<eigen_m3<T>&>(this->operator+=(c)); }
- inline eigen_m3<T>& operator -= (T c) { return static_cast<eigen_m3<T>&>(this->operator-=(c)); }
- inline eigen_m3<T>& operator *= (T c) { return static_cast<eigen_m3<T>&>(this->operator*=(c)); }
- inline eigen_m3<T>& operator /= (T c) { return static_cast<eigen_m3<T>&>(this->operator/=(c)); }
-
- static const eigen_m3<T>& getIdentity()
- {
- static const eigen_m3<T> I(Base::Identity ());
- return I;
- }
-
- eigen_m3<T>& transpose() { this->transposeInPlace (); return *this; }
-
- eigen_m3<T>& inverse()
- {
- this->Base::operator=(this->inverse ().eval());
- // m = m.inverse().eval();
- return *this;
- }
-
- template <typename OtherDerived>
- const typename Eigen::ProductReturnType<eigen_m3<T>, OtherDerived>::Type
- transposeTimes(const Eigen::MatrixBase<OtherDerived>& other) const
- {
- return this->Base::transpose() * other;
- }
-
- template <typename OtherDerived>
- const typename Eigen::ProductReturnType<eigen_m3<T>, OtherDerived>::Type
- timesTranspose(const Eigen::MatrixBase<OtherDerived>& other) const
- {
- return this->operator* (other.Base::transpose());
- }
-
- template <typename OtherDerived>
- inline T transposeDotX(const Eigen::MatrixBase<OtherDerived>& other) const
- {
- return this->col(0).dot(other);
- }
-
- template <typename OtherDerived>
- inline T transposeDotY(const Eigen::MatrixBase<OtherDerived>& other) const
- {
- return this->col(1).dot(other);
- }
-
- template <typename OtherDerived>
- inline T transposeDotZ(const Eigen::MatrixBase<OtherDerived>& other) const
- {
- return this->col(2).dot(other);
- }
-
- template <typename OtherDerived>
- inline T transposeDot(size_t i, const Eigen::MatrixBase<OtherDerived>& other) const
- {
- return this->col(i).dot(other);
- }
-
- template <typename OtherDerived>
- inline T dotX(const Eigen::MatrixBase<OtherDerived>& other) const
- {
- return this->row(0).dot(other);
- }
-
- template <typename OtherDerived>
- inline T dotY(const Eigen::MatrixBase<OtherDerived>& other) const
- {
- return this->row(1).dot(other);
- }
-
- template <typename OtherDerived>
- inline T dotZ(const Eigen::MatrixBase<OtherDerived>& other) const
- {
- return this->row(2).dot(other);
- }
-
- template <typename OtherDerived>
- inline T dot(size_t i, const Eigen::MatrixBase<OtherDerived>& other) const
- {
- return this->row(i).dot(other);
- }
-
- inline void setValue(T xx, T xy, T xz,
- T yx, T yy, T yz,
- T zx, T zy, T zz)
- {
- *this << xx, xy, xz,
- yx, yy, yz,
- zx, zy, zz;
- }
-
- inline void setValue(T x)
- {
- this->setConstant (x);
- }
-};
-
-
-template<typename T>
-eigen_m3<T> abs(const eigen_m3<T>& m)
-{
- return eigen_m3<T>(m.cwiseAbs ());
-}
-
-template<typename T>
-eigen_m3<T> transpose(const eigen_m3<T>& m)
-{
- return eigen_m3<T>(m.eigen_m3<T>::Base::transpose ());
-}
-
-
-template<typename T>
-eigen_m3<T> inverse(const eigen_m3<T>& m)
-{
- return eigen_m3<T> (m.eigen_m3<T>::Base::inverse().eval ());
-}
-
-}
-
-}
-
-#endif
diff --git a/include/hpp/fcl/eigen/plugins/ccd/interval-matrix.h b/include/hpp/fcl/eigen/plugins/ccd/interval-matrix.h
deleted file mode 100644
index e69de29b..00000000
diff --git a/include/hpp/fcl/eigen/plugins/ccd/interval-vector.h b/include/hpp/fcl/eigen/plugins/ccd/interval-vector.h
deleted file mode 100644
index 9ec6217f..00000000
--- a/include/hpp/fcl/eigen/plugins/ccd/interval-vector.h
+++ /dev/null
@@ -1,7 +0,0 @@
-template <typename Derived>
-IVector3& operator=(const Eigen::MatrixBase<Derived>& other)
-{
- const Vec3f& tmp (other);
- setValue (tmp);
- return *this;
-}
diff --git a/include/hpp/fcl/eigen/product.h b/include/hpp/fcl/eigen/product.h
deleted file mode 100644
index 3998cf39..00000000
--- a/include/hpp/fcl/eigen/product.h
+++ /dev/null
@@ -1,39 +0,0 @@
-namespace internal {
-
-template<typename Derived, typename OtherDerived, bool coefwise> struct deduce_fcl_type {};
-
-template<typename Derived, typename OtherDerived>
-struct deduce_fcl_type<Derived, OtherDerived, false> {
- typedef typename ProductReturnType<Derived, OtherDerived>::Type Type;
-};
-template<typename Derived, typename OtherDerived>
-struct deduce_fcl_type<Derived, OtherDerived, true> {
- typedef CwiseBinaryOp<scalar_multiple_op<typename Derived::Scalar>, const Derived, const OtherDerived> Type;
-};
-
-}
-
-template<typename Derived, typename OtherDerived>
-struct FclProduct
-{
- enum {
- COEFWISE = Derived::ColsAtCompileTime == 1 && OtherDerived::ColsAtCompileTime == 1
- };
-
- typedef typename internal::remove_fcl<Derived>::type EDerived;
- typedef typename internal::remove_fcl<OtherDerived>::type EOtherDerived;
-
- typedef FclOp<typename internal::deduce_fcl_type<EDerived, EOtherDerived, COEFWISE>::Type> ProductType;
- typedef FclOp<typename ProductReturnType<Transpose<Derived>, EOtherDerived >::Type> TransposeTimesType;
- typedef FclOp<typename ProductReturnType<EDerived, Transpose<EOtherDerived> >::Type> TimesTransposeType;
- typedef FclOp<typename ProductReturnType<ProductType, Transpose<EDerived> >::Type> TensorTransformType;
- static EIGEN_STRONG_INLINE ProductType run (const Derived& l, const OtherDerived& r) { return ProductType (l, r); }
-};
-
-#define FCL_EIGEN_MAKE_PRODUCT_OPERATOR() \
- template <typename OtherDerived> \
- EIGEN_STRONG_INLINE const typename FclProduct<const typename FCL_EIGEN_CURRENT_CLASS::Base, const OtherDerived>::ProductType \
- operator*(const MatrixBase<OtherDerived>& other) const \
- { \
- return FclProduct<const typename FCL_EIGEN_CURRENT_CLASS::Base, const OtherDerived>::run (*this, other.derived()); \
- }
diff --git a/include/hpp/fcl/eigen/taylor_operator.h b/include/hpp/fcl/eigen/taylor_operator.h
deleted file mode 100644
index 1de50b31..00000000
--- a/include/hpp/fcl/eigen/taylor_operator.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef FCL_CCD_TAYLOR_OPERATOR_H
-#define FCL_CCD_TAYLOR_OPERATOR_H
-
-#include <hpp/fcl/math/vec_3f.h>
-#include <hpp/fcl/math/matrix_3f.h>
-
-namespace fcl {
-
-class TVector3;
-class TMatrix3;
-
-template<int Col> struct TaylorReturnType {};
-template<> struct TaylorReturnType<1> { typedef TVector3 type; typedef Vec3f eigen_type; };
-template<> struct TaylorReturnType<3> { typedef TMatrix3 type; typedef Matrix3f eigen_type; };
-
-template<typename Derived>
-typename TaylorReturnType<Derived::ColsAtCompileTime>::type operator * (const Eigen::MatrixBase<Derived>& v, const TaylorModel& a)
-{
- const typename TaylorReturnType<Derived::ColsAtCompileTime>::eigen_type b = v.derived();
- return b * a;
-}
-
-}
-
-#endif // FCL_CCD_TAYLOR_OPERATOR_H
diff --git a/include/hpp/fcl/eigen/vec_3fx.h b/include/hpp/fcl/eigen/vec_3fx.h
deleted file mode 100644
index 6eef9260..00000000
--- a/include/hpp/fcl/eigen/vec_3fx.h
+++ /dev/null
@@ -1,770 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2011-2014, Willow Garage, Inc.
- * Copyright (c) 2014-2015, Open Source Robotics Foundation
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of Open Source Robotics Foundation nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Joseph Mirabel */
-
-#ifndef FCL_EIGEN_VEC_3F_H
-#define FCL_EIGEN_VEC_3F_H
-
-#include <hpp/fcl/config-fcl.hh>
-#include <hpp/fcl/data_types.h>
-
-#include <Eigen/Dense>
-#include <Eigen/Geometry>
-
-#include <cmath>
-#include <iostream>
-#include <limits>
-
-#define FCL_CCD_INTERVALVECTOR_PLUGIN <hpp/fcl/eigen/plugins/ccd/interval-vector.h>
-#define FCL_CCD_MATRIXVECTOR_PLUGIN <hpp/fcl/eigen/plugins/ccd/interval-matrix.h>
-
-#define FCL_EIGEN_EXPOSE_PARENT_TYPE(Type) typedef typename Base::Type Type;
-
-#define FCL_EIGEN_MAKE_CWISE_BINARY_OP(METHOD,FUNCTOR) \
- template <typename OtherDerived> \
- EIGEN_STRONG_INLINE const FclOp<const CwiseBinaryOp<FUNCTOR<Scalar>, const typename FCL_EIGEN_CURRENT_CLASS::Base, const OtherDerived> > \
- (METHOD) (const MatrixBase<OtherDerived>& other) const \
- { \
- return FclOp <const CwiseBinaryOp<FUNCTOR<Scalar>, const typename FCL_EIGEN_CURRENT_CLASS::Base, const OtherDerived> > (*this, other.derived()); \
- }
-
-#define FCL_EIGEN_MAKE_CWISE_UNARY_OP(METHOD,FUNCTOR) \
- EIGEN_STRONG_INLINE const FclOp<const CwiseUnaryOp<FUNCTOR<Scalar>, const typename FCL_EIGEN_CURRENT_CLASS::Base> > \
- (METHOD) (const Scalar& scalar) const \
- { \
- return FclOp <const CwiseUnaryOp<FUNCTOR<Scalar>, const typename FCL_EIGEN_CURRENT_CLASS::Base> > (*this, FUNCTOR<Scalar>(scalar)); \
- }
-
-#define FCL_EIGEN_RENAME_PARENT_METHOD(OLD,NEW,RETTYPE) \
- template <typename OtherDerived> \
- EIGEN_STRONG_INLINE RETTYPE (METHOD) () \
- { \
- return (this->Base::METHOD) (); \
- }
-
-#define FCL_EIGEN_MAKE_EXPOSE_PARENT1(METHOD) \
- template <typename OtherDerived> \
- EIGEN_STRONG_INLINE FclMatrix& (METHOD) (const MatrixBase<OtherDerived>& other) \
- { \
- (this->Base::METHOD)(other); return *this; \
- }
-
-#define FCL_EIGEN_MAKE_EXPOSE_PARENT_ARRAY1(METHOD) \
- template <typename OtherDerived> \
- EIGEN_STRONG_INLINE FclMatrix& (METHOD) (const MatrixBase<OtherDerived>& other) \
- { \
- (this->array().METHOD)(other.derived().array()); return *this; \
- }
-
-#define FCL_EIGEN_MAKE_EXPOSE_PARENT_ARRAY_SCALAR1(METHOD) \
- EIGEN_STRONG_INLINE FCL_EIGEN_CURRENT_CLASS& (METHOD) (const Scalar& other) \
- { \
- (this->array().METHOD)(other); return *this; \
- }
-
-#define FCL_EIGEN_MAKE_GET_COL_ROW() \
- EIGEN_STRONG_INLINE FclOp<ColXpr> getColumn (size_t i) { return FclOp<ColXpr>(*this, i); } \
- EIGEN_STRONG_INLINE FclOp<RowXpr> getRow (size_t i) { return FclOp<RowXpr>(*this, i); } \
- EIGEN_STRONG_INLINE FclOp<ConstColXpr> getColumn (size_t i) const { return FclOp<ConstColXpr>(*this, i); } \
- EIGEN_STRONG_INLINE FclOp<ConstRowXpr> getRow (size_t i) const { return FclOp<ConstRowXpr>(*this, i); }
-
-#define FCL_EIGEN_MATRIX_DOT_AXIS(NAME,axis,index) \
- template<typename OtherDerived> \
- EIGEN_STRONG_INLINE Scalar NAME##axis (const MatrixBase<OtherDerived>& other) const \
- { return this->NAME (index, other); }
-
-#define FCL_EIGEN_MATRIX_DOT(NAME,FUNC) \
- template<typename OtherDerived> \
- EIGEN_STRONG_INLINE Scalar NAME(size_t i, const MatrixBase<OtherDerived>& other) const \
- { \
- EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(FCL_EIGEN_CURRENT_CLASS, 3, 3); \
- EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived, 3); \
- return this->FUNC(i).dot(other); \
- } \
- FCL_EIGEN_MATRIX_DOT_AXIS(NAME,X,0)\
- FCL_EIGEN_MATRIX_DOT_AXIS(NAME,Y,1)\
- FCL_EIGEN_MATRIX_DOT_AXIS(NAME,Z,2)
-
-#define FCL_EIGEN_MAKE_CROSS() \
- template<typename OtherDerived> \
- EIGEN_STRONG_INLINE typename BinaryReturnType<FCL_EIGEN_CURRENT_CLASS::Base,OtherDerived>::Cross \
- cross (const MatrixBase<OtherDerived>& other) const { return this->Base::cross (other); }
-
-#define FCL_EIGEN_MAKE_DOT() \
- template <typename OtherDerived> \
- EIGEN_STRONG_INLINE Scalar dot (const MatrixBase<OtherDerived>& other) const \
- { return this->Base::dot (other.derived()); }
-
-namespace fcl {
-template <typename Derived>
-class FclType
-{
- public:
- Derived& fcl () { return static_cast<Derived&> (*this); }
- const Derived& fcl () const { return static_cast<const Derived&> (*this); }
-};
-}
-
-namespace Eigen {
- template <typename T> class FclOp;
- template <typename T, int Cols, int Options> class FclMatrix;
-
- namespace internal {
-
- template<typename T> struct traits< FclOp<T> > : traits <T> {};
- template<typename T, int Cols, int _Options>
- struct traits< FclMatrix<T, Cols, _Options> >
- : traits<typename FclMatrix<T, Cols, _Options>::Base>
- {};
-
- template <typename Derived> struct remove_fcl { typedef Derived type; };
- template <typename Derived> struct remove_fcl <FclOp<Derived> > { typedef Derived type; };
- template <typename Derived> struct remove_fcl <const FclOp<Derived> > { typedef Derived type; };
- template <typename T, int Col, int Options> struct remove_fcl <FclMatrix<T,Col,Options> > { typedef typename FclMatrix<T,Col,Options>::Base type; };
- template <typename T, int Col, int Options> struct remove_fcl <const FclMatrix<T,Col,Options> > { typedef typename FclMatrix<T,Col,Options>::Base type; };
- }
-
-#include <hpp/fcl/eigen/product.h>
-
- template <typename Derived>
- struct UnaryReturnType {
- typedef typename Derived::Scalar Scalar;
- typedef typename Derived::PlainObject Normalize;
- typedef FclOp <
- const CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const Derived>
- > Opposite;
- typedef FclOp <
- const CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
- > Abs;
- };
-
- template <typename Derived, typename OtherDerived>
- struct BinaryReturnType {
- typedef typename Derived::Scalar Scalar;
- typedef FclOp <
- const CwiseBinaryOp<internal::scalar_difference_op<Scalar>,
- const Derived, const OtherDerived>
- > Difference;
- // static inline const Difference difference (const Derived& l, const OtherDerived& r)
- // { return Difference (l, r, internal::scalar_difference_op<Scalar>()); }
- typedef FclOp <
- const CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
- const Derived, const OtherDerived>
- > Sum;
- typedef FclOp <
- const CwiseBinaryOp<internal::scalar_min_op<Scalar>,
- const Derived, const OtherDerived>
- > Min;
- typedef FclOp <
- const CwiseBinaryOp<internal::scalar_max_op<Scalar>,
- const Derived, const OtherDerived>
- > Max;
- typedef FclMatrix <Scalar, 1, 0> Cross;
- };
-
-#define FCL_EIGEN_CURRENT_CLASS FclMatrix
-
-/// @brief Vector3 class wrapper. The core data is in the template parameter class.
