diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3Common')
27 files changed, 0 insertions, 9414 deletions
diff --git a/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.cpp b/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.cpp deleted file mode 100644 index d546d5e066..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.cpp +++ /dev/null @@ -1,186 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#include "b3AlignedAllocator.h" - -#ifdef B3_ALLOCATOR_STATISTICS -int b3g_numAlignedAllocs = 0; -int b3g_numAlignedFree = 0; -int b3g_totalBytesAlignedAllocs = 0; //detect memory leaks -#endif - -static void *b3AllocDefault(size_t size) -{ - return malloc(size); -} - -static void b3FreeDefault(void *ptr) -{ - free(ptr); -} - -static b3AllocFunc *b3s_allocFunc = b3AllocDefault; -static b3FreeFunc *b3s_freeFunc = b3FreeDefault; - -#if defined(B3_HAS_ALIGNED_ALLOCATOR) -#include <malloc.h> -static void *b3AlignedAllocDefault(size_t size, int alignment) -{ - return _aligned_malloc(size, (size_t)alignment); -} - -static void b3AlignedFreeDefault(void *ptr) -{ - _aligned_free(ptr); -} -#elif defined(__CELLOS_LV2__) -#include <stdlib.h> - -static inline void *b3AlignedAllocDefault(size_t size, int alignment) -{ - return memalign(alignment, size); -} - -static inline void b3AlignedFreeDefault(void *ptr) -{ - free(ptr); -} -#else - -static inline void *b3AlignedAllocDefault(size_t size, int alignment) -{ - void *ret; - char *real; - real = (char *)b3s_allocFunc(size + sizeof(void *) + (alignment - 1)); - if (real) - { - ret = b3AlignPointer(real + sizeof(void *), alignment); - *((void **)(ret)-1) = (void *)(real); - } - else - { - ret = (void *)(real); - } - return (ret); -} - -static inline void b3AlignedFreeDefault(void *ptr) -{ - void *real; - - if (ptr) - { - real = *((void **)(ptr)-1); - b3s_freeFunc(real); - } -} -#endif - -static b3AlignedAllocFunc *b3s_alignedAllocFunc = b3AlignedAllocDefault; -static b3AlignedFreeFunc *b3s_alignedFreeFunc = b3AlignedFreeDefault; - -void b3AlignedAllocSetCustomAligned(b3AlignedAllocFunc *allocFunc, b3AlignedFreeFunc *freeFunc) -{ - b3s_alignedAllocFunc = allocFunc ? allocFunc : b3AlignedAllocDefault; - b3s_alignedFreeFunc = freeFunc ? freeFunc : b3AlignedFreeDefault; -} - -void b3AlignedAllocSetCustom(b3AllocFunc *allocFunc, b3FreeFunc *freeFunc) -{ - b3s_allocFunc = allocFunc ? allocFunc : b3AllocDefault; - b3s_freeFunc = freeFunc ? freeFunc : b3FreeDefault; -} - -#ifdef B3_DEBUG_MEMORY_ALLOCATIONS -//this generic allocator provides the total allocated number of bytes -#include <stdio.h> - -void *b3AlignedAllocInternal(size_t size, int alignment, int line, char *filename) -{ - void *ret; - char *real; -#ifdef B3_ALLOCATOR_STATISTICS - b3g_totalBytesAlignedAllocs += size; - b3g_numAlignedAllocs++; -#endif - real = (char *)b3s_allocFunc(size + 2 * sizeof(void *) + (alignment - 1)); - if (real) - { - ret = (void *)b3AlignPointer(real + 2 * sizeof(void *), alignment); - *((void **)(ret)-1) = (void *)(real); - *((int *)(ret)-2) = size; - } - else - { - ret = (void *)(real); //?? - } - - b3Printf("allocation#%d at address %x, from %s,line %d, size %d\n", b3g_numAlignedAllocs, real, filename, line, size); - - int *ptr = (int *)ret; - *ptr = 12; - return (ret); -} - -void b3AlignedFreeInternal(void *ptr, int line, char *filename) -{ - void *real; -#ifdef B3_ALLOCATOR_STATISTICS - b3g_numAlignedFree++; -#endif - if (ptr) - { - real = *((void **)(ptr)-1); - int size = *((int *)(ptr)-2); -#ifdef B3_ALLOCATOR_STATISTICS - b3g_totalBytesAlignedAllocs -= size; -#endif - b3Printf("free #%d at address %x, from %s,line %d, size %d\n", b3g_numAlignedFree, real, filename, line, size); - - b3s_freeFunc(real); - } - else - { - b3Printf("NULL ptr\n"); - } -} - -#else //B3_DEBUG_MEMORY_ALLOCATIONS - -void *b3AlignedAllocInternal(size_t size, int alignment) -{ -#ifdef B3_ALLOCATOR_STATISTICS - b3g_numAlignedAllocs++; -#endif - void *ptr; - ptr = b3s_alignedAllocFunc(size, alignment); - // b3Printf("b3AlignedAllocInternal %d, %x\n",size,ptr); - return ptr; -} - -void b3AlignedFreeInternal(void *ptr) -{ - if (!ptr) - { - return; - } -#ifdef B3_ALLOCATOR_STATISTICS - b3g_numAlignedFree++; -#endif - // b3Printf("b3AlignedFreeInternal %x\n",ptr); - b3s_alignedFreeFunc(ptr); -} - -#endif //B3_DEBUG_MEMORY_ALLOCATIONS diff --git a/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.h b/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.h deleted file mode 100644 index bcff9f128e..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.h +++ /dev/null @@ -1,110 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_ALIGNED_ALLOCATOR -#define B3_ALIGNED_ALLOCATOR - -///we probably replace this with our own aligned memory allocator -///so we replace _aligned_malloc and _aligned_free with our own -///that is better portable and more predictable - -#include "b3Scalar.h" -//#define B3_DEBUG_MEMORY_ALLOCATIONS 1 -#ifdef B3_DEBUG_MEMORY_ALLOCATIONS - -#define b3AlignedAlloc(a, b) \ - b3AlignedAllocInternal(a, b, __LINE__, __FILE__) - -#define b3AlignedFree(ptr) \ - b3AlignedFreeInternal(ptr, __LINE__, __FILE__) - -void* b3AlignedAllocInternal(size_t size, int alignment, int line, char* filename); - -void b3AlignedFreeInternal(void* ptr, int line, char* filename); - -#else -void* b3AlignedAllocInternal(size_t size, int alignment); -void b3AlignedFreeInternal(void* ptr); - -#define b3AlignedAlloc(size, alignment) b3AlignedAllocInternal(size, alignment) -#define b3AlignedFree(ptr) b3AlignedFreeInternal(ptr) - -#endif -typedef int btSizeType; - -typedef void*(b3AlignedAllocFunc)(size_t size, int alignment); -typedef void(b3AlignedFreeFunc)(void* memblock); -typedef void*(b3AllocFunc)(size_t size); -typedef void(b3FreeFunc)(void* memblock); - -///The developer can let all Bullet memory allocations go through a custom memory allocator, using b3AlignedAllocSetCustom -void b3AlignedAllocSetCustom(b3AllocFunc* allocFunc, b3FreeFunc* freeFunc); -///If the developer has already an custom aligned allocator, then b3AlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it. -void b3AlignedAllocSetCustomAligned(b3AlignedAllocFunc* allocFunc, b3AlignedFreeFunc* freeFunc); - -///The b3AlignedAllocator is a portable class for aligned memory allocations. -///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using b3AlignedAllocSetCustom and b3AlignedAllocSetCustomAligned. -template <typename T, unsigned Alignment> -class b3AlignedAllocator -{ - typedef b3AlignedAllocator<T, Alignment> self_type; - -public: - //just going down a list: - b3AlignedAllocator() {} - /* - b3AlignedAllocator( const self_type & ) {} - */ - - template <typename Other> - b3AlignedAllocator(const b3AlignedAllocator<Other, Alignment>&) - { - } - - typedef const T* const_pointer; - typedef const T& const_reference; - typedef T* pointer; - typedef T& reference; - typedef T value_type; - - pointer address(reference ref) const { return &ref; } - const_pointer address(const_reference ref) const { return &ref; } - pointer allocate(btSizeType n, const_pointer* hint = 0) - { - (void)hint; - return reinterpret_cast<pointer>(b3AlignedAlloc(sizeof(value_type) * n, Alignment)); - } - void construct(pointer ptr, const value_type& value) { new (ptr) value_type(value); } - void deallocate(pointer ptr) - { - b3AlignedFree(reinterpret_cast<void*>(ptr)); - } - void destroy(pointer ptr) { ptr->~value_type(); } - - template <typename O> - struct rebind - { - typedef b3AlignedAllocator<O, Alignment> other; - }; - template <typename O> - self_type& operator=(const b3AlignedAllocator<O, Alignment>&) - { - return *this; - } - - friend bool operator==(const self_type&, const self_type&) { return true; } -}; - -#endif //B3_ALIGNED_ALLOCATOR diff --git a/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h b/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h deleted file mode 100644 index 249e381bf1..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h +++ /dev/null @@ -1,522 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_OBJECT_ARRAY__ -#define B3_OBJECT_ARRAY__ - -#include "b3Scalar.h" // has definitions like B3_FORCE_INLINE -#include "b3AlignedAllocator.h" - -///If the platform doesn't support placement new, you can disable B3_USE_PLACEMENT_NEW -///then the b3AlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors -///You can enable B3_USE_MEMCPY, then swapping elements in the array will use memcpy instead of operator= -///see discussion here: http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1231 and -///http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1240 - -#define B3_USE_PLACEMENT_NEW 1 -//#define B3_USE_MEMCPY 1 //disable, because it is cumbersome to find out for each platform where memcpy is defined. It can be in <memory.h> or <string.h> or otherwise... -#define B3_ALLOW_ARRAY_COPY_OPERATOR // enabling this can accidently perform deep copies of data if you are not careful - -#ifdef B3_USE_MEMCPY -#include <memory.h> -#include <string.h> -#endif //B3_USE_MEMCPY - -#ifdef B3_USE_PLACEMENT_NEW -#include <new> //for placement new -#endif //B3_USE_PLACEMENT_NEW - -///The b3AlignedObjectArray template class uses a subset of the stl::vector interface for its methods -///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data -template <typename T> -//template <class T> -class b3AlignedObjectArray -{ - b3AlignedAllocator<T, 16> m_allocator; - - int m_size; - int m_capacity; - T* m_data; - //PCK: added this line - bool m_ownsMemory; - -#ifdef B3_ALLOW_ARRAY_COPY_OPERATOR -public: - B3_FORCE_INLINE b3AlignedObjectArray<T>& operator=(const b3AlignedObjectArray<T>& other) - { - copyFromArray(other); - return *this; - } -#else //B3_ALLOW_ARRAY_COPY_OPERATOR -private: - B3_FORCE_INLINE b3AlignedObjectArray<T>& operator=(const b3AlignedObjectArray<T>& other); -#endif //B3_ALLOW_ARRAY_COPY_OPERATOR - -protected: - B3_FORCE_INLINE int allocSize(int size) - { - return (size ? size * 2 : 1); - } - B3_FORCE_INLINE void copy(int start, int end, T* dest) const - { - int i; - for (i = start; i < end; ++i) -#ifdef B3_USE_PLACEMENT_NEW - new (&dest[i]) T(m_data[i]); -#else - dest[i] = m_data[i]; -#endif //B3_USE_PLACEMENT_NEW - } - - B3_FORCE_INLINE void init() - { - //PCK: added this line - m_ownsMemory = true; - m_data = 0; - m_size = 0; - m_capacity = 0; - } - B3_FORCE_INLINE void destroy(int first, int last) - { - int i; - for (i = first; i < last; i++) - { - m_data[i].~T(); - } - } - - B3_FORCE_INLINE void* allocate(int size) - { - if (size) - return m_allocator.allocate(size); - return 0; - } - - B3_FORCE_INLINE void deallocate() - { - if (m_data) - { - //PCK: enclosed the deallocation in this block - if (m_ownsMemory) - { - m_allocator.deallocate(m_data); - } - m_data = 0; - } - } - -public: - b3AlignedObjectArray() - { - init(); - } - - ~b3AlignedObjectArray() - { - clear(); - } - - ///Generally it is best to avoid using the copy constructor of an b3AlignedObjectArray, and use a (const) reference to the array instead. - b3AlignedObjectArray(const b3AlignedObjectArray& otherArray) - { - init(); - - int otherSize = otherArray.size(); - resize(otherSize); - otherArray.copy(0, otherSize, m_data); - } - - /// return the number of elements in the array - B3_FORCE_INLINE int size() const - { - return m_size; - } - - B3_FORCE_INLINE const T& at(int n) const - { - b3Assert(n >= 0); - b3Assert(n < size()); - return m_data[n]; - } - - B3_FORCE_INLINE T& at(int n) - { - b3Assert(n >= 0); - b3Assert(n < size()); - return m_data[n]; - } - - B3_FORCE_INLINE const T& operator[](int n) const - { - b3Assert(n >= 0); - b3Assert(n < size()); - return m_data[n]; - } - - B3_FORCE_INLINE T& operator[](int n) - { - b3Assert(n >= 0); - b3Assert(n < size()); - return m_data[n]; - } - - ///clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations. - B3_FORCE_INLINE void clear() - { - destroy(0, size()); - - deallocate(); - - init(); - } - - B3_FORCE_INLINE void pop_back() - { - b3Assert(m_size > 0); - m_size--; - m_data[m_size].~T(); - } - - ///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument. - ///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations. - B3_FORCE_INLINE void resizeNoInitialize(int newsize) - { - int curSize = size(); - - if (newsize < curSize) - { - } - else - { - if (newsize > size()) - { - reserve(newsize); - } - //leave this uninitialized - } - m_size = newsize; - } - - B3_FORCE_INLINE void resize(int newsize, const T& fillData = T()) - { - int curSize = size(); - - if (newsize < curSize) - { - for (int i = newsize; i < curSize; i++) - { - m_data[i].~T(); - } - } - else - { - if (newsize > size()) - { - reserve(newsize); - } -#ifdef B3_USE_PLACEMENT_NEW - for (int i = curSize; i < newsize; i++) - { - new (&m_data[i]) T(fillData); - } -#endif //B3_USE_PLACEMENT_NEW - } - - m_size = newsize; - } - B3_FORCE_INLINE T& expandNonInitializing() - { - int sz = size(); - if (sz == capacity()) - { - reserve(allocSize(size())); - } - m_size++; - - return m_data[sz]; - } - - B3_FORCE_INLINE T& expand(const T& fillValue = T()) - { - int sz = size(); - if (sz == capacity()) - { - reserve(allocSize(size())); - } - m_size++; -#ifdef B3_USE_PLACEMENT_NEW - new (&m_data[sz]) T(fillValue); //use the in-place new (not really allocating heap memory) -#endif - - return m_data[sz]; - } - - B3_FORCE_INLINE void push_back(const T& _Val) - { - int sz = size(); - if (sz == capacity()) - { - reserve(allocSize(size())); - } - -#ifdef B3_USE_PLACEMENT_NEW - new (&m_data[m_size]) T(_Val); -#else - m_data[size()] = _Val; -#endif //B3_USE_PLACEMENT_NEW - - m_size++; - } - - /// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve() - B3_FORCE_INLINE int capacity() const - { - return m_capacity; - } - - B3_FORCE_INLINE void reserve(int _Count) - { // determine new minimum length of allocated storage - if (capacity() < _Count) - { // not enough room, reallocate - T* s = (T*)allocate(_Count); - b3Assert(s); - if (s == 0) - { - b3Error("b3AlignedObjectArray reserve out-of-memory\n"); - _Count = 0; - m_size = 0; - } - copy(0, size(), s); - - destroy(0, size()); - - deallocate(); - - //PCK: added this line - m_ownsMemory = true; - - m_data = s; - - m_capacity = _Count; - } - } - - class less - { - public: - bool operator()(const T& a, const T& b) - { - return (a < b); - } - }; - - template <typename L> - void quickSortInternal(const L& CompareFunc, int lo, int hi) - { - // lo is the lower index, hi is the upper index - // of the region of array a that is to be sorted - int i = lo, j = hi; - T x = m_data[(lo + hi) / 2]; - - // partition - do - { - while (CompareFunc(m_data[i], x)) - i++; - while (CompareFunc(x, m_data[j])) - j--; - if (i <= j) - { - swap(i, j); - i++; - j--; - } - } while (i <= j); - - // recursion - if (lo < j) - quickSortInternal(CompareFunc, lo, j); - if (i < hi) - quickSortInternal(CompareFunc, i, hi); - } - - template <typename L> - void quickSort(const L& CompareFunc) - { - //don't sort 0 or 1 elements - if (size() > 1) - { - quickSortInternal(CompareFunc, 0, size() - 1); - } - } - - ///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/ - template <typename L> - void downHeap(T* pArr, int k, int n, const L& CompareFunc) - { - /* PRE: a[k+1..N] is a heap */ - /* POST: a[k..N] is a heap */ - - T temp = pArr[k - 1]; - /* k has child(s) */ - while (k <= n / 2) - { - int child = 2 * k; - - if ((child < n) && CompareFunc(pArr[child - 1], pArr[child])) - { - child++; - } - /* pick larger child */ - if (CompareFunc(temp, pArr[child - 1])) - { - /* move child up */ - pArr[k - 1] = pArr[child - 1]; - k = child; - } - else - { - break; - } - } - pArr[k - 1] = temp; - } /*downHeap*/ - - void swap(int index0, int index1) - { -#ifdef B3_USE_MEMCPY - char temp[sizeof(T)]; - memcpy(temp, &m_data[index0], sizeof(T)); - memcpy(&m_data[index0], &m_data[index1], sizeof(T)); - memcpy(&m_data[index1], temp, sizeof(T)); -#else - T temp = m_data[index0]; - m_data[index0] = m_data[index1]; - m_data[index1] = temp; -#endif //B3_USE_PLACEMENT_NEW - } - - template <typename L> - void heapSort(const L& CompareFunc) - { - /* sort a[0..N-1], N.B. 0 to N-1 */ - int k; - int n = m_size; - for (k = n / 2; k > 0; k--) - { - downHeap(m_data, k, n, CompareFunc); - } - - /* a[1..N] is now a heap */ - while (n >= 1) - { - swap(0, n - 1); /* largest of a[0..n-1] */ - - n = n - 1; - /* restore a[1..i-1] heap */ - downHeap(m_data, 1, n, CompareFunc); - } - } - - ///non-recursive binary search, assumes sorted array - int findBinarySearch(const T& key) const - { - int first = 0; - int last = size() - 1; - - //assume sorted array - while (first <= last) - { - int mid = (first + last) / 2; // compute mid point. - if (key > m_data[mid]) - first = mid + 1; // repeat search in top half. - else if (key < m_data[mid]) - last = mid - 1; // repeat search in bottom half. - else - return mid; // found it. return position ///// - } - return size(); // failed to find key - } - - int findLinearSearch(const T& key) const - { - int index = size(); - int i; - - for (i = 0; i < size(); i++) - { - if (m_data[i] == key) - { - index = i; - break; - } - } - return index; - } - - int findLinearSearch2(const T& key) const - { - int index = -1; - int i; - - for (i = 0; i < size(); i++) - { - if (m_data[i] == key) - { - index = i; - break; - } - } - return index; - } - - void remove(const T& key) - { - int findIndex = findLinearSearch(key); - if (findIndex < size()) - { - swap(findIndex, size() - 1); - pop_back(); - } - } - - //PCK: whole function - void initializeFromBuffer(void* buffer, int size, int capacity) - { - clear(); - m_ownsMemory = false; - m_data = (T*)buffer; - m_size = size; - m_capacity = capacity; - } - - void copyFromArray(const b3AlignedObjectArray& otherArray) - { - int otherSize = otherArray.size(); - resize(otherSize); - otherArray.copy(0, otherSize, m_data); - } - - void removeAtIndex(int index) - { - if (index < size()) - { - swap(index, size() - 1); - pop_back(); - } - } -}; - -#endif //B3_OBJECT_ARRAY__ diff --git a/thirdparty/bullet/Bullet3Common/b3CommandLineArgs.h b/thirdparty/bullet/Bullet3Common/b3CommandLineArgs.h deleted file mode 100644 index 5fe4f25f8d..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3CommandLineArgs.h +++ /dev/null @@ -1,106 +0,0 @@ -#ifndef COMMAND_LINE_ARGS_H -#define COMMAND_LINE_ARGS_H - -/****************************************************************************** - * Command-line parsing - ******************************************************************************/ -#include <map> -#include <algorithm> -#include <string> -#include <cstring> -#include <sstream> -class b3CommandLineArgs -{ -protected: - std::map<std::string, std::string> pairs; - -public: - // Constructor - b3CommandLineArgs(int argc, char **argv) - { - addArgs(argc, argv); - } - - void addArgs(int argc, char **argv) - { - for (int i = 1; i < argc; i++) - { - std::string arg = argv[i]; - - if ((arg.length() < 2) || (arg[0] != '-') || (arg[1] != '-')) - { - continue; - } - - std::string::size_type pos; - std::string key, val; - if ((pos = arg.find('=')) == std::string::npos) - { - key = std::string(arg, 2, arg.length() - 2); - val = ""; - } - else - { - key = std::string(arg, 2, pos - 2); - val = std::string(arg, pos + 1, arg.length() - 1); - } - - //only add new keys, don't replace existing - if (pairs.find(key) == pairs.end()) - { - pairs[key] = val; - } - } - } - - bool CheckCmdLineFlag(const char *arg_name) - { - std::map<std::string, std::string>::iterator itr; - if ((itr = pairs.find(arg_name)) != pairs.end()) - { - return true; - } - return false; - } - - template <typename T> - bool GetCmdLineArgument(const char *arg_name, T &val); - - int ParsedArgc() - { - return pairs.size(); - } -}; - -template <typename T> -inline bool b3CommandLineArgs::GetCmdLineArgument(const char *arg_name, T &val) -{ - std::map<std::string, std::string>::iterator itr; - if ((itr = pairs.find(arg_name)) != pairs.end()) - { - std::istringstream strstream(itr->second); - strstream >> val; - return true; - } - return false; -} - -template <> -inline bool b3CommandLineArgs::GetCmdLineArgument<char *>(const char *arg_name, char *&val) -{ - std::map<std::string, std::string>::iterator itr; - if ((itr = pairs.find(arg_name)) != pairs.end()) - { - std::string s = itr->second; - val = (char *)malloc(sizeof(char) * (s.length() + 1)); - std::strcpy(val, s.c_str()); - return true; - } - else - { - val = NULL; - } - return false; -} - -#endif //COMMAND_LINE_ARGS_H diff --git a/thirdparty/bullet/Bullet3Common/b3FileUtils.h b/thirdparty/bullet/Bullet3Common/b3FileUtils.h deleted file mode 100644 index 9ded17eaaf..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3FileUtils.h +++ /dev/null @@ -1,133 +0,0 @@ -#ifndef B3_FILE_UTILS_H -#define B3_FILE_UTILS_H - -#include <stdio.h> -#include "b3Scalar.h" -#include <stddef.h> //ptrdiff_h -#include <string.h> - -struct b3FileUtils -{ - b3FileUtils() - { - } - virtual ~b3FileUtils() - { - } - - static bool findFile(const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen) - { - FILE* f = 0; - f = fopen(orgFileName, "rb"); - if (f) - { - //printf("original file found: [%s]\n", orgFileName); - sprintf(relativeFileName, "%s", orgFileName); - fclose(f); - return true; - } - - //printf("Trying various directories, relative to current working directory\n"); - const char* prefix[] = {"./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/"}; - int numPrefixes = sizeof(prefix) / sizeof(const char*); - - f = 0; - bool fileFound = false; - - for (int i = 0; !f && i < numPrefixes; i++) - { -#ifdef _MSC_VER - sprintf_s(relativeFileName, maxRelativeFileNameMaxLen, "%s%s", prefix[i], orgFileName); -#else - sprintf(relativeFileName, "%s%s", prefix[i], orgFileName); -#endif - f = fopen(relativeFileName, "rb"); - if (f) - { - fileFound = true; - break; - } - } - if (f) - { - fclose(f); - } - - return fileFound; - } - - static const char* strip2(const char* name, const char* pattern) - { - size_t const patlen = strlen(pattern); - size_t patcnt = 0; - const char* oriptr; - const char* patloc; - // find how many times the pattern occurs in the original string - for (oriptr = name; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen) - { - patcnt++; - } - return oriptr; - } - - static int extractPath(const char* fileName, char* path, int maxPathLength) - { - const char* stripped = strip2(fileName, "/"); - stripped = strip2(stripped, "\\"); - - ptrdiff_t len = stripped - fileName; - b3Assert((len + 1) < maxPathLength); - - if (len && ((len + 1) < maxPathLength)) - { - for (int i = 0; i < len; i++) - { - path[i] = fileName[i]; - } - path[len] = 0; - } - else - { - len = 0; - b3Assert(maxPathLength > 0); - if (maxPathLength > 0) - { - path[len] = 0; - } - } - return len; - } - - static char toLowerChar(const char t) - { - if (t >= (char)'A' && t <= (char)'Z') - return t + ((char)'a' - (char)'A'); - else - return t; - } - - static void toLower(char* str) - { - int len = strlen(str); - for (int i = 0; i < len; i++) - { - str[i] = toLowerChar(str[i]); - } - } - - /*static const char* strip2(const char* name, const char* pattern) - { - size_t const patlen = strlen(pattern); - size_t patcnt = 0; - const char * oriptr; - const char * patloc; - // find how many times the pattern occurs in the original string - for (oriptr = name; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen) - { - patcnt++; - } - return oriptr; - } - */ -}; -#endif //B3_FILE_UTILS_H diff --git a/thirdparty/bullet/Bullet3Common/b3HashMap.h b/thirdparty/bullet/Bullet3Common/b3HashMap.h deleted file mode 100644 index 3009e2cf2f..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3HashMap.h +++ /dev/null @@ -1,462 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_HASH_MAP_H -#define B3_HASH_MAP_H - -#include "b3AlignedObjectArray.h" - -#include <string> - -///very basic hashable string implementation, compatible with b3HashMap -struct b3HashString -{ - std::string m_string; - unsigned int m_hash; - - B3_FORCE_INLINE unsigned int getHash() const - { - return m_hash; - } - - b3HashString(const char* name) - : m_string(name) - { - /* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */ - static const unsigned int InitialFNV = 2166136261u; - static const unsigned int FNVMultiple = 16777619u; - - /* Fowler / Noll / Vo (FNV) Hash */ - unsigned int hash = InitialFNV; - int len = m_string.length(); - for (int i = 0; i < len; i++) - { - hash = hash ^ (m_string[i]); /* xor the low 8 bits */ - hash = hash * FNVMultiple; /* multiply by the magic number */ - } - m_hash = hash; - } - - int portableStringCompare(const char* src, const char* dst) const - { - int ret = 0; - - while (!(ret = *(unsigned char*)src - *(unsigned char*)dst) && *dst) - ++src, ++dst; - - if (ret < 0) - ret = -1; - else if (ret > 0) - ret = 1; - - return (ret); - } - - bool equals(const b3HashString& other) const - { - return (m_string == other.m_string); - } -}; - -const int B3_HASH_NULL = 0xffffffff; - -class b3HashInt -{ - int m_uid; - -public: - b3HashInt(int uid) : m_uid(uid) - { - } - - int getUid1() const - { - return m_uid; - } - - void setUid1(int uid) - { - m_uid = uid; - } - - bool equals(const b3HashInt& other) const - { - return getUid1() == other.getUid1(); - } - //to our success - B3_FORCE_INLINE unsigned int getHash() const - { - int key = m_uid; - // Thomas Wang's hash - key += ~(key << 15); - key ^= (key >> 10); - key += (key << 3); - key ^= (key >> 6); - key += ~(key << 11); - key ^= (key >> 16); - return key; - } -}; - -class b3HashPtr -{ - union { - const void* m_pointer; - int m_hashValues[2]; - }; - -public: - b3HashPtr(const void* ptr) - : m_pointer(ptr) - { - } - - const void* getPointer() const - { - return m_pointer; - } - - bool equals(const b3HashPtr& other) const - { - return getPointer() == other.getPointer(); - } - - //to our success - B3_FORCE_INLINE unsigned int getHash() const - { - const bool VOID_IS_8 = ((sizeof(void*) == 8)); - - int key = VOID_IS_8 ? m_hashValues[0] + m_hashValues[1] : m_hashValues[0]; - - // Thomas Wang's hash - key += ~(key << 15); - key ^= (key >> 10); - key += (key << 3); - key ^= (key >> 6); - key += ~(key << 11); - key ^= (key >> 16); - return key; - } -}; - -template <class Value> -class b3HashKeyPtr -{ - int m_uid; - -public: - b3HashKeyPtr(int uid) : m_uid(uid) - { - } - - int getUid1() const - { - return m_uid; - } - - bool equals(const b3HashKeyPtr<Value>& other) const - { - return getUid1() == other.getUid1(); - } - - //to our success - B3_FORCE_INLINE unsigned int getHash() const - { - int key = m_uid; - // Thomas Wang's hash - key += ~(key << 15); - key ^= (key >> 10); - key += (key << 3); - key ^= (key >> 6); - key += ~(key << 11); - key ^= (key >> 16); - return key; - } -}; - -template <class Value> -class b3HashKey -{ - int m_uid; - -public: - b3HashKey(int uid) : m_uid(uid) - { - } - - int getUid1() const - { - return m_uid; - } - - bool equals(const b3HashKey<Value>& other) const - { - return getUid1() == other.getUid1(); - } - //to our success - B3_FORCE_INLINE unsigned int getHash() const - { - int key = m_uid; - // Thomas Wang's hash - key += ~(key << 15); - key ^= (key >> 10); - key += (key << 3); - key ^= (key >> 6); - key += ~(key << 11); - key ^= (key >> 16); - return key; - } -}; - -///The b3HashMap template class implements a generic and lightweight hashmap. -///A basic sample of how to use b3HashMap is located in Demos\BasicDemo\main.cpp -template <class Key, class Value> -class b3HashMap -{ -protected: - b3AlignedObjectArray<int> m_hashTable; - b3AlignedObjectArray<int> m_next; - - b3AlignedObjectArray<Value> m_valueArray; - b3AlignedObjectArray<Key> m_keyArray; - - void growTables(const Key& /*key*/) - { - int newCapacity = m_valueArray.capacity(); - - if (m_hashTable.size() < newCapacity) - { - //grow hashtable and next table - int curHashtableSize = m_hashTable.size(); - - m_hashTable.resize(newCapacity); - m_next.resize(newCapacity); - - int i; - - for (i = 0; i < newCapacity; ++i) - { - m_hashTable[i] = B3_HASH_NULL; - } - for (i = 0; i < newCapacity; ++i) - { - m_next[i] = B3_HASH_NULL; - } - - for (i = 0; i < curHashtableSize; i++) - { - //const Value& value = m_valueArray[i]; - //const Key& key = m_keyArray[i]; - - int hashValue = m_keyArray[i].getHash() & (m_valueArray.capacity() - 1); // New hash value with new mask - m_next[i] = m_hashTable[hashValue]; - m_hashTable[hashValue] = i; - } - } - } - -public: - void insert(const Key& key, const Value& value) - { - int hash = key.getHash() & (m_valueArray.capacity() - 1); - - //replace value if the key is already there - int index = findIndex(key); - if (index != B3_HASH_NULL) - { - m_valueArray[index] = value; - return; - } - - int count = m_valueArray.size(); - int oldCapacity = m_valueArray.capacity(); - m_valueArray.push_back(value); - m_keyArray.push_back(key); - - int newCapacity = m_valueArray.capacity(); - if (oldCapacity < newCapacity) - { - growTables(key); - //hash with new capacity - hash = key.getHash() & (m_valueArray.capacity() - 1); - } - m_next[count] = m_hashTable[hash]; - m_hashTable[hash] = count; - } - - void remove(const Key& key) - { - int hash = key.getHash() & (m_valueArray.capacity() - 1); - - int pairIndex = findIndex(key); - - if (pairIndex == B3_HASH_NULL) - { - return; - } - - // Remove the pair from the hash table. - int index = m_hashTable[hash]; - b3Assert(index != B3_HASH_NULL); - - int previous = B3_HASH_NULL; - while (index != pairIndex) - { - previous = index; - index = m_next[index]; - } - - if (previous != B3_HASH_NULL) - { - b3Assert(m_next[previous] == pairIndex); - m_next[previous] = m_next[pairIndex]; - } - else - { - m_hashTable[hash] = m_next[pairIndex]; - } - - // We now move the last pair into spot of the - // pair being removed. We need to fix the hash - // table indices to support the move. - - int lastPairIndex = m_valueArray.size() - 1; - - // If the removed pair is the last pair, we are done. - if (lastPairIndex == pairIndex) - { - m_valueArray.pop_back(); - m_keyArray.pop_back(); - return; - } - - // Remove the last pair from the hash table. - int lastHash = m_keyArray[lastPairIndex].getHash() & (m_valueArray.capacity() - 1); - - index = m_hashTable[lastHash]; - b3Assert(index != B3_HASH_NULL); - - previous = B3_HASH_NULL; - while (index != lastPairIndex) - { - previous = index; - index = m_next[index]; - } - - if (previous != B3_HASH_NULL) - { - b3Assert(m_next[previous] == lastPairIndex); - m_next[previous] = m_next[lastPairIndex]; - } - else - { - m_hashTable[lastHash] = m_next[lastPairIndex]; - } - - // Copy the last pair into the remove pair's spot. - m_valueArray[pairIndex] = m_valueArray[lastPairIndex]; - m_keyArray[pairIndex] = m_keyArray[lastPairIndex]; - - // Insert the last pair into the hash table - m_next[pairIndex] = m_hashTable[lastHash]; - m_hashTable[lastHash] = pairIndex; - - m_valueArray.pop_back(); - m_keyArray.pop_back(); - } - - int size() const - { - return m_valueArray.size(); - } - - const Value* getAtIndex(int index) const - { - b3Assert(index < m_valueArray.size()); - - return &m_valueArray[index]; - } - - Value* getAtIndex(int index) - { - b3Assert(index < m_valueArray.size()); - - return &m_valueArray[index]; - } - - Key getKeyAtIndex(int index) - { - b3Assert(index < m_keyArray.size()); - return m_keyArray[index]; - } - - const Key getKeyAtIndex(int index) const - { - b3Assert(index < m_keyArray.size()); - return m_keyArray[index]; - } - - Value* operator[](const Key& key) - { - return find(key); - } - - const Value* find(const Key& key) const - { - int index = findIndex(key); - if (index == B3_HASH_NULL) - { - return NULL; - } - return &m_valueArray[index]; - } - - Value* find(const Key& key) - { - int index = findIndex(key); - if (index == B3_HASH_NULL) - { - return NULL; - } - return &m_valueArray[index]; - } - - int findIndex(const Key& key) const - { - unsigned int hash = key.getHash() & (m_valueArray.capacity() - 1); - - if (hash >= (unsigned int)m_hashTable.size()) - { - return B3_HASH_NULL; - } - - int index = m_hashTable[hash]; - while ((index != B3_HASH_NULL) && key.equals(m_keyArray[index]) == false) - { - index = m_next[index]; - } - return index; - } - - void clear() - { - m_hashTable.clear(); - m_next.clear(); - m_valueArray.clear(); - m_keyArray.clear(); - } -}; - -#endif //B3_HASH_MAP_H diff --git a/thirdparty/bullet/Bullet3Common/b3Logging.cpp b/thirdparty/bullet/Bullet3Common/b3Logging.cpp deleted file mode 100644 index 9c9f7c09ea..