Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 97 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/Bullet3Common/shared/b3Float4.h b/thirdparty/bullet/src/Bullet3Common/shared/b3Float4.h
new file mode 100644
index 0000000000..5e4b95bcee
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/shared/b3Float4.h
@@ -0,0 +1,97 @@
+#ifndef B3_FLOAT4_H
+#define B3_FLOAT4_H
+
+#include "Bullet3Common/shared/b3PlatformDefinitions.h"
+
+#ifdef __cplusplus
+	#include "Bullet3Common/b3Vector3.h"
+	#define b3Float4 b3Vector3
+	#define b3Float4ConstArg const b3Vector3&
+	#define b3Dot3F4 b3Dot
+	#define b3Cross3 b3Cross
+	#define	b3MakeFloat4  b3MakeVector3
+	inline b3Vector3 b3Normalized(const b3Vector3& vec)
+	{
+		return vec.normalized();
+	}
+
+	inline b3Float4 b3FastNormalized3(b3Float4ConstArg v)
+	{
+		return v.normalized();
+	}
+
+	inline b3Float4 b3MaxFloat4 (const b3Float4& a, const b3Float4& b)
+	{
+		b3Float4 tmp = a;
+		tmp.setMax(b);
+		return tmp;
+	}
+	inline b3Float4 b3MinFloat4 (const b3Float4& a, const b3Float4& b)
+	{
+		b3Float4 tmp = a;
+		tmp.setMin(b);
+		return tmp;
+	}
+
+
+
+#else
+	typedef float4	b3Float4;
+	#define b3Float4ConstArg const b3Float4
+	#define b3MakeFloat4 (float4)
+	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)
+	{
+		float4 a1 = b3MakeFloat4(v0.xyz,0.f);
+		float4 b1 = b3MakeFloat4(v1.xyz,0.f);
+		return dot(a1, b1);
+	}
+	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)
+	{
+		float4 a1 = b3MakeFloat4(v0.xyz,0.f);
+		float4 b1 = b3MakeFloat4(v1.xyz,0.f);
+		return cross(a1, b1);
+	}
+	#define b3MinFloat4 min
+	#define b3MaxFloat4 max
+
+	#define b3Normalized(a) normalize(a)
+
+#endif 
+
+
+		
+inline bool b3IsAlmostZero(b3Float4ConstArg v)
+{
+	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	
+		return false;
+	return true;
+}
+
+
+inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )
+{
+    float maxDot = -B3_INFINITY;
+    int i = 0;
+    int ptIndex = -1;
+    for( i = 0; i < vecLen; i++ )
+    {
+        float dot = b3Dot3F4(vecArray[i],vec);
+            
+        if( dot > maxDot )
+        {
+            maxDot = dot;
+            ptIndex = i;
+        }
+    }
+	b3Assert(ptIndex>=0);
+    if (ptIndex<0)
+	{
+		ptIndex = 0;
+	}
+    *dotOut = maxDot;
+    return ptIndex;
+}
+
+
+
+#endif //B3_FLOAT4_H