-template <typename T, int Cols, int _Options = internal::traits<Matrix <T, 3, Cols> >::Options >
-class FclMatrix : public Matrix <T, 3, Cols, _Options>, public ::fcl::FclType<FclMatrix <T, Cols, _Options> >
-{
-public:
- typedef Matrix <T, 3, Cols, _Options> Base;
- FCL_EIGEN_EXPOSE_PARENT_TYPE(Scalar)
- FCL_EIGEN_EXPOSE_PARENT_TYPE(ColXpr)
- FCL_EIGEN_EXPOSE_PARENT_TYPE(RowXpr)
- FCL_EIGEN_EXPOSE_PARENT_TYPE(ConstColXpr)
- FCL_EIGEN_EXPOSE_PARENT_TYPE(ConstRowXpr)
-
- // Compatibility with other Matrix3fX and Vec3f
- typedef T U;
- typedef T meta_type;
-
- FclMatrix(void): Base(Base::Zero()) {}
-
- // This constructor allows you to construct MyVectorType from Eigen expressions
- template<typename OtherDerived>
- FclMatrix(const MatrixBase<OtherDerived>& other)
- : Base(other)
- {}
-
- // This method allows you to assign Eigen expressions to MyVectorType
- template<typename OtherDerived>
- FclMatrix& operator=(const MatrixBase <OtherDerived>& other)
- {
- this->Base::operator=(other);
- return *this;
- }
-
- /// @brief create Vector (x, y, z)
- FclMatrix(T x, T y, T z) : Base(x, y, z) {}
-
- FclMatrix(T xx, T xy, T xz,
- T yx, T yy, T yz,
- T zx, T zy, T zz) : Base()
- {
- *this << xx, xy, xz, yx, yy, yz, zx, zy, zz;
- }
-
- template <typename Vector>
- FclMatrix(const ::fcl::FclType<Vector>& r0,
- const ::fcl::FclType<Vector>& r1,
- const ::fcl::FclType<Vector>& r2) : Base()
- {
- this->row(0) = r0.fcl();
- this->row(1) = r1.fcl();
- this->row(2) = r2.fcl();
- }
-
- /// @brief create vector (x, x, x)
- FclMatrix(T x) : Base(Base::Constant (x)) {}
-
- /// @brief create vector using the internal data type
- // Vec3fX(const T& data_) : data(data_) {}
-
- // inline U operator [] (size_t i) const { return data[i]; }
- // inline U& operator [] (size_t i) { return data[i]; }
-
- // FclOp<typename Base::ColXpr> getColumn (size_t i) { return FclOp<typename Base::ColXpr>(*this, i); }
- // FclOp<typename Base::RowXpr> getRow (size_t i) { return FclOp<typename Base::RowXpr>(*this, i); }
- // FclOp<typename Base::ColXpr> getColumn (size_t i) { return FclOp<typename Base::ColXpr>(*this, i); }
- // FclOp<typename Base::RowXpr> getRow (size_t i) { return FclOp<typename Base::RowXpr>(*this, i); }
- FCL_EIGEN_MAKE_GET_COL_ROW()
- FCL_EIGEN_MATRIX_DOT(dot,row)
- FCL_EIGEN_MATRIX_DOT(transposeDot,col)
-
- FCL_EIGEN_MAKE_DOT()
-
- FCL_EIGEN_MAKE_CWISE_BINARY_OP(operator+,internal::scalar_sum_op)
- FCL_EIGEN_MAKE_CWISE_BINARY_OP(operator-,internal::scalar_difference_op)
- // Map this to scalar product or matrix product depending on the Cols.
- // FCL_EIGEN_MAKE_CWISE_BINARY_OP(operator*,internal::scalar_product_op)
- FCL_EIGEN_MAKE_PRODUCT_OPERATOR()
- FCL_EIGEN_MAKE_CWISE_BINARY_OP(operator/,internal::scalar_quotient_op)
- FCL_EIGEN_MAKE_EXPOSE_PARENT1(operator+=)
- FCL_EIGEN_MAKE_EXPOSE_PARENT1(operator-=)
- FCL_EIGEN_MAKE_EXPOSE_PARENT_ARRAY1(operator*=)
- FCL_EIGEN_MAKE_EXPOSE_PARENT_ARRAY1(operator/=)
- FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator+,internal::scalar_add_op)
- // This operator cannot be implement with the macro
- // FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator-,internal::scalar_difference_op)
- EIGEN_STRONG_INLINE const FclOp<const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Base> >
- operator- (const Scalar& scalar) const
- {
- return FclOp <const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Base> > (*this, internal::scalar_add_op<Scalar>(-scalar));
- }
- FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator*,internal::scalar_multiple_op)
- FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator/,internal::scalar_quotient1_op)
- FCL_EIGEN_MAKE_EXPOSE_PARENT_ARRAY_SCALAR1(operator+=)
- FCL_EIGEN_MAKE_EXPOSE_PARENT_ARRAY_SCALAR1(operator-=)
- FCL_EIGEN_MAKE_EXPOSE_PARENT_ARRAY_SCALAR1(operator*=)
- FCL_EIGEN_MAKE_EXPOSE_PARENT_ARRAY_SCALAR1(operator/=)
- inline const typename UnaryReturnType<Base>::Opposite operator-() const { return typename UnaryReturnType<Base>::Opposite(*this); }
- // There is no class for cross
- // inline Vec3fX cross(const Vec3fX& other) const { return Vec3fX(details::cross_prod(data, other.data)); }
- FCL_EIGEN_MAKE_CROSS()
- inline FclMatrix& normalize()
- {
- T sqr_length = this->squaredNorm();
- if(sqr_length > 0) this->operator/= ((T)std::sqrt(sqr_length));
- return *this;
- }
-
- inline FclMatrix& abs()
- {
- *this = this->cwiseAbs ();
- return *this;
- }
-
- inline bool equal(const FclMatrix& other, T epsilon = std::numeric_limits<T>::epsilon() * 100) const
- {
- return ((*this - other).cwiseAbs().array () < epsilon).all();
- }
-
- bool operator == (const FclMatrix& other) const
- {
- return equal(other, 0);
- }
-
- bool operator != (const FclMatrix& other) const
- {
- return !(*this == other);
- }
-
- inline FclMatrix& ubound(const FclMatrix& u)
- {
- *this = this->cwiseMin (u);
- return *this;
- }
-
- inline FclMatrix& lbound(const FclMatrix& l)
- {
- *this = this->cwiseMax (l);
- return *this;
- }
-
- bool isZero() const
- {
- return (this->m_storage.data()[0] == 0)
- && (this->m_storage.data()[1] == 0)
- && (this->m_storage.data()[2] == 0);
- }
-
- FclMatrix& transpose () {
- EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Base, 3, 3);
- this->transposeInPlace();
- return *this;
- }
-
- FclMatrix& inverse()
- {
- this->Base::operator=(this->Base::inverse ().eval());
- return *this;
- }
-
- template<typename OtherDerived>
- EIGEN_STRONG_INLINE const typename FclProduct<const Base,const OtherDerived>::TransposeTimesType
- transposeTimes (const MatrixBase<OtherDerived>& other) const
- {
- const Transpose<const Base> t (*this);
- return typename FclProduct<const Base,const OtherDerived>::TransposeTimesType (t, other.derived());
- }
-
- template<typename OtherDerived>
- EIGEN_STRONG_INLINE const typename FclProduct<const Base,const OtherDerived>::TimesTransposeType
- timesTranspose (const MatrixBase<OtherDerived>& other) const
- {
- const Transpose<const OtherDerived> t (other.derived());
- return typename FclProduct<const Base,const OtherDerived>::TimesTransposeType (*this, t);
- }
-
- template<typename OtherDerived>
- EIGEN_STRONG_INLINE const typename FclProduct<const Base,const OtherDerived>::TensorTransformType
- tensorTransform(const MatrixBase<OtherDerived>& other) const
- {
- const Transpose<const Base> t (*this);
- const typename FclProduct<const Base,const OtherDerived>::ProductType left (*this, other.derived());
- return typename FclProduct<const Base,const OtherDerived>::TensorTransformType (left, t);
- }
-
- static const FclMatrix& getIdentity()
- {
- static const FclMatrix I((T)1, (T)0, (T)0,
- (T)0, (T)1, (T)0,
- (T)0, (T)0, (T)1);
- return I;
- }
-
- /// @brief Set the matrix from euler angles YPR around ZYX axes
- /// @param eulerX Roll about X axis
- /// @param eulerY Pitch around Y axis
- /// @param eulerZ Yaw aboud Z axis
- ///
- /// These angles are used to produce a rotation matrix. The euler
- /// angles are applied in ZYX order. I.e a vector is first rotated
- /// about X then Y and then Z
- inline void setEulerZYX(Scalar eulerX, Scalar eulerY, Scalar eulerZ)
- {
- EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(FclMatrix, 3, 3);
- Scalar ci(std::cos(eulerX));
- Scalar cj(std::cos(eulerY));
- Scalar ch(std::cos(eulerZ));
- Scalar si(std::sin(eulerX));
- Scalar sj(std::sin(eulerY));
- Scalar sh(std::sin(eulerZ));
- Scalar cc = ci * ch;
- Scalar cs = ci * sh;
- Scalar sc = si * ch;
- Scalar ss = si * sh;
-
- *this << cj * ch, sj * sc - cs, sj * cc + ss,
- cj * sh, sj * ss + cc, sj * cs - sc,
- -sj, cj * si, cj * ci;
-
- }
-
- /// @brief Set the matrix from euler angles using YPR around YXZ respectively
- /// @param yaw Yaw about Y axis
- /// @param pitch Pitch about X axis
- /// @param roll Roll about Z axis
- void setEulerYPR(Scalar yaw, Scalar pitch, Scalar roll)
- {
- setEulerZYX(roll, pitch, yaw);
- }
-};
-
-#undef FCL_EIGEN_CURRENT_CLASS
-#define FCL_EIGEN_CURRENT_CLASS FclOp
-
-template <typename EigenOp>
-class FclOp : public EigenOp, public ::fcl::FclType<FclOp <EigenOp> >
-{
-public:
- typedef typename internal::traits<EigenOp>::Scalar T;
- typedef EigenOp Base;
- FCL_EIGEN_EXPOSE_PARENT_TYPE(Scalar)
- FCL_EIGEN_EXPOSE_PARENT_TYPE(ColXpr)
- FCL_EIGEN_EXPOSE_PARENT_TYPE(RowXpr)
- FCL_EIGEN_EXPOSE_PARENT_TYPE(ConstColXpr)
- FCL_EIGEN_EXPOSE_PARENT_TYPE(ConstRowXpr)
-
- // template<typename Lhs, typename Rhs, typename BinaryOp>
- // FclOp (const Lhs& lhs, const Rhs& rhs, const BinaryOp& bop)
- // : Base (lhs, rhs, bop) {}
-
- template<typename Lhs, typename Rhs>
- FclOp (Lhs& lhs, const Rhs& rhs)
- : Base (lhs, rhs) {}
-
- template<typename OtherEigenOp>
- FclOp (const FclOp<OtherEigenOp>& other)
- : Base (other) {}
-
- template<typename XprType>
- FclOp (XprType& xpr)
- : Base (xpr) {}
-
- FCL_EIGEN_MAKE_GET_COL_ROW()
- FCL_EIGEN_MATRIX_DOT(dot,row)
- FCL_EIGEN_MATRIX_DOT(transposeDot,col)
-
- FCL_EIGEN_MAKE_DOT()
-
- FCL_EIGEN_MAKE_CWISE_BINARY_OP(operator+,internal::scalar_sum_op)
- FCL_EIGEN_MAKE_CWISE_BINARY_OP(operator-,internal::scalar_difference_op)
- // Map this to scalar product or matrix product depending on the Cols.
- // FCL_EIGEN_MAKE_CWISE_BINARY_OP(operator*,internal::scalar_product_op)
- FCL_EIGEN_MAKE_PRODUCT_OPERATOR()
- FCL_EIGEN_MAKE_CWISE_BINARY_OP(operator/,internal::scalar_quotient_op)
- FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator+,internal::scalar_add_op)
- // This operator cannot be implement with the macro
- // FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator-,internal::scalar_difference_op)
- EIGEN_STRONG_INLINE const FclOp<const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Base> >
- operator- (const Scalar& scalar) const
- {
- return FclOp <const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Base> > (*this, internal::scalar_add_op<Scalar>(-scalar));
- }
- FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator*,internal::scalar_multiple_op)
- FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator/,internal::scalar_quotient1_op)
- inline const typename UnaryReturnType<const Base>::Opposite operator-() const { return typename UnaryReturnType<const Base>::Opposite(*this); }
-
- FCL_EIGEN_MAKE_CROSS()
-
- inline const typename UnaryReturnType<EigenOp>::Normalize
- normalize() const
- {
- return this->normalized ();
- // T sqr_length = this->squaredNorm();
- // if(sqr_length > 0) CwiseExpose (*this /= ((T)sqrt(sqr_length)));
- // return *this;
- }
-
- /*
- inline Vec3fX<T> normalize(bool* signal)
- {
- T sqr_length = this->squaredNorm();
- if(sqr_length > 0)
- {
- *this /= ((T)sqrt(sqr_length));
- *signal = true;
- }
- else
- *signal = false;
- return *this;
- }
- // */
-
- inline const typename UnaryReturnType<EigenOp>::Abs
- abs() const
- {
- return typename UnaryReturnType<EigenOp>::Abs (*this);
- }
-
- template <typename Derived>
- inline bool equal(const Eigen::MatrixBase<Derived>& other, T epsilon = std::numeric_limits<T>::epsilon() * 100) const
- {
- return ((*this - other).cwiseAbs().array () < epsilon).all();
- }
-
- template <typename Derived>
- bool operator == (const Eigen::MatrixBase<Derived>& other) const
- {
- return equal(other, 0);
- }
-
- template <typename Derived>
- bool operator != (const Eigen::MatrixBase<Derived>& other) const
- {
- return !(*this == other);
- }
-
- // Not in place.
- FCL_EIGEN_MAKE_CWISE_BINARY_OP(ubound,internal::scalar_min_op)
- FCL_EIGEN_MAKE_CWISE_BINARY_OP(lbound,internal::scalar_max_op)
-
- bool isZero() const
- {
- return this->Base::isZero ();
- }
-
- const FclOp<Transpose<const Base> > transpose () const {
- EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(EigenOp, 3, 3);
- return FclOp<Transpose<const Base> >(*this);
- }
-
- // const FclOp<internal::inverse_impl<FclOp> > inverse () const { return FclOp<Transpose<FclOp> >(*this); }
-};
-
-}
-
-namespace fcl
-{
-// #if 0
-template<typename T, int _Options>
-static inline Eigen::FclMatrix<T, 1, _Options> normalize(const Eigen::FclMatrix<T, 1, _Options>& v)
-{
- T sqr_length = v.squaredNorm ();
- if(sqr_length > 0)
- return v / (T)sqrt(sqr_length);
- else
- return v;
-}
-
-template<typename Derived>
-static inline typename Derived::Scalar triple(
- const FclType<Derived>& x,
- const FclType<Derived>& y,
- const FclType<Derived>& z)
-{
- return x.fcl().dot(y.fcl().cross(z.fcl()));
-}
-
-
-template<typename Derived, typename OtherDerived>
-static inline const typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Min
- min(const FclType<Derived>& x, const FclType<OtherDerived>& y)
-{
- return typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Min (x.fcl(), y.fcl());
-}
-
-template<typename Derived, typename OtherDerived>
-static inline const typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Max
- max(const FclType<Derived>& x, const FclType<OtherDerived>& y)
-{
- return typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Max (x.fcl(), y.fcl());
-}
-
-template<typename Derived>
-static inline const typename Eigen::UnaryReturnType<const Derived>::Abs
-abs(const FclType<Derived>& x)
-{
- return typename Eigen::UnaryReturnType<const Derived>::Abs (x.fcl());
-}
-
-template<typename Derived>
-void generateCoordinateSystem(
- FclType<Derived>& _w,
- FclType<Derived>& _u,
- FclType<Derived>& _v)
-{
- typedef typename Derived::Scalar T;
-
- Derived& w = _w.fcl();
- Derived& u = _u.fcl();
- Derived& v = _v.fcl();
-
- T inv_length;
- if(std::abs(w[0]) >= std::abs(w[1]))
- {
- inv_length = (T)1.0 / sqrt(w[0] * w[0] + w[2] * w[2]);
- u[0] = -w[2] * inv_length;
- u[1] = (T)0;
- u[2] = w[0] * inv_length;
- v[0] = w[1] * u[2];
- v[1] = w[2] * u[0] - w[0] * u[2];
- v[2] = -w[1] * u[0];
- }
- else
- {
- inv_length = (T)1.0 / sqrt(w[1] * w[1] + w[2] * w[2]);
- u[0] = (T)0;
- u[1] = w[2] * inv_length;
- u[2] = -w[1] * inv_length;
- v[0] = w[1] * u[2] - w[2] * u[1];
- v[1] = -w[0] * u[2];
- v[2] = w[0] * u[1];
- }
-}
-
- // template <typename T>
- // inline Vec3fX <T> operator * (const typename Vec3fX <T>::U& t,
- // const Vec3fX <T>& v)
- // {
- // return Vec3fX <T> (v.data * t);
- // }
-
-// #endif
-
-/* ----- Start Matrices ------ */
-template<typename Matrix, typename Vector>
-void hat(Matrix& mat, const Vector& vec)
-{
- mat << 0, -vec[2], vec[1], vec[2], 0, -vec[0], -vec[1], vec[0], 0;
-}
-
-template<typename Matrix, typename Vector>
-void relativeTransform(const Matrix& R1, const Vector& t1,
- const Matrix& R2, const Vector& t2,
- Matrix& R, Vector& t)
-{
- R = R1.transposeTimes(R2);
- t = R1.transposeTimes(t2 - t1);
-}
-
-/// @brief compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors
-template<typename Matrix, typename Vector>
-void eigen(const FclType<Matrix>& m, typename Matrix::Scalar dout[3], Vector* vout)
-{
- typedef typename Matrix::Scalar Scalar;
- Matrix R(m.fcl());
- int n = 3;
- int j, iq, ip, i;
- Scalar tresh, theta, tau, t, sm, s, h, g, c;
- int nrot;
- Scalar b[3];
- Scalar z[3];
- Scalar v[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
- Scalar d[3];
-
- for(ip = 0; ip < n; ++ip)
- {
- b[ip] = d[ip] = R(ip, ip);
- z[ip] = 0;
- }
-
- nrot = 0;
-
- for(i = 0; i < 50; ++i)
- {
- sm = 0;
- for(ip = 0; ip < n; ++ip)
- for(iq = ip + 1; iq < n; ++iq)
- sm += std::abs(R(ip, iq));
- if(sm == 0.0)
- {
- vout[0] << v[0][0], v[0][1], v[0][2];
- vout[1] << v[1][0], v[1][1], v[1][2];
- vout[2] << v[2][0], v[2][1], v[2][2];
- dout[0] = d[0]; dout[1] = d[1]; dout[2] = d[2];
- return;
- }
-
- if(i < 3) tresh = 0.2 * sm / (n * n);
- else tresh = 0.0;
-
- for(ip = 0; ip < n; ++ip)
- {
- for(iq= ip + 1; iq < n; ++iq)
- {
- g = 100.0 * std::abs(R(ip, iq));
- if(i > 3 &&
- std::abs(d[ip]) + g == std::abs(d[ip]) &&
- std::abs(d[iq]) + g == std::abs(d[iq]))
- R(ip, iq) = 0.0;
- else if(std::abs(R(ip, iq)) > tresh)
- {
- h = d[iq] - d[ip];
- if(std::abs(h) + g == std::abs(h)) t = (R(ip, iq)) / h;
- else
- {
- theta = 0.5 * h / (R(ip, iq));
- t = 1.0 /(std::abs(theta) + std::sqrt(1.0 + theta * theta));
- if(theta < 0.0) t = -t;
- }
- c = 1.0 / std::sqrt(1 + t * t);
- s = t * c;
- tau = s / (1.0 + c);
- h = t * R(ip, iq);
- z[ip] -= h;
- z[iq] += h;
- d[ip] -= h;
- d[iq] += h;
- R(ip, iq) = 0.0;
- for(j = 0; j < ip; ++j) { g = R(j, ip); h = R(j, iq); R(j, ip) = g - s * (h + g * tau); R(j, iq) = h + s * (g - h * tau); }
- for(j = ip + 1; j < iq; ++j) { g = R(ip, j); h = R(j, iq); R(ip, j) = g - s * (h + g * tau); R(j, iq) = h + s * (g - h * tau); }
- for(j = iq + 1; j < n; ++j) { g = R(ip, j); h = R(iq, j); R(ip, j) = g - s * (h + g * tau); R(iq, j) = h + s * (g - h * tau); }
- for(j = 0; j < n; ++j) { g = v[j][ip]; h = v[j][iq]; v[j][ip] = g - s * (h + g * tau); v[j][iq] = h + s * (g - h * tau); }
- nrot++;
- }
- }
- }
- for(ip = 0; ip < n; ++ip)
- {
- b[ip] += z[ip];
- d[ip] = b[ip];
- z[ip] = 0.0;
- }
- }
-
- std::cerr << "eigen: too many iterations in Jacobi transform." << std::endl;
-
- return;
-}
-
-template<typename Derived>
-Eigen::FclOp<Eigen::Transpose<const typename Eigen::internal::remove_fcl<Derived>::type> > transpose(const FclType<Derived>& R)
-{
- EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3);
- return Eigen::FclOp<Eigen::Transpose<const typename Eigen::internal::remove_fcl<Derived>::type > > (R.fcl());
-}
-
-template<typename T, int _Options>
-Eigen::FclMatrix<T,3,_Options> inverse(const Eigen::FclMatrix<T, 3, _Options>& R)
-{
- return R.inverse();
-}
-
-template<typename Matrix, typename Vector>
-typename Matrix::Scalar quadraticForm(const Matrix& R, const Vector& v)
-{
- return v.dot(R * v);
-}
-
-
-}
-
-
-#endif
diff --git a/include/hpp/fcl/math/math_details.h b/include/hpp/fcl/math/math_details.h
deleted file mode 100644
index 50586708..00000000
--- a/include/hpp/fcl/math/math_details.h
+++ /dev/null
@@ -1,501 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2011-2014, Willow Garage, Inc.