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3Logging.cpp +++ /dev/null @@ -1,145 +0,0 @@ -/* -Copyright (c) 2013 Advanced Micro Devices, Inc. - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -//Originally written by Erwin Coumans - -#include "b3Logging.h" - -#include <stdio.h> -#include <stdarg.h> - -#ifdef _WIN32 -#include <windows.h> -#endif //_WIN32 - -void b3PrintfFuncDefault(const char* msg) -{ -#ifdef _WIN32 - OutputDebugStringA(msg); -#endif - printf("%s", msg); - //is this portable? - fflush(stdout); -} - -void b3WarningMessageFuncDefault(const char* msg) -{ -#ifdef _WIN32 - OutputDebugStringA(msg); -#endif - printf("%s", msg); - //is this portable? - fflush(stdout); -} - -void b3ErrorMessageFuncDefault(const char* msg) -{ -#ifdef _WIN32 - OutputDebugStringA(msg); -#endif - printf("%s", msg); - - //is this portable? - fflush(stdout); -} - -static b3PrintfFunc* b3s_printfFunc = b3PrintfFuncDefault; -static b3WarningMessageFunc* b3s_warningMessageFunc = b3WarningMessageFuncDefault; -static b3ErrorMessageFunc* b3s_errorMessageFunc = b3ErrorMessageFuncDefault; - -///The developer can route b3Printf output using their own implementation -void b3SetCustomPrintfFunc(b3PrintfFunc* printfFunc) -{ - b3s_printfFunc = printfFunc; -} -void b3SetCustomWarningMessageFunc(b3PrintfFunc* warningMessageFunc) -{ - b3s_warningMessageFunc = warningMessageFunc; -} -void b3SetCustomErrorMessageFunc(b3PrintfFunc* errorMessageFunc) -{ - b3s_errorMessageFunc = errorMessageFunc; -} - -//#define B3_MAX_DEBUG_STRING_LENGTH 2048 -#define B3_MAX_DEBUG_STRING_LENGTH 32768 - -void b3OutputPrintfVarArgsInternal(const char* str, ...) -{ - char strDebug[B3_MAX_DEBUG_STRING_LENGTH] = {0}; - va_list argList; - va_start(argList, str); -#ifdef _MSC_VER - vsprintf_s(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList); -#else - vsnprintf(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList); -#endif - (b3s_printfFunc)(strDebug); - va_end(argList); -} -void b3OutputWarningMessageVarArgsInternal(const char* str, ...) -{ - char strDebug[B3_MAX_DEBUG_STRING_LENGTH] = {0}; - va_list argList; - va_start(argList, str); -#ifdef _MSC_VER - vsprintf_s(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList); -#else - vsnprintf(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList); -#endif - (b3s_warningMessageFunc)(strDebug); - va_end(argList); -} -void b3OutputErrorMessageVarArgsInternal(const char* str, ...) -{ - char strDebug[B3_MAX_DEBUG_STRING_LENGTH] = {0}; - va_list argList; - va_start(argList, str); -#ifdef _MSC_VER - vsprintf_s(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList); -#else - vsnprintf(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList); -#endif - (b3s_errorMessageFunc)(strDebug); - va_end(argList); -} - -void b3EnterProfileZoneDefault(const char* name) -{ -} -void b3LeaveProfileZoneDefault() -{ -} -static b3EnterProfileZoneFunc* b3s_enterFunc = b3EnterProfileZoneDefault; -static b3LeaveProfileZoneFunc* b3s_leaveFunc = b3LeaveProfileZoneDefault; -void b3EnterProfileZone(const char* name) -{ - (b3s_enterFunc)(name); -} -void b3LeaveProfileZone() -{ - (b3s_leaveFunc)(); -} - -void b3SetCustomEnterProfileZoneFunc(b3EnterProfileZoneFunc* enterFunc) -{ - b3s_enterFunc = enterFunc; -} -void b3SetCustomLeaveProfileZoneFunc(b3LeaveProfileZoneFunc* leaveFunc) -{ - b3s_leaveFunc = leaveFunc; -} - -#ifndef _MSC_VER -#undef vsprintf_s -#endif diff --git a/thirdparty/bullet/Bullet3Common/b3Logging.h b/thirdparty/bullet/Bullet3Common/b3Logging.h deleted file mode 100644 index f61149de77..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3Logging.h +++ /dev/null @@ -1,74 +0,0 @@ - -#ifndef B3_LOGGING_H -#define B3_LOGGING_H - -#ifdef __cplusplus -extern "C" -{ -#endif - -///We add the do/while so that the statement "if (condition) b3Printf("test"); else {...}" would fail -///You can also customize the message by uncommenting out a different line below -#define b3Printf(...) b3OutputPrintfVarArgsInternal(__VA_ARGS__) - //#define b3Printf(...) do {b3OutputPrintfVarArgsInternal("b3Printf[%s,%d]:",__FILE__,__LINE__);b3OutputPrintfVarArgsInternal(__VA_ARGS__); } while(0) - //#define b3Printf b3OutputPrintfVarArgsInternal - //#define b3Printf(...) printf(__VA_ARGS__) - //#define b3Printf(...) -#define b3Warning(...) do{ b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__);b3OutputWarningMessageVarArgsInternal(__VA_ARGS__);} while (0) -#define b3Error(...)do {b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__);b3OutputErrorMessageVarArgsInternal(__VA_ARGS__);} while (0) -#ifndef B3_NO_PROFILE - - void b3EnterProfileZone(const char* name); - void b3LeaveProfileZone(); -#ifdef __cplusplus - - class b3ProfileZone - { - public: - b3ProfileZone(const char* name) - { - b3EnterProfileZone(name); - } - - ~b3ProfileZone() - { - b3LeaveProfileZone(); - } - }; - -#define B3_PROFILE(name) b3ProfileZone __profile(name) -#endif - -#else //B3_NO_PROFILE - -#define B3_PROFILE(name) -#define b3StartProfile(a) -#define b3StopProfile - -#endif //#ifndef B3_NO_PROFILE - - typedef void(b3PrintfFunc)(const char* msg); - typedef void(b3WarningMessageFunc)(const char* msg); - typedef void(b3ErrorMessageFunc)(const char* msg); - typedef void(b3EnterProfileZoneFunc)(const char* msg); - typedef void(b3LeaveProfileZoneFunc)(); - - ///The developer can route b3Printf output using their own implementation - void b3SetCustomPrintfFunc(b3PrintfFunc* printfFunc); - void b3SetCustomWarningMessageFunc(b3WarningMessageFunc* warningMsgFunc); - void b3SetCustomErrorMessageFunc(b3ErrorMessageFunc* errorMsgFunc); - - ///Set custom profile zone functions (zones can be nested) - void b3SetCustomEnterProfileZoneFunc(b3EnterProfileZoneFunc* enterFunc); - void b3SetCustomLeaveProfileZoneFunc(b3LeaveProfileZoneFunc* leaveFunc); - - ///Don't use those internal functions directly, use the b3Printf or b3SetCustomPrintfFunc instead (or warning/error version) - void b3OutputPrintfVarArgsInternal(const char* str, ...); - void b3OutputWarningMessageVarArgsInternal(const char* str, ...); - void b3OutputErrorMessageVarArgsInternal(const char* str, ...); - -#ifdef __cplusplus -} -#endif - -#endif //B3_LOGGING_H
\ No newline at end of file diff --git a/thirdparty/bullet/Bullet3Common/b3Matrix3x3.h b/thirdparty/bullet/Bullet3Common/b3Matrix3x3.h deleted file mode 100644 index 6c46536a81..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3Matrix3x3.h +++ /dev/null @@ -1,1354 +0,0 @@ -/* -Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_MATRIX3x3_H -#define B3_MATRIX3x3_H - -#include "b3Vector3.h" -#include "b3Quaternion.h" -#include <stdio.h> - -#ifdef B3_USE_SSE -//const __m128 B3_ATTRIBUTE_ALIGNED16(b3v2220) = {2.0f, 2.0f, 2.0f, 0.0f}; -const __m128 B3_ATTRIBUTE_ALIGNED16(b3vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f}; -#endif - -#if defined(B3_USE_SSE) || defined(B3_USE_NEON) -const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v1000) = {1.0f, 0.0f, 0.0f, 0.0f}; -const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v0100) = {0.0f, 1.0f, 0.0f, 0.0f}; -const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v0010) = {0.0f, 0.0f, 1.0f, 0.0f}; -#endif - -#ifdef B3_USE_DOUBLE_PRECISION -#define b3Matrix3x3Data b3Matrix3x3DoubleData -#else -#define b3Matrix3x3Data b3Matrix3x3FloatData -#endif //B3_USE_DOUBLE_PRECISION - -/**@brief The b3Matrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with b3Quaternion, b3Transform and b3Vector3. -* Make sure to only include a pure orthogonal matrix without scaling. */ -B3_ATTRIBUTE_ALIGNED16(class) -b3Matrix3x3 -{ - ///Data storage for the matrix, each vector is a row of the matrix - b3Vector3 m_el[3]; - -public: - /** @brief No initializaion constructor */ - b3Matrix3x3() {} - - // explicit b3Matrix3x3(const b3Scalar *m) { setFromOpenGLSubMatrix(m); } - - /**@brief Constructor from Quaternion */ - explicit b3Matrix3x3(const b3Quaternion& q) { setRotation(q); } - /* - template <typename b3Scalar> - Matrix3x3(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll) - { - setEulerYPR(yaw, pitch, roll); - } - */ - /** @brief Constructor with row major formatting */ - b3Matrix3x3(const b3Scalar& xx, const b3Scalar& xy, const b3Scalar& xz, - const b3Scalar& yx, const b3Scalar& yy, const b3Scalar& yz, - const b3Scalar& zx, const b3Scalar& zy, const b3Scalar& zz) - { - setValue(xx, xy, xz, - yx, yy, yz, - zx, zy, zz); - } - -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - B3_FORCE_INLINE b3Matrix3x3(const b3SimdFloat4 v0, const b3SimdFloat4 v1, const b3SimdFloat4 v2) - { - m_el[0].mVec128 = v0; - m_el[1].mVec128 = v1; - m_el[2].mVec128 = v2; - } - - B3_FORCE_INLINE b3Matrix3x3(const b3Vector3& v0, const b3Vector3& v1, const b3Vector3& v2) - { - m_el[0] = v0; - m_el[1] = v1; - m_el[2] = v2; - } - - // Copy constructor - B3_FORCE_INLINE b3Matrix3x3(const b3Matrix3x3& rhs) - { - m_el[0].mVec128 = rhs.m_el[0].mVec128; - m_el[1].mVec128 = rhs.m_el[1].mVec128; - m_el[2].mVec128 = rhs.m_el[2].mVec128; - } - - // Assignment Operator - B3_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& m) - { - m_el[0].mVec128 = m.m_el[0].mVec128; - m_el[1].mVec128 = m.m_el[1].mVec128; - m_el[2].mVec128 = m.m_el[2].mVec128; - - return *this; - } - -#else - - /** @brief Copy constructor */ - B3_FORCE_INLINE b3Matrix3x3(const b3Matrix3x3& other) - { - m_el[0] = other.m_el[0]; - m_el[1] = other.m_el[1]; - m_el[2] = other.m_el[2]; - } - - /** @brief Assignment Operator */ - B3_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& other) - { - m_el[0] = other.m_el[0]; - m_el[1] = other.m_el[1]; - m_el[2] = other.m_el[2]; - return *this; - } - -#endif - - /** @brief Get a column of the matrix as a vector - * @param i Column number 0 indexed */ - B3_FORCE_INLINE b3Vector3 getColumn(int i) const - { - return b3MakeVector3(m_el[0][i], m_el[1][i], m_el[2][i]); - } - - /** @brief Get a row of the matrix as a vector - * @param i Row number 0 indexed */ - B3_FORCE_INLINE const b3Vector3& getRow(int i) const - { - b3FullAssert(0 <= i && i < 3); - return m_el[i]; - } - - /** @brief Get a mutable reference to a row of the matrix as a vector - * @param i Row number 0 indexed */ - B3_FORCE_INLINE b3Vector3& operator[](int i) - { - b3FullAssert(0 <= i && i < 3); - return m_el[i]; - } - - /** @brief Get a const reference to a row of the matrix as a vector - * @param i Row number 0 indexed */ - B3_FORCE_INLINE const b3Vector3& operator[](int i) const - { - b3FullAssert(0 <= i && i < 3); - return m_el[i]; - } - - /** @brief Multiply by the target matrix on the right - * @param m Rotation matrix to be applied - * Equivilant to this = this * m */ - b3Matrix3x3& operator*=(const b3Matrix3x3& m); - - /** @brief Adds by the target matrix on the right - * @param m matrix to be applied - * Equivilant to this = this + m */ - b3Matrix3x3& operator+=(const b3Matrix3x3& m); - - /** @brief Substractss by the target matrix on the right - * @param m matrix to be applied - * Equivilant to this = this - m */ - b3Matrix3x3& operator-=(const b3Matrix3x3& m); - - /** @brief Set from the rotational part of a 4x4 OpenGL matrix - * @param m A pointer to the beginning of the array of scalars*/ - void setFromOpenGLSubMatrix(const b3Scalar* m) - { - m_el[0].setValue(m[0], m[4], m[8]); - m_el[1].setValue(m[1], m[5], m[9]); - m_el[2].setValue(m[2], m[6], m[10]); - } - /** @brief Set the values of the matrix explicitly (row major) - * @param xx Top left - * @param xy Top Middle - * @param xz Top Right - * @param yx Middle Left - * @param yy Middle Middle - * @param yz Middle Right - * @param zx Bottom Left - * @param zy Bottom Middle - * @param zz Bottom Right*/ - void setValue(const b3Scalar& xx, const b3Scalar& xy, const b3Scalar& xz, - const b3Scalar& yx, const b3Scalar& yy, const b3Scalar& yz, - const b3Scalar& zx, const b3Scalar& zy, const b3Scalar& zz) - { - m_el[0].setValue(xx, xy, xz); - m_el[1].setValue(yx, yy, yz); - m_el[2].setValue(zx, zy, zz); - } - - /** @brief Set the matrix from a quaternion - * @param q The Quaternion to match */ - void setRotation(const b3Quaternion& q) - { - b3Scalar d = q.length2(); - b3FullAssert(d != b3Scalar(0.0)); - b3Scalar s = b3Scalar(2.0) / d; - -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vs, Q = q.get128(); - __m128i Qi = b3CastfTo128i(Q); - __m128 Y, Z; - __m128 V1, V2, V3; - __m128 V11, V21, V31; - __m128 NQ = _mm_xor_ps(Q, b3vMzeroMask); - __m128i NQi = b3CastfTo128i(NQ); - - V1 = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(1, 0, 2, 3))); // Y X Z W - V2 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(0, 0, 1, 3)); // -X -X Y W - V3 = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(2, 1, 0, 3))); // Z Y X W - V1 = _mm_xor_ps(V1, b3vMPPP); // change the sign of the first element - - V11 = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(1, 1, 0, 3))); // Y Y X W - V21 = _mm_unpackhi_ps(Q, Q); // Z Z W W - V31 = _mm_shuffle_ps(Q, NQ, B3_SHUFFLE(0, 2, 0, 3)); // X Z -X -W - - V2 = V2 * V1; // - V1 = V1 * V11; // - V3 = V3 * V31; // - - V11 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(2, 3, 1, 3)); // -Z -W Y W - V11 = V11 * V21; // - V21 = _mm_xor_ps(V21, b3vMPPP); // change the sign of the first element - V31 = _mm_shuffle_ps(Q, NQ, B3_SHUFFLE(3, 3, 1, 3)); // W W -Y -W - V31 = _mm_xor_ps(V31, b3vMPPP); // change the sign of the first element - Y = b3CastiTo128f(_mm_shuffle_epi32(NQi, B3_SHUFFLE(3, 2, 0, 3))); // -W -Z -X -W - Z = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(1, 0, 1, 3))); // Y X Y W - - vs = _mm_load_ss(&s); - V21 = V21 * Y; - V31 = V31 * Z; - - V1 = V1 + V11; - V2 = V2 + V21; - V3 = V3 + V31; - - vs = b3_splat3_ps(vs, 0); - // s ready - V1 = V1 * vs; - V2 = V2 * vs; - V3 = V3 * vs; - - V1 = V1 + b3v1000; - V2 = V2 + b3v0100; - V3 = V3 + b3v0010; - - m_el[0] = b3MakeVector3(V1); - m_el[1] = b3MakeVector3(V2); - m_el[2] = b3MakeVector3(V3); -#else - b3Scalar xs = q.getX() * s, ys = q.getY() * s, zs = q.getZ() * s; - b3Scalar wx = q.getW() * xs, wy = q.getW() * ys, wz = q.getW() * zs; - b3Scalar xx = q.getX() * xs, xy = q.getX() * ys, xz = q.getX() * zs; - b3Scalar yy = q.getY() * ys, yz = q.getY() * zs, zz = q.getZ() * zs; - setValue( - b3Scalar(1.0) - (yy + zz), xy - wz, xz + wy, - xy + wz, b3Scalar(1.0) - (xx + zz), yz - wx, - xz - wy, yz + wx, b3Scalar(1.0) - (xx + yy)); -#endif - } - - /** @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(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll) - { - setEulerZYX(roll, pitch, yaw); - } - - /** @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 - **/ - void setEulerZYX(b3Scalar eulerX, b3Scalar eulerY, b3Scalar eulerZ) - { - ///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code - b3Scalar ci(b3Cos(eulerX)); - b3Scalar cj(b3Cos(eulerY)); - b3Scalar ch(b3Cos(eulerZ)); - b3Scalar si(b3Sin(eulerX)); - b3Scalar sj(b3Sin(eulerY)); - b3Scalar sh(b3Sin(eulerZ)); - b3Scalar cc = ci * ch; - b3Scalar cs = ci * sh; - b3Scalar sc = si * ch; - b3Scalar 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 to the identity */ - void setIdentity() - { -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - m_el[0] = b3MakeVector3(b3v1000); - m_el[1] = b3MakeVector3(b3v0100); - m_el[2] = b3MakeVector3(b3v0010); -#else - setValue(b3Scalar(1.0), b3Scalar(0.0), b3Scalar(0.0), - b3Scalar(0.0), b3Scalar(1.0), b3Scalar(0.0), - b3Scalar(0.0), b3Scalar(0.0), b3Scalar(1.0)); -#endif - } - - static const b3Matrix3x3& getIdentity() - { -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - static const b3Matrix3x3 - identityMatrix(b3v1000, b3v0100, b3v0010); -#else - static const b3Matrix3x3 - identityMatrix( - b3Scalar(1.0), b3Scalar(0.0), b3Scalar(0.0), - b3Scalar(0.0), b3Scalar(1.0), b3Scalar(0.0), - b3Scalar(0.0), b3Scalar(0.0), b3Scalar(1.0)); -#endif - return identityMatrix; - } - - /**@brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective - * @param m The array to be filled */ - void getOpenGLSubMatrix(b3Scalar * m) const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 v0 = m_el[0].mVec128; - __m128 v1 = m_el[1].mVec128; - __m128 v2 = m_el[2].mVec128; // x2 y2 z2 w2 - __m128* vm = (__m128*)m; - __m128 vT; - - v2 = _mm_and_ps(v2, b3vFFF0fMask); // x2 y2 z2 0 - - vT = _mm_unpackhi_ps(v0, v1); // z0 z1 * * - v0 = _mm_unpacklo_ps(v0, v1); // x0 x1 y0 y1 - - v1 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(2, 3, 1, 3)); // y0 y1 y2 0 - v0 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(0, 1, 0, 3)); // x0 x1 x2 0 - v2 = b3CastdTo128f(_mm_move_sd(b3CastfTo128d(v2), b3CastfTo128d(vT))); // z0 z1 z2 0 - - vm[0] = v0; - vm[1] = v1; - vm[2] = v2; -#elif defined(B3_USE_NEON) - // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions. - static const uint32x2_t zMask = (const uint32x2_t){-1, 0}; - float32x4_t* vm = (float32x4_t*)m; - float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128); // {x0 x1 z0 z1}, {y0 y1 w0 w1} - float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f)); // {x2 0 }, {y2 0} - float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]); - float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]); - float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask); - float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q); // z0 z1 z2 0 - - vm[0] = v0; - vm[1] = v1; - vm[2] = v2; -#else - m[0] = b3Scalar(m_el[0].getX()); - m[1] = b3Scalar(m_el[1].getX()); - m[2] = b3Scalar(m_el[2].getX()); - m[3] = b3Scalar(0.0); - m[4] = b3Scalar(m_el[0].getY()); - m[5] = b3Scalar(m_el[1].getY()); - m[6] = b3Scalar(m_el[2].getY()); - m[7] = b3Scalar(0.0); - m[8] = b3Scalar(m_el[0].getZ()); - m[9] = b3Scalar(m_el[1].getZ()); - m[10] = b3Scalar(m_el[2].getZ()); - m[11] = b3Scalar(0.0); -#endif - } - - /**@brief Get the matrix represented as a quaternion - * @param q The quaternion which will be set */ - void getRotation(b3Quaternion & q) const - { -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - b3Scalar trace = m_el[0].getX() + m_el[1].getY() + m_el[2].getZ(); - b3Scalar s, x; - - union { - b3SimdFloat4 vec; - b3Scalar f[4]; - } temp; - - if (trace > b3Scalar(0.0)) - { - x = trace + b3Scalar(1.0); - - temp.f[0] = m_el[2].getY() - m_el[1].getZ(); - temp.f[1] = m_el[0].getZ() - m_el[2].getX(); - temp.f[2] = m_el[1].getX() - m_el[0].getY(); - temp.f[3] = x; - //temp.f[3]= s * b3Scalar(0.5); - } - else - { - int i, j, k; - if (m_el[0].getX() < m_el[1].getY()) - { - if (m_el[1].getY() < m_el[2].getZ()) - { - i = 2; - j = 0; - k = 1; - } - else - { - i = 1; - j = 2; - k = 0; - } - } - else - { - if (m_el[0].getX() < m_el[2].getZ()) - { - i = 2; - j = 0; - k = 1; - } - else - { - i = 0; - j = 1; - k = 2; - } - } - - x = m_el[i][i] - m_el[j][j] - m_el[k][k] + b3Scalar(1.0); - - temp.f[3] = (m_el[k][j] - m_el[j][k]); - temp.f[j] = (m_el[j][i] + m_el[i][j]); - temp.f[k] = (m_el[k][i] + m_el[i][k]); - temp.f[i] = x; - //temp.f[i] = s * b3Scalar(0.5); - } - - s = b3Sqrt(x); - q.set128(temp.vec); - s = b3Scalar(0.5) / s; - - q *= s; -#else - b3Scalar trace = m_el[0].getX() + m_el[1].getY() + m_el[2].getZ(); - - b3Scalar temp[4]; - - if (trace > b3Scalar(0.0)) - { - b3Scalar s = b3Sqrt(trace + b3Scalar(1.0)); - temp[3] = (s * b3Scalar(0.5)); - s = b3Scalar(0.5) / s; - - temp[0] = ((m_el[2].getY() - m_el[1].getZ()) * s); - temp[1] = ((m_el[0].getZ() - m_el[2].getX()) * s); - temp[2] = ((m_el[1].getX() - m_el[0].getY()) * s); - } - else - { - int i = m_el[0].getX() < m_el[1].getY() ? (m_el[1].getY() < m_el[2].getZ() ? 2 : 1) : (m_el[0].getX() < m_el[2].getZ() ? 2 : 0); - int j = (i + 1) % 3; - int k = (i + 2) % 3; - - b3Scalar s = b3Sqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + b3Scalar(1.0)); - temp[i] = s * b3Scalar(0.5); - s = b3Scalar(0.5) / s; - - temp[3] = (m_el[k][j] - m_el[j][k]) * s; - temp[j] = (m_el[j][i] + m_el[i][j]) * s; - temp[k] = (m_el[k][i] + m_el[i][k]) * s; - } - q.setValue(temp[0], temp[1], temp[2], temp[3]); -#endif - } - - /**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR - * @param yaw Yaw around Y axis - * @param pitch Pitch around X axis - * @param roll around Z axis */ - void getEulerYPR(b3Scalar & yaw, b3Scalar & pitch, b3Scalar & roll) const - { - // first use the normal calculus - yaw = b3Scalar(b3Atan2(m_el[1].getX(), m_el[0].getX())); - pitch = b3Scalar(b3Asin(-m_el[2].getX())); - roll = b3Scalar(b3Atan2(m_el[2].getY(), m_el[2].getZ())); - - // on pitch = +/-HalfPI - if (b3Fabs(pitch) == B3_HALF_PI) - { - if (yaw > 0) - yaw -= B3_PI; - else - yaw += B3_PI; - - if (roll > 0) - roll -= B3_PI; - else - roll += B3_PI; - } - }; - - /**@brief Get the matrix represented as euler angles around ZYX - * @param yaw Yaw around X axis - * @param pitch Pitch around Y axis - * @param roll around X axis - * @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/ - void getEulerZYX(b3Scalar & yaw, b3Scalar & pitch, b3Scalar & roll, unsigned int solution_number = 1) const - { - struct Euler - { - b3Scalar yaw; - b3Scalar pitch; - b3Scalar roll; - }; - - Euler euler_out; - Euler euler_out2; //second solution - //get the pointer to the raw data - - // Check that pitch is not at a singularity - if (b3Fabs(m_el[2].getX()) >= 1) - { - euler_out.yaw = 0; - euler_out2.yaw = 0; - - // From difference of angles formula - b3Scalar delta = b3Atan2(m_el[0].getX(), m_el[0].getZ()); - if (m_el[2].getX() > 0) //gimbal locked up - { - euler_out.pitch = B3_PI / b3Scalar(2.0); - euler_out2.pitch = B3_PI / b3Scalar(2.0); - euler_out.roll = euler_out.pitch + delta; - euler_out2.roll = euler_out.pitch + delta; - } - else // gimbal locked down - { - euler_out.pitch = -B3_PI / b3Scalar(2.0); - euler_out2.pitch = -B3_PI / b3Scalar(2.0); - euler_out.roll = -euler_out.pitch + delta; - euler_out2.roll = -euler_out.pitch + delta; - } - } - else - { - euler_out.pitch = -b3Asin(m_el[2].getX()); - euler_out2.pitch = B3_PI - euler_out.pitch; - - euler_out.roll = b3Atan2(m_el[2].getY() / b3Cos(euler_out.pitch), - m_el[2].getZ() / b3Cos(euler_out.pitch)); - euler_out2.roll = b3Atan2(m_el[2].getY() / b3Cos(euler_out2.pitch), - m_el[2].getZ() / b3Cos(euler_out2.pitch)); - - euler_out.yaw = b3Atan2(m_el[1].getX() / b3Cos(euler_out.pitch), - m_el[0].getX() / b3Cos(euler_out.pitch)); - euler_out2.yaw = b3Atan2(m_el[1].getX() / b3Cos(euler_out2.pitch), - m_el[0].getX() / b3Cos(euler_out2.pitch)); - } - - if (solution_number == 1) - { - yaw = euler_out.yaw; - pitch = euler_out.pitch; - roll = euler_out.roll; - } - else - { - yaw = euler_out2.yaw; - pitch = euler_out2.pitch; - roll = euler_out2.roll; - } - } - - /**@brief Create a scaled copy of the matrix - * @param s Scaling vector The elements of the vector will scale each column */ - - b3Matrix3x3 scaled(const b3Vector3& s) const - { -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - return b3Matrix3x3(m_el[0] * s, m_el[1] * s, m_el[2] * s); -#else - return b3Matrix3x3( - m_el[0].getX() * s.getX(), m_el[0].getY() * s.getY(), m_el[0].getZ() * s.getZ(), - m_el[1].getX() * s.getX(), m_el[1].getY() * s.getY(), m_el[1].getZ() * s.getZ(), - m_el[2].getX() * s.getX(), m_el[2].getY() * s.getY(), m_el[2].getZ() * s.getZ()); -#endif - } - - /**@brief Return the determinant of the matrix */ - b3Scalar determinant() const; - /**@brief Return the adjoint of the matrix */ - b3Matrix3x3 adjoint() const; - /**@brief Return the matrix with all values non negative */ - b3Matrix3x3 absolute() const; - /**@brief Return the transpose of the matrix */ - b3Matrix3x3 transpose() const; - /**@brief Return the inverse of the matrix */ - b3Matrix3x3 inverse() const; - - b3Matrix3x3 transposeTimes(const b3Matrix3x3& m) const; - b3Matrix3x3 timesTranspose(const b3Matrix3x3& m) const; - - B3_FORCE_INLINE b3Scalar tdotx(const b3Vector3& v) const - { - return m_el[0].getX() * v.getX() + m_el[1].getX() * v.getY() + m_el[2].getX() * v.getZ(); - } - B3_FORCE_INLINE b3Scalar tdoty(const b3Vector3& v) const - { - return m_el[0].getY() * v.getX() + m_el[1].getY() * v.getY() + m_el[2].getY() * v.getZ(); - } - B3_FORCE_INLINE b3Scalar tdotz(const b3Vector3& v) const - { - return m_el[0].getZ() * v.getX() + m_el[1].getZ() * v.getY() + m_el[2].getZ() * v.getZ(); - } - - /**@brief diagonalizes this matrix by the Jacobi method. - * @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original - * coordinate system, i.e., old_this = rot * new_this * rot^T. - * @param threshold See iteration - * @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied - * by the sum of the absolute values of the diagonal, or when maxSteps have been executed. - * - * Note that this matrix is assumed to be symmetric. - */ - void diagonalize(b3Matrix3x3 & rot, b3Scalar threshold, int maxSteps) - { - rot.setIdentity(); - for (int step = maxSteps; step > 0; step--) - { - // find off-diagonal element [p][q] with largest magnitude - int p = 0; - int q = 1; - int r = 2; - b3Scalar max = b3Fabs(m_el[0][1]); - b3Scalar v = b3Fabs(m_el[0][2]); - if (v > max) - { - q = 2; - r = 1; - max = v; - } - v = b3Fabs(m_el[1][2]); - if (v > max) - { - p = 1; - q = 2; - r = 0; - max = v; - } - - b3Scalar t = threshold * (b3Fabs(m_el[0][0]) + b3Fabs(m_el[1][1]) + b3Fabs(m_el[2][2])); - if (max <= t) - { - if (max <= B3_EPSILON * t) - { - return; - } - step = 1; - } - - // compute Jacobi rotation J which leads to a zero for element [p][q] - b3Scalar mpq = m_el[p][q]; - b3Scalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq); - b3Scalar theta2 = theta * theta; - b3Scalar cos; - b3Scalar sin; - if (theta2 * theta2 < b3Scalar(10 / B3_EPSILON)) - { - t = (theta >= 0) ? 