- update to Eigen 3.3

Author: janbender

Changelog.txt

@@ -1,3 +1,5 @@
+	- update to Eigen 3.3
+	
 1.5.1
 	- added Timing class
 	- removed Boost dependency

Common/Common.h

@@ -70,7 +70,7 @@ namespace PBD
 #endif
 #endif
 #else
-	#define PBD_MAKE_ALIGNED_OPERATOR_NEW
+	#define PDB_MAKE_ALIGNED_OPERATOR_NEW
 
 #if defined(WIN32) || defined(_WIN32) || defined(WIN64)	   
 	// Enable memory leak detection

Demos/FluidDemo/main.cpp

@@ -10,6 +10,8 @@
 #include <iostream>
 #include "Demos/Utils/Utilities.h"
 #include "Demos/Utils/Timing.h"
+#define _USE_MATH_DEFINES
+#include "math.h"
 
 // Enable memory leak detection
 #if defined(_DEBUG) && !defined(EIGEN_ALIGN)

Demos/Simulation/Constraints.cpp

@@ -1482,7 +1482,7 @@ bool RigidBodyContactConstraint::initConstraint(SimulationModel &model, const un
 		rb2.getInertiaTensorInverseW(),
 		rb2.getRotation(),
 		rb2.getAngularVelocity(),
- 		cp1, cp2, normal, restitutionCoeff, 
+		cp1, cp2, normal, restitutionCoeff, 
 		m_constraintInfo);
 }
 

Demos/Simulation/Constraints.h

@@ -2,6 +2,8 @@
 #define _CONSTRAINTS_H
 
 #include "Common/Common.h"
+#define _USE_MATH_DEFINES
+#include "math.h"
 
 namespace PBD
 {
@@ -46,46 +48,46 @@ namespace PBD
 	};
 
 	class BallOnLineJoint : public Constraint
- 	{
+	{
 	public:
 		static int TYPE_ID;
 		Eigen::Matrix<Real, 3, 10> m_jointInfo;
 
 		BallOnLineJoint() : Constraint(2) {} 
- 		virtual int &getTypeId() const { return TYPE_ID; }
+		virtual int &getTypeId() const { return TYPE_ID; }
 
 		bool initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos, const Vector3r &dir);
 		virtual bool updateConstraint(SimulationModel &model);
 		virtual bool solvePositionConstraint(SimulationModel &model);
- 	};
+	};
 
 	class HingeJoint : public Constraint
- 	{
+	{
 	public:
 		static int TYPE_ID;
- 		Eigen::Matrix<Real, 3, 12> m_jointInfo;
+		Eigen::Matrix<Real, 3, 12> m_jointInfo;
 
 		HingeJoint() : Constraint(2) {}
- 		virtual int &getTypeId() const { return TYPE_ID; }
+		virtual int &getTypeId() const { return TYPE_ID; }
 
 		bool initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos, const Vector3r &axis);
 		virtual bool updateConstraint(SimulationModel &model);
 		virtual bool solvePositionConstraint(SimulationModel &model);
- 	};
+	};
 
 	class UniversalJoint : public Constraint
- 	{
+	{
 	public:
 		static int TYPE_ID;
- 		Eigen::Matrix<Real, 3, 8> m_jointInfo;
+		Eigen::Matrix<Real, 3, 8> m_jointInfo;
 
 		UniversalJoint() : Constraint(2) {}
- 		virtual int &getTypeId() const { return TYPE_ID; }
+		virtual int &getTypeId() const { return TYPE_ID; }
 
 		bool initConstraint(SimulationModel &model, const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos, const Vector3r &axis1, const Vector3r &axis2);
 		virtual bool updateConstraint(SimulationModel &model);
 		virtual bool solvePositionConstraint(SimulationModel &model);
- 	};
+	};
 
 	class SliderJoint : public Constraint
 	{
@@ -179,18 +181,18 @@ namespace PBD
 	};
 
 	class RigidBodyParticleBallJoint : public Constraint
- 	{
+	{
 	public:
 		static int TYPE_ID;
- 		Eigen::Matrix<Real, 3, 2> m_jointInfo;
+		Eigen::Matrix<Real, 3, 2> m_jointInfo;
 
 		RigidBodyParticleBallJoint() : Constraint(2) {}
- 		virtual int &getTypeId() const { return TYPE_ID; }
+		virtual int &getTypeId() const { return TYPE_ID; }
 
 		bool initConstraint(SimulationModel &model, const unsigned int rbIndex, const unsigned int particleIndex);
 		virtual bool updateConstraint(SimulationModel &model);
 		virtual bool solvePositionConstraint(SimulationModel &model);
- 	};
+	};
 
 	class DistanceConstraint : public Constraint
 	{

PositionBasedDynamics/PositionBasedRigidBodyDynamics.cpp

@@ -2,6 +2,8 @@
 #include "MathFunctions.h"
 #include <cfloat>
 #include <iostream>
+#define _USE_MATH_DEFINES
+#include "math.h"
 
 using namespace PBD;
 
@@ -869,11 +871,11 @@ bool PositionBasedRigidBodyDynamics::update_SliderJoint(
 	// transform perpendicular vector on joint axis of body 1 to world space 
 	jointInfo.col(13) = rot1 * jointInfo.col(12);
 
-  	const Vector3r dir = jointInfo.col(8);
-  	const Vector3r p = jointInfo.col(6);
-  	const Vector3r s = jointInfo.col(7);
-  	// move the joint point of body 0 to the closest point on the line to joint point 1
-  	jointInfo.col(6) = p + (dir * (((s - p).dot(dir)) / dir.squaredNorm()));
+	const Vector3r dir = jointInfo.col(8);
+	const Vector3r p = jointInfo.col(6);
+	const Vector3r s = jointInfo.col(7);
+	// move the joint point of body 0 to the closest point on the line to joint point 1
+	jointInfo.col(6) = p + (dir * (((s - p).dot(dir)) / dir.squaredNorm()));
 
 	return true;
 }
@@ -1681,10 +1683,10 @@ bool PositionBasedRigidBodyDynamics::solve_TargetAngleMotorHingeJoint(
 	Real c = t1.dot(t3);
 	c = std::min(1.0, c);
 	c = std::max(-1.0, c);
- 	if ((t1.cross(t3)).dot(axis) > 0.0)
- 		delta -= acos(c);
-  	else
- 		delta += acos(c);
+	if ((t1.cross(t3)).dot(axis) > 0.0)
+		delta -= acos(c);
+	else
+		delta += acos(c);
 
 	const Real pi = (Real)M_PI;
 	if (delta < -pi)
@@ -1911,8 +1913,8 @@ bool PositionBasedRigidBodyDynamics::velocitySolve_TargetVelocityMotorHingeJoint
 	b(3, 0) = t1.dot(deltaOmega);
 	b(4, 0) = t2.dot(deltaOmega);
 
- 	// determine correction angle
- 	Real delta = targetAngularVelocity;
+	// determine correction angle
+	Real delta = targetAngularVelocity;
 	delta -= axis.dot(deltaOmega);
 
 	b(5, 0) = -delta;
@@ -2243,8 +2245,8 @@ bool PositionBasedRigidBodyDynamics::velocitySolve_RigidBodyContactConstraint(
 
 	Real correctionMagnitude = nKn_inv * delta_u_reln;
 
- 	if (correctionMagnitude < -sum_impulses)
- 		correctionMagnitude = -sum_impulses;
+	if (correctionMagnitude < -sum_impulses)
+		correctionMagnitude = -sum_impulses;
 
 	// add penalty impulse to counteract penetration
 	if (d < 0.0)