- * Copyright (c) 2014-2015, Open Source Robotics Foundation
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of Open Source Robotics Foundation nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-#ifndef FCL_MATH_DETAILS_H
-#define FCL_MATH_DETAILS_H
-
-#if FCL_HAVE_EIGEN
-# error "This file should not be included when compiling with Eigen library"
-#endif
-
-#include <cmath>
-#include <algorithm>
-#include <cstring>
-
-namespace fcl
-{
-
-namespace details
-{
-
-
-template <typename T>
-struct Vec3Data
-{
- typedef T meta_type;
-
- T vs[3];
- Vec3Data() { setValue(0); }
- Vec3Data(T x)
- {
- setValue(x);
- }
-
- Vec3Data(T* x)
- {
- memcpy(vs, x, sizeof(T) * 3);
- }
-
- Vec3Data(T x, T y, T z)
- {
- setValue(x, y, z);
- }
-
- inline void setValue(T x, T y, T z)
- {
- vs[0] = x; vs[1] = y; vs[2] = z;
- }
-
- inline void setValue(T x)
- {
- vs[0] = x; vs[1] = x; vs[2] = x;
- }
-
- inline Vec3Data<T>& ubound(const Vec3Data<T>& u)
- {
- vs[0] = std::min(vs[0], u.vs[0]);
- vs[1] = std::min(vs[1], u.vs[1]);
- vs[2] = std::min(vs[2], u.vs[2]);
- return *this;
- }
-
- inline Vec3Data<T>& lbound(const Vec3Data<T>& l)
- {
- vs[0] = std::max(vs[0], l.vs[0]);
- vs[1] = std::max(vs[1], l.vs[1]);
- vs[2] = std::max(vs[2], l.vs[2]);
- return *this;
- }
-
- T operator [] (size_t i) const { return vs[i]; }
- T& operator [] (size_t i) { return vs[i]; }
-
- inline Vec3Data<T> operator + (const Vec3Data<T>& other) const { return Vec3Data<T>(vs[0] + other.vs[0], vs[1] + other.vs[1], vs[2] + other.vs[2]); }
- inline Vec3Data<T> operator - (const Vec3Data<T>& other) const { return Vec3Data<T>(vs[0] - other.vs[0], vs[1] - other.vs[1], vs[2] - other.vs[2]); }
- inline Vec3Data<T> operator * (const Vec3Data<T>& other) const { return Vec3Data<T>(vs[0] * other.vs[0], vs[1] * other.vs[1], vs[2] * other.vs[2]); }
- inline Vec3Data<T> operator / (const Vec3Data<T>& other) const { return Vec3Data<T>(vs[0] / other.vs[0], vs[1] / other.vs[1], vs[2] / other.vs[2]); }
- inline Vec3Data<T>& operator += (const Vec3Data<T>& other) { vs[0] += other.vs[0]; vs[1] += other.vs[1]; vs[2] += other.vs[2]; return *this; }
- inline Vec3Data<T>& operator -= (const Vec3Data<T>& other) { vs[0] -= other.vs[0]; vs[1] -= other.vs[1]; vs[2] -= other.vs[2]; return *this; }
- inline Vec3Data<T>& operator *= (const Vec3Data<T>& other) { vs[0] *= other.vs[0]; vs[1] *= other.vs[1]; vs[2] *= other.vs[2]; return *this; }
- inline Vec3Data<T>& operator /= (const Vec3Data<T>& other) { vs[0] /= other.vs[0]; vs[1] /= other.vs[1]; vs[2] /= other.vs[2]; return *this; }
- inline Vec3Data<T> operator + (T t) const { return Vec3Data<T>(vs[0] + t, vs[1] + t, vs[2] + t); }
- inline Vec3Data<T> operator - (T t) const { return Vec3Data<T>(vs[0] - t, vs[1] - t, vs[2] - t); }
- inline Vec3Data<T> operator * (T t) const { return Vec3Data<T>(vs[0] * t, vs[1] * t, vs[2] * t); }
- inline Vec3Data<T> operator / (T t) const { T inv_t = 1.0 / t; return Vec3Data<T>(vs[0] * inv_t, vs[1] * inv_t, vs[2] * inv_t); }
- inline Vec3Data<T>& operator += (T t) { vs[0] += t; vs[1] += t; vs[2] += t; return *this; }
- inline Vec3Data<T>& operator -= (T t) { vs[0] -= t; vs[1] -= t; vs[2] -= t; return *this; }
- inline Vec3Data<T>& operator *= (T t) { vs[0] *= t; vs[1] *= t; vs[2] *= t; return *this; }
- inline Vec3Data<T>& operator /= (T t) { T inv_t = 1.0 / t; vs[0] *= inv_t; vs[1] *= inv_t; vs[2] *= inv_t; return *this; }
- inline Vec3Data<T> operator - () const { return Vec3Data<T>(-vs[0], -vs[1], -vs[2]); }
-};
-
-
-template <typename T>
-static inline Vec3Data<T> cross_prod(const Vec3Data<T>& l, const Vec3Data<T>& r)
-{
- return Vec3Data<T>(l.vs[1] * r.vs[2] - l.vs[2] * r.vs[1],
- l.vs[2] * r.vs[0] - l.vs[0] * r.vs[2],
- l.vs[0] * r.vs[1] - l.vs[1] * r.vs[0]);
-}
-
-template <typename T>
-static inline T dot_prod3(const Vec3Data<T>& l, const Vec3Data<T>& r)
-{
- return l.vs[0] * r.vs[0] + l.vs[1] * r.vs[1] + l.vs[2] * r.vs[2];
-}
-
-
-template <typename T>
-static inline Vec3Data<T> min(const Vec3Data<T>& x, const Vec3Data<T>& y)
-{
- return Vec3Data<T>(std::min(x.vs[0], y.vs[0]), std::min(x.vs[1], y.vs[1]), std::min(x.vs[2], y.vs[2]));
-}
-
-template <typename T>
-static inline Vec3Data<T> max(const Vec3Data<T>& x, const Vec3Data<T>& y)
-{
- return Vec3Data<T>(std::max(x.vs[0], y.vs[0]), std::max(x.vs[1], y.vs[1]), std::max(x.vs[2], y.vs[2]));
-}
-
-template <typename T>
-static inline Vec3Data<T> abs(const Vec3Data<T>& x)
-{
- return Vec3Data<T>(std::abs(x.vs[0]), std::abs(x.vs[1]), std::abs(x.vs[2]));
-}
-
-template <typename T>
-static inline bool equal(const Vec3Data<T>& x, const Vec3Data<T>& y, T epsilon)
-{
- return ((x.vs[0] - y.vs[0] < epsilon) &&
- (x.vs[0] - y.vs[0] > -epsilon) &&
- (x.vs[1] - y.vs[1] < epsilon) &&
- (x.vs[1] - y.vs[1] > -epsilon) &&
- (x.vs[2] - y.vs[2] < epsilon) &&
- (x.vs[2] - y.vs[2] > -epsilon));
-}
-
-
-template<typename T>
-struct Matrix3Data
-{
- typedef T meta_type;
- typedef Vec3Data<T> vector_type;
-
- Vec3Data<T> rs[3];
- Matrix3Data() {};
-
- Matrix3Data(T xx, T xy, T xz,
- T yx, T yy, T yz,
- T zx, T zy, T zz)
- {
- setValue(xx, xy, xz,
- yx, yy, yz,
- zx, zy, zz);
- }
-
- Matrix3Data(const Vec3Data<T>& v1, const Vec3Data<T>& v2, const Vec3Data<T>& v3)
- {
- rs[0] = v1;
- rs[1] = v2;
- rs[2] = v3;
- }
-
- Matrix3Data(const Matrix3Data<T>& other)
- {
- rs[0] = other.rs[0];
- rs[1] = other.rs[1];
- rs[2] = other.rs[2];
- }
-
- inline Vec3Data<T> getColumn(size_t i) const
- {
- return Vec3Data<T>(rs[0][i], rs[1][i], rs[2][i]);
- }
-
- inline const Vec3Data<T>& getRow(size_t i) const
- {
- return rs[i];
- }
-
- inline T operator() (size_t i, size_t j) const
- {
- return rs[i][j];
- }
-
- inline T& operator() (size_t i, size_t j)
- {
- return rs[i][j];
- }
-
- inline Vec3Data<T> operator * (const Vec3Data<T>& v) const
- {
- return Vec3Data<T>(dot_prod3(rs[0], v), dot_prod3(rs[1], v), dot_prod3(rs[2], v));
- }
-
- inline Matrix3Data<T> operator * (const Matrix3Data<T>& other) const
- {
- return Matrix3Data<T>(other.transposeDotX(rs[0]), other.transposeDotY(rs[0]), other.transposeDotZ(rs[0]),
- other.transposeDotX(rs[1]), other.transposeDotY(rs[1]), other.transposeDotZ(rs[1]),
- other.transposeDotX(rs[2]), other.transposeDotY(rs[2]), other.transposeDotZ(rs[2]));
- }
-
- inline Matrix3Data<T> operator + (const Matrix3Data<T>& other) const
- {
- return Matrix3Data<T>(rs[0] + other.rs[0], rs[1] + other.rs[1], rs[2] + other.rs[2]);
- }
-
- inline Matrix3Data<T> operator - (const Matrix3Data<T>& other) const
- {
- return Matrix3Data<T>(rs[0] - other.rs[0], rs[1] - other.rs[1], rs[2] - other.rs[2]);
- }
-
- inline Matrix3Data<T> operator + (T c) const
- {
- return Matrix3Data<T>(rs[0] + c, rs[1] + c, rs[2] + c);
- }
-
- inline Matrix3Data<T> operator - (T c) const
- {
- return Matrix3Data<T>(rs[0] - c, rs[1] - c, rs[2] - c);
- }
-
- inline Matrix3Data<T> operator * (T c) const
- {
- return Matrix3Data<T>(rs[0] * c, rs[1] * c, rs[2] * c);
- }
-
- inline Matrix3Data<T> operator / (T c) const
- {
- return Matrix3Data<T>(rs[0] / c, rs[1] / c, rs[2] / c);
- }
-
- inline Matrix3Data<T>& operator *= (const Matrix3Data<T>& other)
- {
- rs[0].setValue(other.transposeDotX(rs[0]), other.transposeDotY(rs[0]), other.transposeDotZ(rs[0]));
- rs[1].setValue(other.transposeDotX(rs[1]), other.transposeDotY(rs[1]), other.transposeDotZ(rs[1]));
- rs[2].setValue(other.transposeDotX(rs[2]), other.transposeDotY(rs[2]), other.transposeDotZ(rs[2]));
- return *this;
- }
-
- inline Matrix3Data<T>& operator += (const Matrix3Data<T>& other)
- {
- rs[0] += other.rs[0];
- rs[1] += other.rs[1];
- rs[2] += other.rs[2];
- return *this;
- }
-
- inline Matrix3Data<T>& operator -= (const Matrix3Data<T>& other)
- {
- rs[0] -= other.rs[0];
- rs[1] -= other.rs[1];
- rs[2] -= other.rs[2];
- return *this;
- }
-
- inline Matrix3Data<T>& operator += (T c)
- {
- rs[0] += c;
- rs[1] += c;
- rs[2] += c;
- return *this;
- }
-
- inline Matrix3Data<T>& operator - (T c)
- {
- rs[0] -= c;
- rs[1] -= c;
- rs[2] -= c;
- return *this;
- }
-
- inline Matrix3Data<T>& operator * (T c)
- {
- rs[0] *= c;
- rs[1] *= c;
- rs[2] *= c;
- return *this;
- }
-
- inline Matrix3Data<T>& operator / (T c)
- {
- rs[0] /= c;
- rs[1] /= c;
- rs[2] /= c;
- return *this;
- }
-
-
- void setIdentity()
- {
- setValue((T)1, (T)0, (T)0,
- (T)0, (T)1, (T)0,
- (T)0, (T)0, (T)1);
- }
-
- void setZero()
- {
- setValue((T)0);
- }
-
- static const Matrix3Data<T>& getIdentity()
- {
- static const Matrix3Data<T> I((T)1, (T)0, (T)0,
- (T)0, (T)1, (T)0,
- (T)0, (T)0, (T)1);
- return I;
- }
-
- T determinant() const
- {
- return dot_prod3(rs[0], cross_prod(rs[1], rs[2]));
- }
-
- Matrix3Data<T>& transpose()
- {
- register T tmp = rs[0][1];
- rs[0][1] = rs[1][0];
- rs[1][0] = tmp;
-
- tmp = rs[0][2];
- rs[0][2] = rs[2][0];
- rs[2][0] = tmp;
-
- tmp = rs[2][1];
- rs[2][1] = rs[1][2];
- rs[1][2] = tmp;
- return *this;
- }
-
- Matrix3Data<T>& inverse()
- {
- T det = determinant();
- register T inrsdet = 1 / det;
-
- setValue((rs[1][1] * rs[2][2] - rs[1][2] * rs[2][1]) * inrsdet,
- (rs[0][2] * rs[2][1] - rs[0][1] * rs[2][2]) * inrsdet,
- (rs[0][1] * rs[1][2] - rs[0][2] * rs[1][1]) * inrsdet,
- (rs[1][2] * rs[2][0] - rs[1][0] * rs[2][2]) * inrsdet,
- (rs[0][0] * rs[2][2] - rs[0][2] * rs[2][0]) * inrsdet,
- (rs[0][2] * rs[1][0] - rs[0][0] * rs[1][2]) * inrsdet,
- (rs[1][0] * rs[2][1] - rs[1][1] * rs[2][0]) * inrsdet,
- (rs[0][1] * rs[2][0] - rs[0][0] * rs[2][1]) * inrsdet,
- (rs[0][0] * rs[1][1] - rs[0][1] * rs[1][0]) * inrsdet);
-
- return *this;
- }
-
- Matrix3Data<T> transposeTimes(const Matrix3Data<T>& m) const
- {
- return Matrix3Data<T>(rs[0][0] * m.rs[0][0] + rs[1][0] * m.rs[1][0] + rs[2][0] * m.rs[2][0],
- rs[0][0] * m.rs[0][1] + rs[1][0] * m.rs[1][1] + rs[2][0] * m.rs[2][1],
- rs[0][0] * m.rs[0][2] + rs[1][0] * m.rs[1][2] + rs[2][0] * m.rs[2][2],
- rs[0][1] * m.rs[0][0] + rs[1][1] * m.rs[1][0] + rs[2][1] * m.rs[2][0],
- rs[0][1] * m.rs[0][1] + rs[1][1] * m.rs[1][1] + rs[2][1] * m.rs[2][1],
- rs[0][1] * m.rs[0][2] + rs[1][1] * m.rs[1][2] + rs[2][1] * m.rs[2][2],
- rs[0][2] * m.rs[0][0] + rs[1][2] * m.rs[1][0] + rs[2][2] * m.rs[2][0],
- rs[0][2] * m.rs[0][1] + rs[1][2] * m.rs[1][1] + rs[2][2] * m.rs[2][1],
- rs[0][2] * m.rs[0][2] + rs[1][2] * m.rs[1][2] + rs[2][2] * m.rs[2][2]);
- }
-
- Matrix3Data<T> timesTranspose(const Matrix3Data<T>& m) const
- {
- return Matrix3Data<T>(dot_prod3(rs[0], m[0]), dot_prod3(rs[0], m[1]), dot_prod3(rs[0], m[2]),
- dot_prod3(rs[1], m[0]), dot_prod3(rs[1], m[1]), dot_prod3(rs[1], m[2]),
- dot_prod3(rs[2], m[0]), dot_prod3(rs[2], m[1]), dot_prod3(rs[2], m[2]));
- }
-
-
- Vec3Data<T> transposeTimes(const Vec3Data<T>& v) const
- {
- return Vec3Data<T>(transposeDotX(v), transposeDotY(v), transposeDotZ(v));
- }
-
- inline T transposeDotX(const Vec3Data<T>& v) const
- {
- return rs[0][0] * v[0] + rs[1][0] * v[1] + rs[2][0] * v[2];
- }
-
- inline T transposeDotY(const Vec3Data<T>& v) const
- {
- return rs[0][1] * v[0] + rs[1][1] * v[1] + rs[2][1] * v[2];
- }
-
- inline T transposeDotZ(const Vec3Data<T>& v) const
- {
- return rs[0][2] * v[0] + rs[1][2] * v[1] + rs[2][2] * v[2];
- }
-
- inline T transposeDot(size_t i, const Vec3Data<T>& v) const
- {
- return rs[0][i] * v[0] + rs[1][i] * v[1] + rs[2][i] * v[2];
- }
-
- inline T dotX(const Vec3Data<T>& v) const
- {
- return rs[0][0] * v[0] + rs[0][1] * v[1] + rs[0][2] * v[2];
- }
-
- inline T dotY(const Vec3Data<T>& v) const
- {
- return rs[1][0] * v[0] + rs[1][1] * v[1] + rs[1][2] * v[2];
- }
-
- inline T dotZ(const Vec3Data<T>& v) const
- {
- return rs[2][0] * v[0] + rs[2][1] * v[1] + rs[2][2] * v[2];
- }
-
- inline T dot(size_t i, const Vec3Data<T>& v) const
- {
- return rs[i][0] * v[0] + rs[i][1] * v[1] + rs[i][2] * v[2];
- }
-
- inline void setValue(T xx, T xy, T xz,
- T yx, T yy, T yz,
- T zx, T zy, T zz)
- {
- rs[0].setValue(xx, xy, xz);
- rs[1].setValue(yx, yy, yz);
- rs[2].setValue(zx, zy, zz);
- }
-
- inline void setValue(T x)
- {
- rs[0].setValue(x);
- rs[1].setValue(x);
- rs[2].setValue(x);
- }
-};
-
-
-
-template<typename T>
-Matrix3Data<T> abs(const Matrix3Data<T>& m)
-{
- return Matrix3Data<T>(abs(m.rs[0]), abs(m.rs[1]), abs(m.rs[2]));
-}
-
-template<typename T>
-Matrix3Data<T> transpose(const Matrix3Data<T>& m)
-{
- return Matrix3Data<T>(m.rs[0][0], m.rs[1][0], m.rs[2][0],
- m.rs[0][1], m.rs[1][1], m.rs[2][1],
- m.rs[0][2], m.rs[1][2], m.rs[2][2]);
-}
-
-
-template<typename T>
-Matrix3Data<T> inverse(const Matrix3Data<T>& m)
-{
- T det = m.determinant();
- T inrsdet = 1 / det;
-
- return Matrix3Data<T>((m.rs[1][1] * m.rs[2][2] - m.rs[1][2] * m.rs[2][1]) * inrsdet,
- (m.rs[0][2] * m.rs[2][1] - m.rs[0][1] * m.rs[2][2]) * inrsdet,
- (m.rs[0][1] * m.rs[1][2] - m.rs[0][2] * m.rs[1][1]) * inrsdet,
- (m.rs[1][2] * m.rs[2][0] - m.rs[1][0] * m.rs[2][2]) * inrsdet,
- (m.rs[0][0] * m.rs[2][2] - m.rs[0][2] * m.rs[2][0]) * inrsdet,
- (m.rs[0][2] * m.rs[1][0] - m.rs[0][0] * m.rs[1][2]) * inrsdet,
- (m.rs[1][0] * m.rs[2][1] - m.rs[1][1] * m.rs[2][0]) * inrsdet,
- (m.rs[0][1] * m.rs[2][0] - m.rs[0][0] * m.rs[2][1]) * inrsdet,
- (m.rs[0][0] * m.rs[1][1] - m.rs[0][1] * m.rs[1][0]) * inrsdet);
-}
-
-}
-
-}
-
-#endif
diff --git a/include/hpp/fcl/math/matrix_3f.h b/include/hpp/fcl/math/matrix_3f.h
index 5226b537..36815c14 100644
--- a/include/hpp/fcl/math/matrix_3f.h
+++ b/include/hpp/fcl/math/matrix_3f.h
@@ -40,32 +40,10 @@
#include <hpp/fcl/math/vec_3f.h>
-#if ! FCL_HAVE_EIGEN
-# include <hpp/fcl/math/matrix_3fx.h>
-#endif
-
namespace fcl
{
-#if FCL_HAVE_EIGEN
typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