1 / (theta + b3Sqrt(1 + theta2)) - : 1 / (theta - b3Sqrt(1 + theta2)); - cos = 1 / b3Sqrt(1 + t * t); - sin = cos * t; - } - else - { - // approximation for large theta-value, i.e., a nearly diagonal matrix - t = 1 / (theta * (2 + b3Scalar(0.5) / theta2)); - cos = 1 - b3Scalar(0.5) * t * t; - sin = cos * t; - } - - // apply rotation to matrix (this = J^T * this * J) - m_el[p][q] = m_el[q][p] = 0; - m_el[p][p] -= t * mpq; - m_el[q][q] += t * mpq; - b3Scalar mrp = m_el[r][p]; - b3Scalar mrq = m_el[r][q]; - m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq; - m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp; - - // apply rotation to rot (rot = rot * J) - for (int i = 0; i < 3; i++) - { - b3Vector3& row = rot[i]; - mrp = row[p]; - mrq = row[q]; - row[p] = cos * mrp - sin * mrq; - row[q] = cos * mrq + sin * mrp; - } - } - } - - /**@brief Calculate the matrix cofactor - * @param r1 The first row to use for calculating the cofactor - * @param c1 The first column to use for calculating the cofactor - * @param r1 The second row to use for calculating the cofactor - * @param c1 The second column to use for calculating the cofactor - * See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details - */ - b3Scalar cofac(int r1, int c1, int r2, int c2) const - { - return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1]; - } - - void serialize(struct b3Matrix3x3Data & dataOut) const; - - void serializeFloat(struct b3Matrix3x3FloatData & dataOut) const; - - void deSerialize(const struct b3Matrix3x3Data& dataIn); - - void deSerializeFloat(const struct b3Matrix3x3FloatData& dataIn); - - void deSerializeDouble(const struct b3Matrix3x3DoubleData& dataIn); -}; - -B3_FORCE_INLINE b3Matrix3x3& -b3Matrix3x3::operator*=(const b3Matrix3x3& m) -{ -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 rv00, rv01, rv02; - __m128 rv10, rv11, rv12; - __m128 rv20, rv21, rv22; - __m128 mv0, mv1, mv2; - - rv02 = m_el[0].mVec128; - rv12 = m_el[1].mVec128; - rv22 = m_el[2].mVec128; - - mv0 = _mm_and_ps(m[0].mVec128, b3vFFF0fMask); - mv1 = _mm_and_ps(m[1].mVec128, b3vFFF0fMask); - mv2 = _mm_and_ps(m[2].mVec128, b3vFFF0fMask); - - // rv0 - rv00 = b3_splat_ps(rv02, 0); - rv01 = b3_splat_ps(rv02, 1); - rv02 = b3_splat_ps(rv02, 2); - - rv00 = _mm_mul_ps(rv00, mv0); - rv01 = _mm_mul_ps(rv01, mv1); - rv02 = _mm_mul_ps(rv02, mv2); - - // rv1 - rv10 = b3_splat_ps(rv12, 0); - rv11 = b3_splat_ps(rv12, 1); - rv12 = b3_splat_ps(rv12, 2); - - rv10 = _mm_mul_ps(rv10, mv0); - rv11 = _mm_mul_ps(rv11, mv1); - rv12 = _mm_mul_ps(rv12, mv2); - - // rv2 - rv20 = b3_splat_ps(rv22, 0); - rv21 = b3_splat_ps(rv22, 1); - rv22 = b3_splat_ps(rv22, 2); - - rv20 = _mm_mul_ps(rv20, mv0); - rv21 = _mm_mul_ps(rv21, mv1); - rv22 = _mm_mul_ps(rv22, mv2); - - rv00 = _mm_add_ps(rv00, rv01); - rv10 = _mm_add_ps(rv10, rv11); - rv20 = _mm_add_ps(rv20, rv21); - - m_el[0].mVec128 = _mm_add_ps(rv00, rv02); - m_el[1].mVec128 = _mm_add_ps(rv10, rv12); - m_el[2].mVec128 = _mm_add_ps(rv20, rv22); - -#elif defined(B3_USE_NEON) - - float32x4_t rv0, rv1, rv2; - float32x4_t v0, v1, v2; - float32x4_t mv0, mv1, mv2; - - v0 = m_el[0].mVec128; - v1 = m_el[1].mVec128; - v2 = m_el[2].mVec128; - - mv0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, b3vFFF0Mask); - mv1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, b3vFFF0Mask); - mv2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, b3vFFF0Mask); - - rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0); - rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0); - rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0); - - rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1); - rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1); - rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1); - - rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0); - rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0); - rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0); - - m_el[0].mVec128 = rv0; - m_el[1].mVec128 = rv1; - m_el[2].mVec128 = rv2; -#else - setValue( - m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]), - m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]), - m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2])); -#endif - return *this; -} - -B3_FORCE_INLINE b3Matrix3x3& -b3Matrix3x3::operator+=(const b3Matrix3x3& m) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - m_el[0].mVec128 = m_el[0].mVec128 + m.m_el[0].mVec128; - m_el[1].mVec128 = m_el[1].mVec128 + m.m_el[1].mVec128; - m_el[2].mVec128 = m_el[2].mVec128 + m.m_el[2].mVec128; -#else - setValue( - m_el[0][0] + m.m_el[0][0], - m_el[0][1] + m.m_el[0][1], - m_el[0][2] + m.m_el[0][2], - m_el[1][0] + m.m_el[1][0], - m_el[1][1] + m.m_el[1][1], - m_el[1][2] + m.m_el[1][2], - m_el[2][0] + m.m_el[2][0], - m_el[2][1] + m.m_el[2][1], - m_el[2][2] + m.m_el[2][2]); -#endif - return *this; -} - -B3_FORCE_INLINE b3Matrix3x3 -operator*(const b3Matrix3x3& m, const b3Scalar& k) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - __m128 vk = b3_splat_ps(_mm_load_ss((float*)&k), 0x80); - return b3Matrix3x3( - _mm_mul_ps(m[0].mVec128, vk), - _mm_mul_ps(m[1].mVec128, vk), - _mm_mul_ps(m[2].mVec128, vk)); -#elif defined(B3_USE_NEON) - return b3Matrix3x3( - vmulq_n_f32(m[0].mVec128, k), - vmulq_n_f32(m[1].mVec128, k), - vmulq_n_f32(m[2].mVec128, k)); -#else - return b3Matrix3x3( - m[0].getX() * k, m[0].getY() * k, m[0].getZ() * k, - m[1].getX() * k, m[1].getY() * k, m[1].getZ() * k, - m[2].getX() * k, m[2].getY() * k, m[2].getZ() * k); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3 -operator+(const b3Matrix3x3& m1, const b3Matrix3x3& m2) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - return b3Matrix3x3( - m1[0].mVec128 + m2[0].mVec128, - m1[1].mVec128 + m2[1].mVec128, - m1[2].mVec128 + m2[2].mVec128); -#else - return b3Matrix3x3( - m1[0][0] + m2[0][0], - m1[0][1] + m2[0][1], - m1[0][2] + m2[0][2], - - m1[1][0] + m2[1][0], - m1[1][1] + m2[1][1], - m1[1][2] + m2[1][2], - - m1[2][0] + m2[2][0], - m1[2][1] + m2[2][1], - m1[2][2] + m2[2][2]); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3 -operator-(const b3Matrix3x3& m1, const b3Matrix3x3& m2) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - return b3Matrix3x3( - m1[0].mVec128 - m2[0].mVec128, - m1[1].mVec128 - m2[1].mVec128, - m1[2].mVec128 - m2[2].mVec128); -#else - return b3Matrix3x3( - m1[0][0] - m2[0][0], - m1[0][1] - m2[0][1], - m1[0][2] - m2[0][2], - - m1[1][0] - m2[1][0], - m1[1][1] - m2[1][1], - m1[1][2] - m2[1][2], - - m1[2][0] - m2[2][0], - m1[2][1] - m2[2][1], - m1[2][2] - m2[2][2]); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3& -b3Matrix3x3::operator-=(const b3Matrix3x3& m) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - m_el[0].mVec128 = m_el[0].mVec128 - m.m_el[0].mVec128; - m_el[1].mVec128 = m_el[1].mVec128 - m.m_el[1].mVec128; - m_el[2].mVec128 = m_el[2].mVec128 - m.m_el[2].mVec128; -#else - setValue( - m_el[0][0] - m.m_el[0][0], - m_el[0][1] - m.m_el[0][1], - m_el[0][2] - m.m_el[0][2], - m_el[1][0] - m.m_el[1][0], - m_el[1][1] - m.m_el[1][1], - m_el[1][2] - m.m_el[1][2], - m_el[2][0] - m.m_el[2][0], - m_el[2][1] - m.m_el[2][1], - m_el[2][2] - m.m_el[2][2]); -#endif - return *this; -} - -B3_FORCE_INLINE b3Scalar -b3Matrix3x3::determinant() const -{ - return b3Triple((*this)[0], (*this)[1], (*this)[2]); -} - -B3_FORCE_INLINE b3Matrix3x3 -b3Matrix3x3::absolute() const -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - return b3Matrix3x3( - _mm_and_ps(m_el[0].mVec128, b3vAbsfMask), - _mm_and_ps(m_el[1].mVec128, b3vAbsfMask), - _mm_and_ps(m_el[2].mVec128, b3vAbsfMask)); -#elif defined(B3_USE_NEON) - return b3Matrix3x3( - (float32x4_t)vandq_s32((int32x4_t)m_el[0].mVec128, b3v3AbsMask), - (float32x4_t)vandq_s32((int32x4_t)m_el[1].mVec128, b3v3AbsMask), - (float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, b3v3AbsMask)); -#else - return b3Matrix3x3( - b3Fabs(m_el[0].getX()), b3Fabs(m_el[0].getY()), b3Fabs(m_el[0].getZ()), - b3Fabs(m_el[1].getX()), b3Fabs(m_el[1].getY()), b3Fabs(m_el[1].getZ()), - b3Fabs(m_el[2].getX()), b3Fabs(m_el[2].getY()), b3Fabs(m_el[2].getZ())); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3 -b3Matrix3x3::transpose() const -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - __m128 v0 = m_el[0].mVec128; - __m128 v1 = m_el[1].mVec128; - __m128 v2 = m_el[2].mVec128; // x2 y2 z2 w2 - __m128 vT; - - v2 = _mm_and_ps(v2, b3vFFF0fMask); // x2 y2 z2 0 - - vT = _mm_unpackhi_ps(v0, v1); // z0 z1 * * - v0 = _mm_unpacklo_ps(v0, v1); // x0 x1 y0 y1 - - v1 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(2, 3, 1, 3)); // y0 y1 y2 0 - v0 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(0, 1, 0, 3)); // x0 x1 x2 0 - v2 = b3CastdTo128f(_mm_move_sd(b3CastfTo128d(v2), b3CastfTo128d(vT))); // z0 z1 z2 0 - - return b3Matrix3x3(v0, v1, v2); -#elif defined(B3_USE_NEON) - // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions. - static const uint32x2_t zMask = (const uint32x2_t){-1, 0}; - float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128); // {x0 x1 z0 z1}, {y0 y1 w0 w1} - float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f)); // {x2 0 }, {y2 0} - float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]); - float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]); - float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask); - float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q); // z0 z1 z2 0 - return b3Matrix3x3(v0, v1, v2); -#else - return b3Matrix3x3(m_el[0].getX(), m_el[1].getX(), m_el[2].getX(), - m_el[0].getY(), m_el[1].getY(), m_el[2].getY(), - m_el[0].getZ(), m_el[1].getZ(), m_el[2].getZ()); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3 -b3Matrix3x3::adjoint() const -{ - return b3Matrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2), - cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0), - cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1)); -} - -B3_FORCE_INLINE b3Matrix3x3 -b3Matrix3x3::inverse() const -{ - b3Vector3 co = b3MakeVector3(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1)); - b3Scalar det = (*this)[0].dot(co); - b3FullAssert(det != b3Scalar(0.0)); - b3Scalar s = b3Scalar(1.0) / det; - return b3Matrix3x3(co.getX() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s, - co.getY() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s, - co.getZ() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s); -} - -B3_FORCE_INLINE b3Matrix3x3 -b3Matrix3x3::transposeTimes(const b3Matrix3x3& m) const -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - // zeros w - // static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL }; - __m128 row = m_el[0].mVec128; - __m128 m0 = _mm_and_ps(m.getRow(0).mVec128, b3vFFF0fMask); - __m128 m1 = _mm_and_ps(m.getRow(1).mVec128, b3vFFF0fMask); - __m128 m2 = _mm_and_ps(m.getRow(2).mVec128, b3vFFF0fMask); - __m128 r0 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0)); - __m128 r1 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0x55)); - __m128 r2 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0xaa)); - row = m_el[1].mVec128; - r0 = _mm_add_ps(r0, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0))); - r1 = _mm_add_ps(r1, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0x55))); - r2 = _mm_add_ps(r2, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0xaa))); - row = m_el[2].mVec128; - r0 = _mm_add_ps(r0, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0))); - r1 = _mm_add_ps(r1, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0x55))); - r2 = _mm_add_ps(r2, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0xaa))); - return b3Matrix3x3(r0, r1, r2); - -#elif defined B3_USE_NEON - // zeros w - static const uint32x4_t xyzMask = (const uint32x4_t){-1, -1, -1, 0}; - float32x4_t m0 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(0).mVec128, xyzMask); - float32x4_t m1 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(1).mVec128, xyzMask); - float32x4_t m2 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(2).mVec128, xyzMask); - float32x4_t row = m_el[0].mVec128; - float32x4_t r0 = vmulq_lane_f32(m0, vget_low_f32(row), 0); - float32x4_t r1 = vmulq_lane_f32(m0, vget_low_f32(row), 1); - float32x4_t r2 = vmulq_lane_f32(m0, vget_high_f32(row), 0); - row = m_el[1].mVec128; - r0 = vmlaq_lane_f32(r0, m1, vget_low_f32(row), 0); - r1 = vmlaq_lane_f32(r1, m1, vget_low_f32(row), 1); - r2 = vmlaq_lane_f32(r2, m1, vget_high_f32(row), 0); - row = m_el[2].mVec128; - r0 = vmlaq_lane_f32(r0, m2, vget_low_f32(row), 0); - r1 = vmlaq_lane_f32(r1, m2, vget_low_f32(row), 1); - r2 = vmlaq_lane_f32(r2, m2, vget_high_f32(row), 0); - return b3Matrix3x3(r0, r1, r2); -#else - return b3Matrix3x3( - m_el[0].getX() * m[0].getX() + m_el[1].getX() * m[1].getX() + m_el[2].getX() * m[2].getX(), - m_el[0].getX() * m[0].getY() + m_el[1].getX() * m[1].getY() + m_el[2].getX() * m[2].getY(), - m_el[0].getX() * m[0].getZ() + m_el[1].getX() * m[1].getZ() + m_el[2].getX() * m[2].getZ(), - m_el[0].getY() * m[0].getX() + m_el[1].getY() * m[1].getX() + m_el[2].getY() * m[2].getX(), - m_el[0].getY() * m[0].getY() + m_el[1].getY() * m[1].getY() + m_el[2].getY() * m[2].getY(), - m_el[0].getY() * m[0].getZ() + m_el[1].getY() * m[1].getZ() + m_el[2].getY() * m[2].getZ(), - m_el[0].getZ() * m[0].getX() + m_el[1].getZ() * m[1].getX() + m_el[2].getZ() * m[2].getX(), - m_el[0].getZ() * m[0].getY() + m_el[1].getZ() * m[1].getY() + m_el[2].getZ() * m[2].getY(), - m_el[0].getZ() * m[0].getZ() + m_el[1].getZ() * m[1].getZ() + m_el[2].getZ() * m[2].getZ()); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3 -b3Matrix3x3::timesTranspose(const b3Matrix3x3& m) const -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - __m128 a0 = m_el[0].mVec128; - __m128 a1 = m_el[1].mVec128; - __m128 a2 = m_el[2].mVec128; - - b3Matrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here - __m128 mx = mT[0].mVec128; - __m128 my = mT[1].mVec128; - __m128 mz = mT[2].mVec128; - - __m128 r0 = _mm_mul_ps(mx, _mm_shuffle_ps(a0, a0, 0x00)); - __m128 r1 = _mm_mul_ps(mx, _mm_shuffle_ps(a1, a1, 0x00)); - __m128 r2 = _mm_mul_ps(mx, _mm_shuffle_ps(a2, a2, 0x00)); - r0 = _mm_add_ps(r0, _mm_mul_ps(my, _mm_shuffle_ps(a0, a0, 0x55))); - r1 = _mm_add_ps(r1, _mm_mul_ps(my, _mm_shuffle_ps(a1, a1, 0x55))); - r2 = _mm_add_ps(r2, _mm_mul_ps(my, _mm_shuffle_ps(a2, a2, 0x55))); - r0 = _mm_add_ps(r0, _mm_mul_ps(mz, _mm_shuffle_ps(a0, a0, 0xaa))); - r1 = _mm_add_ps(r1, _mm_mul_ps(mz, _mm_shuffle_ps(a1, a1, 0xaa))); - r2 = _mm_add_ps(r2, _mm_mul_ps(mz, _mm_shuffle_ps(a2, a2, 0xaa))); - return b3Matrix3x3(r0, r1, r2); - -#elif defined B3_USE_NEON - float32x4_t a0 = m_el[0].mVec128; - float32x4_t a1 = m_el[1].mVec128; - float32x4_t a2 = m_el[2].mVec128; - - b3Matrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here - float32x4_t mx = mT[0].mVec128; - float32x4_t my = mT[1].mVec128; - float32x4_t mz = mT[2].mVec128; - - float32x4_t r0 = vmulq_lane_f32(mx, vget_low_f32(a0), 0); - float32x4_t r1 = vmulq_lane_f32(mx, vget_low_f32(a1), 0); - float32x4_t r2 = vmulq_lane_f32(mx, vget_low_f32(a2), 0); - r0 = vmlaq_lane_f32(r0, my, vget_low_f32(a0), 1); - r1 = vmlaq_lane_f32(r1, my, vget_low_f32(a1), 1); - r2 = vmlaq_lane_f32(r2, my, vget_low_f32(a2), 1); - r0 = vmlaq_lane_f32(r0, mz, vget_high_f32(a0), 0); - r1 = vmlaq_lane_f32(r1, mz, vget_high_f32(a1), 0); - r2 = vmlaq_lane_f32(r2, mz, vget_high_f32(a2), 0); - return b3Matrix3x3(r0, r1, r2); - -#else - return b3Matrix3x3( - m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]), - m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]), - m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2])); -#endif -} - -B3_FORCE_INLINE b3Vector3 -operator*(const b3Matrix3x3& m, const b3Vector3& v) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - return v.dot3(m[0], m[1], m[2]); -#else - return b3MakeVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v)); -#endif -} - -B3_FORCE_INLINE b3Vector3 -operator*(const b3Vector3& v, const b3Matrix3x3& m) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - - const __m128 vv = v.mVec128; - - __m128 c0 = b3_splat_ps(vv, 0); - __m128 c1 = b3_splat_ps(vv, 1); - __m128 c2 = b3_splat_ps(vv, 2); - - c0 = _mm_mul_ps(c0, _mm_and_ps(m[0].mVec128, b3vFFF0fMask)); - c1 = _mm_mul_ps(c1, _mm_and_ps(m[1].mVec128, b3vFFF0fMask)); - c0 = _mm_add_ps(c0, c1); - c2 = _mm_mul_ps(c2, _mm_and_ps(m[2].mVec128, b3vFFF0fMask)); - - return b3MakeVector3(_mm_add_ps(c0, c2)); -#elif defined(B3_USE_NEON) - const float32x4_t vv = v.mVec128; - const float32x2_t vlo = vget_low_f32(vv); - const float32x2_t vhi = vget_high_f32(vv); - - float32x4_t c0, c1, c2; - - c0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, b3vFFF0Mask); - c1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, b3vFFF0Mask); - c2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, b3vFFF0Mask); - - c0 = vmulq_lane_f32(c0, vlo, 0); - c1 = vmulq_lane_f32(c1, vlo, 1); - c2 = vmulq_lane_f32(c2, vhi, 0); - c0 = vaddq_f32(c0, c1); - c0 = vaddq_f32(c0, c2); - - return b3MakeVector3(c0); -#else - return b3MakeVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v)); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3 -operator*(const b3Matrix3x3& m1, const b3Matrix3x3& m2) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - - __m128 m10 = m1[0].mVec128; - __m128 m11 = m1[1].mVec128; - __m128 m12 = m1[2].mVec128; - - __m128 m2v = _mm_and_ps(m2[0].mVec128, b3vFFF0fMask); - - __m128 c0 = b3_splat_ps(m10, 0); - __m128 c1 = b3_splat_ps(m11, 0); - __m128 c2 = b3_splat_ps(m12, 0); - - c0 = _mm_mul_ps(c0, m2v); - c1 = _mm_mul_ps(c1, m2v); - c2 = _mm_mul_ps(c2, m2v); - - m2v = _mm_and_ps(m2[1].mVec128, b3vFFF0fMask); - - __m128 c0_1 = b3_splat_ps(m10, 1); - __m128 c1_1 = b3_splat_ps(m11, 1); - __m128 c2_1 = b3_splat_ps(m12, 1); - - c0_1 = _mm_mul_ps(c0_1, m2v); - c1_1 = _mm_mul_ps(c1_1, m2v); - c2_1 = _mm_mul_ps(c2_1, m2v); - - m2v = _mm_and_ps(m2[2].mVec128, b3vFFF0fMask); - - c0 = _mm_add_ps(c0, c0_1); - c1 = _mm_add_ps(c1, c1_1); - c2 = _mm_add_ps(c2, c2_1); - - m10 = b3_splat_ps(m10, 2); - m11 = b3_splat_ps(m11, 2); - m12 = b3_splat_ps(m12, 2); - - m10 = _mm_mul_ps(m10, m2v); - m11 = _mm_mul_ps(m11, m2v); - m12 = _mm_mul_ps(m12, m2v); - - c0 = _mm_add_ps(c0, m10); - c1 = _mm_add_ps(c1, m11); - c2 = _mm_add_ps(c2, m12); - - return b3Matrix3x3(c0, c1, c2); - -#elif defined(B3_USE_NEON) - - float32x4_t rv0, rv1, rv2; - float32x4_t v0, v1, v2; - float32x4_t mv0, mv1, mv2; - - v0 = m1[0].mVec128; - v1 = m1[1].mVec128; - v2 = m1[2].mVec128; - - mv0 = (float32x4_t)vandq_s32((int32x4_t)m2[0].mVec128, b3vFFF0Mask); - mv1 = (float32x4_t)vandq_s32((int32x4_t)m2[1].mVec128, b3vFFF0Mask); - mv2 = (float32x4_t)vandq_s32((int32x4_t)m2[2].mVec128, b3vFFF0Mask); - - rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0); - rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0); - rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0); - - rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1); - rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1); - rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1); - - rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0); - rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0); - rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0); - - return b3Matrix3x3(rv0, rv1, rv2); - -#else - return b3Matrix3x3( - m2.tdotx(m1[0]), m2.tdoty(m1[0]), m2.tdotz(m1[0]), - m2.tdotx(m1[1]), m2.tdoty(m1[1]), m2.tdotz(m1[1]), - m2.tdotx(m1[2]), m2.tdoty(m1[2]), m2.tdotz(m1[2])); -#endif -} - -/* -B3_FORCE_INLINE b3Matrix3x3 b3MultTransposeLeft(const b3Matrix3x3& m1, const b3Matrix3x3& m2) { -return b3Matrix3x3( -m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0], -m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1], -m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2], -m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0], -m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1], -m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2], -m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0], -m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1], -m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]); -} -*/ - -/**@brief Equality operator between two matrices -* It will test all elements are equal. */ -B3_FORCE_INLINE bool operator==(const b3Matrix3x3& m1, const b3Matrix3x3& m2) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - - __m128 c0, c1, c2; - - c0 = _mm_cmpeq_ps(m1[0].mVec128, m2[0].mVec128); - c1 = _mm_cmpeq_ps(m1[1].mVec128, m2[1].mVec128); - c2 = _mm_cmpeq_ps(m1[2].mVec128, m2[2].mVec128); - - c0 = _mm_and_ps(c0, c1); - c0 = _mm_and_ps(c0, c2); - - return (0x7 == _mm_movemask_ps((__m128)c0)); -#else - return (m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] && - m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] && - m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2]); -#endif -} - -///for serialization -struct b3Matrix3x3FloatData -{ - b3Vector3FloatData m_el[3]; -}; - -///for serialization -struct b3Matrix3x3DoubleData -{ - b3Vector3DoubleData m_el[3]; -}; - -B3_FORCE_INLINE void b3Matrix3x3::serialize(struct b3Matrix3x3Data& dataOut) const -{ - for (int i = 0; i < 3; i++) - m_el[i].serialize(dataOut.m_el[i]); -} - -B3_FORCE_INLINE void b3Matrix3x3::serializeFloat(struct b3Matrix3x3FloatData& dataOut) const -{ - for (int i = 0; i < 3; i++) - m_el[i].serializeFloat(dataOut.m_el[i]); -} - -B3_FORCE_INLINE void b3Matrix3x3::deSerialize(const struct b3Matrix3x3Data& dataIn) -{ - for (int i = 0; i < 3; i++) - m_el[i].deSerialize(dataIn.m_el[i]); -} - -B3_FORCE_INLINE void b3Matrix3x3::deSerializeFloat(const struct b3Matrix3x3FloatData& dataIn) -{ - for (int i = 0; i < 3; i++) - m_el[i].deSerializeFloat(dataIn.m_el[i]); -} - -B3_FORCE_INLINE void b3Matrix3x3::deSerializeDouble(const struct b3Matrix3x3DoubleData& dataIn) -{ - for (int i = 0; i < 3; i++) - m_el[i].deSerializeDouble(dataIn.m_el[i]); -} - -#endif //B3_MATRIX3x3_H diff --git a/thirdparty/bullet/Bullet3Common/b3MinMax.h b/thirdparty/bullet/Bullet3Common/b3MinMax.h deleted file mode 100644 index c09c3db3f5..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3MinMax.h +++ /dev/null @@ -1,69 +0,0 @@ -/* -Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_GEN_MINMAX_H -#define B3_GEN_MINMAX_H - -#include "b3Scalar.h" - -template <class T> -B3_FORCE_INLINE const T& b3Min(const T& a, const T& b) -{ - return a < b ? a : b; -} - -template <class T> -B3_FORCE_INLINE const T& b3Max(const T& a, const T& b) -{ - return a > b ? a : b; -} - -template <class T> -B3_FORCE_INLINE const T& b3Clamped(const T& a, const T& lb, const T& ub) -{ - return a < lb ? lb : (ub < a ? ub : a); -} - -template <class T> -B3_FORCE_INLINE void b3SetMin(T& a, const T& b) -{ - if (b < a) - { - a = b; - } -} - -template <class T> -B3_FORCE_INLINE void b3SetMax(T& a, const T& b) -{ - if (a < b) - { - a = b; - } -} - -template <class T> -B3_FORCE_INLINE void b3Clamp(T& a, const T& lb, const T& ub) -{ - if (a < lb) - { - a = lb; - } - else if (ub < a) - { - a = ub; - } -} - -#endif //B3_GEN_MINMAX_H diff --git a/thirdparty/bullet/Bullet3Common/b3PoolAllocator.h b/thirdparty/bullet/Bullet3Common/b3PoolAllocator.h deleted file mode 100644 index ed56bc627d..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3PoolAllocator.h +++ /dev/null @@ -1,121 +0,0 @@ -/* -Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef _BT_POOL_ALLOCATOR_H -#define _BT_POOL_ALLOCATOR_H - -#include "b3Scalar.h" -#include "b3AlignedAllocator.h" - -///The b3PoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamically allocating them separately. -class b3PoolAllocator -{ - int m_elemSize; - int m_maxElements; - int m_freeCount; - void* m_firstFree; - unsigned char* m_pool; - -public: - b3PoolAllocator(int elemSize, int maxElements) - : m_elemSize(elemSize), - m_maxElements(maxElements) - { - m_pool = (unsigned char*)b3AlignedAlloc(static_cast<unsigned int>(m_elemSize * m_maxElements), 16); - - unsigned char* p = m_pool; - m_firstFree = p; - m_freeCount = m_maxElements; - int count = m_maxElements; - while (--count) - { - *(void**)p = (p + m_elemSize); - p += m_elemSize; - } - *(void**)p = 0; - } - - ~b3PoolAllocator() - { - b3AlignedFree(m_pool); - } - - int getFreeCount() const - { - return m_freeCount; - } - - int getUsedCount() const - { - return m_maxElements - m_freeCount; - } - - int getMaxCount() const - { - return m_maxElements; - } - - void* allocate(int size) - { - // release mode fix - (void)size; - b3Assert(!size || size <= m_elemSize); - b3Assert(m_freeCount > 0); - void* result = m_firstFree; - m_firstFree = *(void**)m_firstFree; - --m_freeCount; - return result; - } - - bool validPtr(void* ptr) - { - if (ptr) - { - if (((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize)) - { - return true; - } - } - return false; - } - - void freeMemory(void* ptr) - { - if (ptr) - { - b3Assert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize); - - *(void**)ptr = m_firstFree; - m_firstFree = ptr; - ++m_freeCount; - } - } - - int getElementSize() const - { - return m_elemSize; - } - - unsigned char* getPoolAddress() - { - return m_pool; - } - - const unsigned char* getPoolAddress() const - { - return m_pool; - } -}; - -#endif //_BT_POOL_ALLOCATOR_H diff --git a/thirdparty/bullet/Bullet3Common/b3QuadWord.h b/thirdparty/bullet/Bullet3Common/b3QuadWord.h deleted file mode 100644 index 0def305fac..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3QuadWord.h +++ /dev/null @@ -1,242 +0,0 @@ -/* -Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_SIMD_QUADWORD_H -#define B3_SIMD_QUADWORD_H - -#include "b3Scalar.h" -#include "b3MinMax.h" - -#if defined(__CELLOS_LV2) && defined(__SPU__) -#include <altivec.h> -#endif - -/**@brief The b3QuadWord class is base class for b3Vector3 and b3Quaternion. - * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword. - */ -#ifndef USE_LIBSPE2 -B3_ATTRIBUTE_ALIGNED16(class) -b3QuadWord -#else -class b3QuadWord -#endif -{ -protected: -#if defined(__SPU__) && defined(__CELLOS_LV2__) - union { - vec_float4 mVec128; - b3Scalar m_floats[4]; - }; - -public: - vec_float4 get128() const - { - return mVec128; - } - -#else //__CELLOS_LV2__ __SPU__ - -#if defined(B3_USE_SSE) || defined(B3_USE_NEON) -public: - union { - b3SimdFloat4 mVec128; - b3Scalar m_floats[4]; - struct - { - b3Scalar x, y, z, w; - }; - }; - -public: - B3_FORCE_INLINE b3SimdFloat4 get128() const - { - return mVec128; - } - B3_FORCE_INLINE void set128(b3SimdFloat4 v128) - { - mVec128 = v128; - } -#else -public: - union { - b3Scalar m_floats[4]; - struct - { - b3Scalar x, y, z, w; - }; - }; -#endif // B3_USE_SSE - -#endif //__CELLOS_LV2__ __SPU__ - -public: -#if defined(B3_USE_SSE) || defined(B3_USE_NEON) - - // Set Vector - B3_FORCE_INLINE b3QuadWord(const b3SimdFloat4 vec) - { - mVec128 = vec; - } - - // Copy constructor - B3_FORCE_INLINE b3QuadWord(const b3QuadWord& rhs) - { - mVec128 = rhs.mVec128; - } - - // Assignment Operator - B3_FORCE_INLINE b3QuadWord& - operator=(const b3QuadWord& v) - { - mVec128 = v.mVec128; - - return *this; - } - -#endif - - /**@brief Return the x value */ - B3_FORCE_INLINE const b3Scalar& getX() const { return m_floats[0]; } - /**@brief Return the y value */ - B3_FORCE_INLINE const b3Scalar& getY() const { return m_floats[1]; } - /**@brief Return the z value */ - B3_FORCE_INLINE const b3Scalar& getZ() const { return m_floats[2]; } - /**@brief Set the x value */ - B3_FORCE_INLINE void setX(b3Scalar _x) { m_floats[0] = _x; }; - /**@brief Set the y value */ - B3_FORCE_INLINE void setY(b3Scalar _y) { m_floats[1] = _y; }; - /**@brief Set the z value */ - B3_FORCE_INLINE void setZ(b3Scalar _z) { m_floats[2] = _z; }; - /**@brief Set the w value */ - B3_FORCE_INLINE void setW(b3Scalar _w) { m_floats[3] = _w; }; - /**@brief Return the x value */ - - //B3_FORCE_INLINE b3Scalar& operator[](int i) { return (&m_floats[0])[i]; } - //B3_FORCE_INLINE const b3Scalar& operator[](int i) const { return (&m_floats[0])[i]; } - ///operator b3Scalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons. - B3_FORCE_INLINE operator b3Scalar*() { return &m_floats[0]; } - B3_FORCE_INLINE operator const b3Scalar*() const { return &m_floats[0]; } - - B3_FORCE_INLINE bool operator==(const b3QuadWord& other) const - { -#ifdef B3_USE_SSE - return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128))); -#else - return ((m_floats[3] == other.m_floats[3]) && - (m_floats[2] == other.m_floats[2]) && - (m_floats[1] == other.m_floats[1]) && - (m_floats[0] == other.m_floats[0])); -#endif - } - - B3_FORCE_INLINE bool operator!=(const b3QuadWord& other) const - { - return !(*this == other); - } - - /**@brief Set x,y,z and zero w - * @param x Value of x - * @param y Value of y - * @param z Value of z - */ - B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z) - { - m_floats[0] = _x; - m_floats[1] = _y; - m_floats[2] = _z; - m_floats[3] = 0.f; - } - - /* void getValue(b3Scalar *m) const - { - m[0] = m_floats[0]; - m[1] = m_floats[1]; - m[2] = m_floats[2]; - } -*/ - /**@brief Set the values - * @param x Value of x - * @param y Value of y - * @param z Value of z - * @param w Value of w - */ - B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w) - { - m_floats[0] = _x; - m_floats[1] = _y; - m_floats[2] = _z; - m_floats[3] = _w; - } - /**@brief No initialization constructor */ - B3_FORCE_INLINE b3QuadWord() - // :m_floats[0](b3Scalar(0.)),m_floats[1](b3Scalar(0.)),m_floats[2](b3Scalar(0.)),m_floats[3](b3Scalar(0.)) - { - } - - /**@brief Three argument constructor (zeros w) - * @param x Value of x - * @param y Value of y - * @param z Value of z - */ - B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z) - { - m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f; - } - - /**@brief Initializing constructor - * @param x Value of x - * @param y Value of y - * @param z Value of z - * @param w Value of w - */ - B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w) - { - m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w; - } - - /**@brief Set each element to the max of the current values and the values of another b3QuadWord - * @param other The other b3QuadWord to compare with - */ - B3_FORCE_INLINE void setMax(const b3QuadWord& other) - { -#ifdef B3_USE_SSE - mVec128 = _mm_max_ps(mVec128, other.mVec128); -#elif defined(B3_USE_NEON) - mVec128 = vmaxq_f32(mVec128, other.mVec128); -#else - b3SetMax(m_floats[0], other.m_floats[0]); - b3SetMax(m_floats[1], other.m_floats[1]); - b3SetMax(m_floats[2], other.m_floats[2]); - b3SetMax(m_floats[3], other.m_floats[3]); -#endif - } - /**@brief Set each element to the min of the current values and the values of another b3QuadWord - * @param other The other b3QuadWord to compare with - */ - B3_FORCE_INLINE void setMin(const b3QuadWord& other) - { -#ifdef B3_USE_SSE - mVec128 = _mm_min_ps(mVec128, other.mVec128); -#elif defined(B3_USE_NEON) - mVec128 = vminq_f32(mVec128, other.mVec128); -#else - b3SetMin(m_floats[0], other.m_floats[0]); - b3SetMin(m_floats[1], other.m_floats[1]); - b3SetMin(m_floats[2], other.m_floats[2]); - b3SetMin(m_floats[3], other.m_floats[3]); -#endif - } -}; - -#endif //B3_SIMD_QUADWORD_H diff --git a/thirdparty/bullet/Bullet3Common/b3Quaternion.h b/thirdparty/bullet/Bullet3Common/b3Quaternion.h deleted file mode 100644 index 4fdd72dcc4..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3Quaternion.h +++ /dev/null @@ -1,908 +0,0 @@ -/* -Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_SIMD__QUATERNION_H_ -#define B3_SIMD__QUATERNION_H_ - -#include "b3Vector3.h" -#include "b3QuadWord.h" - -#ifdef B3_USE_SSE - -const __m128 B3_ATTRIBUTE_ALIGNED16(b3vOnes) = {1.0f, 1.0f, 1.0f, 1.0f}; - -#endif - -#if defined(B3_USE_SSE) || defined(B3_USE_NEON) - -const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f}; -const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f}; - -#endif - -/**@brief The b3Quaternion implements quaternion to perform linear algebra rotations in combination with b3Matrix3x3, b3Vector3 and b3Transform. */ -class b3Quaternion : public b3QuadWord -{ -public: - /**@brief No initialization constructor */ - b3Quaternion() {} - -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - // Set Vector - B3_FORCE_INLINE b3Quaternion(const b3SimdFloat4 vec) - { - mVec128 = vec; - } - - // Copy constructor - B3_FORCE_INLINE b3Quaternion(const b3Quaternion& rhs) - { - mVec128 = rhs.mVec128; - } - - // Assignment Operator - B3_FORCE_INLINE b3Quaternion& - operator=(const b3Quaternion& v) - { - mVec128 = v.mVec128; - - return *this; - } - -#endif - - // template <typename b3Scalar> - // explicit Quaternion(const b3Scalar *v) : Tuple4<b3Scalar>(v) {} - /**@brief Constructor from scalars */ - b3Quaternion(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w) - : b3QuadWord(_x, _y, _z, _w) - { - //b3Assert(!