1 files changed, 72 insertions, 0 deletions
diff --git a/tests/bullet/Extras/ConvexDecomposition/float_math.h b/tests/bullet/Extras/ConvexDecomposition/float_math.h
new file mode 100644
index 00000000..d6046d3b
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+++ b/tests/bullet/Extras/ConvexDecomposition/float_math.h
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+#ifndef FLOAT_MATH_H
+
+#define FLOAT_MATH_H
+
+#ifdef _WIN32
+	#pragma warning(disable : 4324) // disable padding warning
+	#pragma warning(disable : 4244) // disable padding warning
+	#pragma warning(disable : 4267) //  possible loss of data
+	#pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.
+	#pragma warning(disable:4996) //Turn off warnings about deprecated C routines
+	#pragma warning(disable:4786) // Disable the "debug name too long" warning
+#endif
+
+/*----------------------------------------------------------------------
+		Copyright (c) 2004 Open Dynamics Framework Group
+					www.physicstools.org
+		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 the Open Dynamics Framework Group 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 INTEL 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.
+-----------------------------------------------------------------------*/
+
+// http://codesuppository.blogspot.com
+//
+// mailto: jratcliff@infiniplex.net
+//
+// http://www.amillionpixels.us
+//
+
+
+// a set of routines that last you do common 3d math
+// operations without any vector, matrix, or quaternion
+// classes or templates.
+//
+// a vector (or point) is a 'float *' to 3 floating point numbers.
+// a matrix is a 'float *' to an array of 16 floating point numbers representing a 4x4 transformation matrix compatible with D3D or OGL
+// a quaternion is a 'float *' to 4 floats representing a quaternion x,y,z,w
+
+const float FM_PI = 3.141592654f;
+const float FM_DEG_TO_RAD = ((2.0f * FM_PI) / 360.0f);
+const float FM_RAD_TO_DEG = (360.0f / (2.0f * FM_PI));
+
+void  fm_identity(float *matrix); // set 4x4 matrix to identity.
+void  fm_inverseRT(const float *matrix,const float *pos,float *t); // inverse rotate translate the point.
+void  fm_eulerMatrix(float ax,float ay,float az,float *matrix); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
+void  fm_getAABB(unsigned int vcount,const float *points,unsigned int pstride,float *bmin,float *bmax);
+void  fm_eulerToQuat(float roll,float pitch,float yaw,float *quat); // convert euler angles to quaternion.
+void  fm_quatToMatrix(const float *quat,float *matrix); // convert quaterinion rotation to matrix, translation set to zero.
+void  fm_quatRotate(const float *quat,const float *v,float *r); // rotate a vector directly by a quaternion.
+void  fm_getTranslation(const float *matrix,float *t);
+void  fm_matrixToQuat(const float *matrix,float *quat); // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
+float fm_sphereVolume(float radius); // return's the volume of a sphere of this radius (4/3 PI * R cubed )
+
+#endif