-#elif FCL_HAVE_SSE
- typedef Matrix3fX<details::sse_meta_f12> Matrix3f;
-#else
- typedef Matrix3fX<details::Matrix3Data<FCL_REAL> > Matrix3f;
-#endif
-
-#if ! FCL_HAVE_EIGEN
-static inline std::ostream& operator << (std::ostream& o, const Matrix3f& m)
-{
- o << "[(" << m(0, 0) << " " << m(0, 1) << " " << m(0, 2) << ")("
- << m(1, 0) << " " << m(1, 1) << " " << m(1, 2) << ")("
- << m(2, 0) << " " << m(2, 1) << " " << m(2, 2) << ")]";
- return o;
-}
-#endif
-
-
/// @brief Class for variance matrix in 3d
class Variance3f
diff --git a/include/hpp/fcl/math/matrix_3fx.h b/include/hpp/fcl/math/matrix_3fx.h
deleted file mode 100644
index 1c93e7e6..00000000
--- a/include/hpp/fcl/math/matrix_3fx.h
+++ /dev/null
@@ -1,481 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2011-2014, Willow Garage, Inc.
- * Copyright (c) 2014-2015, Open Source Robotics Foundation
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of Open Source Robotics Foundation nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-#ifndef FCL_MATRIX_3FX_H
-#define FCL_MATRIX_3FX_H
-
-#include <hpp/fcl/math/vec_3f.h>
-#include <Eigen/Core>
-
-namespace fcl
-{
-
-/// @brief Matrix2 class wrapper. the core data is in the template parameter class
-template<typename T>
-class Matrix3fX
-{
-public:
- typedef typename T::meta_type U;
- typedef typename T::vector_type S;
- typedef Eigen::Matrix<U, 3, 3> EigenType;
- T data;
-
- Matrix3fX() {}
- Matrix3fX(U xx, U xy, U xz,
- U yx, U yy, U yz,
- U zx, U zy, U zz) : data(xx, xy, xz, yx, yy, yz, zx, zy, zz)
- {}
-
- Matrix3fX(const Vec3fX<S>& v1, const Vec3fX<S>& v2, const Vec3fX<S>& v3)
- : data(v1.data, v2.data, v3.data) {}
-
- Matrix3fX(const Matrix3fX<T>& other) : data(other.data) {}
-
- Matrix3fX(const T& data_) : data(data_) {}
-
- inline Vec3fX<S> getColumn(size_t i) const
- {
- return Vec3fX<S>(data.getColumn(i));
- }
-
- inline Vec3fX<S> getRow(size_t i) const
- {
- return Vec3fX<S>(data.getRow(i));
- }
-
- inline EigenType derived() const
- {
- EigenType ret;
- for(int i = 0; i < 3; ++i)
- for(int j = 0; j < 3; ++j)
- ret(i,j) = data(i,j);
- return ret;
- }
-
- inline U operator () (size_t i, size_t j) const
- {
- return data(i, j);
- }
-
- inline U& operator () (size_t i, size_t j)
- {
- return data(i, j);
- }
-
- inline Vec3fX<S> operator * (const Vec3fX<S>& v) const
- {
- return Vec3fX<S>(data * v.data);
- }
-
- inline Matrix3fX<T> operator * (const Matrix3fX<T>& m) const
- {
- return Matrix3fX<T>(data * m.data);
- }
-
- inline Matrix3fX<T> operator + (const Matrix3fX<T>& other) const
- {
- return Matrix3fX<T>(data + other.data);
- }
-
- inline Matrix3fX<T> operator - (const Matrix3fX<T>& other) const
- {
- return Matrix3fX<T>(data - other.data);
- }
-
- inline Matrix3fX<T> operator + (U c) const
- {
- return Matrix3fX<T>(data + c);
- }
-
- inline Matrix3fX<T> operator - (U c) const
- {
- return Matrix3fX<T>(data - c);
- }
-
- inline Matrix3fX<T> operator * (U c) const
- {
- return Matrix3fX<T>(data * c);
- }
-
- inline Matrix3fX<T> operator / (U c) const
- {
- return Matrix3fX<T>(data / c);
- }
-
- inline Matrix3fX<T>& operator *= (const Matrix3fX<T>& other)
- {
- data *= other.data;
- return *this;
- }
-
- inline Matrix3fX<T>& operator += (const Matrix3fX<T>& other)
- {
- data += other.data;
- return *this;
- }
-
- inline Matrix3fX<T>& operator -= (const Matrix3fX<T>& other)
- {
- data -= other.data;
- return *this;
- }
-
- inline Matrix3fX<T>& operator += (U c)
- {
- data += c;
- return *this;
- }
-
- inline Matrix3fX<T>& operator -= (U c)
- {
- data -= c;
- return *this;
- }
-
- inline Matrix3fX<T>& operator *= (U c)
- {
- data *= c;
- return *this;
- }
-
- inline Matrix3fX<T>& operator /= (U c)
- {
- data /= c;
- return *this;
- }
-
- inline void setIdentity()
- {
- data.setIdentity();
- }
-
- inline bool isIdentity () const
- {
- return
- data (0,0) == 1 && data (0,1) == 0 && data (0,2) == 0 &&
- data (1,0) == 0 && data (1,1) == 1 && data (1,2) == 0 &&
- data (2,0) == 0 && data (2,1) == 0 && data (2,2) == 1;
- }
-
- inline void setZero()
- {
- data.setZero();
- }
-
- /// @brief Set the matrix from euler angles YPR around ZYX axes
- /// @param eulerX Roll about X axis
- /// @param eulerY Pitch around Y axis
- /// @param eulerZ Yaw aboud Z axis
- ///
- /// These angles are used to produce a rotation matrix. The euler
- /// angles are applied in ZYX order. I.e a vector is first rotated
- /// about X then Y and then Z
- inline void setEulerZYX(FCL_REAL eulerX, FCL_REAL eulerY, FCL_REAL eulerZ)
- {
- FCL_REAL ci(cos(eulerX));
- FCL_REAL cj(cos(eulerY));
- FCL_REAL ch(cos(eulerZ));
- FCL_REAL si(sin(eulerX));
- FCL_REAL sj(sin(eulerY));
- FCL_REAL sh(sin(eulerZ));
- FCL_REAL cc = ci * ch;
- FCL_REAL cs = ci * sh;
- FCL_REAL sc = si * ch;
- FCL_REAL ss = si * sh;
-
- setValue(cj * ch, sj * sc - cs, sj * cc + ss,
- cj * sh, sj * ss + cc, sj * cs - sc,
- -sj, cj * si, cj * ci);
-
- }
-
- /// @brief Set the matrix from euler angles using YPR around YXZ respectively
- /// @param yaw Yaw about Y axis
- /// @param pitch Pitch about X axis
- /// @param roll Roll about Z axis
- void setEulerYPR(FCL_REAL yaw, FCL_REAL pitch, FCL_REAL roll)
- {
- setEulerZYX(roll, pitch, yaw);
- }
-
- inline U determinant() const
- {
- return data.determinant();
- }
-
- Matrix3fX<T>& transpose()
- {
- data.transpose();
- return *this;
- }
-
- Matrix3fX<T>& inverse()
- {
- data.inverse();
- return *this;
- }
-
- Matrix3fX<T>& abs()
- {
- data.abs();
- return *this;
- }
-
- static const Matrix3fX<T>& getIdentity()
- {
- static const Matrix3fX<T> I((U)1, (U)0, (U)0,
- (U)0, (U)1, (U)0,
- (U)0, (U)0, (U)1);
- return I;
- }
-
- Matrix3fX<T> transposeTimes(const Matrix3fX<T>& other) const
- {
- return Matrix3fX<T>(data.transposeTimes(other.data));
- }
-
- Matrix3fX<T> timesTranspose(const Matrix3fX<T>& other) const
- {
- return Matrix3fX<T>(data.timesTranspose(other.data));
- }
-
- Vec3fX<S> transposeTimes(const Vec3fX<S>& v) const
- {
- return Vec3fX<S>(data.transposeTimes(v.data));
- }
-
- Matrix3fX<T> tensorTransform(const Matrix3fX<T>& m) const
- {
- Matrix3fX<T> res(*this);
- res *= m;
- return res.timesTranspose(*this);
- }
-
- // (1 0 0)^T (*this)^T v
- inline U transposeDotX(const Vec3fX<S>& v) const
- {
- return data.transposeDot(0, v.data);
- }
-
- // (0 1 0)^T (*this)^T v
- inline U transposeDotY(const Vec3fX<S>& v) const
- {
- return data.transposeDot(1, v.data);
- }
-
- // (0 0 1)^T (*this)^T v
- inline U transposeDotZ(const Vec3fX<S>& v) const
- {
- return data.transposeDot(2, v.data);
- }
-
- // (\delta_{i3})^T (*this)^T v
- inline U transposeDot(size_t i, const Vec3fX<S>& v) const
- {
- return data.transposeDot(i, v.data);
- }
-
- // (1 0 0)^T (*this) v
- inline U dotX(const Vec3fX<S>& v) const
- {
- return data.dot(0, v.data);
- }
-
- // (0 1 0)^T (*this) v
- inline U dotY(const Vec3fX<S>& v) const
- {
- return data.dot(1, v.data);
- }
-
- // (0 0 1)^T (*this) v
- inline U dotZ(const Vec3fX<S>& v) const
- {
- return data.dot(2, v.data);
- }
-
- // (\delta_{i3})^T (*this) v
- inline U dot(size_t i, const Vec3fX<S>& v) const
- {
- return data.dot(i, v.data);
- }
-
- inline void setValue(U xx, U xy, U xz,
- U yx, U yy, U yz,
- U zx, U zy, U zz)
- {
- data.setValue(xx, xy, xz,
- yx, yy, yz,
- zx, zy, zz);
- }
-
- inline void setValue(U x)
- {
- data.setValue(x);
- }
-};
-
-template<typename T>
-void hat(Matrix3fX<T>& mat, const Vec3fX<typename T::vector_type>& vec)
-{
- mat.setValue(0, -vec[2], vec[1], vec[2], 0, -vec[0], -vec[1], vec[0], 0);
-}
-
-template<typename T>
-void relativeTransform(const Matrix3fX<T>& R1, const Vec3fX<typename T::vector_type>& t1,
- const Matrix3fX<T>& R2, const Vec3fX<typename T::vector_type>& t2,
- Matrix3fX<T>& R, Vec3fX<typename T::vector_type>& t)
-{
- R = R1.transposeTimes(R2);
- t = R1.transposeTimes(t2 - t1);
-}
-
-/// @brief compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors
-template<typename T>
-void eigen(const Matrix3fX<T>& m, typename T::meta_type dout[3], Vec3fX<typename T::vector_type> vout[3])
-{
- Matrix3fX<T> R(m);
- int n = 3;
- int j, iq, ip, i;
- typename T::meta_type tresh, theta, tau, t, sm, s, h, g, c;
- int nrot;
- typename T::meta_type b[3];
- typename T::meta_type z[3];
- typename T::meta_type v[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
- typename T::meta_type d[3];
-
- for(ip = 0; ip < n; ++ip)
- {
- b[ip] = d[ip] = R(ip, ip);
- z[ip] = 0;
- }
-
- nrot = 0;
-
- for(i = 0; i < 50; ++i)
- {
- sm = 0;
- for(ip = 0; ip < n; ++ip)
- for(iq = ip + 1; iq < n; ++iq)
- sm += std::abs(R(ip, iq));
- if(sm == 0.0)
- {
- vout[0].setValue(v[0][0], v[0][1], v[0][2]);
- vout[1].setValue(v[1][0], v[1][1], v[1][2]);
- vout[2].setValue(v[2][0], v[2][1], v[2][2]);
- dout[0] = d[0]; dout[1] = d[1]; dout[2] = d[2];
- return;
- }
-
- if(i < 3) tresh = 0.2 * sm / (n * n);
- else tresh = 0.0;
-
- for(ip = 0; ip < n; ++ip)
- {
- for(iq= ip + 1; iq < n; ++iq)
- {
- g = 100.0 * std::abs(R(ip, iq));
- if(i > 3 &&
- std::abs(d[ip]) + g == std::abs(d[ip]) &&
- std::abs(d[iq]) + g == std::abs(d[iq]))
- R(ip, iq) = 0.0;
- else if(std::abs(R(ip, iq)) > tresh)
- {
- h = d[iq] - d[ip];
- if(std::abs(h) + g == std::abs(h)) t = (R(ip, iq)) / h;
- else
- {
- theta = 0.5 * h / (R(ip, iq));
- t = 1.0 /(std::abs(theta) + std::sqrt(1.0 + theta * theta));
- if(theta < 0.0) t = -t;
- }
- c = 1.0 / std::sqrt(1 + t * t);
- s = t * c;
- tau = s / (1.0 + c);
- h = t * R(ip, iq);
- z[ip] -= h;
- z[iq] += h;
- d[ip] -= h;
- d[iq] += h;
- R(ip, iq) = 0.0;
- for(j = 0; j < ip; ++j) { g = R(j, ip); h = R(j, iq); R(j, ip) = g - s * (h + g * tau); R(j, iq) = h + s * (g - h * tau); }
- for(j = ip + 1; j < iq; ++j) { g = R(ip, j); h = R(j, iq); R(ip, j) = g - s * (h + g * tau); R(j, iq) = h + s * (g - h * tau); }
- for(j = iq + 1; j < n; ++j) { g = R(ip, j); h = R(iq, j); R(ip, j) = g - s * (h + g * tau); R(iq, j) = h + s * (g - h * tau); }
- for(j = 0; j < n; ++j) { g = v[j][ip]; h = v[j][iq]; v[j][ip] = g - s * (h + g * tau); v[j][iq] = h + s * (g - h * tau); }
- nrot++;
- }
- }
- }
- for(ip = 0; ip < n; ++ip)
- {
- b[ip] += z[ip];
- d[ip] = b[ip];
- z[ip] = 0.0;
- }
- }
-
- std::cerr << "eigen: too many iterations in Jacobi transform." << std::endl;
-
- return;
-}
-
-template<typename T>
-Matrix3fX<T> abs(const Matrix3fX<T>& R)
-{
- return Matrix3fX<T>(abs(R.data));
-}
-
-template<typename T>
-Matrix3fX<T> transpose(const Matrix3fX<T>& R)
-{
- return Matrix3fX<T>(transpose(R.data));
-}
-
-template<typename T>
-Matrix3fX<T> inverse(const Matrix3fX<T>& R)
-{
- return Matrix3fX<T>(inverse(R.data));
-}
-
-template<typename T>
-typename T::meta_type quadraticForm(const Matrix3fX<T>& R, const Vec3fX<typename T::vector_type>& v)
-{
- return v.dot(R * v);
-}
-
-}
-
-#endif
diff --git a/include/hpp/fcl/math/tools.h b/include/hpp/fcl/math/tools.h
index 08e0628d..23a4f18d 100644
--- a/include/hpp/fcl/math/tools.h
+++ b/include/hpp/fcl/math/tools.h
@@ -49,9 +49,6 @@
#include <iostream>
#include <limits>
-#define FCL_CCD_INTERVALVECTOR_PLUGIN <hpp/fcl/eigen/plugins/ccd/interval-vector.h>
-#define FCL_CCD_MATRIXVECTOR_PLUGIN <hpp/fcl/eigen/plugins/ccd/interval-matrix.h>
-
namespace fcl
{
@@ -64,29 +61,6 @@ static inline typename Derived::Scalar triple(
return x.derived().dot(y.derived().cross(z.derived()));
}
-
-/*
-template<typename Derived, typename OtherDerived>
-static inline const typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Min
- min(const Eigen::MatrixBase<Derived>& x, const Eigen::MatrixBase<OtherDerived>& y)
-{
- return typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Min (x.derived(), y.derived());
-}
-
-template<typename Derived, typename OtherDerived>
-static inline const typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Max
- max(const Eigen::MatrixBase<Derived>& x, const Eigen::MatrixBase<OtherDerived>& y)
-{
- return typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Max (x.derived(), y.derived());
-}
-
-template<typename Derived>
-static inline const typename Eigen::UnaryReturnType<const Derived>::Abs
-abs(const Eigen::MatrixBase<Derived>& x)
-{
- return typename Eigen::UnaryReturnType<const Derived>::Abs (x.derived());
-} */
-
template<typename Derived1, typename Derived2, typename Derived3>
void generateCoordinateSystem(
const Eigen::MatrixBase<Derived1>& _w,
diff --git a/include/hpp/fcl/math/vec_3f.h b/include/hpp/fcl/math/vec_3f.h
index 1ecc46b1..4322ecdb 100644
--- a/include/hpp/fcl/math/vec_3f.h
+++ b/include/hpp/fcl/math/vec_3f.h
@@ -41,20 +41,9 @@
#include <hpp/fcl/config-fcl.hh>
#include <hpp/fcl/data_types.h>
-#if FCL_HAVE_EIGEN
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <hpp/fcl/math/tools.h>
-#elif FCL_HAVE_SSE
-# include <hpp/fcl/simd/math_simd_details.h>
-#else
-# include <hpp/fcl/math/math_details.h>
-#endif
-
-#if FCL_HAVE_EIGEN
-#else
-# include <hpp/fcl/math/vec_3fx.h>
-#endif
#include <cmath>
#include <iostream>
@@ -63,21 +52,7 @@
namespace fcl
{
-
-#if FCL_HAVE_EIGEN
typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
-#elif FCL_HAVE_SSE
- typedef Vec3fX<details::sse_meta_f4> Vec3f;
-#else
- typedef Vec3fX<details::Vec3Data<FCL_REAL> > Vec3f;
-#endif
-
-static inline std::ostream& operator << (std::ostream& o, const Vec3f& v)
-{
- o << "(" << v[0] << " " << v[1] << " " << v[2] << ")";
- return o;
-}
-
}
diff --git a/include/hpp/fcl/math/vec_3fx.h b/include/hpp/fcl/math/vec_3fx.h
deleted file mode 100644
index adbd4a28..00000000
--- a/include/hpp/fcl/math/vec_3fx.h
+++ /dev/null
@@ -1,245 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2011-2014, Willow Garage, Inc.