((_x==1.f) && (_y==0.f) && (_z==0.f) && (_w==0.f))); - } - /**@brief Axis angle Constructor - * @param axis The axis which the rotation is around - * @param angle The magnitude of the rotation around the angle (Radians) */ - b3Quaternion(const b3Vector3& _axis, const b3Scalar& _angle) - { - setRotation(_axis, _angle); - } - /**@brief Constructor from Euler angles - * @param yaw Angle around Y unless B3_EULER_DEFAULT_ZYX defined then Z - * @param pitch Angle around X unless B3_EULER_DEFAULT_ZYX defined then Y - * @param roll Angle around Z unless B3_EULER_DEFAULT_ZYX defined then X */ - b3Quaternion(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll) - { -#ifndef B3_EULER_DEFAULT_ZYX - setEuler(yaw, pitch, roll); -#else - setEulerZYX(yaw, pitch, roll); -#endif - } - /**@brief Set the rotation using axis angle notation - * @param axis The axis around which to rotate - * @param angle The magnitude of the rotation in Radians */ - void setRotation(const b3Vector3& axis1, const b3Scalar& _angle) - { - b3Vector3 axis = axis1; - axis.safeNormalize(); - - b3Scalar d = axis.length(); - b3Assert(d != b3Scalar(0.0)); - if (d < B3_EPSILON) - { - setValue(0, 0, 0, 1); - } - else - { - b3Scalar s = b3Sin(_angle * b3Scalar(0.5)) / d; - setValue(axis.getX() * s, axis.getY() * s, axis.getZ() * s, - b3Cos(_angle * b3Scalar(0.5))); - } - } - /**@brief Set the quaternion using Euler angles - * @param yaw Angle around Y - * @param pitch Angle around X - * @param roll Angle around Z */ - void setEuler(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll) - { - b3Scalar halfYaw = b3Scalar(yaw) * b3Scalar(0.5); - b3Scalar halfPitch = b3Scalar(pitch) * b3Scalar(0.5); - b3Scalar halfRoll = b3Scalar(roll) * b3Scalar(0.5); - b3Scalar cosYaw = b3Cos(halfYaw); - b3Scalar sinYaw = b3Sin(halfYaw); - b3Scalar cosPitch = b3Cos(halfPitch); - b3Scalar sinPitch = b3Sin(halfPitch); - b3Scalar cosRoll = b3Cos(halfRoll); - b3Scalar sinRoll = b3Sin(halfRoll); - setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, - cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, - sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, - cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); - } - - /**@brief Set the quaternion using euler angles - * @param yaw Angle around Z - * @param pitch Angle around Y - * @param roll Angle around X */ - void setEulerZYX(const b3Scalar& yawZ, const b3Scalar& pitchY, const b3Scalar& rollX) - { - b3Scalar halfYaw = b3Scalar(yawZ) * b3Scalar(0.5); - b3Scalar halfPitch = b3Scalar(pitchY) * b3Scalar(0.5); - b3Scalar halfRoll = b3Scalar(rollX) * b3Scalar(0.5); - b3Scalar cosYaw = b3Cos(halfYaw); - b3Scalar sinYaw = b3Sin(halfYaw); - b3Scalar cosPitch = b3Cos(halfPitch); - b3Scalar sinPitch = b3Sin(halfPitch); - b3Scalar cosRoll = b3Cos(halfRoll); - b3Scalar sinRoll = b3Sin(halfRoll); - setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, //x - cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, //y - cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, //z - cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); //formerly yzx - normalize(); - } - - /**@brief Get the euler angles from this quaternion - * @param yaw Angle around Z - * @param pitch Angle around Y - * @param roll Angle around X */ - void getEulerZYX(b3Scalar& yawZ, b3Scalar& pitchY, b3Scalar& rollX) const - { - b3Scalar squ; - b3Scalar sqx; - b3Scalar sqy; - b3Scalar sqz; - b3Scalar sarg; - sqx = m_floats[0] * m_floats[0]; - sqy = m_floats[1] * m_floats[1]; - sqz = m_floats[2] * m_floats[2]; - squ = m_floats[3] * m_floats[3]; - rollX = b3Atan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz); - sarg = b3Scalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]); - pitchY = sarg <= b3Scalar(-1.0) ? b3Scalar(-0.5) * B3_PI : (sarg >= b3Scalar(1.0) ? b3Scalar(0.5) * B3_PI : b3Asin(sarg)); - yawZ = b3Atan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz); - } - - /**@brief Add two quaternions - * @param q The quaternion to add to this one */ - B3_FORCE_INLINE b3Quaternion& operator+=(const b3Quaternion& q) - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - mVec128 = _mm_add_ps(mVec128, q.mVec128); -#elif defined(B3_USE_NEON) - mVec128 = vaddq_f32(mVec128, q.mVec128); -#else - m_floats[0] += q.getX(); - m_floats[1] += q.getY(); - m_floats[2] += q.getZ(); - m_floats[3] += q.m_floats[3]; -#endif - return *this; - } - - /**@brief Subtract out a quaternion - * @param q The quaternion to subtract from this one */ - b3Quaternion& operator-=(const b3Quaternion& q) - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - mVec128 = _mm_sub_ps(mVec128, q.mVec128); -#elif defined(B3_USE_NEON) - mVec128 = vsubq_f32(mVec128, q.mVec128); -#else - m_floats[0] -= q.getX(); - m_floats[1] -= q.getY(); - m_floats[2] -= q.getZ(); - m_floats[3] -= q.m_floats[3]; -#endif - return *this; - } - - /**@brief Scale this quaternion - * @param s The scalar to scale by */ - b3Quaternion& operator*=(const b3Scalar& s) - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vs = _mm_load_ss(&s); // (S 0 0 0) - vs = b3_pshufd_ps(vs, 0); // (S S S S) - mVec128 = _mm_mul_ps(mVec128, vs); -#elif defined(B3_USE_NEON) - mVec128 = vmulq_n_f32(mVec128, s); -#else - m_floats[0] *= s; - m_floats[1] *= s; - m_floats[2] *= s; - m_floats[3] *= s; -#endif - return *this; - } - - /**@brief Multiply this quaternion by q on the right - * @param q The other quaternion - * Equivilant to this = this * q */ - b3Quaternion& operator*=(const b3Quaternion& q) - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vQ2 = q.get128(); - - __m128 A1 = b3_pshufd_ps(mVec128, B3_SHUFFLE(0, 1, 2, 0)); - __m128 B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3, 3, 3, 0)); - - A1 = A1 * B1; - - __m128 A2 = b3_pshufd_ps(mVec128, B3_SHUFFLE(1, 2, 0, 1)); - __m128 B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2, 0, 1, 1)); - - A2 = A2 * B2; - - B1 = b3_pshufd_ps(mVec128, B3_SHUFFLE(2, 0, 1, 2)); - B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1, 2, 0, 2)); - - B1 = B1 * B2; // A3 *= B3 - - mVec128 = b3_splat_ps(mVec128, 3); // A0 - mVec128 = mVec128 * vQ2; // A0 * B0 - - A1 = A1 + A2; // AB12 - mVec128 = mVec128 - B1; // AB03 = AB0 - AB3 - A1 = _mm_xor_ps(A1, b3vPPPM); // change sign of the last element - mVec128 = mVec128 + A1; // AB03 + AB12 - -#elif defined(B3_USE_NEON) - - float32x4_t vQ1 = mVec128; - float32x4_t vQ2 = q.get128(); - float32x4_t A0, A1, B1, A2, B2, A3, B3; - float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz; - - { - float32x2x2_t tmp; - tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1)); // {z x}, {w y} - vQ1zx = tmp.val[0]; - - tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2)); // {z x}, {w y} - vQ2zx = tmp.val[0]; - } - vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); - - vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1); - - vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1); - vQ2xz = vext_f32(vQ2zx, vQ2zx, 1); - - A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx); // X Y z x - B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W W X - - A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1)); - B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1)); - - A3 = vcombine_f32(vQ1zx, vQ1yz); // Z X Y Z - B3 = vcombine_f32(vQ2yz, vQ2xz); // Y Z x z - - A1 = vmulq_f32(A1, B1); - A2 = vmulq_f32(A2, B2); - A3 = vmulq_f32(A3, B3); // A3 *= B3 - A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); // A0 * B0 - - A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2 - A0 = vsubq_f32(A0, A3); // AB03 = AB0 - AB3 - - // change the sign of the last element - A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM); - A0 = vaddq_f32(A0, A1); // AB03 + AB12 - - mVec128 = A0; -#else - setValue( - m_floats[3] * q.getX() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.getZ() - m_floats[2] * q.getY(), - m_floats[3] * q.getY() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.getX() - m_floats[0] * q.getZ(), - m_floats[3] * q.getZ() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.getY() - m_floats[1] * q.getX(), - m_floats[3] * q.m_floats[3] - m_floats[0] * q.getX() - m_floats[1] * q.getY() - m_floats[2] * q.getZ()); -#endif - return *this; - } - /**@brief Return the dot product between this quaternion and another - * @param q The other quaternion */ - b3Scalar dot(const b3Quaternion& q) const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vd; - - vd = _mm_mul_ps(mVec128, q.mVec128); - - __m128 t = _mm_movehl_ps(vd, vd); - vd = _mm_add_ps(vd, t); - t = _mm_shuffle_ps(vd, vd, 0x55); - vd = _mm_add_ss(vd, t); - - return _mm_cvtss_f32(vd); -#elif defined(B3_USE_NEON) - float32x4_t vd = vmulq_f32(mVec128, q.mVec128); - float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_high_f32(vd)); - x = vpadd_f32(x, x); - return vget_lane_f32(x, 0); -#else - return m_floats[0] * q.getX() + - m_floats[1] * q.getY() + - m_floats[2] * q.getZ() + - m_floats[3] * q.m_floats[3]; -#endif - } - - /**@brief Return the length squared of the quaternion */ - b3Scalar length2() const - { - return dot(*this); - } - - /**@brief Return the length of the quaternion */ - b3Scalar length() const - { - return b3Sqrt(length2()); - } - - /**@brief Normalize the quaternion - * Such that x^2 + y^2 + z^2 +w^2 = 1 */ - b3Quaternion& normalize() - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vd; - - vd = _mm_mul_ps(mVec128, mVec128); - - __m128 t = _mm_movehl_ps(vd, vd); - vd = _mm_add_ps(vd, t); - t = _mm_shuffle_ps(vd, vd, 0x55); - vd = _mm_add_ss(vd, t); - - vd = _mm_sqrt_ss(vd); - vd = _mm_div_ss(b3vOnes, vd); - vd = b3_pshufd_ps(vd, 0); // splat - mVec128 = _mm_mul_ps(mVec128, vd); - - return *this; -#else - return *this /= length(); -#endif - } - - /**@brief Return a scaled version of this quaternion - * @param s The scale factor */ - B3_FORCE_INLINE b3Quaternion - operator*(const b3Scalar& s) const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vs = _mm_load_ss(&s); // (S 0 0 0) - vs = b3_pshufd_ps(vs, 0x00); // (S S S S) - - return b3Quaternion(_mm_mul_ps(mVec128, vs)); -#elif defined(B3_USE_NEON) - return b3Quaternion(vmulq_n_f32(mVec128, s)); -#else - return b3Quaternion(getX() * s, getY() * s, getZ() * s, m_floats[3] * s); -#endif - } - - /**@brief Return an inversely scaled versionof this quaternion - * @param s The inverse scale factor */ - b3Quaternion operator/(const b3Scalar& s) const - { - b3Assert(s != b3Scalar(0.0)); - return *this * (b3Scalar(1.0) / s); - } - - /**@brief Inversely scale this quaternion - * @param s The scale factor */ - b3Quaternion& operator/=(const b3Scalar& s) - { - b3Assert(s != b3Scalar(0.0)); - return *this *= b3Scalar(1.0) / s; - } - - /**@brief Return a normalized version of this quaternion */ - b3Quaternion normalized() const - { - return *this / length(); - } - /**@brief Return the angle between this quaternion and the other - * @param q The other quaternion */ - b3Scalar angle(const b3Quaternion& q) const - { - b3Scalar s = b3Sqrt(length2() * q.length2()); - b3Assert(s != b3Scalar(0.0)); - return b3Acos(dot(q) / s); - } - /**@brief Return the angle of rotation represented by this quaternion */ - b3Scalar getAngle() const - { - b3Scalar s = b3Scalar(2.) * b3Acos(m_floats[3]); - return s; - } - - /**@brief Return the axis of the rotation represented by this quaternion */ - b3Vector3 getAxis() const - { - b3Scalar s_squared = 1.f - m_floats[3] * m_floats[3]; - - if (s_squared < b3Scalar(10.) * B3_EPSILON) //Check for divide by zero - return b3MakeVector3(1.0, 0.0, 0.0); // Arbitrary - b3Scalar s = 1.f / b3Sqrt(s_squared); - return b3MakeVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s); - } - - /**@brief Return the inverse of this quaternion */ - b3Quaternion inverse() const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - return b3Quaternion(_mm_xor_ps(mVec128, b3vQInv)); -#elif defined(B3_USE_NEON) - return b3Quaternion((b3SimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)b3vQInv)); -#else - return b3Quaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]); -#endif - } - - /**@brief Return the sum of this quaternion and the other - * @param q2 The other quaternion */ - B3_FORCE_INLINE b3Quaternion - operator+(const b3Quaternion& q2) const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - return b3Quaternion(_mm_add_ps(mVec128, q2.mVec128)); -#elif defined(B3_USE_NEON) - return b3Quaternion(vaddq_f32(mVec128, q2.mVec128)); -#else - const b3Quaternion& q1 = *this; - return b3Quaternion(q1.getX() + q2.getX(), q1.getY() + q2.getY(), q1.getZ() + q2.getZ(), q1.m_floats[3] + q2.m_floats[3]); -#endif - } - - /**@brief Return the difference between this quaternion and the other - * @param q2 The other quaternion */ - B3_FORCE_INLINE b3Quaternion - operator-(const b3Quaternion& q2) const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - return b3Quaternion(_mm_sub_ps(mVec128, q2.mVec128)); -#elif defined(B3_USE_NEON) - return b3Quaternion(vsubq_f32(mVec128, q2.mVec128)); -#else - const b3Quaternion& q1 = *this; - return b3Quaternion(q1.getX() - q2.getX(), q1.getY() - q2.getY(), q1.getZ() - q2.getZ(), q1.m_floats[3] - q2.m_floats[3]); -#endif - } - - /**@brief Return the negative of this quaternion - * This simply negates each element */ - B3_FORCE_INLINE b3Quaternion operator-() const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - return b3Quaternion(_mm_xor_ps(mVec128, b3vMzeroMask)); -#elif defined(B3_USE_NEON) - return b3Quaternion((b3SimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)b3vMzeroMask)); -#else - const b3Quaternion& q2 = *this; - return b3Quaternion(-q2.getX(), -q2.getY(), -q2.getZ(), -q2.m_floats[3]); -#endif - } - /**@todo document this and it's use */ - B3_FORCE_INLINE b3Quaternion farthest(const b3Quaternion& qd) const - { - b3Quaternion diff, sum; - diff = *this - qd; - sum = *this + qd; - if (diff.dot(diff) > sum.dot(sum)) - return qd; - return (-qd); - } - - /**@todo document this and it's use */ - B3_FORCE_INLINE b3Quaternion nearest(const b3Quaternion& qd) const - { - b3Quaternion diff, sum; - diff = *this - qd; - sum = *this + qd; - if (diff.dot(diff) < sum.dot(sum)) - return qd; - return (-qd); - } - - /**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion - * @param q The other quaternion to interpolate with - * @param t The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q. - * Slerp interpolates assuming constant velocity. */ - b3Quaternion slerp(const b3Quaternion& q, const b3Scalar& t) const - { - b3Scalar magnitude = b3Sqrt(length2() * q.length2()); - b3Assert(magnitude > b3Scalar(0)); - - b3Scalar product = dot(q) / magnitude; - if (b3Fabs(product) < b3Scalar(1)) - { - // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp - const b3Scalar sign = (product < 0) ? b3Scalar(-1) : b3Scalar(1); - - const b3Scalar theta = b3Acos(sign * product); - const b3Scalar s1 = b3Sin(sign * t * theta); - const b3Scalar d = b3Scalar(1.0) / b3Sin(theta); - const b3Scalar s0 = b3Sin((b3Scalar(1.0) - t) * theta); - - return b3Quaternion( - (m_floats[0] * s0 + q.getX() * s1) * d, - (m_floats[1] * s0 + q.getY() * s1) * d, - (m_floats[2] * s0 + q.getZ() * s1) * d, - (m_floats[3] * s0 + q.m_floats[3] * s1) * d); - } - else - { - return *this; - } - } - - static const b3Quaternion& getIdentity() - { - static const b3Quaternion identityQuat(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.), b3Scalar(1.)); - return identityQuat; - } - - B3_FORCE_INLINE const b3Scalar& getW() const { return m_floats[3]; } -}; - -/**@brief Return the product of two quaternions */ -B3_FORCE_INLINE b3Quaternion -operator*(const b3Quaternion& q1, const b3Quaternion& q2) -{ -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vQ1 = q1.get128(); - __m128 vQ2 = q2.get128(); - __m128 A0, A1, B1, A2, B2; - - A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(0, 1, 2, 0)); // X Y z x // vtrn - B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3, 3, 3, 0)); // W W W X // vdup vext - - A1 = A1 * B1; - - A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1, 2, 0, 1)); // Y Z X Y // vext - B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2, 0, 1, 1)); // z x Y Y // vtrn vdup - - A2 = A2 * B2; - - B1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2, 0, 1, 2)); // z x Y Z // vtrn vext - B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1, 2, 0, 2)); // Y Z x z // vext vtrn - - B1 = B1 * B2; // A3 *= B3 - - A0 = b3_splat_ps(vQ1, 3); // A0 - A0 = A0 * vQ2; // A0 * B0 - - A1 = A1 + A2; // AB12 - A0 = A0 - B1; // AB03 = AB0 - AB3 - - A1 = _mm_xor_ps(A1, b3vPPPM); // change sign of the last element - A0 = A0 + A1; // AB03 + AB12 - - return b3Quaternion(A0); - -#elif defined(B3_USE_NEON) - - float32x4_t vQ1 = q1.get128(); - float32x4_t vQ2 = q2.get128(); - float32x4_t A0, A1, B1, A2, B2, A3, B3; - float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz; - - { - float32x2x2_t tmp; - tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1)); // {z x}, {w y} - vQ1zx = tmp.val[0]; - - tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2)); // {z x}, {w y} - vQ2zx = tmp.val[0]; - } - vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); - - vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1); - - vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1); - vQ2xz = vext_f32(vQ2zx, vQ2zx, 1); - - A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx); // X Y z x - B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W W X - - A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1)); - B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1)); - - A3 = vcombine_f32(vQ1zx, vQ1yz); // Z X Y Z - B3 = vcombine_f32(vQ2yz, vQ2xz); // Y Z x z - - A1 = vmulq_f32(A1, B1); - A2 = vmulq_f32(A2, B2); - A3 = vmulq_f32(A3, B3); // A3 *= B3 - A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); // A0 * B0 - - A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2 - A0 = vsubq_f32(A0, A3); // AB03 = AB0 - AB3 - - // change the sign of the last element - A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM); - A0 = vaddq_f32(A0, A1); // AB03 + AB12 - - return b3Quaternion(A0); - -#else - return b3Quaternion( - q1.getW() * q2.getX() + q1.getX() * q2.getW() + q1.getY() * q2.getZ() - q1.getZ() * q2.getY(), - q1.getW() * q2.getY() + q1.getY() * q2.getW() + q1.getZ() * q2.getX() - q1.getX() * q2.getZ(), - q1.getW() * q2.getZ() + q1.getZ() * q2.getW() + q1.getX() * q2.getY() - q1.getY() * q2.getX(), - q1.getW() * q2.getW() - q1.getX() * q2.getX() - q1.getY() * q2.getY() - q1.getZ() * q2.getZ()); -#endif -} - -B3_FORCE_INLINE b3Quaternion -operator*(const b3Quaternion& q, const b3Vector3& w) -{ -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vQ1 = q.get128(); - __m128 vQ2 = w.get128(); - __m128 A1, B1, A2, B2, A3, B3; - - A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(3, 3, 3, 0)); - B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(0, 1, 2, 0)); - - A1 = A1 * B1; - - A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1, 2, 0, 1)); - B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2, 0, 1, 1)); - - A2 = A2 * B2; - - A3 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2, 0, 1, 2)); - B3 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1, 2, 0, 2)); - - A3 = A3 * B3; // A3 *= B3 - - A1 = A1 + A2; // AB12 - A1 = _mm_xor_ps(A1, b3vPPPM); // change sign of the last element - A1 = A1 - A3; // AB123 = AB12 - AB3 - - return b3Quaternion(A1); - -#elif defined(B3_USE_NEON) - - float32x4_t vQ1 = q.get128(); - float32x4_t vQ2 = w.get128(); - float32x4_t A1, B1, A2, B2, A3, B3; - float32x2_t vQ1wx, vQ2zx, vQ1yz, vQ2yz, vQ1zx, vQ2xz; - - vQ1wx = vext_f32(vget_high_f32(vQ1), vget_low_f32(vQ1), 1); - { - float32x2x2_t tmp; - - tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2)); // {z x}, {w y} - vQ2zx = tmp.val[0]; - - tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1)); // {z x}, {w y} - vQ1zx = tmp.val[0]; - } - - vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1); - - vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1); - vQ2xz = vext_f32(vQ2zx, vQ2zx, 1); - - A1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ1), 1), vQ1wx); // W W W X - B1 = vcombine_f32(vget_low_f32(vQ2), vQ2zx); // X Y z x - - A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1)); - B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1)); - - A3 = vcombine_f32(vQ1zx, vQ1yz); // Z X Y Z - B3 = vcombine_f32(vQ2yz, vQ2xz); // Y Z x z - - A1 = vmulq_f32(A1, B1); - A2 = vmulq_f32(A2, B2); - A3 = vmulq_f32(A3, B3); // A3 *= B3 - - A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2 - - // change the sign of the last element - A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM); - - A1 = vsubq_f32(A1, A3); // AB123 = AB12 - AB3 - - return b3Quaternion(A1); - -#else - return b3Quaternion( - q.getW() * w.getX() + q.getY() * w.getZ() - q.getZ() * w.getY(), - q.getW() * w.getY() + q.getZ() * w.getX() - q.getX() * w.getZ(), - q.getW() * w.getZ() + q.getX() * w.getY() - q.getY() * w.getX(), - -q.getX() * w.getX() - q.getY() * w.getY() - q.getZ() * w.getZ()); -#endif -} - -B3_FORCE_INLINE b3Quaternion -operator*(const b3Vector3& w, const b3Quaternion& q) -{ -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vQ1 = w.get128(); - __m128 vQ2 = q.get128(); - __m128 A1, B1, A2, B2, A3, B3; - - A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(0, 1, 2, 0)); // X Y z x - B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3, 3, 3, 0)); // W W W X - - A1 = A1 * B1; - - A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1, 2, 0, 1)); - B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2, 0, 1, 1)); - - A2 = A2 * B2; - - A3 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2, 0, 1, 2)); - B3 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1, 2, 0, 2)); - - A3 = A3 * B3; // A3 *= B3 - - A1 = A1 + A2; // AB12 - A1 = _mm_xor_ps(A1, b3vPPPM); // change sign of the last element - A1 = A1 - A3; // AB123 = AB12 - AB3 - - return b3Quaternion(A1); - -#elif defined(B3_USE_NEON) - - float32x4_t vQ1 = w.get128(); - float32x4_t vQ2 = q.get128(); - float32x4_t A1, B1, A2, B2, A3, B3; - float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz; - - { - float32x2x2_t tmp; - - tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1)); // {z x}, {w y} - vQ1zx = tmp.val[0]; - - tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2)); // {z x}, {w y} - vQ2zx = tmp.val[0]; - } - vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); - - vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1); - - vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1); - vQ2xz = vext_f32(vQ2zx, vQ2zx, 1); - - A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx); // X Y z x - B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W W X - - A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1)); - B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1)); - - A3 = vcombine_f32(vQ1zx, vQ1yz); // Z X Y Z - B3 = vcombine_f32(vQ2yz, vQ2xz); // Y Z x z - - A1 = vmulq_f32(A1, B1); - A2 = vmulq_f32(A2, B2); - A3 = vmulq_f32(A3, B3); // A3 *= B3 - - A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2 - - // change the sign of the last element - A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM); - - A1 = vsubq_f32(A1, A3); // AB123 = AB12 - AB3 - - return b3Quaternion(A1); - -#else - return b3Quaternion( - +w.getX() * q.getW() + w.getY() * q.getZ() - w.getZ() * q.getY(), - +w.getY() * q.getW() + w.getZ() * q.getX() - w.getX() * q.getZ(), - +w.getZ() * q.getW() + w.getX() * q.getY() - w.getY() * q.getX(), - -w.getX() * q.getX() - w.getY() * q.getY() - w.getZ() * q.getZ()); -#endif -} - -/**@brief Calculate the dot product between two quaternions */ -B3_FORCE_INLINE b3Scalar -b3Dot(const b3Quaternion& q1, const b3Quaternion& q2) -{ - return q1.dot(q2); -} - -/**@brief Return the length of a quaternion */ -B3_FORCE_INLINE b3Scalar -b3Length(const b3Quaternion& q) -{ - return q.length(); -} - -/**@brief Return the angle between two quaternions*/ -B3_FORCE_INLINE b3Scalar -b3Angle(const b3Quaternion& q1, const b3Quaternion& q2) -{ - return q1.angle(q2); -} - -/**@brief Return the inverse of a quaternion*/ -B3_FORCE_INLINE b3Quaternion -b3Inverse(const b3Quaternion& q) -{ - return q.inverse(); -} - -/**@brief Return the result of spherical linear interpolation betwen two quaternions - * @param q1 The first quaternion - * @param q2 The second quaternion - * @param t The ration between q1 and q2. t = 0 return q1, t=1 returns q2 - * Slerp assumes constant velocity between positions. */ -B3_FORCE_INLINE b3Quaternion -b3Slerp(const b3Quaternion& q1, const b3Quaternion& q2, const b3Scalar& t) -{ - return q1.slerp(q2, t); -} - -B3_FORCE_INLINE b3Quaternion -b3QuatMul(const b3Quaternion& rot0, const b3Quaternion& rot1) -{ - return rot0 * rot1; -} - -B3_FORCE_INLINE b3Quaternion -b3QuatNormalized(const b3Quaternion& orn) -{ - return orn.normalized(); -} - -B3_FORCE_INLINE b3Vector3 -b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v) -{ - b3Quaternion q = rotation * v; - q *= rotation.inverse(); -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - return b3MakeVector3(_mm_and_ps(q.get128(), b3vFFF0fMask)); -#elif defined(B3_USE_NEON) - return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), b3vFFF0Mask)); -#else - return b3MakeVector3(q.getX(), q.getY(), q.getZ()); -#endif -} - -B3_FORCE_INLINE b3Quaternion -b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized -{ - b3Vector3 c = v0.cross(v1); - b3Scalar d = v0.dot(v1); - - if (d < -1.0 + B3_EPSILON) - { - b3Vector3 n, unused; - b3PlaneSpace1(v0, n, unused); - return b3Quaternion(n.getX(), n.getY(), n.getZ(), 0.0f); // just pick any vector that is orthogonal to v0 - } - - b3Scalar s = b3Sqrt((1.0f + d) * 2.0f); - b3Scalar rs = 1.0f / s; - - return b3Quaternion(c.getX() * rs, c.getY() * rs, c.getZ() * rs, s * 0.5f); -} - -B3_FORCE_INLINE b3Quaternion -b3ShortestArcQuatNormalize2(b3Vector3& v0, b3Vector3& v1) -{ - v0.normalize(); - v1.normalize(); - return b3ShortestArcQuat(v0, v1); -} - -#endif //B3_SIMD__QUATERNION_H_ diff --git a/thirdparty/bullet/Bullet3Common/b3Random.h b/thirdparty/bullet/Bullet3Common/b3Random.h deleted file mode 100644 index c2e21496c7..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3Random.h +++ /dev/null @@ -1,46 +0,0 @@ -/* -Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_GEN_RANDOM_H -#define B3_GEN_RANDOM_H - -#include "b3Scalar.h" - -#ifdef MT19937 - -#include <limits.h> -#include <mt19937.h> - -#define B3_RAND_MAX UINT_MAX - -B3_FORCE_INLINE void b3Srand(unsigned int seed) { init_genrand(seed); } -B3_FORCE_INLINE unsigned int b3rand() { return genrand_int32(); } - -#else - -#include <stdlib.h> - -#define B3_RAND_MAX RAND_MAX - -B3_FORCE_INLINE void b3Srand(unsigned int seed) { srand(seed); } -B3_FORCE_INLINE unsigned int b3rand() { return rand(); } - -#endif - -inline b3Scalar b3RandRange(b3Scalar minRange, b3Scalar maxRange) -{ - return (b3rand() / (b3Scalar(B3_RAND_MAX) + b3Scalar(1.0))) * (maxRange - minRange) + minRange; -} - -#endif //B3_GEN_RANDOM_H diff --git a/thirdparty/bullet/Bullet3Common/b3ResizablePool.h b/thirdparty/bullet/Bullet3Common/b3ResizablePool.h deleted file mode 100644 index cafe3ff396..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3ResizablePool.h +++ /dev/null @@ -1,171 +0,0 @@ - -#ifndef B3_RESIZABLE_POOL_H -#define B3_RESIZABLE_POOL_H - -#include "Bullet3Common/b3AlignedObjectArray.h" - -enum -{ - B3_POOL_HANDLE_TERMINAL_FREE = -1, - B3_POOL_HANDLE_TERMINAL_USED = -2 -}; - -template <typename U> -struct b3PoolBodyHandle : public U -{ - B3_DECLARE_ALIGNED_ALLOCATOR(); - - int m_nextFreeHandle; - void setNextFree(int next) - { - m_nextFreeHandle = next; - } - int getNextFree() const - { - return m_nextFreeHandle; - } -}; - -template <typename T> -class b3ResizablePool -{ -protected: - b3AlignedObjectArray<T> m_bodyHandles; - int m_numUsedHandles; // number of active handles - int m_firstFreeHandle; // free handles list - - T* getHandleInternal(int handle) - { - return &m_bodyHandles[handle]; - } - const T* getHandleInternal(int handle) const - { - return &m_bodyHandles[handle]; - } - -public: - b3ResizablePool() - { - initHandles(); - } - - virtual ~b3ResizablePool() - { - exitHandles(); - } - ///handle management - - int getNumHandles() const - { - return m_bodyHandles.size(); - } - - void getUsedHandles(b3AlignedObjectArray<int>& usedHandles) const - { - for (int i = 0; i < m_bodyHandles.size(); i++) - { - if (m_bodyHandles[i].getNextFree() == B3_POOL_HANDLE_TERMINAL_USED) - { - usedHandles.push_back(i); - } - } - } - - T* getHandle(int handle) - { - b3Assert(handle >= 0); - b3Assert(handle < m_bodyHandles.size()); - if ((handle < 0) || (handle >= m_bodyHandles.size())) - { - return 0; - } - - if (m_bodyHandles[handle].getNextFree() == B3_POOL_HANDLE_TERMINAL_USED) - { - return &m_bodyHandles[handle]; - } - return 0; - } - const T* getHandle(int handle) const - { - b3Assert(handle >= 0); - b3Assert(handle < m_bodyHandles.size()); - if ((handle < 0) || (handle >= m_bodyHandles.size())) - { - return 0; - } - - if (m_bodyHandles[handle].getNextFree() == B3_POOL_HANDLE_TERMINAL_USED) - { - return &m_bodyHandles[handle]; - } - return 0; - } - - void increaseHandleCapacity(int extraCapacity) - { - int curCapacity = m_bodyHandles.size(); - //b3Assert(curCapacity == m_numUsedHandles); - int newCapacity = curCapacity + extraCapacity; - m_bodyHandles.resize(newCapacity); - - { - for (int i = curCapacity; i < newCapacity; i++) - m_bodyHandles[i].setNextFree(i + 1); - - m_bodyHandles[newCapacity - 1].setNextFree(-1); - } - m_firstFreeHandle = curCapacity; - } - void initHandles() - { - m_numUsedHandles = 0; - m_firstFreeHandle = -1; - - increaseHandleCapacity(1); - } - - void exitHandles() - { - m_bodyHandles.resize(0); - m_firstFreeHandle = -1; - m_numUsedHandles = 0; - } - - int allocHandle() - { - b3Assert(m_firstFreeHandle >= 0); - - int handle = m_firstFreeHandle; - m_firstFreeHandle = getHandleInternal(handle)->getNextFree(); - m_numUsedHandles++; - - if (m_firstFreeHandle < 0) - { - //int curCapacity = m_bodyHandles.size(); - int additionalCapacity = m_bodyHandles.size(); - increaseHandleCapacity(additionalCapacity); - - getHandleInternal(handle)->setNextFree(m_firstFreeHandle); - } - getHandleInternal(handle)->setNextFree(B3_POOL_HANDLE_TERMINAL_USED); - getHandleInternal(handle)->clear(); - return handle; - } - - void freeHandle(int handle) - { - b3Assert(handle >= 0); - - if (m_bodyHandles[handle].getNextFree() == B3_POOL_HANDLE_TERMINAL_USED) - { - getHandleInternal(handle)->clear(); - getHandleInternal(handle)->setNextFree(m_firstFreeHandle); - m_firstFreeHandle = handle; - m_numUsedHandles--; - } - } -}; -///end handle management - -#endif //B3_RESIZABLE_POOL_H diff --git a/thirdparty/bullet/Bullet3Common/b3Scalar.h b/thirdparty/bullet/Bullet3Common/b3Scalar.h deleted file mode 100644 index eeb70ed632..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3Scalar.h +++ /dev/null @@ -1,689 +0,0 @@ -/* -Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_SCALAR_H -#define B3_SCALAR_H - -#ifdef B3_MANAGED_CODE -//Aligned data types not supported in managed code -#pragma unmanaged -#endif - -#include <math.h> -#include <stdlib.h> //size_t for MSVC 6.0 -#include <float.h> - -//Original repository is at http://github.com/erwincoumans/bullet3 -#define B3_BULLET_VERSION 300 - -inline int b3GetVersion() -{ - return B3_BULLET_VERSION; -} - -#if defined(DEBUG) || defined(_DEBUG) -#define B3_DEBUG -#endif - -#include "b3Logging.h" //for b3Error - -#ifdef _WIN32 - -#if defined(__GNUC__) // it should handle both MINGW and CYGWIN -#define B3_FORCE_INLINE __inline__ __attribute__((always_inline)) -#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16))) -#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64))) -#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128))) -#elif ( defined(_MSC_VER) && _MSC_VER < 1300 ) -#define B3_FORCE_INLINE inline -#define B3_ATTRIBUTE_ALIGNED16(a) a -#define B3_ATTRIBUTE_ALIGNED64(a) a -#define B3_ATTRIBUTE_ALIGNED128(a) a -#else -//#define B3_HAS_ALIGNED_ALLOCATOR -#pragma warning(disable : 4324) // disable padding warning -// #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 - -#define B3_FORCE_INLINE __forceinline -#define B3_ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a -#define B3_ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a -#define B3_ATTRIBUTE_ALIGNED128(a) __declspec(align(128)) a -#ifdef _XBOX -#define B3_USE_VMX128 - -#include <ppcintrinsics.h> -#define B3_HAVE_NATIVE_FSEL -#define b3Fsel(a, b, c) __fsel((a), (b), (c)) -#else - -#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION)) -#if (defined(_M_IX86) || defined(_M_X64)) - - -#ifdef __clang__ -//#define B3_NO_SIMD_OPERATOR_OVERLOADS -#define B3_DISABLE_SSE -#endif //__clang__ - -#ifndef B3_DISABLE_SSE -#define B3_USE_SSE -#endif //B3_DISABLE_SSE - -#ifdef B3_USE_SSE -//B3_USE_SSE_IN_API is disabled under Windows by default, because -//it makes it harder to integrate Bullet into your application under Windows -//(structured embedding Bullet structs/classes need to be 16-byte aligned) -//with relatively little performance gain -//If you are not embedded Bullet data in your classes, or make sure that you align those classes on 16-byte boundaries -//you can manually enable this line or set it in the build system for a bit of performance gain (a few percent, dependent on usage) -//#define B3_USE_SSE_IN_API -#endif //B3_USE_SSE -#include <emmintrin.h> -#endif -#endif - -#endif //_XBOX - -#endif //__MINGW32__ - -#ifdef B3_DEBUG -#ifdef _MSC_VER -#include <stdio.h> -#define b3Assert(x) { if(!(x)){b3Error("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} -#else //_MSC_VER -#include <assert.h> -#define b3Assert assert -#endif //_MSC_VER -#else -#define b3Assert(x) -#endif -//b3FullAssert is optional, slows down a lot -#define b3FullAssert(x) - -#define b3Likely(_c) _c -#define b3Unlikely(_c) _c - -#else - -#if defined(__CELLOS_LV2__) -#define B3_FORCE_INLINE inline __attribute__((always_inline)) -#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16))) -#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64))) -#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128))) -#ifndef assert -#include <assert.h> -#endif -#ifdef B3_DEBUG -#ifdef __SPU__ -#include <spu_printf.h> -#define printf spu_printf -#define b3Assert(x) \ - { \ - if (!(x)) \ - { \ - b3Error( \ - "Assert "__FILE__ \ - ":%u (" #x ")\n", \ - __LINE__); \ - spu_hcmpeq(0, 0); \ - } \ - } -#else -#define b3Assert assert -#endif - -#else -#define b3Assert(x) -#endif -//b3FullAssert is optional, slows down a lot -#define b3FullAssert(x) - -#define b3Likely(_c) _c -#define b3Unlikely(_c) _c - -#else - -#ifdef USE_LIBSPE2 - -#define B3_FORCE_INLINE __inline -#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16))) -#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64))) -#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128))) -#ifndef assert -#include <assert.h> -#endif -#ifdef B3_DEBUG -#define b3Assert assert -#else -#define b3Assert(x) -#endif -//b3FullAssert is optional, slows down a lot -#define b3FullAssert(x) - -#define b3Likely(_c) __builtin_expect((_c), 1) -#define b3Unlikely(_c) __builtin_expect((_c), 0) - -#else -//non-windows systems - -#if (defined(__APPLE__) && (!defined(B3_USE_DOUBLE_PRECISION))) -#if defined(__i386__) || defined(__x86_64__) -#define B3_USE_SSE -//B3_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries -//if apps run into issues, we will disable the next line -#define B3_USE_SSE_IN_API -#ifdef B3_USE_SSE -// include appropriate SSE level -#if defined(__SSE4_1__) -#include <smmintrin.h> -#elif defined(__SSSE3__) -#include <tmmintrin.h> -#elif defined(__SSE3__) -#include <pmmintrin.h> -#else -#include <emmintrin.h> -#endif -#endif //B3_USE_SSE -#elif defined(__armv7__) -#ifdef __clang__ -#define B3_USE_NEON 1 - -#if defined B3_USE_NEON && defined(__clang__) -#include <arm_neon.h> -#endif //B3_USE_NEON -#endif //__clang__ -#endif //__arm__ - -#define B3_FORCE_INLINE inline __attribute__((always_inline)) -///@todo: check out alignment methods for other platforms/compilers -#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16))) -#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64))) -#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128))) -#ifndef assert -#include <assert.h> -#endif - -#if defined(DEBUG) || defined(_DEBUG) -#if defined(__i386__) || defined(__x86_64__) -#include <stdio.h> -#define b3Assert(x) \ - { \ - if (!(x)) \ - { \ - b3Error("Assert %s in line %d, file %s\n", #x, __LINE__, __FILE__); \ - asm volatile("int3"); \ - } \ - } -#else //defined (__i386__) || defined (__x86_64__) -#define b3Assert assert -#endif //defined (__i386__) || defined (__x86_64__) -#else //defined(DEBUG) || defined (_DEBUG) -#define b3Assert(x) -#endif //defined(DEBUG) || defined (_DEBUG) - -//b3FullAssert is optional, slows down a lot -#define b3FullAssert(x) -#define b3Likely(_c) _c -#define b3Unlikely(_c) _c - -#else - -#define B3_FORCE_INLINE inline -///@todo: check out alignment methods for other platforms/compilers -#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16))) -#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64))) -#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128))) -///#define B3_ATTRIBUTE_ALIGNED16(a) a -///#define B3_ATTRIBUTE_ALIGNED64(a) a -///#define B3_ATTRIBUTE_ALIGNED128(a) a -#ifndef assert -#include <assert.h> -#endif - -#if defined(DEBUG) || defined(_DEBUG) -#define b3Assert assert -#else -#define b3Assert(x) -#endif - -//b3FullAssert is optional, slows down a lot -#define b3FullAssert(x) -#define b3Likely(_c) _c -#define b3Unlikely(_c) _c -#endif //__APPLE__ - -#endif // LIBSPE2 - -#endif //__CELLOS_LV2__ -#endif - -///The b3Scalar type abstracts floating point numbers, to easily switch between double and single floating point precision. -#if defined(B3_USE_DOUBLE_PRECISION) -typedef double b3Scalar; -//this number could be bigger in double precision -#define B3_LARGE_FLOAT 1e30 -#else -typedef float b3Scalar; -//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX -#define B3_LARGE_FLOAT 1e18f -#endif - -#ifdef B3_USE_SSE -typedef __m128 b3SimdFloat4; -#endif //B3_USE_SSE - -#if defined B3_USE_SSE_IN_API && defined(B3_USE_SSE) -#ifdef _WIN32 - -#ifndef B3_NAN -static int b3NanMask = 0x7F800001; -#define B3_NAN (*(float *)&b3NanMask) -#endif - -#ifndef B3_INFINITY_MASK -static int b3InfinityMask = 0x7F800000; -#define B3_INFINITY_MASK (*(float *)&b3InfinityMask) -#endif -#ifndef B3_NO_SIMD_OPERATOR_OVERLOADS -inline __m128 operator+(const __m128 A, const __m128 B) -{ - return _mm_add_ps(A, B); -} - -inline __m128 operator-(const __m128 A, const __m128 B) -{ - return _mm_sub_ps(A, B); -} - -inline __m128 operator*(const __m128 A, const __m128 B) -{ - return _mm_mul_ps(A, B); -} -#endif //B3_NO_SIMD_OPERATOR_OVERLOADS -#define b3CastfTo128i(a) (_mm_castps_si128(a)) -#define b3CastfTo128d(a) (_mm_castps_pd(a)) -#define b3CastiTo128f(a) (_mm_castsi128_ps(a)) -#define b3CastdTo128f(a) (_mm_castpd_ps(a)) -#define b3CastdTo128i(a) (_mm_castpd_si128(a)) -#define b3Assign128(r0, r1, r2, r3) _mm_setr_ps(r0, r1, r2, r3) - -#else //_WIN32 - -#define b3CastfTo128i(a) ((__m128i)(a)) -#define b3CastfTo128d(a) ((__m128d)(a)) -#define b3CastiTo128f(a) ((__m128)(a)) -#define b3CastdTo128f(a) ((__m128)(a)) -#define b3CastdTo128i(a) ((__m128i)(a)) -#define b3Assign128(r0, r1, r2, r3) \ - (__m128) { r0, r1, r2, r3 } -#endif //_WIN32 -#endif //B3_USE_SSE_IN_API - -#ifdef B3_USE_NEON -#include <arm_neon.h> - -typedef float32x4_t b3SimdFloat4; -#define B3_INFINITY INFINITY -#define B3_NAN NAN -#define b3Assign128(r0, r1, r2, r3) \ - (float32x4_t) { r0, r1, r2, r3 } -#endif - -#define B3_DECLARE_ALIGNED_ALLOCATOR() \ - B3_FORCE_INLINE void *operator new(size_t sizeInBytes) { return b3AlignedAlloc(sizeInBytes, 16); } \ - B3_FORCE_INLINE void operator delete(void *ptr) { b3AlignedFree(ptr); } \ - B3_FORCE_INLINE void *operator new(size_t, void *ptr) { return ptr; } \ - B3_FORCE_INLINE void operator delete(void *, void *) {} \ - B3_FORCE_INLINE void *operator new[](size_t sizeInBytes) { return b3AlignedAlloc(sizeInBytes, 16); } \ - B3_FORCE_INLINE void operator delete[](void *ptr) { b3AlignedFree(ptr); } \ - B3_FORCE_INLINE void *operator new[](size_t, void *ptr) { return ptr; } \ - B3_FORCE_INLINE void operator delete[](void *, void *) {} - -#if defined(B3_USE_DOUBLE_PRECISION) || defined(B3_FORCE_DOUBLE_FUNCTIONS) - -B3_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar x) -{ - return sqrt(x); -} -B3_FORCE_INLINE b3Scalar b3Fabs(b3Scalar x) { return fabs(x); } -B3_FORCE_INLINE b3Scalar b3Cos(b3Scalar x) { return cos(x); } -B3_FORCE_INLINE b3Scalar b3Sin(b3Scalar x) { return sin(x); } -B3_FORCE_INLINE b3Scalar b3Tan(b3Scalar x) { return tan(x); } -B3_FORCE_INLINE b3Scalar b3Acos(b3Scalar x) -{ - if (x < b3Scalar(-1)) x = b3Scalar(-1); - if (x > b3Scalar(1)) x = b3Scalar(1); - return acos(x); -} -B3_FORCE_INLINE b3Scalar b3Asin(b3Scalar x) -{ - if (x < b3Scalar(-1)) x = b3Scalar(-1); - if (x > b3Scalar(1)) x = b3Scalar(1); - return asin(x); -} -B3_FORCE_INLINE b3Scalar b3Atan(b3Scalar x) { return atan(x); } -B3_FORCE_INLINE b3Scalar b3Atan2(b3Scalar x, b3Scalar y) { return atan2(x, y); } -B3_FORCE_INLINE b3Scalar b3Exp(b3Scalar x) { return exp(x); } -B3_FORCE_INLINE b3Scalar b3Log(b3Scalar x) { return log(x); } -B3_FORCE_INLINE b3Scalar b3Pow(b3Scalar x, b3Scalar y) { return pow(x, y); } -B3_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x, b3Scalar y) { return fmod(x, y); } - -#else - -B3_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar y) -{ -#ifdef USE_APPROXIMATION - double x, z, tempf; - unsigned long *tfptr = ((unsigned long *)&tempf) + 1; - - tempf = y; - *tfptr = (0xbfcdd90a - *tfptr) >> 1; /* estimate of 1/sqrt(y) */ - x = tempf; - z = y * b3Scalar(0.5); - x = (b3Scalar(1.5) * x) - (x * x) * (x * z); /* iteration formula */ - x = (b3Scalar(1.5) * x) - (x * x) * (x * z); - x = (b3Scalar(1.5) * x) - (x * x) * (x * z); - x = (b3Scalar(1.5) * x) - (x * x) * (x * z); - x = (b3Scalar(1.5) * x) - (x * x) * (x * z); - return x * y; -#else - return sqrtf(y); -#endif -} -B3_FORCE_INLINE b3Scalar b3Fabs(b3Scalar x) { return fabsf(x); } -B3_FORCE_INLINE b3Scalar b3Cos(b3Scalar x) { return cosf(x); } -B3_FORCE_INLINE b3Scalar b3Sin(b3Scalar x) { return sinf(x); } -B3_FORCE_INLINE b3Scalar b3Tan(b3Scalar x) { return tanf(x); } -B3_FORCE_INLINE b3Scalar b3Acos(b3Scalar x) -{ - if (x < b3Scalar(-1)) - x = b3Scalar(-1); - if (x > b3Scalar(1)) - x = b3Scalar(1); - return acosf(x); -} -B3_FORCE_INLINE b3Scalar b3Asin(b3Scalar x) -{ - if (x < b3Scalar(-1)) - x = b3Scalar(-1); - if (x > b3Scalar(1)) - x = b3Scalar(1); - return asinf(x); -} -B3_FORCE_INLINE b3Scalar b3Atan(b3Scalar x) { return atanf(x); } -B3_FORCE_INLINE b3Scalar b3Atan2(b3Scalar x, b3Scalar y) { return atan2f(x, y); } -B3_FORCE_INLINE b3Scalar b3Exp(b3Scalar x) { return expf(x); } -B3_FORCE_INLINE b3Scalar b3Log(b3Scalar x) { return logf(x); } -B3_FORCE_INLINE b3Scalar b3Pow(b3Scalar x, b3Scalar y) { return powf(x, y); } -B3_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x, b3Scalar y) { return fmodf(x, y); } - -#endif - -#define B3_2_PI b3Scalar(6.283185307179586232) -#define B3_PI (B3_2_PI * b3Scalar(0.5)) -#define B3_HALF_PI (B3_2_PI * b3Scalar(0.25)) -#define B3_RADS_PER_DEG (B3_2_PI / b3Scalar(360.0)) -#define B3_DEGS_PER_RAD (b3Scalar(360.0) / B3_2_PI) -#define B3_SQRT12 b3Scalar(0.7071067811865475244008443621048490) - -#define b3RecipSqrt(x) ((b3Scalar)(b3Scalar(1.0) / b3Sqrt(b3Scalar(x)))) /* reciprocal square root */ - -#ifdef B3_USE_DOUBLE_PRECISION -#define B3_EPSILON DBL_EPSILON -#define B3_INFINITY DBL_MAX -#else -#define B3_EPSILON FLT_EPSILON -#define B3_INFINITY FLT_MAX -#endif - -B3_FORCE_INLINE b3Scalar b3Atan2Fast(b3Scalar y, b3Scalar x) -{ - b3Scalar coeff_1 = B3_PI / 4.0f; - b3Scalar coeff_2 = 3.0f * coeff_1; - b3Scalar abs_y = b3Fabs(y); - b3Scalar angle; - if (x >= 0.0f) - { - b3Scalar r = (x - abs_y) / (x + abs_y); - angle = coeff_1 - coeff_1 * r; - } - else - { - b3Scalar r = (x + abs_y) / (abs_y - x); - angle = coeff_2 - coeff_1 * r; - } - return (y < 0.0f) ? -angle : angle; -} - -B3_FORCE_INLINE bool b3FuzzyZero(b3Scalar x) { return b3Fabs(x) < B3_EPSILON; } - -B3_FORCE_INLINE bool b3Equal(b3Scalar a, b3Scalar eps) -{ - return (((a) <= eps) && !((a) < -eps)); -} -B3_FORCE_INLINE bool b3GreaterEqual(b3Scalar a, b3Scalar eps) -{ - return (!((a) <= eps)); -} - -B3_FORCE_INLINE int b3IsNegative(b3Scalar x) -{ - return x < b3Scalar(0.0) ? 1 : 0; -} - -B3_FORCE_INLINE b3Scalar b3Radians(b3Scalar x) { return x * B3_RADS_PER_DEG; } -B3_FORCE_INLINE b3Scalar b3Degrees(b3Scalar x) { return x * B3_DEGS_PER_RAD; } - -#define B3_DECLARE_HANDLE(name) \ - typedef struct name##__ \ - { \ - int unused; \ - } * name - -#ifndef b3Fsel -B3_FORCE_INLINE b3Scalar b3Fsel(b3Scalar a, b3Scalar b, b3Scalar c) -{ - return a >= 0 ? b : c; -} -#endif -#define b3Fsels(a, b, c) (b3Scalar) b3Fsel(a, b, c) - -B3_FORCE_INLINE bool b3MachineIsLittleEndian() -{ - long int i = 1; - const char *p = (const char *)&i; - if (p[0] == 1) // Lowest address contains the least significant byte - return true; - else - return false; -} - -///b3Select avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360 -///Thanks Phil Knight. See also http://www.cellperformance.com/articles/2006/04/more_techniques_for_eliminatin_1.html -B3_FORCE_INLINE unsigned b3Select(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero) -{ - // Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero - // Rely on positive value or'ed with its negative having sign bit on - // and zero value or'ed with its negative (which is still zero) having sign bit off - // Use arithmetic shift right, shifting the sign bit through all 32 bits - unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); - unsigned testEqz = ~testNz; - return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); -} -B3_FORCE_INLINE int b3Select(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero) -{ - unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); - unsigned testEqz = ~testNz; - return static_cast<int>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); -} -B3_FORCE_INLINE float b3Select(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero) -{ -#ifdef B3_HAVE_NATIVE_FSEL - return (float)b3Fsel((b3Scalar)condition - b3Scalar(1.0f), valueIfConditionNonZero, valueIfConditionZero); -#else - return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero; -#endif -} - -template <typename T> -B3_FORCE_INLINE void b3Swap(T &a, T &b) -{ - T tmp = a; - a = b; - b = tmp; -} - -//PCK: endian swapping functions -B3_FORCE_INLINE unsigned b3SwapEndian(unsigned val) -{ - return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24)); -} - -B3_FORCE_INLINE unsigned short b3SwapEndian(unsigned short val) -{ - return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8)); -} - -B3_FORCE_INLINE unsigned b3SwapEndian(int val) -{ - return b3SwapEndian((unsigned)val); -} - -B3_FORCE_INLINE unsigned short b3SwapEndian(short val) -{ - return b3SwapEndian((unsigned short)val); -} - -///b3SwapFloat uses using char pointers to swap the endianness -////b3SwapFloat/b3SwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values -///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754. -///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception. -///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you. -///so instead of returning a float/double, we return integer/long long integer -B3_FORCE_INLINE unsigned int b3SwapEndianFloat(float d) -{ - unsigned int a = 0; - unsigned char *dst = (unsigned char *)&a; - unsigned char *src = (unsigned char *)&d; - - dst[0] = src[3]; - dst[1] = src[2]; - dst[2] = src[1]; - dst[3] = src[0]; - return a; -} - -// unswap using char pointers -B3_FORCE_INLINE float b3UnswapEndianFloat(unsigned int a) -{ - float d = 0.0f; - unsigned char *src = (unsigned char *)&a; - unsigned char *dst = (unsigned char *)&d; - - dst[0] = src[3]; - dst[1] = src[2]; - dst[2] = src[1]; - dst[3] = src[0]; - - return d; -} - -// swap using char pointers -B3_FORCE_INLINE void b3SwapEndianDouble(double d, unsigned char *dst) -{ - unsigned char *src = (unsigned char *)&d; - - dst[0] = src[7]; - dst[1] = src[6]; - dst[2] = src[5]; - dst[3] = src[4]; - dst[4] = src[3]; - dst[5] = src[2]; - dst[6] = src[1]; - dst[7] = src[0]; -} - -// unswap using char pointers -B3_FORCE_INLINE double b3UnswapEndianDouble(const unsigned char *src) -{ - double d = 0.0; - unsigned char *dst = (unsigned char *)&d; - - dst[0] = src[7]; - dst[1] = src[6]; - dst[2] = src[5]; - dst[3] = src[4]; - dst[4] = src[3]; - dst[5] = src[2]; - dst[6] = src[1]; - dst[7] = src[0]; - - return d; -} - -// returns normalized value in range [-B3_PI, B3_PI] -B3_FORCE_INLINE b3Scalar b3NormalizeAngle(b3Scalar angleInRadians) -{ - angleInRadians = b3Fmod(angleInRadians, B3_2_PI); - if (angleInRadians < -B3_PI) - { - return angleInRadians + B3_2_PI; - } - else if (angleInRadians > B3_PI) - { - return angleInRadians - B3_2_PI; - } - else - { - return angleInRadians; - } -} - -///rudimentary class to provide type info -struct b3TypedObject -{ - b3TypedObject(int objectType) - : m_objectType(objectType) - { - } - int m_objectType; - inline int getObjectType() const - { - return m_objectType; - } -}; - -///align a pointer to the provided alignment, upwards -template <typename T> -T *b3AlignPointer(T *unalignedPtr, size_t alignment) -{ - struct b3ConvertPointerSizeT - { - union { - T *ptr; - size_t integer; - }; - }; - b3ConvertPointerSizeT converter; - - const size_t bit_mask = ~(alignment - 1); - converter.ptr = unalignedPtr; - converter.integer += alignment - 1; - converter.integer &= bit_mask; - return converter.ptr; -} - -#endif //B3_SCALAR_H diff --git a/thirdparty/bullet/Bullet3Common/b3StackAlloc.h b/thirdparty/bullet/Bullet3Common/b3StackAlloc.h deleted file mode 100644 index 4972236ac7..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3StackAlloc.h +++ /dev/null @@ -1,118 +0,0 @@ -/* -Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -/* -StackAlloc extracted from GJK-EPA collision solver by Nathanael Presson -Nov.2006 -*/ - -#ifndef B3_STACK_ALLOC -#define B3_STACK_ALLOC - -#include "b3Scalar.h" //for b3Assert -#include "b3AlignedAllocator.h" - -///The b3Block class is an internal structure for the b3StackAlloc memory allocator. -struct b3Block -{ - b3Block* previous; - unsigned char* address; -}; - -///The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out) -class b3StackAlloc -{ -public: - b3StackAlloc(unsigned int size) - { - ctor(); - create(size); - } - ~b3StackAlloc() { destroy(); } - - inline void create(unsigned int size) - { - destroy(); - data = (unsigned char*)b3AlignedAlloc(size, 16); - totalsize = size; - } - inline void destroy() - { - b3Assert(usedsize == 0); - //Raise(L"StackAlloc is still in use"); - - if (usedsize == 0) - { - if (!ischild && data) - b3AlignedFree(data); - - data = 0; - usedsize = 0; - } - } - - int getAvailableMemory() const - { - return static_cast<int>(totalsize - usedsize); - } - - unsigned char* allocate(unsigned int size) - { - const unsigned int nus(usedsize + size); - if (nus < totalsize) - { - usedsize = nus; - return (data + (usedsize - size)); - } - b3Assert(0); - //&& (L"Not enough memory")); - - return (0); - } - B3_FORCE_INLINE b3Block* beginBlock() - { - b3Block* pb = (b3Block*)allocate(sizeof(b3Block)); - pb->previous = current; - pb->address = data + usedsize; - current = pb; - return (pb); - } - B3_FORCE_INLINE void endBlock(b3Block* block) - { - b3Assert(block == current); - //Raise(L"Unmatched blocks"); - if (block == current) - { - current = block->previous; - usedsize = (unsigned int)((block->address - data) - sizeof(b3Block)); - } - } - -private: - void ctor() - { - data = 0; - totalsize = 0; - usedsize = 0; - current = 0; - ischild = false; - } - unsigned char* data; - unsigned int totalsize; - unsigned int usedsize; - b3Block* current; - bool ischild; -}; - -#endif //B3_STACK_ALLOC diff --git a/thirdparty/bullet/Bullet3Common/b3Transform.h b/thirdparty/bullet/Bullet3Common/b3Transform.h deleted file mode 100644 index 149da9d148..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3Transform.h +++ /dev/null @@ -1,286 +0,0 @@ -/* -Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_TRANSFORM_H -#define B3_TRANSFORM_H - -#include "b3Matrix3x3.h" - -#ifdef B3_USE_DOUBLE_PRECISION -#define b3TransformData b3TransformDoubleData -#else -#define b3TransformData b3TransformFloatData -#endif - -/**@brief The b3Transform class supports rigid transforms with only translation and rotation and no scaling/shear. - *It can be used in combination with b3Vector3, b3Quaternion and b3Matrix3x3 linear algebra classes. */ -B3_ATTRIBUTE_ALIGNED16(class) -b3Transform -{ - ///Storage for the rotation - b3Matrix3x3 m_basis; - ///Storage for the translation - b3Vector3 m_origin; - -public: - /**@brief No initialization constructor */ - b3Transform() {} - /**@brief Constructor from b3Quaternion (optional b3Vector3 ) - * @param q Rotation from quaternion - * @param c Translation from Vector (default 0,0,0) */ - explicit B3_FORCE_INLINE b3Transform(const b3Quaternion& q, - const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0))) - : m_basis(q), - m_origin(c) - { - } - - /**@brief Constructor from b3Matrix3x3 (optional b3Vector3) - * @param b Rotation from Matrix - * @param c Translation from Vector default (0,0,0)*/ - explicit B3_FORCE_INLINE b3Transform(const b3Matrix3x3& b, - const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0))) - : m_basis(b), - m_origin(c) - { - } - /**@brief Copy constructor */ - B3_FORCE_INLINE b3Transform(const b3Transform& other) - : m_basis(other.m_basis), - m_origin(other.m_origin) - { - } - /**@brief Assignment Operator */ - B3_FORCE_INLINE b3Transform& operator=(const b3Transform& other) - { - m_basis = other.m_basis; - m_origin = other.m_origin; - return *this; - } - - /**@brief Set the current transform as the value of the product of two transforms - * @param t1 Transform 1 - * @param t2 Transform 2 - * This = Transform1 * Transform2 */ - B3_FORCE_INLINE void mult(const b3Transform& t1, const b3Transform& t2) - { - m_basis = t1.m_basis * t2.m_basis; - m_origin = t1(t2.m_origin); - } - - /* void multInverseLeft(const b3Transform& t1, const b3Transform& t2) { - b3Vector3 v = t2.m_origin - t1.m_origin; - m_basis = b3MultTransposeLeft(t1.m_basis, t2.m_basis); - m_origin = v * t1.m_basis; - } - */ - - /**@brief Return the transform of the vector */ - B3_FORCE_INLINE b3Vector3 operator()(const b3Vector3& x) const - { - return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin; - } - - /**@brief Return the transform of the vector */ - B3_FORCE_INLINE b3Vector3 operator*(const b3Vector3& x) const - { - return (*this)(x); - } - - /**@brief Return the transform of the b3Quaternion */ - B3_FORCE_INLINE b3Quaternion operator*(const b3Quaternion& q) const - { - return getRotation() * q; - } - - /**@brief Return the basis matrix for the rotation */ - B3_FORCE_INLINE b3Matrix3x3& getBasis() { return m_basis; } - /**@brief Return the basis matrix for the rotation */ - B3_FORCE_INLINE const b3Matrix3x3& getBasis() const { return m_basis; } - - /**@brief Return the origin vector translation */ - B3_FORCE_INLINE b3Vector3& getOrigin() { return m_origin; } - /**@brief Return the origin vector translation */ - B3_FORCE_INLINE const b3Vector3& getOrigin() const { return m_origin; } - - /**@brief Return a quaternion representing the rotation */ - b3Quaternion getRotation() const - { - b3Quaternion q; - m_basis.getRotation(q); - return q; - } - - /**@brief Set from an array - * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */ - void setFromOpenGLMatrix(const b3Scalar* m) - { - m_basis.setFromOpenGLSubMatrix(m); - m_origin.setValue(m[12], m[13], m[14]); - } - - /**@brief Fill an array representation - * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */ - void getOpenGLMatrix(b3Scalar * m) const - { - m_basis.getOpenGLSubMatrix(m); - m[12] = m_origin.getX(); - m[13] = m_origin.getY(); - m[14] = m_origin.getZ(); - m[15] = b3Scalar(1.0); - } - - /**@brief Set the translational element - * @param origin The vector to set the translation to */ - B3_FORCE_INLINE void setOrigin(const b3Vector3& origin) - { - m_origin = origin; - } - - B3_FORCE_INLINE b3Vector3 invXform(const b3Vector3& inVec) const; - - /**@brief Set the rotational element by b3Matrix3x3 */ - B3_FORCE_INLINE void setBasis(const b3Matrix3x3& basis) - { - m_basis = basis; - } - - /**@brief Set the rotational element by b3Quaternion */ - B3_FORCE_INLINE void setRotation(const b3Quaternion& q) - { - m_basis.setRotation(q); - } - - /**@brief Set this transformation to the identity */ - void setIdentity() - { - m_basis.setIdentity(); - m_origin.setValue(b3Scalar(0.0), b3Scalar(0.0), b3Scalar(0.0)); - } - - /**@brief Multiply this Transform by another(this = this * another) - * @param t The other transform */ - b3Transform& operator*=(const b3Transform& t) - { - m_origin += m_basis * t.m_origin; - m_basis *= t.m_basis; - return *this; - } - - /**@brief Return the inverse of this transform */ - b3Transform inverse() const - { - b3Matrix3x3 inv = m_basis.transpose(); - return b3Transform(inv, inv * -m_origin); - } - - /**@brief Return the inverse of this transform times the other transform - * @param t The other transform - * return this.inverse() * the other */ - b3Transform inverseTimes(const b3Transform& t) const; - - /**@brief Return the product of this transform and the other */ - b3Transform operator*(const b3Transform& t) const; - - /**@brief Return an identity transform */ - static const b3Transform& getIdentity() - { - static const b3Transform identityTransform(b3Matrix3x3::getIdentity()); - return identityTransform; - } - - void serialize(struct b3TransformData & dataOut) const; - - void serializeFloat(struct b3TransformFloatData & dataOut) const; - - void deSerialize(const struct b3TransformData& dataIn); - - void deSerializeDouble(const struct b3TransformDoubleData& dataIn); - - void deSerializeFloat(const struct b3TransformFloatData& dataIn); -}; - -B3_FORCE_INLINE b3Vector3 -b3Transform::invXform(const b3Vector3& inVec) const -{ - b3Vector3 v = inVec - m_origin; - return (m_basis.transpose() * v); -} - -B3_FORCE_INLINE b3Transform -b3Transform::inverseTimes(const b3Transform& t) const -{ - b3Vector3 v = t.getOrigin() - m_origin; - return b3Transform(m_basis.transposeTimes(t.m_basis), - v * m_basis); -} - -B3_FORCE_INLINE b3Transform - b3Transform::operator*(const b3Transform& t) const -{ - return b3Transform(m_basis * t.m_basis, - (*this)(t.m_origin)); -} - -/**@brief Test if two transforms have all elements equal */ -B3_FORCE_INLINE bool operator==(const b3Transform& t1, const b3Transform& t2) -{ - return (t1.getBasis() == t2.getBasis() && - t1.getOrigin() == t2.getOrigin()); -} - -///for serialization -struct b3TransformFloatData -{ - b3Matrix3x3FloatData m_basis; - b3Vector3FloatData m_origin; -}; - -struct b3TransformDoubleData -{ - b3Matrix3x3DoubleData m_basis; - b3Vector3DoubleData m_origin; -}; - -B3_FORCE_INLINE void b3Transform::serialize(b3TransformData& dataOut) const -{ - m_basis.serialize(dataOut.m_basis); - m_origin.serialize(dataOut.m_origin); -} - -B3_FORCE_INLINE void b3Transform::serializeFloat(b3TransformFloatData& dataOut) const -{ - m_basis.serializeFloat(dataOut.m_basis); - m_origin.serializeFloat(dataOut.m_origin); -} - -B3_FORCE_INLINE void b3Transform::deSerialize(const b3TransformData& dataIn) -{ - m_basis.deSerialize(dataIn.m_basis); - m_origin.deSerialize(dataIn.m_origin); -} - -B3_FORCE_INLINE void b3Transform::deSerializeFloat(const b3TransformFloatData& dataIn) -{ - m_basis.deSerializeFloat(dataIn.m_basis); - m_origin.deSerializeFloat(dataIn.m_origin); -} - -B3_FORCE_INLINE void b3Transform::deSerializeDouble(const b3TransformDoubleData& dataIn) -{ - m_basis.deSerializeDouble(dataIn.m_basis); - m_origin.deSerializeDouble(dataIn.m_origin); -} - -#endif //B3_TRANSFORM_H diff --git a/thirdparty/bullet/Bullet3Common/b3TransformUtil.h b/thirdparty/bullet/Bullet3Common/b3TransformUtil.h deleted file mode 100644 index 1850a9be5f..