- * Copyright (c) 2014-2015, Open Source Robotics Foundation
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of Open Source Robotics Foundation nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-#ifndef FCL_VEC_3FX_H
-#define FCL_VEC_3FX_H
-
-#include <hpp/fcl/config-fcl.hh>
-#include <hpp/fcl/data_types.h>
-
-#include <cmath>
-#include <iostream>
-#include <limits>
-
-#include <Eigen/Core>
-
-namespace fcl
-{
-
-/// @brief Vector3 class wrapper. The core data is in the template parameter class.
-template <typename T>
-class Vec3fX
-{
-public:
- typedef typename T::meta_type U;
- typedef Eigen::Matrix<U, 3, 1> EigenType;
-
- /// @brief interval vector3 data
- T data;
-
- Vec3fX() {}
- Vec3fX(const Vec3fX& other) : data(other.data) {}
-
- /// @brief create Vector (x, y, z)
- Vec3fX(U x, U y, U z) : data(x, y, z) {}
-
- /// @brief create vector (x, x, x)
- Vec3fX(U x) : data(x) {}
-
- /// @brief create vector using the internal data type
- Vec3fX(const T& data_) : data(data_) {}
-
- inline EigenType derived() const
- {
- return EigenType (data[0],data[1],data[2]);
- }
-
- inline U operator [] (size_t i) const { return data[i]; }
- inline U& operator [] (size_t i) { return data[i]; }
-
- inline Vec3fX operator + (const Vec3fX& other) const { return Vec3fX(data + other.data); }
- inline Vec3fX operator - (const Vec3fX& other) const { return Vec3fX(data - other.data); }
- inline Vec3fX operator * (const Vec3fX& other) const { return Vec3fX(data * other.data); }
- inline Vec3fX operator / (const Vec3fX& other) const { return Vec3fX(data / other.data); }
- inline Vec3fX& operator += (const Vec3fX& other) { data += other.data; return *this; }
- inline Vec3fX& operator -= (const Vec3fX& other) { data -= other.data; return *this; }
- inline Vec3fX& operator *= (const Vec3fX& other) { data *= other.data; return *this; }
- inline Vec3fX& operator /= (const Vec3fX& other) { data /= other.data; return *this; }
- inline Vec3fX operator + (U t) const { return Vec3fX(data + t); }
- inline Vec3fX operator - (U t) const { return Vec3fX(data - t); }
- inline Vec3fX operator * (U t) const { return Vec3fX(data * t); }
- inline Vec3fX operator / (U t) const { return Vec3fX(data / t); }
- inline Vec3fX& operator += (U t) { data += t; return *this; }
- inline Vec3fX& operator -= (U t) { data -= t; return *this; }
- inline Vec3fX& operator *= (U t) { data *= t; return *this; }
- inline Vec3fX& operator /= (U t) { data /= t; return *this; }
- inline Vec3fX operator - () const { return Vec3fX(-data); }
- inline Vec3fX cross(const Vec3fX& other) const { return Vec3fX(details::cross_prod(data, other.data)); }
- inline U dot(const Vec3fX& other) const { return details::dot_prod3(data, other.data); }
- inline Vec3fX& normalize()
- {
- U sqr_length = details::dot_prod3(data, data);
- if(sqr_length > 0)
- *this /= (U)sqrt(sqr_length);
- return *this;
- }
-
- inline Vec3fX& normalize(bool* signal)
- {
- U sqr_length = details::dot_prod3(data, data);
- if(sqr_length > 0)
- {
- *this /= (U)sqrt(sqr_length);
- *signal = true;
- }
- else
- *signal = false;
- return *this;
- }
-
- inline Vec3fX& abs()
- {
- data = abs(data);
- return *this;
- }
-
- inline U norm() const { return sqrt(details::dot_prod3(data, data)); }
- inline U squaredNorm() const { return details::dot_prod3(data, data); }
- inline void setValue(U x, U y, U z) { data.setValue(x, y, z); }
- inline void setValue(U x) { data.setValue(x); }
- inline void setZero () {data.setValue (0); }
- inline bool equal(const Vec3fX& other, U epsilon = std::numeric_limits<U>::epsilon() * 100) const { return details::equal(data, other.data, epsilon); }
-
- bool operator == (const Vec3fX& other) const
- {
- return equal(other, 0);
- }
-
- bool operator != (const Vec3fX& other) const
- {
- return !(*this == other);
- }
-
-
- inline Vec3fX<T>& ubound(const Vec3fX<T>& u)
- {
- data.ubound(u.data);
- return *this;
- }
-
- inline Vec3fX<T>& lbound(const Vec3fX<T>& l)
- {
- data.lbound(l.data);
- return *this;
- }
-
- bool isZero() const
- {
- return (data[0] == 0) && (data[1] == 0) && (data[2] == 0);
- }
-
-};
-
-template<typename T>
-static inline Vec3fX<T> normalize(const Vec3fX<T>& v)
-{
- typename T::meta_type sqr_length = details::dot_prod3(v.data, v.data);
- if(sqr_length > 0)
- return v / (typename T::meta_type)sqrt(sqr_length);
- else
- return v;
-}
-
-template <typename T>
-static inline typename T::meta_type triple(const Vec3fX<T>& x, const Vec3fX<T>& y, const Vec3fX<T>& z)
-{
- return x.dot(y.cross(z));
-}
-
-template <typename T>
-std::ostream& operator << (std::ostream& out, const Vec3fX<T>& x)
-{
- out << x[0] << " " << x[1] << " " << x[2];
- return out;
-}
-
-template <typename T>
-static inline Vec3fX<T> min(const Vec3fX<T>& x, const Vec3fX<T>& y)
-{
- return Vec3fX<T>(details::min(x.data, y.data));
-}
-
-template <typename T>
-static inline Vec3fX<T> max(const Vec3fX<T>& x, const Vec3fX<T>& y)
-{
- return Vec3fX<T>(details::max(x.data, y.data));
-}
-
-template <typename T>
-static inline Vec3fX<T> abs(const Vec3fX<T>& x)
-{
- return Vec3fX<T>(details::abs(x.data));
-}
-
-template <typename T>
-void generateCoordinateSystem(const Vec3fX<T>& w, Vec3fX<T>& u, Vec3fX<T>& v)
-{
- typedef typename T::meta_type U;
- U inv_length;
- if(std::abs(w[0]) >= std::abs(w[1]))
- {
- inv_length = (U)1.0 / sqrt(w[0] * w[0] + w[2] * w[2]);
- u[0] = -w[2] * inv_length;
- u[1] = (U)0;
- u[2] = w[0] * inv_length;
- v[0] = w[1] * u[2];
- v[1] = w[2] * u[0] - w[0] * u[2];
- v[2] = -w[1] * u[0];
- }
- else
- {
- inv_length = (U)1.0 / sqrt(w[1] * w[1] + w[2] * w[2]);
- u[0] = (U)0;
- u[1] = w[2] * inv_length;
- u[2] = -w[1] * inv_length;
- v[0] = w[1] * u[2] - w[2] * u[1];
- v[1] = -w[0] * u[2];
- v[2] = w[0] * u[1];
- }
-}
-
- template <typename T>
- inline Vec3fX <T> operator * (const typename Vec3fX <T>::U& t,
- const Vec3fX <T>& v)
- {
- return Vec3fX <T> (v.data * t);
- }
-
-}
-
-
-#endif
diff --git a/include/hpp/fcl/simd/math_simd_details.h b/include/hpp/fcl/simd/math_simd_details.h
deleted file mode 100644
index d6dec69f..00000000
--- a/include/hpp/fcl/simd/math_simd_details.h
+++ /dev/null
@@ -1,1143 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2011-2014, Willow Garage, Inc.
- * Copyright (c) 2014-2015, Open Source Robotics Foundation
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of Open Source Robotics Foundation nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-
-#ifndef FCL_MATH_SIMD_DETAILS_H
-#define FCL_MATH_SIMD_DETAILS_H
-
-#include <hpp/fcl/data_types.h>
-
-#include <xmmintrin.h>
-#if defined (__SSE3__)
-#include <pmmintrin.h>
-#endif
-#if defined (__SSE4__)
-#include <smmintrin.h>
-#endif
-
-
-namespace fcl
-{
-
-/** \brief FCL internals. Ignore this :) unless you are God */
-namespace details
-{
-
-const __m128 xmms_0 = {0.f, 0.f, 0.f, 0.f};
-const __m128d xmmd_0 = {0, 0};
-
-static inline __m128 vec_sel(__m128 a, __m128 b, __m128 mask)
-{
- return _mm_or_ps(_mm_and_ps(mask, b), _mm_andnot_ps(mask, a));
-}
-static inline __m128 vec_sel(__m128 a, __m128 b, const unsigned int* mask)
-{
- return vec_sel(a, b, _mm_load_ps((float*)mask));
-}
-
-static inline __m128 vec_sel(__m128 a, __m128 b, unsigned int mask)
-{
- return vec_sel(a, b, _mm_set1_ps(*(float*)&mask));
-}
-
-#define vec_splat(a, e) _mm_shuffle_ps((a), (a), _MM_SHUFFLE((e), (e), (e), (e)))
-#define vec_splatd(a, e) _mm_shuffle_pd((a), (a), _MM_SHUFFLE2((e), (e)))
-
-#define _mm_ror_ps(x, e) (((e) % 4) ? _mm_shuffle_ps((x), (x), _MM_SHUFFLE(((e)+3)%4, ((e)+2)%4, ((e)+1)%4, (e)%4)) : (x))
-
-#define _mm_rol_ps(x, e) (((e) % 4) ? _mm_shuffle_ps((x), (x), _MM_SHUFFLE((7-(e))%4, (6-(e))%4, (5-(e))%4, (4-(e))%4)) : (x))
-
-static inline __m128 newtonraphson_rsqrt4(const __m128 v)
-{
- static const union { float i[4]; __m128 m; } _half4 __attribute__ ((aligned(16))) = {{.5f, .5f, .5f, .5f}};
- static const union { float i[4]; __m128 m; } _three __attribute__ ((aligned(16))) = {{3.f, 3.f, 3.f, 3.f}};
- __m128 approx = _mm_rsqrt_ps(v);
- __m128 muls = _mm_mul_ps(_mm_mul_ps(v, approx), approx);
- return _mm_mul_ps(_mm_mul_ps(_half4.m, approx), _mm_sub_ps(_three.m, muls));
-}
-
-struct sse_meta_f4
-{
- typedef float meta_type;
-
- union {float vs[4]; __m128 v; };
- sse_meta_f4() : v(_mm_set1_ps(0)) {}
- sse_meta_f4(float x) : v(_mm_set1_ps(x)) {}
- sse_meta_f4(float* px) : v(_mm_load_ps(px)) {}
- sse_meta_f4(__m128 x) : v(x) {}
- sse_meta_f4(float x, float y, float z, float w = 1) : v(_mm_setr_ps(x, y, z, w)) {}
- inline void setValue(float x, float y, float z, float w = 1) { v = _mm_setr_ps(x, y, z, w); }
- inline void setValue(float x) { v = _mm_set1_ps(x); }
- inline void setValue(__m128 x) { v = x; }
-
- inline sse_meta_f4& ubound(const sse_meta_f4& u)
- {
- v = _mm_min_ps(v, u.v);
- return *this;
- }
-
- inline sse_meta_f4& lbound(const sse_meta_f4& l)
- {
- v = _mm_max_ps(v, l.v);
- return *this;
- }
-
- inline void* operator new [] (size_t n) { return _mm_malloc(n, 16); }
- inline void operator delete [] (void* x) { if(x) _mm_free(x); }
- inline float operator [] (size_t i) const { return vs[i]; }
- inline float& operator [] (size_t i) { return vs[i]; }
-
- inline sse_meta_f4 operator + (const sse_meta_f4& other) const { return sse_meta_f4(_mm_add_ps(v, other.v)); }
- inline sse_meta_f4 operator - (const sse_meta_f4& other) const { return sse_meta_f4(_mm_sub_ps(v, other.v)); }
- inline sse_meta_f4 operator * (const sse_meta_f4& other) const { return sse_meta_f4(_mm_mul_ps(v, other.v)); }
- inline sse_meta_f4 operator / (const sse_meta_f4& other) const { return sse_meta_f4(_mm_div_ps(v, other.v)); }
- inline sse_meta_f4& operator += (const sse_meta_f4& other) { v = _mm_add_ps(v, other.v); return *this; }
- inline sse_meta_f4& operator -= (const sse_meta_f4& other) { v = _mm_sub_ps(v, other.v); return *this; }
- inline sse_meta_f4& operator *= (const sse_meta_f4& other) { v = _mm_mul_ps(v, other.v); return *this; }
- inline sse_meta_f4& operator /= (const sse_meta_f4& other) { v = _mm_div_ps(v, other.v); return *this; }
- inline sse_meta_f4 operator + (float t) const { return sse_meta_f4(_mm_add_ps(v, _mm_set1_ps(t))); }
- inline sse_meta_f4 operator - (float t) const { return sse_meta_f4(_mm_sub_ps(v, _mm_set1_ps(t))); }
- inline sse_meta_f4 operator * (float t) const { return sse_meta_f4(_mm_mul_ps(v, _mm_set1_ps(t))); }
- inline sse_meta_f4 operator / (float t) const { return sse_meta_f4(_mm_div_ps(v, _mm_set1_ps(t))); }
- inline sse_meta_f4& operator += (float t) { v = _mm_add_ps(v, _mm_set1_ps(t)); return *this; }
- inline sse_meta_f4& operator -= (float t) { v = _mm_sub_ps(v, _mm_set1_ps(t)); return *this; }
- inline sse_meta_f4& operator *= (float t) { v = _mm_mul_ps(v, _mm_set1_ps(t)); return *this; }
- inline sse_meta_f4& operator /= (float t) { v = _mm_div_ps(v, _mm_set1_ps(t)); return *this; }
- inline sse_meta_f4 operator - () const
- {
- static const union { int i[4]; __m128 m; } negativemask __attribute__ ((aligned(16))) = {{0x80000000, 0x80000000, 0x80000000, 0x80000000}};
- return sse_meta_f4(_mm_xor_ps(negativemask.m, v));
- }
-} __attribute__ ((aligned (16)));
-
-struct sse_meta_d4
-{
- typedef double meta_type;
-
- union {double vs[4]; __m128d v[2]; };
- sse_meta_d4()
- {
- setValue(0.0);
- }
-
- sse_meta_d4(double x)
- {
- setValue(x);
- }
-
- sse_meta_d4(double* px)
- {
- v[0] = _mm_load_pd(px);
- v[1] = _mm_set_pd(0, *(px + 2));
- }
-
- sse_meta_d4(__m128d x, __m128d y)
- {
- v[0] = x;
- v[1] = y;
- }
-
- sse_meta_d4(double x, double y, double z, double w = 0)
- {
- setValue(x, y, z, w);
- }
-
- inline void setValue(double x, double y, double z, double w = 0)
- {
- v[0] = _mm_setr_pd(x, y);
- v[1] = _mm_setr_pd(z, w);
- }
-
- inline void setValue(double x)
- {
- v[0] = _mm_set1_pd(x);
- v[1] = v[0];
- }
-
- inline void setValue(__m128d x, __m128d y)
- {
- v[0] = x;
- v[1] = y;
- }
-
- inline sse_meta_d4& ubound(const sse_meta_d4& u)
- {
- v[0] = _mm_min_pd(v[0], u.v[0]);
- v[1] = _mm_min_pd(v[1], u.v[1]);
- return *this;
- }
-
- inline sse_meta_d4& lbound(const sse_meta_d4& l)
- {
- v[0] = _mm_max_pd(v[0], l.v[0]);
- v[1] = _mm_max_pd(v[1], l.v[1]);
- return *this;
- }
-
- inline void* operator new [] (size_t n)
- {
- return _mm_malloc(n, 16);
- }
-
- inline void operator delete [] (void* x)
- {
- if(x) _mm_free(x);
- }
-
- inline double operator [] (size_t i) const { return vs[i]; }
- inline double& operator [] (size_t i) { return vs[i]; }
-