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3TransformUtil.h +++ /dev/null @@ -1,210 +0,0 @@ -/* -Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_TRANSFORM_UTIL_H -#define B3_TRANSFORM_UTIL_H - -#include "b3Transform.h" -#define B3_ANGULAR_MOTION_THRESHOLD b3Scalar(0.5) * B3_HALF_PI - -B3_FORCE_INLINE b3Vector3 b3AabbSupport(const b3Vector3& halfExtents, const b3Vector3& supportDir) -{ - return b3MakeVector3(supportDir.getX() < b3Scalar(0.0) ? -halfExtents.getX() : halfExtents.getX(), - supportDir.getY() < b3Scalar(0.0) ? -halfExtents.getY() : halfExtents.getY(), - supportDir.getZ() < b3Scalar(0.0) ? -halfExtents.getZ() : halfExtents.getZ()); -} - -/// Utils related to temporal transforms -class b3TransformUtil -{ -public: - static void integrateTransform(const b3Transform& curTrans, const b3Vector3& linvel, const b3Vector3& angvel, b3Scalar timeStep, b3Transform& predictedTransform) - { - predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep); - // #define QUATERNION_DERIVATIVE -#ifdef QUATERNION_DERIVATIVE - b3Quaternion predictedOrn = curTrans.getRotation(); - predictedOrn += (angvel * predictedOrn) * (timeStep * b3Scalar(0.5)); - predictedOrn.normalize(); -#else - //Exponential map - //google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia - - b3Vector3 axis; - b3Scalar fAngle = angvel.length(); - //limit the angular motion - if (fAngle * timeStep > B3_ANGULAR_MOTION_THRESHOLD) - { - fAngle = B3_ANGULAR_MOTION_THRESHOLD / timeStep; - } - - if (fAngle < b3Scalar(0.001)) - { - // use Taylor's expansions of sync function - axis = angvel * (b3Scalar(0.5) * timeStep - (timeStep * timeStep * timeStep) * (b3Scalar(0.020833333333)) * fAngle * fAngle); - } - else - { - // sync(fAngle) = sin(c*fAngle)/t - axis = angvel * (b3Sin(b3Scalar(0.5) * fAngle * timeStep) / fAngle); - } - b3Quaternion dorn(axis.getX(), axis.getY(), axis.getZ(), b3Cos(fAngle * timeStep * b3Scalar(0.5))); - b3Quaternion orn0 = curTrans.getRotation(); - - b3Quaternion predictedOrn = dorn * orn0; - predictedOrn.normalize(); -#endif - predictedTransform.setRotation(predictedOrn); - } - - static void calculateVelocityQuaternion(const b3Vector3& pos0, const b3Vector3& pos1, const b3Quaternion& orn0, const b3Quaternion& orn1, b3Scalar timeStep, b3Vector3& linVel, b3Vector3& angVel) - { - linVel = (pos1 - pos0) / timeStep; - b3Vector3 axis; - b3Scalar angle; - if (orn0 != orn1) - { - calculateDiffAxisAngleQuaternion(orn0, orn1, axis, angle); - angVel = axis * angle / timeStep; - } - else - { - angVel.setValue(0, 0, 0); - } - } - - static void calculateDiffAxisAngleQuaternion(const b3Quaternion& orn0, const b3Quaternion& orn1a, b3Vector3& axis, b3Scalar& angle) - { - b3Quaternion orn1 = orn0.nearest(orn1a); - b3Quaternion dorn = orn1 * orn0.inverse(); - angle = dorn.getAngle(); - axis = b3MakeVector3(dorn.getX(), dorn.getY(), dorn.getZ()); - axis[3] = b3Scalar(0.); - //check for axis length - b3Scalar len = axis.length2(); - if (len < B3_EPSILON * B3_EPSILON) - axis = b3MakeVector3(b3Scalar(1.), b3Scalar(0.), b3Scalar(0.)); - else - axis /= b3Sqrt(len); - } - - static void calculateVelocity(const b3Transform& transform0, const b3Transform& transform1, b3Scalar timeStep, b3Vector3& linVel, b3Vector3& angVel) - { - linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep; - b3Vector3 axis; - b3Scalar angle; - calculateDiffAxisAngle(transform0, transform1, axis, angle); - angVel = axis * angle / timeStep; - } - - static void calculateDiffAxisAngle(const b3Transform& transform0, const b3Transform& transform1, b3Vector3& axis, b3Scalar& angle) - { - b3Matrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse(); - b3Quaternion dorn; - dmat.getRotation(dorn); - - ///floating point inaccuracy can lead to w component > 1..., which breaks - dorn.normalize(); - - angle = dorn.getAngle(); - axis = b3MakeVector3(dorn.getX(), dorn.getY(), dorn.getZ()); - axis[3] = b3Scalar(0.); - //check for axis length - b3Scalar len = axis.length2(); - if (len < B3_EPSILON * B3_EPSILON) - axis = b3MakeVector3(b3Scalar(1.), b3Scalar(0.), b3Scalar(0.)); - else - axis /= b3Sqrt(len); - } -}; - -///The b3ConvexSeparatingDistanceUtil can help speed up convex collision detection -///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance -class b3ConvexSeparatingDistanceUtil -{ - b3Quaternion m_ornA; - b3Quaternion m_ornB; - b3Vector3 m_posA; - b3Vector3 m_posB; - - b3Vector3 m_separatingNormal; - - b3Scalar m_boundingRadiusA; - b3Scalar m_boundingRadiusB; - b3Scalar m_separatingDistance; - -public: - b3ConvexSeparatingDistanceUtil(b3Scalar boundingRadiusA, b3Scalar boundingRadiusB) - : m_boundingRadiusA(boundingRadiusA), - m_boundingRadiusB(boundingRadiusB), - m_separatingDistance(0.f) - { - } - - b3Scalar getConservativeSeparatingDistance() - { - return m_separatingDistance; - } - - void updateSeparatingDistance(const b3Transform& transA, const b3Transform& transB) - { - const b3Vector3& toPosA = transA.getOrigin(); - const b3Vector3& toPosB = transB.getOrigin(); - b3Quaternion toOrnA = transA.getRotation(); - b3Quaternion toOrnB = transB.getRotation(); - - if (m_separatingDistance > 0.f) - { - b3Vector3 linVelA, angVelA, linVelB, angVelB; - b3TransformUtil::calculateVelocityQuaternion(m_posA, toPosA, m_ornA, toOrnA, b3Scalar(1.), linVelA, angVelA); - b3TransformUtil::calculateVelocityQuaternion(m_posB, toPosB, m_ornB, toOrnB, b3Scalar(1.), linVelB, angVelB); - b3Scalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB; - b3Vector3 relLinVel = (linVelB - linVelA); - b3Scalar relLinVelocLength = relLinVel.dot(m_separatingNormal); - if (relLinVelocLength < 0.f) - { - relLinVelocLength = 0.f; - } - - b3Scalar projectedMotion = maxAngularProjectedVelocity + relLinVelocLength; - m_separatingDistance -= projectedMotion; - } - - m_posA = toPosA; - m_posB = toPosB; - m_ornA = toOrnA; - m_ornB = toOrnB; - } - - void initSeparatingDistance(const b3Vector3& separatingVector, b3Scalar separatingDistance, const b3Transform& transA, const b3Transform& transB) - { - m_separatingDistance = separatingDistance; - - if (m_separatingDistance > 0.f) - { - m_separatingNormal = separatingVector; - - const b3Vector3& toPosA = transA.getOrigin(); - const b3Vector3& toPosB = transB.getOrigin(); - b3Quaternion toOrnA = transA.getRotation(); - b3Quaternion toOrnB = transB.getRotation(); - m_posA = toPosA; - m_posB = toPosB; - m_ornA = toOrnA; - m_ornB = toOrnB; - } - } -}; - -#endif //B3_TRANSFORM_UTIL_H diff --git a/thirdparty/bullet/Bullet3Common/b3Vector3.cpp b/thirdparty/bullet/Bullet3Common/b3Vector3.cpp deleted file mode 100644 index 100fb774c1..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3Vector3.cpp +++ /dev/null @@ -1,1637 +0,0 @@ -/* - Copyright (c) 2011-213 Apple Inc. http://bulletphysics.org - - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - - 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - - This source version has been altered. - */ - -#if defined(_WIN32) || defined(__i386__) -#define B3_USE_SSE_IN_API -#endif - -#include "b3Vector3.h" - -#if defined(B3_USE_SSE) || defined(B3_USE_NEON) - -#ifdef __APPLE__ -#include <stdint.h> -typedef float float4 __attribute__((vector_size(16))); -#else -#define float4 __m128 -#endif -//typedef uint32_t uint4 __attribute__ ((vector_size(16))); - -#if defined B3_USE_SSE || defined _WIN32 - -#define LOG2_ARRAY_SIZE 6 -#define STACK_ARRAY_COUNT (1UL << LOG2_ARRAY_SIZE) - -#include <emmintrin.h> - -long b3_maxdot_large(const float *vv, const float *vec, unsigned long count, float *dotResult); -long b3_maxdot_large(const float *vv, const float *vec, unsigned long count, float *dotResult) -{ - const float4 *vertices = (const float4 *)vv; - static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0}; - float4 dotMax = b3Assign128(-B3_INFINITY, -B3_INFINITY, -B3_INFINITY, -B3_INFINITY); - float4 vvec = _mm_loadu_ps(vec); - float4 vHi = b3CastiTo128f(_mm_shuffle_epi32(b3CastfTo128i(vvec), 0xaa)); /// zzzz - float4 vLo = _mm_movelh_ps(vvec, vvec); /// xyxy - - long maxIndex = -1L; - - size_t segment = 0; - float4 stack_array[STACK_ARRAY_COUNT]; - -#if DEBUG - // memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) ); -#endif - - size_t index; - float4 max; - // Faster loop without cleanup code for full tiles - for (segment = 0; segment + STACK_ARRAY_COUNT * 4 <= count; segment += STACK_ARRAY_COUNT * 4) - { - max = dotMax; - - for (index = 0; index < STACK_ARRAY_COUNT; index += 4) - { // do four dot products at a time. Carefully avoid touching the w element. - float4 v0 = vertices[0]; - float4 v1 = vertices[1]; - float4 v2 = vertices[2]; - float4 v3 = vertices[3]; - vertices += 4; - - float4 lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - float4 hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - float4 lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - float4 hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); - float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); - float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index] = x; - max = _mm_max_ps(x, max); // control the order here so that max is never NaN even if x is nan - - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - v3 = vertices[3]; - vertices += 4; - - lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - z = _mm_shuffle_ps(hi0, hi1, 0x88); - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index + 1] = x; - max = _mm_max_ps(x, max); // control the order here so that max is never NaN even if x is nan - - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - v3 = vertices[3]; - vertices += 4; - - lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - z = _mm_shuffle_ps(hi0, hi1, 0x88); - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index + 2] = x; - max = _mm_max_ps(x, max); // control the order here so that max is never NaN even if x is nan - - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - v3 = vertices[3]; - vertices += 4; - - lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - z = _mm_shuffle_ps(hi0, hi1, 0x88); - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index + 3] = x; - max = _mm_max_ps(x, max); // control the order here so that max is never NaN even if x is nan - - // It is too costly to keep the index of the max here. We will look for it again later. We save a lot of work this way. - } - - // If we found a new max - if (0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(max, dotMax))) - { - // copy the new max across all lanes of our max accumulator - max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0x4e)); - max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0xb1)); - - dotMax = max; - - // find first occurrence of that max - size_t test; - for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], max))); index++) // local_count must be a multiple of 4 - { - } - // record where it is. - maxIndex = 4 * index + segment + indexTable[test]; - } - } - - // account for work we've already done - count -= segment; - - // Deal with the last < STACK_ARRAY_COUNT vectors - max = dotMax; - index = 0; - - if (b3Unlikely(count > 16)) - { - for (; index + 4 <= count / 4; index += 4) - { // do four dot products at a time. Carefully avoid touching the w element. - float4 v0 = vertices[0]; - float4 v1 = vertices[1]; - float4 v2 = vertices[2]; - float4 v3 = vertices[3]; - vertices += 4; - - float4 lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - float4 hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - float4 lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - float4 hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); - float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); - float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index] = x; - max = _mm_max_ps(x, max); // control the order here so that max is never NaN even if x is nan - - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - v3 = vertices[3]; - vertices += 4; - - lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - z = _mm_shuffle_ps(hi0, hi1, 0x88); - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index + 1] = x; - max = _mm_max_ps(x, max); // control the order here so that max is never NaN even if x is nan - - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - v3 = vertices[3]; - vertices += 4; - - lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - z = _mm_shuffle_ps(hi0, hi1, 0x88); - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index + 2] = x; - max = _mm_max_ps(x, max); // control the order here so that max is never NaN even if x is nan - - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - v3 = vertices[3]; - vertices += 4; - - lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - z = _mm_shuffle_ps(hi0, hi1, 0x88); - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index + 3] = x; - max = _mm_max_ps(x, max); // control the order here so that max is never NaN even if x is nan - - // It is too costly to keep the index of the max here. We will look for it again later. We save a lot of work this way. - } - } - - size_t localCount = (count & -4L) - 4 * index; - if (localCount) - { -#ifdef __APPLE__ - float4 t0, t1, t2, t3, t4; - float4 *sap = &stack_array[index + localCount / 4]; - vertices += localCount; // counter the offset - size_t byteIndex = -(localCount) * sizeof(float); - //AT&T Code style assembly - asm volatile( - ".align 4 \n\ - 0: movaps %[max], %[t2] // move max out of the way to avoid propagating NaNs in max \n\ - movaps (%[vertices], %[byteIndex], 4), %[t0] // vertices[0] \n\ - movaps 16(%[vertices], %[byteIndex], 4), %[t1] // vertices[1] \n\ - movaps %[t0], %[max] // vertices[0] \n\ - movlhps %[t1], %[max] // x0y0x1y1 \n\ - movaps 32(%[vertices], %[byteIndex], 4), %[t3] // vertices[2] \n\ - movaps 48(%[vertices], %[byteIndex], 4), %[t4] // vertices[3] \n\ - mulps %[vLo], %[max] // x0y0x1y1 * vLo \n\ - movhlps %[t0], %[t1] // z0w0z1w1 \n\ - movaps %[t3], %[t0] // vertices[2] \n\ - movlhps %[t4], %[t0] // x2y2x3y3 \n\ - mulps %[vLo], %[t0] // x2y2x3y3 * vLo \n\ - movhlps %[t3], %[t4] // z2w2z3w3 \n\ - shufps $0x88, %[t4], %[t1] // z0z1z2z3 \n\ - mulps %[vHi], %[t1] // z0z1z2z3 * vHi \n\ - movaps %[max], %[t3] // x0y0x1y1 * vLo \n\ - shufps $0x88, %[t0], %[max] // x0x1x2x3 * vLo.x \n\ - shufps $0xdd, %[t0], %[t3] // y0y1y2y3 * vLo.y \n\ - addps %[t3], %[max] // x + y \n\ - addps %[t1], %[max] // x + y + z \n\ - movaps %[max], (%[sap], %[byteIndex]) // record result for later scrutiny \n\ - maxps %[t2], %[max] // record max, restore max \n\ - add $16, %[byteIndex] // advance loop counter\n\ - jnz 0b \n\ - " - : [max] "+x"(max), [t0] "=&x"(t0), [t1] "=&x"(t1), [t2] "=&x"(t2), [t3] "=&x"(t3), [t4] "=&x"(t4), [byteIndex] "+r"(byteIndex) - : [vLo] "x"(vLo), [vHi] "x"(vHi), [vertices] "r"(vertices), [sap] "r"(sap) - : "memory", "cc"); - index += localCount / 4; -#else - { - for (unsigned int i = 0; i < localCount / 4; i++, index++) - { // do four dot products at a time. Carefully avoid touching the w element. - float4 v0 = vertices[0]; - float4 v1 = vertices[1]; - float4 v2 = vertices[2]; - float4 v3 = vertices[3]; - vertices += 4; - - float4 lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - float4 hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - float4 lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - float4 hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); - float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); - float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index] = x; - max = _mm_max_ps(x, max); // control the order here so that max is never NaN even if x is nan - } - } -#endif //__APPLE__ - } - - // process the last few points - if (count & 3) - { - float4 v0, v1, v2, x, y, z; - switch (count & 3) - { - case 3: - { - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - - // Calculate 3 dot products, transpose, duplicate v2 - float4 lo0 = _mm_movelh_ps(v0, v1); // xyxy.lo - float4 hi0 = _mm_movehl_ps(v1, v0); // z?z?.lo - lo0 = lo0 * vLo; - z = _mm_shuffle_ps(hi0, v2, 0xa8); // z0z1z2z2 - z = z * vHi; - float4 lo1 = _mm_movelh_ps(v2, v2); // xyxy - lo1 = lo1 * vLo; - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - } - break; - case 2: - { - v0 = vertices[0]; - v1 = vertices[1]; - float4 xy = _mm_movelh_ps(v0, v1); - z = _mm_movehl_ps(v1, v0); - xy = xy * vLo; - z = _mm_shuffle_ps(z, z, 0xa8); - x = _mm_shuffle_ps(xy, xy, 0xa8); - y = _mm_shuffle_ps(xy, xy, 0xfd); - z = z * vHi; - } - break; - case 1: - { - float4 xy = vertices[0]; - z = _mm_shuffle_ps(xy, xy, 0xaa); - xy = xy * vLo; - z = z * vHi; - x = _mm_shuffle_ps(xy, xy, 0); - y = _mm_shuffle_ps(xy, xy, 0x55); - } - break; - } - x = x + y; - x = x + z; - stack_array[index] = x; - max = _mm_max_ps(x, max); // control the order here so that max is never NaN even if x is nan - index++; - } - - // if we found a new max. - if (0 == segment || 0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(max, dotMax))) - { // we found a new max. Search for it - // find max across the max vector, place in all elements of max -- big latency hit here - max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0x4e)); - max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0xb1)); - - // It is slightly faster to do this part in scalar code when count < 8. However, the common case for - // this where it actually makes a difference is handled in the early out at the top of the function, - // so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced - // complexity, and removed it. - - dotMax = max; - - // scan for the first occurence of max in the array - size_t test; - for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], max))); index++) // local_count must be a multiple of 4 - { - } - maxIndex = 4 * index + segment + indexTable[test]; - } - - _mm_store_ss(dotResult, dotMax); - return maxIndex; -} - -long b3_mindot_large(const float *vv, const float *vec, unsigned long count, float *dotResult); - -long b3_mindot_large(const float *vv, const float *vec, unsigned long count, float *dotResult) -{ - const float4 *vertices = (const float4 *)vv; - static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0}; - - float4 dotmin = b3Assign128(B3_INFINITY, B3_INFINITY, B3_INFINITY, B3_INFINITY); - float4 vvec = _mm_loadu_ps(vec); - float4 vHi = b3CastiTo128f(_mm_shuffle_epi32(b3CastfTo128i(vvec), 0xaa)); /// zzzz - float4 vLo = _mm_movelh_ps(vvec, vvec); /// xyxy - - long minIndex = -1L; - - size_t segment = 0; - float4 stack_array[STACK_ARRAY_COUNT]; - -#if DEBUG - // memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) ); -#endif - - size_t index; - float4 min; - // Faster loop without cleanup code for full tiles - for (segment = 0; segment + STACK_ARRAY_COUNT * 4 <= count; segment += STACK_ARRAY_COUNT * 4) - { - min = dotmin; - - for (index = 0; index < STACK_ARRAY_COUNT; index += 4) - { // do four dot products at a time. Carefully avoid touching the w element. - float4 v0 = vertices[0]; - float4 v1 = vertices[1]; - float4 v2 = vertices[2]; - float4 v3 = vertices[3]; - vertices += 4; - - float4 lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - float4 hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - float4 lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - float4 hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); - float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); - float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index] = x; - min = _mm_min_ps(x, min); // control the order here so that min is never NaN even if x is nan - - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - v3 = vertices[3]; - vertices += 4; - - lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - z = _mm_shuffle_ps(hi0, hi1, 0x88); - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index + 1] = x; - min = _mm_min_ps(x, min); // control the order here so that min is never NaN even if x is nan - - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - v3 = vertices[3]; - vertices += 4; - - lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - z = _mm_shuffle_ps(hi0, hi1, 0x88); - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index + 2] = x; - min = _mm_min_ps(x, min); // control the order here so that min is never NaN even if x is nan - - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - v3 = vertices[3]; - vertices += 4; - - lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - z = _mm_shuffle_ps(hi0, hi1, 0x88); - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index + 3] = x; - min = _mm_min_ps(x, min); // control the order here so that min is never NaN even if x is nan - - // It is too costly to keep the index of the min here. We will look for it again later. We save a lot of work this way. - } - - // If we found a new min - if (0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(min, dotmin))) - { - // copy the new min across all lanes of our min accumulator - min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0x4e)); - min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0xb1)); - - dotmin = min; - - // find first occurrence of that min - size_t test; - for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], min))); index++) // local_count must be a multiple of 4 - { - } - // record where it is. - minIndex = 4 * index + segment + indexTable[test]; - } - } - - // account for work we've already done - count -= segment; - - // Deal with the last < STACK_ARRAY_COUNT vectors - min = dotmin; - index = 0; - - if (b3Unlikely(count > 16)) - { - for (; index + 4 <= count / 4; index += 4) - { // do four dot products at a time. Carefully avoid touching the w element. - float4 v0 = vertices[0]; - float4 v1 = vertices[1]; - float4 v2 = vertices[2]; - float4 v3 = vertices[3]; - vertices += 4; - - float4 lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - float4 hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - float4 lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - float4 hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); - float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); - float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index] = x; - min = _mm_min_ps(x, min); // control the order here so that min is never NaN even if x is nan - - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - v3 = vertices[3]; - vertices += 4; - - lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - z = _mm_shuffle_ps(hi0, hi1, 0x88); - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index + 1] = x; - min = _mm_min_ps(x, min); // control the order here so that min is never NaN even if x is nan - - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - v3 = vertices[3]; - vertices += 4; - - lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - z = _mm_shuffle_ps(hi0, hi1, 0x88); - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index + 2] = x; - min = _mm_min_ps(x, min); // control the order here so that min is never NaN even if x is nan - - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - v3 = vertices[3]; - vertices += 4; - - lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - z = _mm_shuffle_ps(hi0, hi1, 0x88); - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index + 3] = x; - min = _mm_min_ps(x, min); // control the order here so that min is never NaN even if x is nan - - // It is too costly to keep the index of the min here. We will look for it again later. We save a lot of work this way. - } - } - - size_t localCount = (count & -4L) - 4 * index; - if (localCount) - { -#ifdef __APPLE__ - vertices += localCount; // counter the offset - float4 t0, t1, t2, t3, t4; - size_t byteIndex = -(localCount) * sizeof(float); - float4 *sap = &stack_array[index + localCount / 4]; - - asm volatile( - ".align 4 \n\ - 0: movaps %[min], %[t2] // move min out of the way to avoid propagating NaNs in min \n\ - movaps (%[vertices], %[byteIndex], 4), %[t0] // vertices[0] \n\ - movaps 16(%[vertices], %[byteIndex], 4), %[t1] // vertices[1] \n\ - movaps %[t0], %[min] // vertices[0] \n\ - movlhps %[t1], %[min] // x0y0x1y1 \n\ - movaps 32(%[vertices], %[byteIndex], 4), %[t3] // vertices[2] \n\ - movaps 48(%[vertices], %[byteIndex], 4), %[t4] // vertices[3] \n\ - mulps %[vLo], %[min] // x0y0x1y1 * vLo \n\ - movhlps %[t0], %[t1] // z0w0z1w1 \n\ - movaps %[t3], %[t0] // vertices[2] \n\ - movlhps %[t4], %[t0] // x2y2x3y3 \n\ - movhlps %[t3], %[t4] // z2w2z3w3 \n\ - mulps %[vLo], %[t0] // x2y2x3y3 * vLo \n\ - shufps $0x88, %[t4], %[t1] // z0z1z2z3 \n\ - mulps %[vHi], %[t1] // z0z1z2z3 * vHi \n\ - movaps %[min], %[t3] // x0y0x1y1 * vLo \n\ - shufps $0x88, %[t0], %[min] // x0x1x2x3 * vLo.x \n\ - shufps $0xdd, %[t0], %[t3] // y0y1y2y3 * vLo.y \n\ - addps %[t3], %[min] // x + y \n\ - addps %[t1], %[min] // x + y + z \n\ - movaps %[min], (%[sap], %[byteIndex]) // record result for later scrutiny \n\ - minps %[t2], %[min] // record min, restore min \n\ - add $16, %[byteIndex] // advance loop counter\n\ - jnz 0b \n\ - " - : [min] "+x"(min), [t0] "=&x"(t0), [t1] "=&x"(t1), [t2] "=&x"(t2), [t3] "=&x"(t3), [t4] "=&x"(t4), [byteIndex] "+r"(byteIndex) - : [vLo] "x"(vLo), [vHi] "x"(vHi), [vertices] "r"(vertices), [sap] "r"(sap) - : "memory", "cc"); - index += localCount / 4; -#else - { - for (unsigned int i = 0; i < localCount / 4; i++, index++) - { // do four dot products at a time. Carefully avoid touching the w element. - float4 v0 = vertices[0]; - float4 v1 = vertices[1]; - float4 v2 = vertices[2]; - float4 v3 = vertices[3]; - vertices += 4; - - float4 lo0 = _mm_movelh_ps(v0, v1); // x0y0x1y1 - float4 hi0 = _mm_movehl_ps(v1, v0); // z0?0z1?1 - float4 lo1 = _mm_movelh_ps(v2, v3); // x2y2x3y3 - float4 hi1 = _mm_movehl_ps(v3, v2); // z2?2z3?3 - - lo0 = lo0 * vLo; - lo1 = lo1 * vLo; - float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); - float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); - float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); - z = z * vHi; - x = x + y; - x = x + z; - stack_array[index] = x; - min = _mm_min_ps(x, min); // control the order here so that max is never NaN even if x is nan - } - } - -#endif - } - - // process the last few points - if (count & 3) - { - float4 v0, v1, v2, x, y, z; - switch (count & 3) - { - case 3: - { - v0 = vertices[0]; - v1 = vertices[1]; - v2 = vertices[2]; - - // Calculate 3 dot products, transpose, duplicate v2 - float4 lo0 = _mm_movelh_ps(v0, v1); // xyxy.lo - float4 hi0 = _mm_movehl_ps(v1, v0); // z?z?.lo - lo0 = lo0 * vLo; - z = _mm_shuffle_ps(hi0, v2, 0xa8); // z0z1z2z2 - z = z * vHi; - float4 lo1 = _mm_movelh_ps(v2, v2); // xyxy - lo1 = lo1 * vLo; - x = _mm_shuffle_ps(lo0, lo1, 0x88); - y = _mm_shuffle_ps(lo0, lo1, 0xdd); - } - break; - case 2: - { - v0 = vertices[0]; - v1 = vertices[1]; - float4 xy = _mm_movelh_ps(v0, v1); - z = _mm_movehl_ps(v1, v0); - xy = xy * vLo; - z = _mm_shuffle_ps(z, z, 0xa8); - x = _mm_shuffle_ps(xy, xy, 0xa8); - y = _mm_shuffle_ps(xy, xy, 0xfd); - z = z * vHi; - } - break; - case 1: - { - float4 xy = vertices[0]; - z = _mm_shuffle_ps(xy, xy, 0xaa); - xy = xy * vLo; - z = z * vHi; - x = _mm_shuffle_ps(xy, xy, 0); - y = _mm_shuffle_ps(xy, xy, 0x55); - } - break; - } - x = x + y; - x = x + z; - stack_array[index] = x; - min = _mm_min_ps(x, min); // control the order here so that min is never NaN even if x is nan - index++; - } - - // if we found a new min. - if (0 == segment || 0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(min, dotmin))) - { // we found a new min. Search for it - // find min across the min vector, place in all elements of min -- big latency hit here - min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0x4e)); - min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0xb1)); - - // It is slightly faster to do this part in scalar code when count < 8. However, the common case for - // this where it actually makes a difference is handled in the early out at the top of the function, - // so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced - // complexity, and removed it. - - dotmin = min; - - // scan for the first occurence of min in the array - size_t test; - for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], min))); index++) // local_count must be a multiple of 4 - { - } - minIndex = 4 * index + segment + indexTable[test]; - } - - _mm_store_ss(dotResult, dotmin); - return minIndex; -} - -#elif defined B3_USE_NEON -#define ARM_NEON_GCC_COMPATIBILITY 1 -#include <arm_neon.h> - -static long b3_maxdot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult); -static long b3_maxdot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult); -static long b3_maxdot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult); -static long b3_mindot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult); -static long b3_mindot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult); -static long b3_mindot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult); - -long (*b3_maxdot_large)(const float *vv, const float *vec, unsigned long count, float *dotResult) = b3_maxdot_large_sel; -long (*b3_mindot_large)(const float *vv, const float *vec, unsigned long count, float *dotResult) = b3_mindot_large_sel; - -extern "C" -{ - int _get_cpu_capabilities(void); -} - -static long b3_maxdot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult) -{ - if (_get_cpu_capabilities() & 0x2000) - b3_maxdot_large = _maxdot_large_v1; - else - b3_maxdot_large = _maxdot_large_v0; - - return b3_maxdot_large(vv, vec, count, dotResult); -} - -static long b3_mindot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult) -{ - if (_get_cpu_capabilities() & 0x2000) - b3_mindot_large = _mindot_large_v1; - else - b3_mindot_large = _mindot_large_v0; - - return b3_mindot_large(vv, vec, count, dotResult); -} - -#define vld1q_f32_aligned_postincrement(_ptr) ({ float32x4_t _r; asm( "vld1.f32 {%0}, [%1, :128]!