- inline sse_meta_d4 operator + (const sse_meta_d4& other) const { return sse_meta_d4(_mm_add_pd(v[0], other.v[0]), _mm_add_pd(v[1], other.v[1])); }
- inline sse_meta_d4 operator - (const sse_meta_d4& other) const { return sse_meta_d4(_mm_sub_pd(v[0], other.v[0]), _mm_sub_pd(v[1], other.v[1])); }
- inline sse_meta_d4 operator * (const sse_meta_d4& other) const { return sse_meta_d4(_mm_mul_pd(v[0], other.v[0]), _mm_mul_pd(v[1], other.v[1])); }
- inline sse_meta_d4 operator / (const sse_meta_d4& other) const { return sse_meta_d4(_mm_div_pd(v[0], other.v[0]), _mm_div_pd(v[1], other.v[1])); }
- inline sse_meta_d4& operator += (const sse_meta_d4& other) { v[0] = _mm_add_pd(v[0], other.v[0]); v[1] = _mm_add_pd(v[1], other.v[1]); return *this; }
- inline sse_meta_d4& operator -= (const sse_meta_d4& other) { v[0] = _mm_sub_pd(v[0], other.v[0]); v[1] = _mm_sub_pd(v[1], other.v[1]); return *this; }
- inline sse_meta_d4& operator *= (const sse_meta_d4& other) { v[0] = _mm_mul_pd(v[0], other.v[0]); v[1] = _mm_mul_pd(v[1], other.v[1]); return *this; }
- inline sse_meta_d4& operator /= (const sse_meta_d4& other) { v[0] = _mm_div_pd(v[0], other.v[0]); v[1] = _mm_div_pd(v[1], other.v[1]); return *this; }
- inline sse_meta_d4 operator + (double t) const { register __m128d d = _mm_set1_pd(t); return sse_meta_d4(_mm_add_pd(v[0], d), _mm_add_pd(v[1], d)); }
- inline sse_meta_d4 operator - (double t) const { register __m128d d = _mm_set1_pd(t); return sse_meta_d4(_mm_sub_pd(v[0], d), _mm_sub_pd(v[1], d)); }
- inline sse_meta_d4 operator * (double t) const { register __m128d d = _mm_set1_pd(t); return sse_meta_d4(_mm_mul_pd(v[0], d), _mm_mul_pd(v[1], d)); }
- inline sse_meta_d4 operator / (double t) const { register __m128d d = _mm_set1_pd(t); return sse_meta_d4(_mm_div_pd(v[0], d), _mm_div_pd(v[1], d)); }
- inline sse_meta_d4& operator += (double t) { register __m128d d = _mm_set1_pd(t); v[0] = _mm_add_pd(v[0], d); v[1] = _mm_add_pd(v[1], d); return *this; }
- inline sse_meta_d4& operator -= (double t) { register __m128d d = _mm_set1_pd(t); v[0] = _mm_sub_pd(v[0], d); v[1] = _mm_sub_pd(v[1], d); return *this; }
- inline sse_meta_d4& operator *= (double t) { register __m128d d = _mm_set1_pd(t); v[0] = _mm_mul_pd(v[0], d); v[1] = _mm_mul_pd(v[1], d); return *this; }
- inline sse_meta_d4& operator /= (double t) { register __m128d d = _mm_set1_pd(t); v[0] = _mm_div_pd(v[0], d); v[1] = _mm_div_pd(v[1], d); return *this; }
- inline sse_meta_d4 operator - () const
- {
- static const union { FCL_INT64 i[2]; __m128d m; } negativemask __attribute__ ((aligned(16))) = {{0x8000000000000000, 0x8000000000000000}};
- return sse_meta_d4(_mm_xor_pd(v[0], negativemask.m), _mm_xor_pd(v[1], negativemask.m));
- }
-} __attribute__ ((aligned (16)));
-
-
-
-static inline __m128 cross_prod(__m128 x, __m128 y)
-{
- // set to a[1][2][0][3] , b[2][0][1][3]
- // multiply
- static const int s1 = _MM_SHUFFLE(3, 0, 2, 1);
- static const int s2 = _MM_SHUFFLE(3, 1, 0, 2);
- __m128 xa = _mm_mul_ps(_mm_shuffle_ps(x, x, s1), _mm_shuffle_ps(y, y, s2));
-
- // set to a[2][0][1][3] , b[1][2][0][3]
- // multiply
- __m128 xb = _mm_mul_ps(_mm_shuffle_ps(x, x, s2), _mm_shuffle_ps(y, y, s1));
-
- // subtract
- return _mm_sub_ps(xa, xb);
-}
-
-static inline sse_meta_f4 cross_prod(const sse_meta_f4& x, const sse_meta_f4& y)
-{
- return sse_meta_f4(cross_prod(x.v, y.v));
-}
-
-static inline void cross_prod(__m128d x0, __m128d x1, __m128d y0, __m128d y1, __m128d* z0, __m128d* z1)
-{
- static const int s0 = _MM_SHUFFLE2(0, 0);
- static const int s1 = _MM_SHUFFLE2(0, 1);
- static const int s2 = _MM_SHUFFLE2(1, 0);
- static const int s3 = _MM_SHUFFLE2(1, 1);
- __m128d xa1 = _mm_mul_pd(_mm_shuffle_pd(x0, x1, s1), _mm_shuffle_pd(y1, y0, s0));
- __m128d ya1 = _mm_mul_pd(_mm_shuffle_pd(x0, x1, s2), _mm_shuffle_pd(y0, y1, s3));
-
- __m128d xa2 = _mm_mul_pd(_mm_shuffle_pd(x1, x0, s0), _mm_shuffle_pd(y0, y1, s1));
- __m128d ya2 = _mm_mul_pd(_mm_shuffle_pd(x0, x1, s3), _mm_shuffle_pd(y0, y1, s2));
-
- *z0 = _mm_sub_pd(xa1, xa2);
- *z1 = _mm_sub_pd(ya1, ya2);
-}
-
-static inline sse_meta_d4 cross_prod(const sse_meta_d4& x, const sse_meta_d4& y)
-{
- __m128d z0, z1;
- cross_prod(x.v[0], x.v[1], y.v[0], y.v[1], &z0, &z1);
- return sse_meta_d4(z0, z1);
-}
-
-
-static inline __m128 dot_prod3(__m128 x, __m128 y)
-{
- register __m128 m = _mm_mul_ps(x, y);
- return _mm_add_ps(_mm_shuffle_ps(m, m, _MM_SHUFFLE(0, 0, 0, 0)),
- _mm_add_ps(vec_splat(m, 1), vec_splat(m, 2)));
-}
-
-static inline float dot_prod3(const sse_meta_f4& x, const sse_meta_f4& y)
-{
- return _mm_cvtss_f32(dot_prod3(x.v, y.v));
-}
-
-
-static inline __m128d dot_prod3(__m128d x0, __m128d x1, __m128d y0, __m128d y1)
-{
- register __m128d m1 = _mm_mul_pd(x0, y0);
- register __m128d m2 = _mm_mul_pd(x1, y1);
- return _mm_add_pd(_mm_add_pd(vec_splatd(m1, 0), vec_splatd(m1, 1)), vec_splatd(m2, 0));
-}
-
-static inline double dot_prod3(const sse_meta_d4& x, const sse_meta_d4& y)
-{
- double d;
- _mm_storel_pd(&d, dot_prod3(x.v[0], x.v[1], y.v[0], y.v[1]));
- return d;
-}
-
-static inline __m128 dot_prod4(__m128 x, __m128 y)
-{
-#if defined (__SSE4__)
- return _mm_dp_ps(x, y, 0x71);
-#elif defined (__SSE3__)
- register __m128 t = _mm_mul_ps(x, y);
- t = _mm_hadd_ps(t, t);
- return _mm_hadd_ps(t, t);
-#else
- register __m128 s = _mm_mul_ps(x, y);
- register __m128 r = _mm_add_ss(s, _mm_movehl_ps(s, s));
- return _mm_add_ss(r, _mm_shuffle_ps(r, r, 1));
-#endif
-}
-
-
-static inline float dot_prod4(const sse_meta_f4& x, const sse_meta_f4& y)
-{
- return _mm_cvtss_f32(dot_prod4(x.v, y.v));
-}
-
-static inline __m128d dot_prod4(__m128d x0, __m128d x1, __m128d y0, __m128d y1)
-{
-#if defined (__SSE4__)
- register __m128d t1 = _mm_dp_pd(x0, y0, 0x31);
- register __m128d t2 = _mm_dp_pd(x1, y1, 0x11);
- return _mm_add_pd(t1, t2);
-#elif defined (__SSE3__)
- register __m128d t1 = _mm_mul_pd(x0, y0);
- register __m128d t2 = _mm_mul_pd(x1, y1);
- t1 = _mm_hadd_pd(t1, t1);
- t2 = _mm_hadd_pd(t2, t2);
- return _mm_add_pd(t1, t2);
-#else
- register __m128d t1 = _mm_mul_pd(x0, y0);
- register __m128d t2 = _mm_mul_pd(x1, y1);
- t1 = _mm_add_pd(t1, t2);
- return _mm_add_pd(t1, _mm_shuffle_pd(t1, t1, 1));
-#endif
-}
-
-static inline double dot_prod4(const sse_meta_d4& x, const sse_meta_d4& y)
-{
- double d;
- _mm_storel_pd(&d, dot_prod4(x.v[0], x.v[1], y.v[0], y.v[1]));
- return d;
-}
-
-static inline sse_meta_f4 min(const sse_meta_f4& x, const sse_meta_f4& y)
-{
- return sse_meta_f4(_mm_min_ps(x.v, y.v));
-}
-
-static inline sse_meta_d4 min(const sse_meta_d4& x, const sse_meta_d4& y)
-{
- return sse_meta_d4(_mm_min_pd(x.v[0], y.v[0]), _mm_min_pd(x.v[1], y.v[1]));
-}
-
-static inline sse_meta_f4 max(const sse_meta_f4& x, const sse_meta_f4& y)
-{
- return sse_meta_f4(_mm_max_ps(x.v, y.v));
-}
-
-static inline sse_meta_d4 max(const sse_meta_d4& x, const sse_meta_d4& y)
-{
- return sse_meta_d4(_mm_max_pd(x.v[0], y.v[0]), _mm_max_pd(x.v[1], y.v[1]));
-}
-
-static inline sse_meta_f4 abs(const sse_meta_f4& x)
-{
- static const union { int i[4]; __m128 m; } abs4mask __attribute__ ((aligned (16))) = {{0x7fffffff, 0x7fffffff, 0x7fffffff, 0x7fffffff}};
- return sse_meta_f4(_mm_and_ps(x.v, abs4mask.m));
-}
-
-static inline sse_meta_d4 abs(const sse_meta_d4& x)
-{
- static const union { FCL_INT64 i[2]; __m128d m; } abs2mask __attribute__ ((aligned (16))) = {{0x7fffffffffffffff, 0x7fffffffffffffff}};
- return sse_meta_d4(_mm_and_pd(x.v[0], abs2mask.m), _mm_and_pd(x.v[1], abs2mask.m));
-}
-
-static inline bool equal(const sse_meta_f4& x, const sse_meta_f4& y, float epsilon)
-{
- register __m128 d = _mm_sub_ps(x.v, y.v);
- register __m128 e = _mm_set1_ps(epsilon);
- return ((_mm_movemask_ps(_mm_cmplt_ps(d, e)) & 0x7) == 0x7) && ((_mm_movemask_ps(_mm_cmpgt_ps(d, _mm_sub_ps(xmms_0, e))) & 0x7) == 0x7);
-}
-
-static inline bool equal(const sse_meta_d4& x, const sse_meta_d4& y, double epsilon)
-{
- register __m128d d = _mm_sub_pd(x.v[0], y.v[0]);
- register __m128d e = _mm_set1_pd(epsilon);
-
- if(_mm_movemask_pd(_mm_cmplt_pd(d, e)) != 0x3) return false;
- if(_mm_movemask_pd(_mm_cmpgt_pd(d, _mm_sub_pd(xmmd_0, e))) != 0x3) return false;
-
- d = _mm_sub_pd(x.v[1], y.v[1]);
- if((_mm_movemask_pd(_mm_cmplt_pd(d, e)) & 0x1) != 0x1) return false;
- if((_mm_movemask_pd(_mm_cmpgt_pd(d, _mm_sub_pd(xmmd_0, e))) & 0x1) != 0x1) return false;
- return true;
-}
-
-static inline sse_meta_f4 normalize3(const sse_meta_f4& x)
-{
- register __m128 m = _mm_mul_ps(x.v, x.v);
- __m128 r = _mm_add_ps(vec_splat(m, 0), _mm_add_ps(vec_splat(m, 1), vec_splat(m, 2)));
- return sse_meta_f4(_mm_mul_ps(x.v, newtonraphson_rsqrt4(r)));
-}
-
-static inline sse_meta_f4 normalize3_approx(const sse_meta_f4& x)
-{
- register __m128 m = _mm_mul_ps(x.v, x.v);
- __m128 r = _mm_add_ps(vec_splat(m, 0), _mm_add_ps(vec_splat(m, 1), vec_splat(m, 2)));
- return sse_meta_f4(_mm_mul_ps(x.v, _mm_rsqrt_ps(r)));
-}
-
-
-static inline void transpose(__m128 c0, __m128 c1, __m128 c2, __m128* r0, __m128* r1, __m128* r2)
-{
- static const union { unsigned int i[4]; __m128 m; } selectmask __attribute__ ((aligned(16))) = {{0, 0xffffffff, 0, 0}};
- register __m128 t0, t1;
- t0 = _mm_unpacklo_ps(c0, c2);
- t1 = _mm_unpackhi_ps(c0, c2);
- *r0 = _mm_unpacklo_ps(t0, c1);
- *r1 = _mm_shuffle_ps(t0, t0, _MM_SHUFFLE(0, 3, 2, 2));
- *r1 = vec_sel(*r1, c1, selectmask.i);
- *r2 = _mm_shuffle_ps(t1, t1, _MM_SHUFFLE(0, 1, 1, 0));
- *r2 = vec_sel(*r2, vec_splat(c1, 2), selectmask.i);
-}
-
-
-static inline void inverse(__m128 c0, __m128 c1, __m128 c2, __m128* i0, __m128* i1, __m128* i2)
-{
- __m128 t0, t1, t2, d, invd;
- t2 = cross_prod(c0, c1);
- t0 = cross_prod(c1, c2);
- t1 = cross_prod(c2, c0);
- d = dot_prod3(t2, c2);
- d = vec_splat(d, 0);
- invd = _mm_rcp_ps(d); // approximate inverse
- transpose(t0, t1, t2, i0, i1, i2);
- *i0 = _mm_mul_ps(*i0, invd);
- *i1 = _mm_mul_ps(*i1, invd);
- *i2 = _mm_mul_ps(*i2, invd);
-}
-
-
-struct sse_meta_f12
-{
- typedef float meta_type;
- typedef sse_meta_f4 vector_type;
- sse_meta_f4 c[3];
-
- sse_meta_f12() { setZero(); }
-
- sse_meta_f12(float xx, float xy, float xz,
- float yx, float yy, float yz,
- float zx, float zy, float zz)
- { setValue(xx, xy, xz, yx, yy, yz, zx, zy, zz); }
-
- sse_meta_f12(const sse_meta_f4& x, const sse_meta_f4& y, const sse_meta_f4& z)
- { setColumn(x, y, z); }
-
- sse_meta_f12(__m128 x, __m128 y, __m128 z)
- { setColumn(x, y, z); }
-
- inline void setValue(float xx, float xy, float xz,
- float yx, float yy, float yz,
- float zx, float zy, float zz)
- {
- c[0].setValue(xx, yx, zx, 0);
- c[1].setValue(xy, yy, zy, 0);
- c[2].setValue(xz, yz, zz, 0);
- }
-
- inline void setIdentity()
- {
- c[0].setValue(1, 0, 0, 0);
- c[1].setValue(0, 1, 0, 0);
- c[2].setValue(0, 0, 1, 0);
- }
-
- inline void setZero()
- {
- c[0].setValue(0);
- c[1].setValue(0);
- c[2].setValue(0);
- }
-
- inline void setColumn(const sse_meta_f4& x, const sse_meta_f4& y, const sse_meta_f4& z)
- {
- c[0] = x; c[1] = y; c[2] = z;
- }
-
- inline void setColumn(__m128 x, __m128 y, __m128 z)
- {
- c[0].setValue(x); c[1].setValue(y); c[2].setValue(z);
- }
-
- inline const sse_meta_f4& getColumn(size_t i) const
- {
- return c[i];
- }
-
- inline sse_meta_f4& getColumn(size_t i)
- {
- return c[i];
- }
-
- inline sse_meta_f4 getRow(size_t i) const
- {
- return sse_meta_f4(c[0][i], c[1][i], c[2][i], 0);
- }
-
- inline float operator () (size_t i, size_t j) const
- {
- return c[j][i];
- }
-
- inline float& operator () (size_t i, size_t j)
- {
- return c[j][i];
- }
-
- inline sse_meta_f4 operator * (const sse_meta_f4& v) const
- {
- return sse_meta_f4(_mm_add_ps(_mm_add_ps(_mm_mul_ps(c[0].v, vec_splat(v.v, 0)), _mm_mul_ps(c[1].v, vec_splat(v.v, 1))), _mm_mul_ps(c[2].v, vec_splat(v.v, 2))));
- }
-
- inline sse_meta_f12 operator * (const sse_meta_f12& mat) const
- {
- return sse_meta_f12((*this) * mat.c[0], (*this) * mat.c[1], (*this) * mat.c[2]);
- }
-
- inline sse_meta_f12 operator + (const sse_meta_f12& mat) const
- {
- return sse_meta_f12(c[0] + mat.c[0], c[1] + mat.c[1], c[2] + mat.c[2]);
- }
-
- inline sse_meta_f12 operator - (const sse_meta_f12& mat) const
- {
- return sse_meta_f12(c[0] - mat.c[0], c[1] - mat.c[1], c[2] - mat.c[2]);
- }
-
- inline sse_meta_f12 operator + (float t_) const
- {
- sse_meta_f4 t(t_);
- return sse_meta_f12(c[0] + t, c[1] + t, c[2] + t);
- }
-
- inline sse_meta_f12 operator - (float t_) const
- {
- sse_meta_f4 t(t_);
- return sse_meta_f12(c[0] - t, c[1] - t, c[2] - t);
- }
-
- inline sse_meta_f12 operator * (float t_) const
- {
- sse_meta_f4 t(t_);
- return sse_meta_f12(c[0] * t, c[1] * t, c[2] * t);
- }
-
- inline sse_meta_f12 operator / (float t_) const
- {
- sse_meta_f4 t(t_);
- return sse_meta_f12(c[0] / t, c[1] / t, c[2] / t);
- }
-
- inline sse_meta_f12& operator *= (const sse_meta_f12& mat)
- {
- setColumn((*this) * mat.c[0], (*this) * mat.c[1], (*this) * mat.c[2]);
- return *this;
- }
-
- inline sse_meta_f12& operator += (const sse_meta_f12& mat)
- {
- c[0] += mat.c[0];
- c[1] += mat.c[1];
- c[2] += mat.c[2];
- return *this;
- }
-
- inline sse_meta_f12& operator -= (const sse_meta_f12& mat)
- {
- c[0] -= mat.c[0];
- c[1] -= mat.c[1];
- c[2] -= mat.c[2];
- return *this;
- }
-
- inline sse_meta_f12& operator += (float t_)
- {
- sse_meta_f4 t(t_);
- c[0] += t;
- c[1] += t;
- c[2] += t;
- return *this;
- }
-
- inline sse_meta_f12& operator -= (float t_)
- {
- sse_meta_f4 t(t_);
- c[0] -= t;
- c[1] -= t;
- c[2] -= t;
- return *this;
- }
-
- inline sse_meta_f12& operator *= (float t_)
- {
- sse_meta_f4 t(t_);
- c[0] *= t;
- c[1] *= t;
- c[2] *= t;
- return *this;
- }
-
- inline sse_meta_f12& operator /= (float t_)
- {
- sse_meta_f4 t(t_);
- c[0] /= t;
- c[1] /= t;
- c[2] /= t;
- return *this;
- }
-
- inline sse_meta_f12& inverse()
- {
- __m128 inv0, inv1, inv2;
- details::inverse(c[0].v, c[1].v, c[2].v, &inv0, &inv1, &inv2);
- setColumn(inv0, inv1, inv2);
- return *this;
- }
-
- inline sse_meta_f12& transpose()
- {
- __m128 r0, r1, r2;
- details::transpose(c[0].v, c[1].v, c[2].v, &r0, &r1, &r2);
- setColumn(r0, r1, r2);
- return *this;
- }
-
- inline sse_meta_f12& abs()
- {
- c[0] = details::abs(c[0]);
- c[1] = details::abs(c[1]);
- c[2] = details::abs(c[2]);
- return *this;
- }
-
- inline float determinant() const
- {
- return _mm_cvtss_f32(dot_prod3(c[2].v, cross_prod(c[0].v, c[1].v)));
- }
-
- inline sse_meta_f12 transposeTimes(const sse_meta_f12& other) const
- {
- return sse_meta_f12(dot_prod3(c[0], other.c[0]), dot_prod3(c[0], other.c[1]), dot_prod3(c[0], other.c[2]),
- dot_prod3(c[1], other.c[0]), dot_prod3(c[1], other.c[1]), dot_prod3(c[1], other.c[2]),
- dot_prod3(c[2], other.c[0]), dot_prod3(c[2], other.c[1]), dot_prod3(c[2], other.c[2]));
- }
-
- inline sse_meta_f12 timesTranspose(const sse_meta_f12& m) const
- {
- sse_meta_f12 tmp(m);
- return (*this) * tmp.transpose();
- }
-
- inline sse_meta_f4 transposeTimes(const sse_meta_f4& v) const
- {
- return sse_meta_f4(dot_prod3(c[0], v), dot_prod3(c[1], v), dot_prod3(c[2], v));
- }
-
- inline float transposeDot(size_t i, const sse_meta_f4& v) const
- {
- return dot_prod3(c[i], v);
- }
-
- inline float dot(size_t i, const sse_meta_f4& v) const
- {
- return v[0] * c[0][i] + v[1] * c[1][i] + v[2] * c[2][i];
- }
-
-};
-
-static inline sse_meta_f12 abs(const sse_meta_f12& mat)
-{
- return sse_meta_f12(abs(mat.getColumn(0)), abs(mat.getColumn(1)), abs(mat.getColumn(2)));
-}
-
-static inline sse_meta_f12 transpose(const sse_meta_f12& mat)
-{
- __m128 r0, r1, r2;
- transpose(mat.getColumn(0).v, mat.getColumn(1).v, mat.getColumn(2).v, &r0, &r1, &r2);
- return sse_meta_f12(r0, r1, r2);
-}
-
-
-static inline sse_meta_f12 inverse(const sse_meta_f12& mat)
-{
- __m128 inv0, inv1, inv2;
- inverse(mat.getColumn(0).v, mat.getColumn(1).v, mat.getColumn(2).v, &inv0, &inv1, &inv2);
- return sse_meta_f12(inv0, inv1, inv2);
-}
-
-
-static inline void transpose(__m128 c0, __m128 c1, __m128 c2, __m128 c3,
- __m128* r0, __m128* r1, __m128* r2, __m128* r3)
-{
- __m128 tmp0 = _mm_unpacklo_ps(c0, c2);
- __m128 tmp1 = _mm_unpacklo_ps(c1, c3);
- __m128 tmp2 = _mm_unpackhi_ps(c0, c2);
- __m128 tmp3 = _mm_unpackhi_ps(c1, c3);
- *r0 = _mm_unpacklo_ps(tmp0, tmp1);
- *r1 = _mm_unpackhi_ps(tmp0, tmp1);
- *r2 = _mm_unpacklo_ps(tmp2, tmp3);
- *r3 = _mm_unpackhi_ps(tmp2, tmp3);
-}
-
-
-static inline void inverse(__m128 c0, __m128 c1, __m128 c2, __m128 c3,
- __m128* res0, __m128* res1, __m128* res2, __m128* res3)
-{
- __m128 Va, Vb, Vc;
- __m128 r1, r2, r3, tt, tt2;
- __m128 sum, Det, RDet;
- __m128 trns0, trns1, trns2, trns3;
-
- // Calculating the minterms for the first line.
-
- tt = c3; tt2 = _mm_ror_ps(c2,1);
- Vc = _mm_mul_ps(tt2,_mm_ror_ps(tt,0)); // V3'\B7V4
- Va = _mm_mul_ps(tt2,_mm_ror_ps(tt,2)); // V3'\B7V4"
- Vb = _mm_mul_ps(tt2,_mm_ror_ps(tt,3)); // V3'\B7V4^
-
- r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V3"\B7V4^ - V3^\B7V4"
- r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V3^\B7V4' - V3'\B7V4^
- r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V3'\B7V4" - V3"\B7V4'
-
- tt = c1;
- Va = _mm_ror_ps(tt,1); sum = _mm_mul_ps(Va,r1);
- Vb = _mm_ror_ps(tt,2); sum = _mm_add_ps(sum,_mm_mul_ps(Vb,r2));
- Vc = _mm_ror_ps(tt,3); sum = _mm_add_ps(sum,_mm_mul_ps(Vc,r3));
-
- // Calculating the determinant.
- Det = _mm_mul_ps(sum,c0);
- Det = _mm_add_ps(Det,_mm_movehl_ps(Det,Det));
-
- static const union { int i[4]; __m128 m; } Sign_PNPN __attribute__ ((aligned(16))) = {{0x00000000, 0x80000000, 0x00000000, 0x80000000}};
- static const union { int i[4]; __m128 m; } Sign_NPNP __attribute__ ((aligned(16))) = {{0x80000000, 0x00000000, 0x80000000, 0x00000000}};
- static const union { float i[4]; __m128 m; } ZERONE __attribute__ ((aligned(16))) = {{1.0f, 0.0f, 0.0f, 1.0f}};
-
- __m128 mtL1 = _mm_xor_ps(sum,Sign_PNPN.m);
-
- // Calculating the minterms of the second line (using previous results).
- tt = _mm_ror_ps(c0,1); sum = _mm_mul_ps(tt,r1);
- tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2));
- tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3));
- __m128 mtL2 = _mm_xor_ps(sum,Sign_NPNP.m);
-
- // Testing the determinant.
- Det = _mm_sub_ss(Det,_mm_shuffle_ps(Det,Det,1));
-
- // Calculating the minterms of the third line.
- tt = _mm_ror_ps(c0,1);
- Va = _mm_mul_ps(tt,Vb); // V1'\B7V2"
- Vb = _mm_mul_ps(tt,Vc); // V1'\B7V2^
- Vc = _mm_mul_ps(tt,c1); // V1'\B7V2
-
- r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V1"\B7V2^ - V1^\B7V2"
- r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V1^\B7V2' - V1'\B7V2^
- r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V1'\B7V2" - V1"\B7V2'
-
- tt = _mm_ror_ps(c3,1); sum = _mm_mul_ps(tt,r1);
- tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2));
- tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3));
- __m128 mtL3 = _mm_xor_ps(sum,Sign_PNPN.m);
-
- // Dividing is FASTER than rcp_nr! (Because rcp_nr causes many register-memory RWs).
- RDet = _mm_div_ss(ZERONE.m, Det); // TODO: just 1.0f?
- RDet = _mm_shuffle_ps(RDet,RDet,0x00);
-
- // Devide the first 12 minterms with the determinant.
- mtL1 = _mm_mul_ps(mtL1, RDet);
- mtL2 = _mm_mul_ps(mtL2, RDet);
- mtL3 = _mm_mul_ps(mtL3, RDet);
-
- // Calculate the minterms of the forth line and devide by the determinant.
- tt = _mm_ror_ps(c2,1); sum = _mm_mul_ps(tt,r1);
- tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2));
- tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3));
- __m128 mtL4 = _mm_xor_ps(sum,Sign_NPNP.m);
- mtL4 = _mm_mul_ps(mtL4, RDet);
-
- // Now we just have to transpose the minterms matrix.
- trns0 = _mm_unpacklo_ps(mtL1,mtL2);
- trns1 = _mm_unpacklo_ps(mtL3,mtL4);
- trns2 = _mm_unpackhi_ps(mtL1,mtL2);
- trns3 = _mm_unpackhi_ps(mtL3,mtL4);
- *res0 = _mm_movelh_ps(trns0,trns1);
- *res1 = _mm_movehl_ps(trns1,trns0);
- *res2 = _mm_movelh_ps(trns2,trns3);
- *res3 = _mm_movehl_ps(trns3,trns2);
-}
-
-
-struct sse_meta_f16
-{
- typedef float meta_type;
- typedef sse_meta_f4 vector_type;
- sse_meta_f4 c[4];
-
- sse_meta_f16() { setZero(); }
-
- sse_meta_f16(float xx, float xy, float xz, float xw,
- float yx, float yy, float yz, float yw,
- float zx, float zy, float zz, float zw,
- float wx, float wy, float wz, float ww)
- { setValue(xx, xy, xz, xw, yz, yy, yz, yw, zx, zy, zz, zw, wx, wy, wz, ww); }
-
- sse_meta_f16(const sse_meta_f4& x, const sse_meta_f4& y, const sse_meta_f4& z, const sse_meta_f4& w)
- { setColumn(x, y, z, w); }
-
- sse_meta_f16(__m128 x, __m128 y, __m128 z, __m128 w)
- { setColumn(x, y, z, w); }
-
- inline void setValue(float xx, float xy, float xz, float xw,
- float yx, float yy, float yz, float yw,
- float zx, float zy, float zz, float zw,
- float wx, float wy, float wz, float ww)
- {
- c[0].setValue(xx, yx, zx, wx);
- c[1].setValue(xy, yy, zy, wy);
- c[2].setValue(xz, yz, zz, wz);
- c[3].setValue(xw, yw, zw, ww);
- }
-
- inline void setColumn(const sse_meta_f4& x, const sse_meta_f4& y, const sse_meta_f4& z, const sse_meta_f4& w)
- {
- c[0] = x; c[1] = y; c[2] = z; c[3] = w;
- }
-
- inline void setColumn(__m128 x, __m128 y, __m128 z, __m128 w)
- {
- c[0].setValue(x); c[1].setValue(y); c[2].setValue(z); c[3].setValue(w);
- }
-
- inline void setIdentity()
- {
- c[0].setValue(1, 0, 0, 0);
- c[1].setValue(0, 1, 0, 0);
- c[2].setValue(0, 0, 1, 0);
- c[3].setValue(0, 0, 0, 1);
- }
-
- inline void setZero()
- {
- c[0].setValue(0);
- c[1].setValue(0);
- c[2].setValue(0);
- c[3].setValue(0);
- }
-
- inline const sse_meta_f4& getColumn(size_t i) const
- {
- return c[i];
- }
-
- inline sse_meta_f4& getColumn(size_t i)
- {
- return c[i];
- }
-
- inline sse_meta_f4 getRow(size_t i) const
- {
- return sse_meta_f4(c[0][i], c[1][i], c[2][i], c[3][i]);
- }
-
- inline float operator () (size_t i, size_t j) const
- {
- return c[j][i];
- }
-
- inline float& operator () (size_t i, size_t j)
- {
- return c[j][i];
- }
-
- inline sse_meta_f4 operator * (const sse_meta_f4& v) const
- {
- return sse_meta_f4(_mm_add_ps(_mm_add_ps(_mm_mul_ps(c[0].v, vec_splat(v.v, 0)), _mm_mul_ps(c[1].v, vec_splat(v.v, 1))),
- _mm_add_ps(_mm_mul_ps(c[2].v, vec_splat(v.v, 2)), _mm_mul_ps(c[3].v, vec_splat(v.v, 3)))
- ));
- }
-
- inline sse_meta_f16 operator * (const sse_meta_f16& mat) const
- {
- return sse_meta_f16((*this) * mat.c[0], (*this) * mat.c[1], (*this) * mat.c[2], (*this) * mat.c[3]);
- }
-
-
- inline sse_meta_f16 operator + (const sse_meta_f16& mat) const
- {
- return sse_meta_f16(c[0] + mat.c[0], c[1] + mat.c[1], c[2] + mat.c[2], c[3] + mat.c[3]);
- }
-
- inline sse_meta_f16 operator - (const sse_meta_f16& mat) const
- {
- return sse_meta_f16(c[0] - mat.c[0], c[1] - mat.c[1], c[2] - mat.c[2], c[3] - mat.c[3]);
- }
-
- inline sse_meta_f16 operator + (float t_) const
- {
- sse_meta_f4 t(t_);
- return sse_meta_f16(c[0] + t, c[1] + t, c[2] + t, c[3] + t);
- }
-
- inline sse_meta_f16 operator - (float t_) const
- {
- sse_meta_f4 t(t_);
- return sse_meta_f16(c[0] - t, c[1] - t, c[2] - t, c[3] - t);
- }
-
- inline sse_meta_f16 operator * (float t_) const
- {
- sse_meta_f4 t(t_);
- return sse_meta_f16(c[0] * t, c[1] * t, c[2] * t, c[3] * t);
- }
-
- inline sse_meta_f16 operator / (float t_) const
- {
- sse_meta_f4 t(t_);
- return sse_meta_f16(c[0] / t, c[1] / t, c[2] / t, c[3] / t);
- }
-
- inline sse_meta_f16& operator *= (const sse_meta_f16& mat)
- {
- setColumn((*this) * mat.c[0], (*this) * mat.c[1], (*this) * mat.c[2], (*this) * mat.c[3]);
- return *this;
- }
-
- inline sse_meta_f16& operator += (const sse_meta_f16& mat)
- {
- c[0] += mat.c[0];
- c[1] += mat.c[1];
- c[2] += mat.c[2];
- c[3] += mat.c[3];
- return *this;
- }
-
- inline sse_meta_f16& operator -= (const sse_meta_f16& mat)
- {
- c[0] -= mat.c[0];
- c[1] -= mat.c[1];
- c[2] -= mat.c[2];
- c[3] -= mat.c[3];
- return *this;
- }
-
- inline sse_meta_f16& operator += (float t_)
- {
- sse_meta_f4 t(t_);
- c[0] += t;
- c[1] += t;
- c[2] += t;
- c[3] += t;
- return *this;
- }
-
- inline sse_meta_f16& operator -= (float t_)
- {
- sse_meta_f4 t(t_);
- c[0] -= t;
- c[1] -= t;
- c[2] -= t;
- c[3] -= t;
- return *this;
- }
-
- inline sse_meta_f16& operator *= (float t_)
- {
- sse_meta_f4 t(t_);
- c[0] *= t;
- c[1] *= t;
- c[2] *= t;
- c[3] *= t;
- return *this;
- }
-
- inline sse_meta_f16& operator /= (float t_)
- {
- sse_meta_f4 t(t_);
- c[0] /= t;
- c[1] /= t;
- c[2] /= t;
- c[3] /= t;
- return *this;
- }
-
- inline sse_meta_f16& abs()
- {
- c[0] = details::abs(c[0]);
- c[1] = details::abs(c[1]);
- c[2] = details::abs(c[2]);
- c[3] = details::abs(c[3]);
- return *this;
- }
-
- inline sse_meta_f16& inverse()
- {
- __m128 r0, r1, r2, r3;
- details::inverse(c[0].v, c[1].v, c[2].v, c[3].v, &r0, &r1, &r2, &r3);
- setColumn(r0, r1, r2, r3);
- return *this;
- }
-
- inline sse_meta_f16& transpose()
- {
- __m128 r0, r1, r2, r3;
- details::transpose(c[0].v, c[1].v, c[2].v, c[3].v, &r0, &r1, &r2, &r3);
- setColumn(r0, r1, r2, r3);
- return *this;
- }
-
- inline float determinant() const
- {
- __m128 Va, Vb, Vc;
- __m128 r1, r2, r3, tt, tt2;
- __m128 sum, Det;
-
- __m128 _L1 = c[0].v;
- __m128 _L2 = c[1].v;
- __m128 _L3 = c[2].v;
- __m128 _L4 = c[3].v;
- // Calculating the minterms for the first line.