\n" : "=w" (_r), "+r" (_ptr) ); /*return*/ _r; }) - -long b3_maxdot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult) -{ - unsigned long i = 0; - float32x4_t vvec = vld1q_f32_aligned_postincrement(vec); - float32x2_t vLo = vget_low_f32(vvec); - float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0); - float32x2_t dotMaxLo = (float32x2_t){-B3_INFINITY, -B3_INFINITY}; - float32x2_t dotMaxHi = (float32x2_t){-B3_INFINITY, -B3_INFINITY}; - uint32x2_t indexLo = (uint32x2_t){0, 1}; - uint32x2_t indexHi = (uint32x2_t){2, 3}; - uint32x2_t iLo = (uint32x2_t){-1, -1}; - uint32x2_t iHi = (uint32x2_t){-1, -1}; - const uint32x2_t four = (uint32x2_t){4, 4}; - - for (; i + 8 <= count; i += 8) - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v2 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v3 = vld1q_f32_aligned_postincrement(vv); - - float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo); - float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo); - float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo); - float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo); - - float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3)); - float32x2_t zLo = vmul_f32(z0.val[0], vHi); - float32x2_t zHi = vmul_f32(z1.val[0], vHi); - - float32x2_t rLo = vpadd_f32(xy0, xy1); - float32x2_t rHi = vpadd_f32(xy2, xy3); - rLo = vadd_f32(rLo, zLo); - rHi = vadd_f32(rHi, zHi); - - uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo); - uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi); - dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo); - dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi); - iLo = vbsl_u32(maskLo, indexLo, iLo); - iHi = vbsl_u32(maskHi, indexHi, iHi); - indexLo = vadd_u32(indexLo, four); - indexHi = vadd_u32(indexHi, four); - - v0 = vld1q_f32_aligned_postincrement(vv); - v1 = vld1q_f32_aligned_postincrement(vv); - v2 = vld1q_f32_aligned_postincrement(vv); - v3 = vld1q_f32_aligned_postincrement(vv); - - xy0 = vmul_f32(vget_low_f32(v0), vLo); - xy1 = vmul_f32(vget_low_f32(v1), vLo); - xy2 = vmul_f32(vget_low_f32(v2), vLo); - xy3 = vmul_f32(vget_low_f32(v3), vLo); - - z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1)); - z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3)); - zLo = vmul_f32(z0.val[0], vHi); - zHi = vmul_f32(z1.val[0], vHi); - - rLo = vpadd_f32(xy0, xy1); - rHi = vpadd_f32(xy2, xy3); - rLo = vadd_f32(rLo, zLo); - rHi = vadd_f32(rHi, zHi); - - maskLo = vcgt_f32(rLo, dotMaxLo); - maskHi = vcgt_f32(rHi, dotMaxHi); - dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo); - dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi); - iLo = vbsl_u32(maskLo, indexLo, iLo); - iHi = vbsl_u32(maskHi, indexHi, iHi); - indexLo = vadd_u32(indexLo, four); - indexHi = vadd_u32(indexHi, four); - } - - for (; i + 4 <= count; i += 4) - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v2 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v3 = vld1q_f32_aligned_postincrement(vv); - - float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo); - float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo); - float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo); - float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo); - - float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3)); - float32x2_t zLo = vmul_f32(z0.val[0], vHi); - float32x2_t zHi = vmul_f32(z1.val[0], vHi); - - float32x2_t rLo = vpadd_f32(xy0, xy1); - float32x2_t rHi = vpadd_f32(xy2, xy3); - rLo = vadd_f32(rLo, zLo); - rHi = vadd_f32(rHi, zHi); - - uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo); - uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi); - dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo); - dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi); - iLo = vbsl_u32(maskLo, indexLo, iLo); - iHi = vbsl_u32(maskHi, indexHi, iHi); - indexLo = vadd_u32(indexLo, four); - indexHi = vadd_u32(indexHi, four); - } - - switch (count & 3) - { - case 3: - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v2 = vld1q_f32_aligned_postincrement(vv); - - float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo); - float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo); - float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo); - - float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x2_t zLo = vmul_f32(z0.val[0], vHi); - float32x2_t zHi = vmul_f32(vdup_lane_f32(vget_high_f32(v2), 0), vHi); - - float32x2_t rLo = vpadd_f32(xy0, xy1); - float32x2_t rHi = vpadd_f32(xy2, xy2); - rLo = vadd_f32(rLo, zLo); - rHi = vadd_f32(rHi, zHi); - - uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo); - uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi); - dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo); - dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi); - iLo = vbsl_u32(maskLo, indexLo, iLo); - iHi = vbsl_u32(maskHi, indexHi, iHi); - } - break; - case 2: - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - - float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo); - float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo); - - float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x2_t zLo = vmul_f32(z0.val[0], vHi); - - float32x2_t rLo = vpadd_f32(xy0, xy1); - rLo = vadd_f32(rLo, zLo); - - uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo); - dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo); - iLo = vbsl_u32(maskLo, indexLo, iLo); - } - break; - case 1: - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo); - float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0); - float32x2_t zLo = vmul_f32(z0, vHi); - float32x2_t rLo = vpadd_f32(xy0, xy0); - rLo = vadd_f32(rLo, zLo); - uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo); - dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo); - iLo = vbsl_u32(maskLo, indexLo, iLo); - } - break; - - default: - break; - } - - // select best answer between hi and lo results - uint32x2_t mask = vcgt_f32(dotMaxHi, dotMaxLo); - dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo); - iLo = vbsl_u32(mask, iHi, iLo); - - // select best answer between even and odd results - dotMaxHi = vdup_lane_f32(dotMaxLo, 1); - iHi = vdup_lane_u32(iLo, 1); - mask = vcgt_f32(dotMaxHi, dotMaxLo); - dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo); - iLo = vbsl_u32(mask, iHi, iLo); - - *dotResult = vget_lane_f32(dotMaxLo, 0); - return vget_lane_u32(iLo, 0); -} - -long b3_maxdot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult) -{ - float32x4_t vvec = vld1q_f32_aligned_postincrement(vec); - float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec)); - float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0); - const uint32x4_t four = (uint32x4_t){4, 4, 4, 4}; - uint32x4_t local_index = (uint32x4_t){0, 1, 2, 3}; - uint32x4_t index = (uint32x4_t){-1, -1, -1, -1}; - float32x4_t maxDot = (float32x4_t){-B3_INFINITY, -B3_INFINITY, -B3_INFINITY, -B3_INFINITY}; - - unsigned long i = 0; - for (; i + 8 <= count; i += 8) - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v2 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v3 = vld1q_f32_aligned_postincrement(vv); - - // the next two lines should resolve to a single vswp d, d - float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1)); - float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3)); - // the next two lines should resolve to a single vswp d, d - float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3)); - - xy0 = vmulq_f32(xy0, vLo); - xy1 = vmulq_f32(xy1, vLo); - - float32x4x2_t zb = vuzpq_f32(z0, z1); - float32x4_t z = vmulq_f32(zb.val[0], vHi); - float32x4x2_t xy = vuzpq_f32(xy0, xy1); - float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); - x = vaddq_f32(x, z); - - uint32x4_t mask = vcgtq_f32(x, maxDot); - maxDot = vbslq_f32(mask, x, maxDot); - index = vbslq_u32(mask, local_index, index); - local_index = vaddq_u32(local_index, four); - - v0 = vld1q_f32_aligned_postincrement(vv); - v1 = vld1q_f32_aligned_postincrement(vv); - v2 = vld1q_f32_aligned_postincrement(vv); - v3 = vld1q_f32_aligned_postincrement(vv); - - // the next two lines should resolve to a single vswp d, d - xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1)); - xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3)); - // the next two lines should resolve to a single vswp d, d - z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1)); - z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3)); - - xy0 = vmulq_f32(xy0, vLo); - xy1 = vmulq_f32(xy1, vLo); - - zb = vuzpq_f32(z0, z1); - z = vmulq_f32(zb.val[0], vHi); - xy = vuzpq_f32(xy0, xy1); - x = vaddq_f32(xy.val[0], xy.val[1]); - x = vaddq_f32(x, z); - - mask = vcgtq_f32(x, maxDot); - maxDot = vbslq_f32(mask, x, maxDot); - index = vbslq_u32(mask, local_index, index); - local_index = vaddq_u32(local_index, four); - } - - for (; i + 4 <= count; i += 4) - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v2 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v3 = vld1q_f32_aligned_postincrement(vv); - - // the next two lines should resolve to a single vswp d, d - float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1)); - float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3)); - // the next two lines should resolve to a single vswp d, d - float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3)); - - xy0 = vmulq_f32(xy0, vLo); - xy1 = vmulq_f32(xy1, vLo); - - float32x4x2_t zb = vuzpq_f32(z0, z1); - float32x4_t z = vmulq_f32(zb.val[0], vHi); - float32x4x2_t xy = vuzpq_f32(xy0, xy1); - float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); - x = vaddq_f32(x, z); - - uint32x4_t mask = vcgtq_f32(x, maxDot); - maxDot = vbslq_f32(mask, x, maxDot); - index = vbslq_u32(mask, local_index, index); - local_index = vaddq_u32(local_index, four); - } - - switch (count & 3) - { - case 3: - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v2 = vld1q_f32_aligned_postincrement(vv); - - // the next two lines should resolve to a single vswp d, d - float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1)); - float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v2)); - // the next two lines should resolve to a single vswp d, d - float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v2)); - - xy0 = vmulq_f32(xy0, vLo); - xy1 = vmulq_f32(xy1, vLo); - - float32x4x2_t zb = vuzpq_f32(z0, z1); - float32x4_t z = vmulq_f32(zb.val[0], vHi); - float32x4x2_t xy = vuzpq_f32(xy0, xy1); - float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); - x = vaddq_f32(x, z); - - uint32x4_t mask = vcgtq_f32(x, maxDot); - maxDot = vbslq_f32(mask, x, maxDot); - index = vbslq_u32(mask, local_index, index); - local_index = vaddq_u32(local_index, four); - } - break; - - case 2: - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - - // the next two lines should resolve to a single vswp d, d - float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1)); - // the next two lines should resolve to a single vswp d, d - float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1)); - - xy0 = vmulq_f32(xy0, vLo); - - float32x4x2_t zb = vuzpq_f32(z0, z0); - float32x4_t z = vmulq_f32(zb.val[0], vHi); - float32x4x2_t xy = vuzpq_f32(xy0, xy0); - float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); - x = vaddq_f32(x, z); - - uint32x4_t mask = vcgtq_f32(x, maxDot); - maxDot = vbslq_f32(mask, x, maxDot); - index = vbslq_u32(mask, local_index, index); - local_index = vaddq_u32(local_index, four); - } - break; - - case 1: - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - - // the next two lines should resolve to a single vswp d, d - float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v0)); - // the next two lines should resolve to a single vswp d, d - float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0); - - xy0 = vmulq_f32(xy0, vLo); - - z = vmulq_f32(z, vHi); - float32x4x2_t xy = vuzpq_f32(xy0, xy0); - float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); - x = vaddq_f32(x, z); - - uint32x4_t mask = vcgtq_f32(x, maxDot); - maxDot = vbslq_f32(mask, x, maxDot); - index = vbslq_u32(mask, local_index, index); - local_index = vaddq_u32(local_index, four); - } - break; - - default: - break; - } - - // select best answer between hi and lo results - uint32x2_t mask = vcgt_f32(vget_high_f32(maxDot), vget_low_f32(maxDot)); - float32x2_t maxDot2 = vbsl_f32(mask, vget_high_f32(maxDot), vget_low_f32(maxDot)); - uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index)); - - // select best answer between even and odd results - float32x2_t maxDotO = vdup_lane_f32(maxDot2, 1); - uint32x2_t indexHi = vdup_lane_u32(index2, 1); - mask = vcgt_f32(maxDotO, maxDot2); - maxDot2 = vbsl_f32(mask, maxDotO, maxDot2); - index2 = vbsl_u32(mask, indexHi, index2); - - *dotResult = vget_lane_f32(maxDot2, 0); - return vget_lane_u32(index2, 0); -} - -long b3_mindot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult) -{ - unsigned long i = 0; - float32x4_t vvec = vld1q_f32_aligned_postincrement(vec); - float32x2_t vLo = vget_low_f32(vvec); - float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0); - float32x2_t dotMinLo = (float32x2_t){B3_INFINITY, B3_INFINITY}; - float32x2_t dotMinHi = (float32x2_t){B3_INFINITY, B3_INFINITY}; - uint32x2_t indexLo = (uint32x2_t){0, 1}; - uint32x2_t indexHi = (uint32x2_t){2, 3}; - uint32x2_t iLo = (uint32x2_t){-1, -1}; - uint32x2_t iHi = (uint32x2_t){-1, -1}; - const uint32x2_t four = (uint32x2_t){4, 4}; - - for (; i + 8 <= count; i += 8) - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v2 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v3 = vld1q_f32_aligned_postincrement(vv); - - float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo); - float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo); - float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo); - float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo); - - float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3)); - float32x2_t zLo = vmul_f32(z0.val[0], vHi); - float32x2_t zHi = vmul_f32(z1.val[0], vHi); - - float32x2_t rLo = vpadd_f32(xy0, xy1); - float32x2_t rHi = vpadd_f32(xy2, xy3); - rLo = vadd_f32(rLo, zLo); - rHi = vadd_f32(rHi, zHi); - - uint32x2_t maskLo = vclt_f32(rLo, dotMinLo); - uint32x2_t maskHi = vclt_f32(rHi, dotMinHi); - dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo); - dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi); - iLo = vbsl_u32(maskLo, indexLo, iLo); - iHi = vbsl_u32(maskHi, indexHi, iHi); - indexLo = vadd_u32(indexLo, four); - indexHi = vadd_u32(indexHi, four); - - v0 = vld1q_f32_aligned_postincrement(vv); - v1 = vld1q_f32_aligned_postincrement(vv); - v2 = vld1q_f32_aligned_postincrement(vv); - v3 = vld1q_f32_aligned_postincrement(vv); - - xy0 = vmul_f32(vget_low_f32(v0), vLo); - xy1 = vmul_f32(vget_low_f32(v1), vLo); - xy2 = vmul_f32(vget_low_f32(v2), vLo); - xy3 = vmul_f32(vget_low_f32(v3), vLo); - - z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1)); - z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3)); - zLo = vmul_f32(z0.val[0], vHi); - zHi = vmul_f32(z1.val[0], vHi); - - rLo = vpadd_f32(xy0, xy1); - rHi = vpadd_f32(xy2, xy3); - rLo = vadd_f32(rLo, zLo); - rHi = vadd_f32(rHi, zHi); - - maskLo = vclt_f32(rLo, dotMinLo); - maskHi = vclt_f32(rHi, dotMinHi); - dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo); - dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi); - iLo = vbsl_u32(maskLo, indexLo, iLo); - iHi = vbsl_u32(maskHi, indexHi, iHi); - indexLo = vadd_u32(indexLo, four); - indexHi = vadd_u32(indexHi, four); - } - - for (; i + 4 <= count; i += 4) - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v2 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v3 = vld1q_f32_aligned_postincrement(vv); - - float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo); - float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo); - float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo); - float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo); - - float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3)); - float32x2_t zLo = vmul_f32(z0.val[0], vHi); - float32x2_t zHi = vmul_f32(z1.val[0], vHi); - - float32x2_t rLo = vpadd_f32(xy0, xy1); - float32x2_t rHi = vpadd_f32(xy2, xy3); - rLo = vadd_f32(rLo, zLo); - rHi = vadd_f32(rHi, zHi); - - uint32x2_t maskLo = vclt_f32(rLo, dotMinLo); - uint32x2_t maskHi = vclt_f32(rHi, dotMinHi); - dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo); - dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi); - iLo = vbsl_u32(maskLo, indexLo, iLo); - iHi = vbsl_u32(maskHi, indexHi, iHi); - indexLo = vadd_u32(indexLo, four); - indexHi = vadd_u32(indexHi, four); - } - switch (count & 3) - { - case 3: - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v2 = vld1q_f32_aligned_postincrement(vv); - - float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo); - float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo); - float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo); - - float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x2_t zLo = vmul_f32(z0.val[0], vHi); - float32x2_t zHi = vmul_f32(vdup_lane_f32(vget_high_f32(v2), 0), vHi); - - float32x2_t rLo = vpadd_f32(xy0, xy1); - float32x2_t rHi = vpadd_f32(xy2, xy2); - rLo = vadd_f32(rLo, zLo); - rHi = vadd_f32(rHi, zHi); - - uint32x2_t maskLo = vclt_f32(rLo, dotMinLo); - uint32x2_t maskHi = vclt_f32(rHi, dotMinHi); - dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo); - dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi); - iLo = vbsl_u32(maskLo, indexLo, iLo); - iHi = vbsl_u32(maskHi, indexHi, iHi); - } - break; - case 2: - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - - float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo); - float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo); - - float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x2_t zLo = vmul_f32(z0.val[0], vHi); - - float32x2_t rLo = vpadd_f32(xy0, xy1); - rLo = vadd_f32(rLo, zLo); - - uint32x2_t maskLo = vclt_f32(rLo, dotMinLo); - dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo); - iLo = vbsl_u32(maskLo, indexLo, iLo); - } - break; - case 1: - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo); - float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0); - float32x2_t zLo = vmul_f32(z0, vHi); - float32x2_t rLo = vpadd_f32(xy0, xy0); - rLo = vadd_f32(rLo, zLo); - uint32x2_t maskLo = vclt_f32(rLo, dotMinLo); - dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo); - iLo = vbsl_u32(maskLo, indexLo, iLo); - } - break; - - default: - break; - } - - // select best answer between hi and lo results - uint32x2_t mask = vclt_f32(dotMinHi, dotMinLo); - dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo); - iLo = vbsl_u32(mask, iHi, iLo); - - // select best answer between even and odd results - dotMinHi = vdup_lane_f32(dotMinLo, 1); - iHi = vdup_lane_u32(iLo, 1); - mask = vclt_f32(dotMinHi, dotMinLo); - dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo); - iLo = vbsl_u32(mask, iHi, iLo); - - *dotResult = vget_lane_f32(dotMinLo, 0); - return vget_lane_u32(iLo, 0); -} - -long b3_mindot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult) -{ - float32x4_t vvec = vld1q_f32_aligned_postincrement(vec); - float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec)); - float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0); - const uint32x4_t four = (uint32x4_t){4, 4, 4, 4}; - uint32x4_t local_index = (uint32x4_t){0, 1, 2, 3}; - uint32x4_t index = (uint32x4_t){-1, -1, -1, -1}; - float32x4_t minDot = (float32x4_t){B3_INFINITY, B3_INFINITY, B3_INFINITY, B3_INFINITY}; - - unsigned long i = 0; - for (; i + 8 <= count; i += 8) - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v2 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v3 = vld1q_f32_aligned_postincrement(vv); - - // the next two lines should resolve to a single vswp d, d - float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1)); - float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3)); - // the next two lines should resolve to a single vswp d, d - float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3)); - - xy0 = vmulq_f32(xy0, vLo); - xy1 = vmulq_f32(xy1, vLo); - - float32x4x2_t zb = vuzpq_f32(z0, z1); - float32x4_t z = vmulq_f32(zb.val[0], vHi); - float32x4x2_t xy = vuzpq_f32(xy0, xy1); - float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); - x = vaddq_f32(x, z); - - uint32x4_t mask = vcltq_f32(x, minDot); - minDot = vbslq_f32(mask, x, minDot); - index = vbslq_u32(mask, local_index, index); - local_index = vaddq_u32(local_index, four); - - v0 = vld1q_f32_aligned_postincrement(vv); - v1 = vld1q_f32_aligned_postincrement(vv); - v2 = vld1q_f32_aligned_postincrement(vv); - v3 = vld1q_f32_aligned_postincrement(vv); - - // the next two lines should resolve to a single vswp d, d - xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1)); - xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3)); - // the next two lines should resolve to a single vswp d, d - z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1)); - z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3)); - - xy0 = vmulq_f32(xy0, vLo); - xy1 = vmulq_f32(xy1, vLo); - - zb = vuzpq_f32(z0, z1); - z = vmulq_f32(zb.val[0], vHi); - xy = vuzpq_f32(xy0, xy1); - x = vaddq_f32(xy.val[0], xy.val[1]); - x = vaddq_f32(x, z); - - mask = vcltq_f32(x, minDot); - minDot = vbslq_f32(mask, x, minDot); - index = vbslq_u32(mask, local_index, index); - local_index = vaddq_u32(local_index, four); - } - - for (; i + 4 <= count; i += 4) - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v2 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v3 = vld1q_f32_aligned_postincrement(vv); - - // the next two lines should resolve to a single vswp d, d - float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1)); - float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3)); - // the next two lines should resolve to a single vswp d, d - float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3)); - - xy0 = vmulq_f32(xy0, vLo); - xy1 = vmulq_f32(xy1, vLo); - - float32x4x2_t zb = vuzpq_f32(z0, z1); - float32x4_t z = vmulq_f32(zb.val[0], vHi); - float32x4x2_t xy = vuzpq_f32(xy0, xy1); - float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); - x = vaddq_f32(x, z); - - uint32x4_t mask = vcltq_f32(x, minDot); - minDot = vbslq_f32(mask, x, minDot); - index = vbslq_u32(mask, local_index, index); - local_index = vaddq_u32(local_index, four); - } - - switch (count & 3) - { - case 3: - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v2 = vld1q_f32_aligned_postincrement(vv); - - // the next two lines should resolve to a single vswp d, d - float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1)); - float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v2)); - // the next two lines should resolve to a single vswp d, d - float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1)); - float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v2)); - - xy0 = vmulq_f32(xy0, vLo); - xy1 = vmulq_f32(xy1, vLo); - - float32x4x2_t zb = vuzpq_f32(z0, z1); - float32x4_t z = vmulq_f32(zb.val[0], vHi); - float32x4x2_t xy = vuzpq_f32(xy0, xy1); - float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); - x = vaddq_f32(x, z); - - uint32x4_t mask = vcltq_f32(x, minDot); - minDot = vbslq_f32(mask, x, minDot); - index = vbslq_u32(mask, local_index, index); - local_index = vaddq_u32(local_index, four); - } - break; - - case 2: - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - float32x4_t v1 = vld1q_f32_aligned_postincrement(vv); - - // the next two lines should resolve to a single vswp d, d - float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1)); - // the next two lines should resolve to a single vswp d, d - float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1)); - - xy0 = vmulq_f32(xy0, vLo); - - float32x4x2_t zb = vuzpq_f32(z0, z0); - float32x4_t z = vmulq_f32(zb.val[0], vHi); - float32x4x2_t xy = vuzpq_f32(xy0, xy0); - float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); - x = vaddq_f32(x, z); - - uint32x4_t mask = vcltq_f32(x, minDot); - minDot = vbslq_f32(mask, x, minDot); - index = vbslq_u32(mask, local_index, index); - local_index = vaddq_u32(local_index, four); - } - break; - - case 1: - { - float32x4_t v0 = vld1q_f32_aligned_postincrement(vv); - - // the next two lines should resolve to a single vswp d, d - float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v0)); - // the next two lines should resolve to a single vswp d, d - float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0); - - xy0 = vmulq_f32(xy0, vLo); - - z = vmulq_f32(z, vHi); - float32x4x2_t xy = vuzpq_f32(xy0, xy0); - float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); - x = vaddq_f32(x, z); - - uint32x4_t mask = vcltq_f32(x, minDot); - minDot = vbslq_f32(mask, x, minDot); - index = vbslq_u32(mask, local_index, index); - local_index = vaddq_u32(local_index, four); - } - break; - - default: - break; - } - - // select best answer between hi and lo results - uint32x2_t mask = vclt_f32(vget_high_f32(minDot), vget_low_f32(minDot)); - float32x2_t minDot2 = vbsl_f32(mask, vget_high_f32(minDot), vget_low_f32(minDot)); - uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index)); - - // select best answer between even and odd results - float32x2_t minDotO = vdup_lane_f32(minDot2, 1); - uint32x2_t indexHi = vdup_lane_u32(index2, 1); - mask = vclt_f32(minDotO, minDot2); - minDot2 = vbsl_f32(mask, minDotO, minDot2); - index2 = vbsl_u32(mask, indexHi, index2); - - *dotResult = vget_lane_f32(minDot2, 0); - return vget_lane_u32(index2, 0); -} - -#else -#error Unhandled __APPLE__ arch -#endif - -#endif /* __APPLE__ */ diff --git a/thirdparty/bullet/Bullet3Common/b3Vector3.h b/thirdparty/bullet/Bullet3Common/b3Vector3.h deleted file mode 100644 index a70d68d6e1..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3Vector3.h +++ /dev/null @@ -1,1303 +0,0 @@ -/* -Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_VECTOR3_H -#define B3_VECTOR3_H - -//#include <stdint.h> -#include "b3Scalar.h" -#include "b3MinMax.h" -#include "b3AlignedAllocator.h" - -#ifdef B3_USE_DOUBLE_PRECISION -#define b3Vector3Data b3Vector3DoubleData -#define b3Vector3DataName "b3Vector3DoubleData" -#else -#define b3Vector3Data b3Vector3FloatData -#define b3Vector3DataName "b3Vector3FloatData" -#endif //B3_USE_DOUBLE_PRECISION - -#if defined B3_USE_SSE - -//typedef uint32_t __m128i __attribute__ ((vector_size(16))); - -#ifdef _MSC_VER -#pragma warning(disable : 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255' -#endif - -#define B3_SHUFFLE(x, y, z, w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff) -//#define b3_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) ) -#define b3_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask)) -#define b3_splat3_ps(_a, _i) b3_pshufd_ps((_a), B3_SHUFFLE(_i, _i, _i, 3)) -#define b3_splat_ps(_a, _i) b3_pshufd_ps((_a), B3_SHUFFLE(_i, _i, _i, _i)) - -#define b3v3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF)) -#define b3vAbsMask (_mm_set_epi32(0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF)) -#define b3vFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF)) -#define b3v3AbsfMask b3CastiTo128f(b3v3AbsiMask) -#define b3vFFF0fMask b3CastiTo128f(b3vFFF0Mask) -#define b3vxyzMaskf b3vFFF0fMask -#define b3vAbsfMask b3CastiTo128f(b3vAbsMask) - -const __m128 B3_ATTRIBUTE_ALIGNED16(b3vMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f}; -const __m128 B3_ATTRIBUTE_ALIGNED16(b3v1110) = {1.0f, 1.0f, 1.0f, 0.0f}; -const __m128 B3_ATTRIBUTE_ALIGNED16(b3vHalf) = {0.5f, 0.5f, 0.5f, 0.5f}; -const __m128 B3_ATTRIBUTE_ALIGNED16(b3v1_5) = {1.5f, 1.5f, 1.5f, 1.5f}; - -#endif - -#ifdef B3_USE_NEON - -const float32x4_t B3_ATTRIBUTE_ALIGNED16(b3vMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f}; -const int32x4_t B3_ATTRIBUTE_ALIGNED16(b3vFFF0Mask) = (int32x4_t){0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0x0}; -const int32x4_t B3_ATTRIBUTE_ALIGNED16(b3vAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF}; -const int32x4_t B3_ATTRIBUTE_ALIGNED16(b3v3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0}; - -#endif - -class b3Vector3; -class b3Vector4; - -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) -//#if defined (B3_USE_SSE) || defined (B3_USE_NEON) -inline b3Vector3 b3MakeVector3(b3SimdFloat4 v); -inline b3Vector4 b3MakeVector4(b3SimdFloat4 vec); -#endif - -inline b3Vector3 b3MakeVector3(b3Scalar x, b3Scalar y, b3Scalar z); -inline b3Vector3 b3MakeVector3(b3Scalar x, b3Scalar y, b3Scalar z, b3Scalar w); -inline b3Vector4 b3MakeVector4(b3Scalar x, b3Scalar y, b3Scalar z, b3Scalar w); - -/**@brief b3Vector3 can be used to represent 3D points and vectors. - * It has an un-used w component to suit 16-byte alignment when b3Vector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user - * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers - */ -B3_ATTRIBUTE_ALIGNED16(class) -b3Vector3 -{ -public: -#if defined(B3_USE_SSE) || defined(B3_USE_NEON) // _WIN32 || ARM - union { - b3SimdFloat4 mVec128; - float m_floats[4]; - struct - { - float x, y, z, w; - }; - }; -#else - union { - float m_floats[4]; - struct - { - float x, y, z, w; - }; - }; -#endif - -public: - B3_DECLARE_ALIGNED_ALLOCATOR(); - -#if defined(B3_USE_SSE) || defined(B3_USE_NEON) // _WIN32 || ARM - - /*B3_FORCE_INLINE b3Vector3() - { - } - */ - - B3_FORCE_INLINE b3SimdFloat4 get128() const - { - return mVec128; - } - B3_FORCE_INLINE void set128(b3SimdFloat4 v128) - { - mVec128 = v128; - } -#endif - -public: - /**@brief Add a vector to this one - * @param The vector to add to this one */ - B3_FORCE_INLINE b3Vector3& operator+=(const b3Vector3& v) - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - mVec128 = _mm_add_ps(mVec128, v.mVec128); -#elif defined(B3_USE_NEON) - mVec128 = vaddq_f32(mVec128, v.mVec128); -#else - m_floats[0] += v.m_floats[0]; - m_floats[1] += v.m_floats[1]; - m_floats[2] += v.m_floats[2]; -#endif - return *this; - } - - /**@brief Subtract a vector from this one - * @param The vector to subtract */ - B3_FORCE_INLINE b3Vector3& operator-=(const b3Vector3& v) - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - mVec128 = _mm_sub_ps(mVec128, v.mVec128); -#elif defined(B3_USE_NEON) - mVec128 = vsubq_f32(mVec128, v.mVec128); -#else - m_floats[0] -= v.m_floats[0]; - m_floats[1] -= v.m_floats[1]; - m_floats[2] -= v.m_floats[2]; -#endif - return *this; - } - - /**@brief Scale the vector - * @param s Scale factor */ - B3_FORCE_INLINE b3Vector3& operator*=(const b3Scalar& s) - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vs = _mm_load_ss(&s); // (S 0 0 0) - vs = b3_pshufd_ps(vs, 0x80); // (S S S 0.0) - mVec128 = _mm_mul_ps(mVec128, vs); -#elif defined(B3_USE_NEON) - mVec128 = vmulq_n_f32(mVec128, s); -#else - m_floats[0] *= s; - m_floats[1] *= s; - m_floats[2] *= s; -#endif - return *this; - } - - /**@brief Inversely scale the vector - * @param s Scale factor to divide by */ - B3_FORCE_INLINE b3Vector3& operator/=(const b3Scalar& s) - { - b3FullAssert(s != b3Scalar(0.0)); - -#if 0 //defined(B3_USE_SSE_IN_API) -// this code is not faster ! - __m128 vs = _mm_load_ss(&s); - vs = _mm_div_ss(b3v1110, vs); - vs = b3_pshufd_ps(vs, 0x00); // (S S S S) - - mVec128 = _mm_mul_ps(mVec128, vs); - - return *this; -#else - return *this *= b3Scalar(1.0) / s; -#endif - } - - /**@brief Return the dot product - * @param v The other vector in the dot product */ - B3_FORCE_INLINE b3Scalar dot(const b3Vector3& v) const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vd = _mm_mul_ps(mVec128, v.mVec128); - __m128 z = _mm_movehl_ps(vd, vd); - __m128 y = _mm_shuffle_ps(vd, vd, 0x55); - vd = _mm_add_ss(vd, y); - vd = _mm_add_ss(vd, z); - return _mm_cvtss_f32(vd); -#elif defined(B3_USE_NEON) - float32x4_t vd = vmulq_f32(mVec128, v.mVec128); - float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd)); - x = vadd_f32(x, vget_high_f32(vd)); - return vget_lane_f32(x, 0); -#else - return m_floats[0] * v.m_floats[0] + - m_floats[1] * v.m_floats[1] + - m_floats[2] * v.m_floats[2]; -#endif - } - - /**@brief Return the length of the vector squared */ - B3_FORCE_INLINE b3Scalar length2() const - { - return dot(*this); - } - - /**@brief Return the length of the vector */ - B3_FORCE_INLINE b3Scalar length() const - { - return b3Sqrt(length2()); - } - - /**@brief Return the distance squared between the ends of this and another vector - * This is symantically treating the vector like a point */ - B3_FORCE_INLINE b3Scalar distance2(const b3Vector3& v) const; - - /**@brief Return the distance between the ends of this and another vector - * This is symantically