-
- // _mm_ror_ps is just a macro using _mm_shuffle_ps().
- tt = _L4; tt2 = _mm_ror_ps(_L3,1);
- Vc = _mm_mul_ps(tt2,_mm_ror_ps(tt,0)); // V3'·V4
- Va = _mm_mul_ps(tt2,_mm_ror_ps(tt,2)); // V3'·V4"
- Vb = _mm_mul_ps(tt2,_mm_ror_ps(tt,3)); // V3'·V4^
-
- r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V3"·V4^ - V3^·V4"
- r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V3^·V4' - V3'·V4^
- r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V3'·V4" - V3"·V4'
-
- tt = _L2;
- Va = _mm_ror_ps(tt,1); sum = _mm_mul_ps(Va,r1);
- Vb = _mm_ror_ps(tt,2); sum = _mm_add_ps(sum,_mm_mul_ps(Vb,r2));
- Vc = _mm_ror_ps(tt,3); sum = _mm_add_ps(sum,_mm_mul_ps(Vc,r3));
-
- // Calculating the determinant.
- Det = _mm_mul_ps(sum,_L1);
- Det = _mm_add_ps(Det,_mm_movehl_ps(Det,Det));
-
- // Calculating the minterms of the second line (using previous results).
- tt = _mm_ror_ps(_L1,1); sum = _mm_mul_ps(tt,r1);
- tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2));
- tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3));
-
- // Testing the determinant.
- Det = _mm_sub_ss(Det,_mm_shuffle_ps(Det,Det,1));
- return _mm_cvtss_f32(Det);
- }
-
- inline sse_meta_f16 transposeTimes(const sse_meta_f16& other) const
- {
- return sse_meta_f16(dot_prod4(c[0], other.c[0]), dot_prod4(c[0], other.c[1]), dot_prod4(c[0], other.c[2]), dot_prod4(c[0], other.c[3]),
- dot_prod4(c[1], other.c[0]), dot_prod4(c[1], other.c[1]), dot_prod4(c[1], other.c[2]), dot_prod4(c[1], other.c[3]),
- dot_prod4(c[2], other.c[0]), dot_prod4(c[2], other.c[1]), dot_prod4(c[2], other.c[2]), dot_prod4(c[2], other.c[3]),
- dot_prod4(c[3], other.c[0]), dot_prod4(c[3], other.c[1]), dot_prod4(c[3], other.c[2]), dot_prod4(c[3], other.c[3]));
- }
-
- inline sse_meta_f16 timesTranspose(const sse_meta_f16& m) const
- {
- sse_meta_f16 tmp(m);
- return (*this) * tmp.transpose();
- }
-
- inline sse_meta_f4 transposeTimes(const sse_meta_f4& v) const
- {
- return sse_meta_f4(dot_prod4(c[0], v), dot_prod4(c[1], v), dot_prod4(c[2], v), dot_prod4(c[3], v));
- }
-
- inline float transposeDot(size_t i, const sse_meta_f4& v) const
- {
- return dot_prod4(c[i], v);
- }
-
- inline float dot(size_t i, const sse_meta_f4& v) const
- {
- return v[0] * c[0][i] + v[1] * c[1][i] + v[2] * c[2][i] + v[3] * c[3][i];
- }
-
-};
-
-static inline sse_meta_f16 abs(const sse_meta_f16& mat)
-{
- return sse_meta_f16(abs(mat.getColumn(0)), abs(mat.getColumn(1)), abs(mat.getColumn(2)), abs(mat.getColumn(3)));
-}
-
-static inline sse_meta_f16 transpose(const sse_meta_f16& mat)
-{
- __m128 r0, r1, r2, r3;
- transpose(mat.getColumn(0).v, mat.getColumn(1).v, mat.getColumn(2).v, mat.getColumn(3).v, &r0, &r1, &r2, &r3);
- return sse_meta_f16(r0, r1, r2, r3);
-}
-
-
-static inline sse_meta_f16 inverse(const sse_meta_f16& mat)
-{
- __m128 r0, r1, r2, r3;
- inverse(mat.getColumn(0).v, mat.getColumn(1).v, mat.getColumn(2).v, mat.getColumn(3).v, &r0, &r1, &r2, &r3);
- return sse_meta_f16(r0, r1, r2, r3);
-}
-
-
-
-
-} // details
-} // fcl
-
-
-#endif
diff --git a/include/hpp/fcl/simd/simd_intersect.h b/include/hpp/fcl/simd/simd_intersect.h
deleted file mode 100644
index 1e94e8e5..00000000
--- a/include/hpp/fcl/simd/simd_intersect.h
+++ /dev/null
@@ -1,243 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2011-2014, Willow Garage, Inc.
- * Copyright (c) 2014-2015, Open Source Robotics Foundation
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of Open Source Robotics Foundation nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-#ifndef FCL_MULTIPLE_INTERSECT
-#define FCL_MULTIPLE_INTERSECT
-
-#include <hpp/fcl/math/vec_3f.h>
-
-#include <xmmintrin.h>
-#include <pmmintrin.h>
-
-
-namespace fcl
-{
-
-
-static inline __m128 sse_four_spheres_intersect(const Vec3f& o1, FCL_REAL r1,
- const Vec3f& o2, FCL_REAL r2,
- const Vec3f& o3, FCL_REAL r3,
- const Vec3f& o4, FCL_REAL r4,
- const Vec3f& o5, FCL_REAL r5,
- const Vec3f& o6, FCL_REAL r6,
- const Vec3f& o7, FCL_REAL r7,
- const Vec3f& o8, FCL_REAL r8)
-{
- __m128 PX, PY, PZ, PR, QX, QY, QZ, QR;
- PX = _mm_set_ps(o1[0], o2[0], o3[0], o4[0]);
- PY = _mm_set_ps(o1[1], o2[1], o3[1], o4[1]);
- PZ = _mm_set_ps(o1[2], o2[2], o3[2], o4[2]);
- PR = _mm_set_ps(r1, r2, r3, r4);
- QX = _mm_set_ps(o5[0], o6[0], o7[0], o8[0]);
- QY = _mm_set_ps(o5[1], o6[1], o7[1], o8[1]);
- QZ = _mm_set_ps(o5[2], o6[2], o7[2], o8[2]);
- QR = _mm_set_ps(r5, r6, r7, r8);
-
- __m128 T1 = _mm_sub_ps(PX, QX);
- __m128 T2 = _mm_sub_ps(PY, QY);
- __m128 T3 = _mm_sub_ps(PZ, QZ);
- __m128 T4 = _mm_add_ps(PR, QR);
- T1 = _mm_mul_ps(T1, T1);
- T2 = _mm_mul_ps(T2, T2);
- T3 = _mm_mul_ps(T3, T3);
- T4 = _mm_mul_ps(T4, T4);
- T1 = _mm_add_ps(T1, T2);
- T2 = _mm_sub_ps(R2, T3);
- return _mm_cmple_ps(T1, T2);
-}
-
-
-static inline __m128 sse_four_spheres_four_AABBs_intersect(const Vec3f& o1, FCL_REAL r1,
- const Vec3f& o2, FCL_REAL r2,
- const Vec3f& o3, FCL_REAL r3,
- const Vec3f& o4, FCL_REAL r4,
- const Vec3f& min1, const Vec3f& max1,
- const Vec3f& min2, const Vec3f& max2,
- const Vec3f& min3, const Vec3f& max3,
- const Vec3f& min4, const Vec3f& max4)
-{
- __m128 MINX, MINY, MINZ, MAXX, MAXX, MAXY, MAXZ, SX, SY, SZ, SR;
- MINX = _mm_set_ps(min1[0], min2[0], min3[0], min4[0]);
- MAXX = _mm_set_ps(max1[0], max2[0], max3[0], max4[0]);
- MINY = _mm_set_ps(min1[1], min2[1], min3[1], min4[1]);
- MAXY = _mm_set_ps(max1[1], max2[1], max3[1], max4[1]);
- MINZ = _mm_set_ps(min1[2], min2[2], min3[2], min4[2]);
- MAXZ = _mm_set_ps(max1[2], max2[2], max3[2], max4[2]);
- SX = _mm_set_ps(o1[0], o2[0], o3[0], o4[0]);
- SY = _mm_set_ps(o1[1], o2[1], o3[1], o4[1]);
- SZ = _mm_set_ps(o1[2], o2[2], o3[2], o4[2]);
- SR = _mm_set_ps(r1, r2, r3, r4);
-
-
- __m128 TX = _mm_max_ps(SX, MINX);
- __m128 TY = _mm_max_ps(SY, MINY);
- __m128 TZ = _mm_max_ps(SZ, MINZ);
- TX = _mm_min_ps(TX, MAXX);
- TY = _mm_min_ps(TY, MAXY);
- TZ = _mm_min_ps(TZ, MAXZ);
- __m128 DX = _mm_sub_ps(SX, TX);
- __m128 DY = _mm_sub_ps(SY, TY);
- __m128 DZ = _mm_sub_ps(SZ, TZ);
- __m128 R2 = _mm_mul_ps(SR, SR);
- DX = _mm_mul_ps(DX, DX);
- DY = _mm_mul_ps(DY, DY);
- DZ = _mm_mul_ps(DZ, DZ);
- __m128 T1 = _mm_add_ps(DX, DY);
- __m128 T2 = _mm_sub_ps(R2, DZ);
- return _mm_cmple_ps(T1, T2);
-}
-
-
-static inline __m128 sse_four_AABBs_intersect(const Vec3f& min1, const Vec3f& max1,
- const Vec3f& min2, const Vec3f& max2,
- const Vec3f& min3, const Vec3f& max3,
- const Vec3f& min4, const Vec3f& max4,
- const Vec3f& min5, const Vec3f& max5,
- const Vec3f& min6, const Vec3f& max6,
- const Vec3f& min7, const Vec3f& max7,
- const Vec3f& min8, const Vec3f& max8)
-{
- __m128 MIN1X, MIN1Y, MIN1Z, MAX1X, MAX1Y, MAX1Z, MIN2X, MIN2Y, MIN2Z, MAX2X, MAX2Y, MAX2Z;
- MIN1X = _mm_set_ps(min1[0], min2[0], min3[0], min4[0]);
- MAX1X = _mm_set_ps(max1[0], max2[0], max3[0], max4[0]);
- MIN1Y = _mm_set_ps(min1[1], min2[1], min3[1], min4[1]);
- MAX1Y = _mm_set_ps(max1[1], max2[1], max3[1], max4[1]);
- MIN1Z = _mm_set_ps(min1[2], min2[2], min3[2], min4[2]);
- MAX1Z = _mm_set_ps(max1[2], max2[2], max3[2], max4[2]);
- MIN2X = _mm_set_ps(min5[0], min6[0], min7[0], min8[0]);
- MAX2X = _mm_set_ps(max5[0], max6[0], max7[0], max8[0]);
- MIN2Y = _mm_set_ps(min5[1], min6[1], min7[1], min8[1]);
- MAX2Y = _mm_set_ps(max5[1], max6[1], max7[1], max8[1]);
- MIN2Z = _mm_set_ps(min5[2], min6[2], min7[2], min8[2]);
- MAX2Z = _mm_set_ps(max5[2], max6[2], max7[2], max8[2]);
-
- __m128 AX = _mm_max_ps(MIN1X, MIN2X);
- __m128 BX = _mm_min_ps(MAX1X, MAX2X);
- __m128 AY = _mm_max_ps(MIN1Y, MIN2Y);
- __m128 BY = _mm_min_ps(MAX1Y, MAX2Y);
- __m128 AZ = _mm_max_ps(MIN1Z, MIN2Z);
- __m128 BZ = _mm_min_ps(MAX1Z, MAX2Z);
- __m128 T1 = _mm_cmple_ps(AX, BX);
- __m128 T2 = _mm_cmple_ps(AY, BY);
- __m128 T3 = _mm_cmple_ps(AZ, BZ);
- __m128 T4 = _mm_and_ps(T1, T2);
- return _mm_and_ps(T3, T4);
-}
-
-static bool four_spheres_intersect_and(const Vec3f& o1, FCL_REAL r1,
- const Vec3f& o2, FCL_REAL r2,
- const Vec3f& o3, FCL_REAL r3,
- const Vec3f& o4, FCL_REAL r4,
- const Vec3f& o5, FCL_REAL r5,
- const Vec3f& o6, FCL_REAL r6,
- const Vec3f& o7, FCL_REAL r7,
- const Vec3f& o8, FCL_REAL r8)
-{
- __m128 CMP = four_spheres_intersect(o1, r1, o2, r2, o3, r3, o4, r4, o5, r5, o6, r6, o7, r7, o8, r8);
- return _mm_movemask_ps(CMP) == 15.f;
-}
-
-static bool four_spheres_intersect_or(const Vec3f& o1, FCL_REAL r1,
- const Vec3f& o2, FCL_REAL r2,
- const Vec3f& o3, FCL_REAL r3,
- const Vec3f& o4, FCL_REAL r4,
- const Vec3f& o5, FCL_REAL r5,
- const Vec3f& o6, FCL_REAL r6,
- const Vec3f& o7, FCL_REAL r7,
- const Vec3f& o8, FCL_REAL r8)
-{
- __m128 CMP = four_spheres_intersect(o1, r1, o2, r2, o3, r3, o4, r4, o5, r5, o6, r6, o7, r7, o8, r8);
- return __mm_movemask_ps(CMP) > 0;
-}
-
-/** \brief four spheres versus four AABBs SIMD test */
-static bool four_spheres_four_AABBs_intersect_and(const Vec3f& o1, FCL_REAL r1,
- const Vec3f& o2, FCL_REAL r2,
- const Vec3f& o3, FCL_REAL r3,
- const Vec3f& o4, FCL_REAL r4,
- const Vec3f& min1, const Vec3f& max1,
- const Vec3f& min2, const Vec3f& max2,
- const Vec3f& min3, const Vec3f& max3,
- const Vec3f& min4, const Vec3f& max4)
-{
- __m128 CMP = four_spheres_four_AABBs_intersect(o1, r1, o2, r2, o3, r3, o4, r4, min1, max1, min2, max2, min3, max3, min4, max4);
- return _mm_movemask_ps(CMP) == 15.f;
-}
-
-static bool four_spheres_four_AABBs_intersect_or(const Vec3f& o1, FCL_REAL r1,
- const Vec3f& o2, FCL_REAL r2,
- const Vec3f& o3, FCL_REAL r3,
- const Vec3f& o4, FCL_REAL r4,
- const Vec3f& min1, const Vec3f& max1,
- const Vec3f& min2, const Vec3f& max2,
- const Vec3f& min3, const Vec3f& max3,
- const Vec3f& min4, const Vec3f& max4)
-{
- __m128 CMP = four_spheres_four_AABBs_intersect(o1, r1, o2, r2, o3, r3, o4, r4, min1, max1, min2, max2, min3, max3, min4, max4);
- return _mm_movemask_ps(CMP) > 0;
-}
-
-/** \brief four AABBs versus four AABBs SIMD test */
-static bool four_AABBs_intersect_and(const Vec3f& min1, const Vec3f& max1,
- const Vec3f& min2, const Vec3f& max2,
- const Vec3f& min3, const Vec3f& max3,
- const Vec3f& min4, const Vec3f& max4,
- const Vec3f& min5, const Vec3f& max5,
- const Vec3f& min6, const Vec3f& max6,
- const Vec3f& min7, const Vec3f& max7,
- const Vec3f& min8, const Vec3f& max8)
-{
- __m128 CMP = four_AABBs_intersect(min1, max1, min2, max2, min3, max3, min4, max4, min5, max5, min6, max6, min7, max7, min8, max8);
- return _mm_movemask_ps(CMP) == 15.f;
-}
-
-static bool four_AABBs_intersect_or(const Vec3f& min1, const Vec3f& max1,
- const Vec3f& min2, const Vec3f& max2,
- const Vec3f& min3, const Vec3f& max3,
- const Vec3f& min4, const Vec3f& max4,
- const Vec3f& min5, const Vec3f& max5,
- const Vec3f& min6, const Vec3f& max6,
- const Vec3f& min7, const Vec3f& max7,
- const Vec3f& min8, const Vec3f& max8)
-{
- __m128 CMP = four_AABBs_intersect(min1, max1, min2, max2, min3, max3, min4, max4, min5, max5, min6, max6, min7, max7, min8, max8);
- return _mm_movemask_ps(CMP) > 0;
-}
-
-}
-
-#endif
--
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