treating the vector like a point */ - B3_FORCE_INLINE b3Scalar distance(const b3Vector3& v) const; - - B3_FORCE_INLINE b3Vector3& safeNormalize() - { - b3Scalar l2 = length2(); - //triNormal.normalize(); - if (l2 >= B3_EPSILON * B3_EPSILON) - { - (*this) /= b3Sqrt(l2); - } - else - { - setValue(1, 0, 0); - } - return *this; - } - - /**@brief Normalize this vector - * x^2 + y^2 + z^2 = 1 */ - B3_FORCE_INLINE b3Vector3& normalize() - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - // dot product first - __m128 vd = _mm_mul_ps(mVec128, mVec128); - __m128 z = _mm_movehl_ps(vd, vd); - __m128 y = _mm_shuffle_ps(vd, vd, 0x55); - vd = _mm_add_ss(vd, y); - vd = _mm_add_ss(vd, z); - -#if 0 - vd = _mm_sqrt_ss(vd); - vd = _mm_div_ss(b3v1110, vd); - vd = b3_splat_ps(vd, 0x80); - mVec128 = _mm_mul_ps(mVec128, vd); -#else - - // NR step 1/sqrt(x) - vd is x, y is output - y = _mm_rsqrt_ss(vd); // estimate - - // one step NR - z = b3v1_5; - vd = _mm_mul_ss(vd, b3vHalf); // vd * 0.5 - //x2 = vd; - vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 - vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 * y0 - z = _mm_sub_ss(z, vd); // 1.5 - vd * 0.5 * y0 * y0 - - y = _mm_mul_ss(y, z); // y0 * (1.5 - vd * 0.5 * y0 * y0) - - y = b3_splat_ps(y, 0x80); - mVec128 = _mm_mul_ps(mVec128, y); - -#endif - - return *this; -#else - return *this /= length(); -#endif - } - - /**@brief Return a normalized version of this vector */ - B3_FORCE_INLINE b3Vector3 normalized() const; - - /**@brief Return a rotated version of this vector - * @param wAxis The axis to rotate about - * @param angle The angle to rotate by */ - B3_FORCE_INLINE b3Vector3 rotate(const b3Vector3& wAxis, const b3Scalar angle) const; - - /**@brief Return the angle between this and another vector - * @param v The other vector */ - B3_FORCE_INLINE b3Scalar angle(const b3Vector3& v) const - { - b3Scalar s = b3Sqrt(length2() * v.length2()); - b3FullAssert(s != b3Scalar(0.0)); - return b3Acos(dot(v) / s); - } - - /**@brief Return a vector will the absolute values of each element */ - B3_FORCE_INLINE b3Vector3 absolute() const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - return b3MakeVector3(_mm_and_ps(mVec128, b3v3AbsfMask)); -#elif defined(B3_USE_NEON) - return b3Vector3(vabsq_f32(mVec128)); -#else - return b3MakeVector3( - b3Fabs(m_floats[0]), - b3Fabs(m_floats[1]), - b3Fabs(m_floats[2])); -#endif - } - - /**@brief Return the cross product between this and another vector - * @param v The other vector */ - B3_FORCE_INLINE b3Vector3 cross(const b3Vector3& v) const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 T, V; - - T = b3_pshufd_ps(mVec128, B3_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) - V = b3_pshufd_ps(v.mVec128, B3_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) - - V = _mm_mul_ps(V, mVec128); - T = _mm_mul_ps(T, v.mVec128); - V = _mm_sub_ps(V, T); - - V = b3_pshufd_ps(V, B3_SHUFFLE(1, 2, 0, 3)); - return b3MakeVector3(V); -#elif defined(B3_USE_NEON) - float32x4_t T, V; - // form (Y, Z, X, _) of mVec128 and v.mVec128 - float32x2_t Tlow = vget_low_f32(mVec128); - float32x2_t Vlow = vget_low_f32(v.mVec128); - T = vcombine_f32(vext_f32(Tlow, vget_high_f32(mVec128), 1), Tlow); - V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v.mVec128), 1), Vlow); - - V = vmulq_f32(V, mVec128); - T = vmulq_f32(T, v.mVec128); - V = vsubq_f32(V, T); - Vlow = vget_low_f32(V); - // form (Y, Z, X, _); - V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow); - V = (float32x4_t)vandq_s32((int32x4_t)V, b3vFFF0Mask); - - return b3Vector3(V); -#else - return b3MakeVector3( - m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1], - m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2], - m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]); -#endif - } - - B3_FORCE_INLINE b3Scalar triple(const b3Vector3& v1, const b3Vector3& v2) const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - // cross: - __m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, B3_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) - __m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, B3_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) - - V = _mm_mul_ps(V, v1.mVec128); - T = _mm_mul_ps(T, v2.mVec128); - V = _mm_sub_ps(V, T); - - V = _mm_shuffle_ps(V, V, B3_SHUFFLE(1, 2, 0, 3)); - - // dot: - V = _mm_mul_ps(V, mVec128); - __m128 z = _mm_movehl_ps(V, V); - __m128 y = _mm_shuffle_ps(V, V, 0x55); - V = _mm_add_ss(V, y); - V = _mm_add_ss(V, z); - return _mm_cvtss_f32(V); - -#elif defined(B3_USE_NEON) - // cross: - float32x4_t T, V; - // form (Y, Z, X, _) of mVec128 and v.mVec128 - float32x2_t Tlow = vget_low_f32(v1.mVec128); - float32x2_t Vlow = vget_low_f32(v2.mVec128); - T = vcombine_f32(vext_f32(Tlow, vget_high_f32(v1.mVec128), 1), Tlow); - V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v2.mVec128), 1), Vlow); - - V = vmulq_f32(V, v1.mVec128); - T = vmulq_f32(T, v2.mVec128); - V = vsubq_f32(V, T); - Vlow = vget_low_f32(V); - // form (Y, Z, X, _); - V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow); - - // dot: - V = vmulq_f32(mVec128, V); - float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V)); - x = vadd_f32(x, vget_high_f32(V)); - return vget_lane_f32(x, 0); -#else - return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + - m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) + - m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]); -#endif - } - - /**@brief Return the axis with the smallest value - * Note return values are 0,1,2 for x, y, or z */ - B3_FORCE_INLINE int minAxis() const - { - return m_floats[0] < m_floats[1] ? (m_floats[0] < m_floats[2] ? 0 : 2) : (m_floats[1] < m_floats[2] ? 1 : 2); - } - - /**@brief Return the axis with the largest value - * Note return values are 0,1,2 for x, y, or z */ - B3_FORCE_INLINE int maxAxis() const - { - return m_floats[0] < m_floats[1] ? (m_floats[1] < m_floats[2] ? 2 : 1) : (m_floats[0] < m_floats[2] ? 2 : 0); - } - - B3_FORCE_INLINE int furthestAxis() const - { - return absolute().minAxis(); - } - - B3_FORCE_INLINE int closestAxis() const - { - return absolute().maxAxis(); - } - - B3_FORCE_INLINE void setInterpolate3(const b3Vector3& v0, const b3Vector3& v1, b3Scalar rt) - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vrt = _mm_load_ss(&rt); // (rt 0 0 0) - b3Scalar s = b3Scalar(1.0) - rt; - __m128 vs = _mm_load_ss(&s); // (S 0 0 0) - vs = b3_pshufd_ps(vs, 0x80); // (S S S 0.0) - __m128 r0 = _mm_mul_ps(v0.mVec128, vs); - vrt = b3_pshufd_ps(vrt, 0x80); // (rt rt rt 0.0) - __m128 r1 = _mm_mul_ps(v1.mVec128, vrt); - __m128 tmp3 = _mm_add_ps(r0, r1); - mVec128 = tmp3; -#elif defined(B3_USE_NEON) - float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128); - vl = vmulq_n_f32(vl, rt); - mVec128 = vaddq_f32(vl, v0.mVec128); -#else - b3Scalar s = b3Scalar(1.0) - rt; - m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0]; - m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1]; - m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2]; - //don't do the unused w component - // m_co[3] = s * v0[3] + rt * v1[3]; -#endif - } - - /**@brief Return the linear interpolation between this and another vector - * @param v The other vector - * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */ - B3_FORCE_INLINE b3Vector3 lerp(const b3Vector3& v, const b3Scalar& t) const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vt = _mm_load_ss(&t); // (t 0 0 0) - vt = b3_pshufd_ps(vt, 0x80); // (rt rt rt 0.0) - __m128 vl = _mm_sub_ps(v.mVec128, mVec128); - vl = _mm_mul_ps(vl, vt); - vl = _mm_add_ps(vl, mVec128); - - return b3MakeVector3(vl); -#elif defined(B3_USE_NEON) - float32x4_t vl = vsubq_f32(v.mVec128, mVec128); - vl = vmulq_n_f32(vl, t); - vl = vaddq_f32(vl, mVec128); - - return b3Vector3(vl); -#else - return b3MakeVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t, - m_floats[1] + (v.m_floats[1] - m_floats[1]) * t, - m_floats[2] + (v.m_floats[2] - m_floats[2]) * t); -#endif - } - - /**@brief Elementwise multiply this vector by the other - * @param v The other vector */ - B3_FORCE_INLINE b3Vector3& operator*=(const b3Vector3& v) - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - mVec128 = _mm_mul_ps(mVec128, v.mVec128); -#elif defined(B3_USE_NEON) - mVec128 = vmulq_f32(mVec128, v.mVec128); -#else - m_floats[0] *= v.m_floats[0]; - m_floats[1] *= v.m_floats[1]; - m_floats[2] *= v.m_floats[2]; -#endif - return *this; - } - - /**@brief Return the x value */ - B3_FORCE_INLINE const b3Scalar& getX() const { return m_floats[0]; } - /**@brief Return the y value */ - B3_FORCE_INLINE const b3Scalar& getY() const { return m_floats[1]; } - /**@brief Return the z value */ - B3_FORCE_INLINE const b3Scalar& getZ() const { return m_floats[2]; } - /**@brief Return the w value */ - B3_FORCE_INLINE const b3Scalar& getW() const { return m_floats[3]; } - - /**@brief Set the x value */ - B3_FORCE_INLINE void setX(b3Scalar _x) { m_floats[0] = _x; }; - /**@brief Set the y value */ - B3_FORCE_INLINE void setY(b3Scalar _y) { m_floats[1] = _y; }; - /**@brief Set the z value */ - B3_FORCE_INLINE void setZ(b3Scalar _z) { m_floats[2] = _z; }; - /**@brief Set the w value */ - B3_FORCE_INLINE void setW(b3Scalar _w) { m_floats[3] = _w; }; - - //B3_FORCE_INLINE b3Scalar& operator[](int i) { return (&m_floats[0])[i]; } - //B3_FORCE_INLINE const b3Scalar& operator[](int i) const { return (&m_floats[0])[i]; } - ///operator b3Scalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons. - B3_FORCE_INLINE operator b3Scalar*() { return &m_floats[0]; } - B3_FORCE_INLINE operator const b3Scalar*() const { return &m_floats[0]; } - - B3_FORCE_INLINE bool operator==(const b3Vector3& other) const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128))); -#else - return ((m_floats[3] == other.m_floats[3]) && - (m_floats[2] == other.m_floats[2]) && - (m_floats[1] == other.m_floats[1]) && - (m_floats[0] == other.m_floats[0])); -#endif - } - - B3_FORCE_INLINE bool operator!=(const b3Vector3& other) const - { - return !(*this == other); - } - - /**@brief Set each element to the max of the current values and the values of another b3Vector3 - * @param other The other b3Vector3 to compare with - */ - B3_FORCE_INLINE void setMax(const b3Vector3& other) - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - mVec128 = _mm_max_ps(mVec128, other.mVec128); -#elif defined(B3_USE_NEON) - mVec128 = vmaxq_f32(mVec128, other.mVec128); -#else - b3SetMax(m_floats[0], other.m_floats[0]); - b3SetMax(m_floats[1], other.m_floats[1]); - b3SetMax(m_floats[2], other.m_floats[2]); - b3SetMax(m_floats[3], other.m_floats[3]); -#endif - } - - /**@brief Set each element to the min of the current values and the values of another b3Vector3 - * @param other The other b3Vector3 to compare with - */ - B3_FORCE_INLINE void setMin(const b3Vector3& other) - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - mVec128 = _mm_min_ps(mVec128, other.mVec128); -#elif defined(B3_USE_NEON) - mVec128 = vminq_f32(mVec128, other.mVec128); -#else - b3SetMin(m_floats[0], other.m_floats[0]); - b3SetMin(m_floats[1], other.m_floats[1]); - b3SetMin(m_floats[2], other.m_floats[2]); - b3SetMin(m_floats[3], other.m_floats[3]); -#endif - } - - B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z) - { - m_floats[0] = _x; - m_floats[1] = _y; - m_floats[2] = _z; - m_floats[3] = b3Scalar(0.f); - } - - void getSkewSymmetricMatrix(b3Vector3 * v0, b3Vector3 * v1, b3Vector3 * v2) const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - - __m128 V = _mm_and_ps(mVec128, b3vFFF0fMask); - __m128 V0 = _mm_xor_ps(b3vMzeroMask, V); - __m128 V2 = _mm_movelh_ps(V0, V); - - __m128 V1 = _mm_shuffle_ps(V, V0, 0xCE); - - V0 = _mm_shuffle_ps(V0, V, 0xDB); - V2 = _mm_shuffle_ps(V2, V, 0xF9); - - v0->mVec128 = V0; - v1->mVec128 = V1; - v2->mVec128 = V2; -#else - v0->setValue(0., -getZ(), getY()); - v1->setValue(getZ(), 0., -getX()); - v2->setValue(-getY(), getX(), 0.); -#endif - } - - void setZero() - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128); -#elif defined(B3_USE_NEON) - int32x4_t vi = vdupq_n_s32(0); - mVec128 = vreinterpretq_f32_s32(vi); -#else - setValue(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.)); -#endif - } - - B3_FORCE_INLINE bool isZero() const - { - return m_floats[0] == b3Scalar(0) && m_floats[1] == b3Scalar(0) && m_floats[2] == b3Scalar(0); - } - - B3_FORCE_INLINE bool fuzzyZero() const - { - return length2() < B3_EPSILON; - } - - B3_FORCE_INLINE void serialize(struct b3Vector3Data & dataOut) const; - - B3_FORCE_INLINE void deSerialize(const struct b3Vector3Data& dataIn); - - B3_FORCE_INLINE void serializeFloat(struct b3Vector3FloatData & dataOut) const; - - B3_FORCE_INLINE void deSerializeFloat(const struct b3Vector3FloatData& dataIn); - - B3_FORCE_INLINE void serializeDouble(struct b3Vector3DoubleData & dataOut) const; - - B3_FORCE_INLINE void deSerializeDouble(const struct b3Vector3DoubleData& dataIn); - - /**@brief returns index of maximum dot product between this and vectors in array[] - * @param array The other vectors - * @param array_count The number of other vectors - * @param dotOut The maximum dot product */ - B3_FORCE_INLINE long maxDot(const b3Vector3* array, long array_count, b3Scalar& dotOut) const; - - /**@brief returns index of minimum dot product between this and vectors in array[] - * @param array The other vectors - * @param array_count The number of other vectors - * @param dotOut The minimum dot product */ - B3_FORCE_INLINE long minDot(const b3Vector3* array, long array_count, b3Scalar& dotOut) const; - - /* create a vector as b3Vector3( this->dot( b3Vector3 v0 ), this->dot( b3Vector3 v1), this->dot( b3Vector3 v2 )) */ - B3_FORCE_INLINE b3Vector3 dot3(const b3Vector3& v0, const b3Vector3& v1, const b3Vector3& v2) const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - - __m128 a0 = _mm_mul_ps(v0.mVec128, this->mVec128); - __m128 a1 = _mm_mul_ps(v1.mVec128, this->mVec128); - __m128 a2 = _mm_mul_ps(v2.mVec128, this->mVec128); - __m128 b0 = _mm_unpacklo_ps(a0, a1); - __m128 b1 = _mm_unpackhi_ps(a0, a1); - __m128 b2 = _mm_unpacklo_ps(a2, _mm_setzero_ps()); - __m128 r = _mm_movelh_ps(b0, b2); - r = _mm_add_ps(r, _mm_movehl_ps(b2, b0)); - a2 = _mm_and_ps(a2, b3vxyzMaskf); - r = _mm_add_ps(r, b3CastdTo128f(_mm_move_sd(b3CastfTo128d(a2), b3CastfTo128d(b1)))); - return b3MakeVector3(r); - -#elif defined(B3_USE_NEON) - static const uint32x4_t xyzMask = (const uint32x4_t){-1, -1, -1, 0}; - float32x4_t a0 = vmulq_f32(v0.mVec128, this->mVec128); - float32x4_t a1 = vmulq_f32(v1.mVec128, this->mVec128); - float32x4_t a2 = vmulq_f32(v2.mVec128, this->mVec128); - float32x2x2_t zLo = vtrn_f32(vget_high_f32(a0), vget_high_f32(a1)); - a2 = (float32x4_t)vandq_u32((uint32x4_t)a2, xyzMask); - float32x2_t b0 = vadd_f32(vpadd_f32(vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0]); - float32x2_t b1 = vpadd_f32(vpadd_f32(vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f)); - return b3Vector3(vcombine_f32(b0, b1)); -#else - return b3MakeVector3(dot(v0), dot(v1), dot(v2)); -#endif - } -}; - -/**@brief Return the sum of two vectors (Point symantics)*/ -B3_FORCE_INLINE b3Vector3 -operator+(const b3Vector3& v1, const b3Vector3& v2) -{ -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - return b3MakeVector3(_mm_add_ps(v1.mVec128, v2.mVec128)); -#elif defined(B3_USE_NEON) - return b3MakeVector3(vaddq_f32(v1.mVec128, v2.mVec128)); -#else - return b3MakeVector3( - v1.m_floats[0] + v2.m_floats[0], - v1.m_floats[1] + v2.m_floats[1], - v1.m_floats[2] + v2.m_floats[2]); -#endif -} - -/**@brief Return the elementwise product of two vectors */ -B3_FORCE_INLINE b3Vector3 -operator*(const b3Vector3& v1, const b3Vector3& v2) -{ -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - return b3MakeVector3(_mm_mul_ps(v1.mVec128, v2.mVec128)); -#elif defined(B3_USE_NEON) - return b3MakeVector3(vmulq_f32(v1.mVec128, v2.mVec128)); -#else - return b3MakeVector3( - v1.m_floats[0] * v2.m_floats[0], - v1.m_floats[1] * v2.m_floats[1], - v1.m_floats[2] * v2.m_floats[2]); -#endif -} - -/**@brief Return the difference between two vectors */ -B3_FORCE_INLINE b3Vector3 -operator-(const b3Vector3& v1, const b3Vector3& v2) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - - // without _mm_and_ps this code causes slowdown in Concave moving - __m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128); - return b3MakeVector3(_mm_and_ps(r, b3vFFF0fMask)); -#elif defined(B3_USE_NEON) - float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128); - return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)r, b3vFFF0Mask)); -#else - return b3MakeVector3( - v1.m_floats[0] - v2.m_floats[0], - v1.m_floats[1] - v2.m_floats[1], - v1.m_floats[2] - v2.m_floats[2]); -#endif -} - -/**@brief Return the negative of the vector */ -B3_FORCE_INLINE b3Vector3 -operator-(const b3Vector3& v) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - __m128 r = _mm_xor_ps(v.mVec128, b3vMzeroMask); - return b3MakeVector3(_mm_and_ps(r, b3vFFF0fMask)); -#elif defined(B3_USE_NEON) - return b3MakeVector3((b3SimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)b3vMzeroMask)); -#else - return b3MakeVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]); -#endif -} - -/**@brief Return the vector scaled by s */ -B3_FORCE_INLINE b3Vector3 -operator*(const b3Vector3& v, const b3Scalar& s) -{ -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vs = _mm_load_ss(&s); // (S 0 0 0) - vs = b3_pshufd_ps(vs, 0x80); // (S S S 0.0) - return b3MakeVector3(_mm_mul_ps(v.mVec128, vs)); -#elif defined(B3_USE_NEON) - float32x4_t r = vmulq_n_f32(v.mVec128, s); - return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)r, b3vFFF0Mask)); -#else - return b3MakeVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s); -#endif -} - -/**@brief Return the vector scaled by s */ -B3_FORCE_INLINE b3Vector3 -operator*(const b3Scalar& s, const b3Vector3& v) -{ - return v * s; -} - -/**@brief Return the vector inversely scaled by s */ -B3_FORCE_INLINE b3Vector3 -operator/(const b3Vector3& v, const b3Scalar& s) -{ - b3FullAssert(s != b3Scalar(0.0)); -#if 0 //defined(B3_USE_SSE_IN_API) -// this code is not faster ! - __m128 vs = _mm_load_ss(&s); - vs = _mm_div_ss(b3v1110, vs); - vs = b3_pshufd_ps(vs, 0x00); // (S S S S) - - return b3Vector3(_mm_mul_ps(v.mVec128, vs)); -#else - return v * (b3Scalar(1.0) / s); -#endif -} - -/**@brief Return the vector inversely scaled by s */ -B3_FORCE_INLINE b3Vector3 -operator/(const b3Vector3& v1, const b3Vector3& v2) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - __m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128); - vec = _mm_and_ps(vec, b3vFFF0fMask); - return b3MakeVector3(vec); -#elif defined(B3_USE_NEON) - float32x4_t x, y, v, m; - - x = v1.mVec128; - y = v2.mVec128; - - v = vrecpeq_f32(y); // v ~ 1/y - m = vrecpsq_f32(y, v); // m = (2-v*y) - v = vmulq_f32(v, m); // vv = v*m ~~ 1/y - m = vrecpsq_f32(y, v); // mm = (2-vv*y) - v = vmulq_f32(v, x); // x*vv - v = vmulq_f32(v, m); // (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y - - return b3Vector3(v); -#else - return b3MakeVector3( - v1.m_floats[0] / v2.m_floats[0], - v1.m_floats[1] / v2.m_floats[1], - v1.m_floats[2] / v2.m_floats[2]); -#endif -} - -/**@brief Return the dot product between two vectors */ -B3_FORCE_INLINE b3Scalar -b3Dot(const b3Vector3& v1, const b3Vector3& v2) -{ - return v1.dot(v2); -} - -/**@brief Return the distance squared between two vectors */ -B3_FORCE_INLINE b3Scalar -b3Distance2(const b3Vector3& v1, const b3Vector3& v2) -{ - return v1.distance2(v2); -} - -/**@brief Return the distance between two vectors */ -B3_FORCE_INLINE b3Scalar -b3Distance(const b3Vector3& v1, const b3Vector3& v2) -{ - return v1.distance(v2); -} - -/**@brief Return the angle between two vectors */ -B3_FORCE_INLINE b3Scalar -b3Angle(const b3Vector3& v1, const b3Vector3& v2) -{ - return v1.angle(v2); -} - -/**@brief Return the cross product of two vectors */ -B3_FORCE_INLINE b3Vector3 -b3Cross(const b3Vector3& v1, const b3Vector3& v2) -{ - return v1.cross(v2); -} - -B3_FORCE_INLINE b3Scalar -b3Triple(const b3Vector3& v1, const b3Vector3& v2, const b3Vector3& v3) -{ - return v1.triple(v2, v3); -} - -/**@brief Return the linear interpolation between two vectors - * @param v1 One vector - * @param v2 The other vector - * @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */ -B3_FORCE_INLINE b3Vector3 -b3Lerp(const b3Vector3& v1, const b3Vector3& v2, const b3Scalar& t) -{ - return v1.lerp(v2, t); -} - -B3_FORCE_INLINE b3Scalar b3Vector3::distance2(const b3Vector3& v) const -{ - return (v - *this).length2(); -} - -B3_FORCE_INLINE b3Scalar b3Vector3::distance(const b3Vector3& v) const -{ - return (v - *this).length(); -} - -B3_FORCE_INLINE b3Vector3 b3Vector3::normalized() const -{ -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - b3Vector3 norm = *this; - - return norm.normalize(); -#else - return *this / length(); -#endif -} - -B3_FORCE_INLINE b3Vector3 b3Vector3::rotate(const b3Vector3& wAxis, const b3Scalar _angle) const -{ - // wAxis must be a unit lenght vector - -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - - __m128 O = _mm_mul_ps(wAxis.mVec128, mVec128); - b3Scalar ssin = b3Sin(_angle); - __m128 C = wAxis.cross(b3MakeVector3(mVec128)).mVec128; - O = _mm_and_ps(O, b3vFFF0fMask); - b3Scalar scos = b3Cos(_angle); - - __m128 vsin = _mm_load_ss(&ssin); // (S 0 0 0) - __m128 vcos = _mm_load_ss(&scos); // (S 0 0 0) - - __m128 Y = b3_pshufd_ps(O, 0xC9); // (Y Z X 0) - __m128 Z = b3_pshufd_ps(O, 0xD2); // (Z X Y 0) - O = _mm_add_ps(O, Y); - vsin = b3_pshufd_ps(vsin, 0x80); // (S S S 0) - O = _mm_add_ps(O, Z); - vcos = b3_pshufd_ps(vcos, 0x80); // (S S S 0) - - vsin = vsin * C; - O = O * wAxis.mVec128; - __m128 X = mVec128 - O; - - O = O + vsin; - vcos = vcos * X; - O = O + vcos; - - return b3MakeVector3(O); -#else - b3Vector3 o = wAxis * wAxis.dot(*this); - b3Vector3 _x = *this - o; - b3Vector3 _y; - - _y = wAxis.cross(*this); - - return (o + _x * b3Cos(_angle) + _y * b3Sin(_angle)); -#endif -} - -B3_FORCE_INLINE long b3Vector3::maxDot(const b3Vector3* array, long array_count, b3Scalar& dotOut) const -{ -#if defined(B3_USE_SSE) || defined(B3_USE_NEON) -#if defined _WIN32 || defined(B3_USE_SSE) - const long scalar_cutoff = 10; - long b3_maxdot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut); -#elif defined B3_USE_NEON - const long scalar_cutoff = 4; - extern long (*_maxdot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut); -#endif - if (array_count < scalar_cutoff) -#else - -#endif //B3_USE_SSE || B3_USE_NEON - { - b3Scalar maxDot = -B3_INFINITY; - int i = 0; - int ptIndex = -1; - for (i = 0; i < array_count; i++) - { - b3Scalar dot = array[i].dot(*this); - - if (dot > maxDot) - { - maxDot = dot; - ptIndex = i; - } - } - - b3Assert(ptIndex >= 0); - if (ptIndex < 0) - { - ptIndex = 0; - } - dotOut = maxDot; - return ptIndex; - } -#if defined(B3_USE_SSE) || defined(B3_USE_NEON) - return b3_maxdot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut); -#endif -} - -B3_FORCE_INLINE long b3Vector3::minDot(const b3Vector3* array, long array_count, b3Scalar& dotOut) const -{ -#if defined(B3_USE_SSE) || defined(B3_USE_NEON) -#if defined B3_USE_SSE - const long scalar_cutoff = 10; - long b3_mindot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut); -#elif defined B3_USE_NEON - const long scalar_cutoff = 4; - extern long (*b3_mindot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut); -#else -#error unhandled arch! -#endif - - if (array_count < scalar_cutoff) -#endif //B3_USE_SSE || B3_USE_NEON - { - b3Scalar minDot = B3_INFINITY; - int i = 0; - int ptIndex = -1; - - for (i = 0; i < array_count; i++) - { - b3Scalar dot = array[i].dot(*this); - - if (dot < minDot) - { - minDot = dot; - ptIndex = i; - } - } - - dotOut = minDot; - - return ptIndex; - } -#if defined(B3_USE_SSE) || defined(B3_USE_NEON) - return b3_mindot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut); -#endif -} - -class b3Vector4 : public b3Vector3 -{ -public: - B3_FORCE_INLINE b3Vector4 absolute4() const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - return b3MakeVector4(_mm_and_ps(mVec128, b3vAbsfMask)); -#elif defined(B3_USE_NEON) - return b3Vector4(vabsq_f32(mVec128)); -#else - return b3MakeVector4( - b3Fabs(m_floats[0]), - b3Fabs(m_floats[1]), - b3Fabs(m_floats[2]), - b3Fabs(m_floats[3])); -#endif - } - - b3Scalar getW() const { return m_floats[3]; } - - B3_FORCE_INLINE int maxAxis4() const - { - int maxIndex = -1; - b3Scalar maxVal = b3Scalar(-B3_LARGE_FLOAT); - if (m_floats[0] > maxVal) - { - maxIndex = 0; - maxVal = m_floats[0]; - } - if (m_floats[1] > maxVal) - { - maxIndex = 1; - maxVal = m_floats[1]; - } - if (m_floats[2] > maxVal) - { - maxIndex = 2; - maxVal = m_floats[2]; - } - if (m_floats[3] > maxVal) - { - maxIndex = 3; - } - - return maxIndex; - } - - B3_FORCE_INLINE int minAxis4() const - { - int minIndex = -1; - b3Scalar minVal = b3Scalar(B3_LARGE_FLOAT); - if (m_floats[0] < minVal) - { - minIndex = 0; - minVal = m_floats[0]; - } - if (m_floats[1] < minVal) - { - minIndex = 1; - minVal = m_floats[1]; - } - if (m_floats[2] < minVal) - { - minIndex = 2; - minVal = m_floats[2]; - } - if (m_floats[3] < minVal) - { - minIndex = 3; - minVal = m_floats[3]; - } - - return minIndex; - } - - B3_FORCE_INLINE int closestAxis4() const - { - return absolute4().maxAxis4(); - } - - /**@brief Set x,y,z and zero w - * @param x Value of x - * @param y Value of y - * @param z Value of z - */ - - /* void getValue(b3Scalar *m) const - { - m[0] = m_floats[0]; - m[1] = m_floats[1]; - m[2] =m_floats[2]; - } -*/ - /**@brief Set the values - * @param x Value of x - * @param y Value of y - * @param z Value of z - * @param w Value of w - */ - B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w) - { - m_floats[0] = _x; - m_floats[1] = _y; - m_floats[2] = _z; - m_floats[3] = _w; - } -}; - -///b3SwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization -B3_FORCE_INLINE void b3SwapScalarEndian(const b3Scalar& sourceVal, b3Scalar& destVal) -{ -#ifdef B3_USE_DOUBLE_PRECISION - unsigned char* dest = (unsigned char*)&destVal; - unsigned char* src = (unsigned char*)&sourceVal; - dest[0] = src[7]; - dest[1] = src[6]; - dest[2] = src[5]; - dest[3] = src[4]; - dest[4] = src[3]; - dest[5] = src[2]; - dest[6] = src[1]; - dest[7] = src[0]; -#else - unsigned char* dest = (unsigned char*)&destVal; - unsigned char* src = (unsigned char*)&sourceVal; - dest[0] = src[3]; - dest[1] = src[2]; - dest[2] = src[1]; - dest[3] = src[0]; -#endif //B3_USE_DOUBLE_PRECISION -} -///b3SwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization -B3_FORCE_INLINE void b3SwapVector3Endian(const b3Vector3& sourceVec, b3Vector3& destVec) -{ - for (int i = 0; i < 4; i++) - { - b3SwapScalarEndian(sourceVec[i], destVec[i]); - } -} - -///b3UnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization -B3_FORCE_INLINE void b3UnSwapVector3Endian(b3Vector3& vector) -{ - b3Vector3 swappedVec; - for (int i = 0; i < 4; i++) - { - b3SwapScalarEndian(vector[i], swappedVec[i]); - } - vector = swappedVec; -} - -template <class T> -B3_FORCE_INLINE void b3PlaneSpace1(const T& n, T& p, T& q) -{ - if (b3Fabs(n[2]) > B3_SQRT12) - { - // choose p in y-z plane - b3Scalar a = n[1] * n[1] + n[2] * n[2]; - b3Scalar k = b3RecipSqrt(a); - p[0] = 0; - p[1] = -n[2] * k; - p[2] = n[1] * k; - // set q = n x p - q[0] = a * k; - q[1] = -n[0] * p[2]; - q[2] = n[0] * p[1]; - } - else - { - // choose p in x-y plane - b3Scalar a = n[0] * n[0] + n[1] * n[1]; - b3Scalar k = b3RecipSqrt(a); - p[0] = -n[1] * k; - p[1] = n[0] * k; - p[2] = 0; - // set q = n x p - q[0] = -n[2] * p[1]; - q[1] = n[2] * p[0]; - q[2] = a * k; - } -} - -struct b3Vector3FloatData -{ - float m_floats[4]; -}; - -struct b3Vector3DoubleData -{ - double m_floats[4]; -}; - -B3_FORCE_INLINE void b3Vector3::serializeFloat(struct b3Vector3FloatData& dataOut) const -{ - ///could also do a memcpy, check if it is worth it - for (int i = 0; i < 4; i++) - dataOut.m_floats[i] = float(m_floats[i]); -} - -B3_FORCE_INLINE void b3Vector3::deSerializeFloat(const struct b3Vector3FloatData& dataIn) -{ - for (int i = 0; i < 4; i++) - m_floats[i] = b3Scalar(dataIn.m_floats[i]); -} - -B3_FORCE_INLINE void b3Vector3::serializeDouble(struct b3Vector3DoubleData& dataOut) const -{ - ///could also do a memcpy, check if it is worth it - for (int i = 0; i < 4; i++) - dataOut.m_floats[i] = double(m_floats[i]); -} - -B3_FORCE_INLINE void b3Vector3::deSerializeDouble(const struct b3Vector3DoubleData& dataIn) -{ - for (int i = 0; i < 4; i++) - m_floats[i] = b3Scalar(dataIn.m_floats[i]); -} - -B3_FORCE_INLINE void b3Vector3::serialize(struct b3Vector3Data& dataOut) const -{ - ///could also do a memcpy, check if it is worth it - for (int i = 0; i < 4; i++) - dataOut.m_floats[i] = m_floats[i]; -} - -B3_FORCE_INLINE void b3Vector3::deSerialize(const struct b3Vector3Data& dataIn) -{ - for (int i = 0; i < 4; i++) - m_floats[i] = dataIn.m_floats[i]; -} - -inline b3Vector3 b3MakeVector3(b3Scalar x, b3Scalar y, b3Scalar z) -{ - b3Vector3 tmp; - tmp.setValue(x, y, z); - return tmp; -} - -inline b3Vector3 b3MakeVector3(b3Scalar x, b3Scalar y, b3Scalar z, b3Scalar w) -{ - b3Vector3 tmp; - tmp.setValue(x, y, z); - tmp.w = w; - return tmp; -} - -inline b3Vector4 b3MakeVector4(b3Scalar x, b3Scalar y, b3Scalar z, b3Scalar w) -{ - b3Vector4 tmp; - tmp.setValue(x, y, z, w); - return tmp; -} - -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - -inline b3Vector3 b3MakeVector3(b3SimdFloat4 v) -{ - b3Vector3 tmp; - tmp.set128(v); - return tmp; -} - -inline b3Vector4 b3MakeVector4(b3SimdFloat4 vec) -{ - b3Vector4 tmp; - tmp.set128(vec); - return tmp; -} - -#endif - -#endif //B3_VECTOR3_H diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Float4.h b/thirdparty/bullet/Bullet3Common/shared/b3Float4.h deleted file mode 100644 index d8a9f47411..0000000000 --- a/thirdparty/bullet/Bullet3Common/shared/b3Float4.h +++ /dev/null @@ -1,90 +0,0 @@ -#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 diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Int2.h b/thirdparty/bullet/Bullet3Common/shared/b3Int2.h deleted file mode 100644 index 7b84de4436..0000000000 --- a/thirdparty/bullet/Bullet3Common/shared/b3Int2.h +++ /dev/null @@ -1,63 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_INT2_H -#define B3_INT2_H - -#ifdef __cplusplus - -struct b3UnsignedInt2 -{ - union { - struct - { - unsigned int x, y; - }; - struct - { - unsigned int s[2]; - }; - }; -}; - -struct b3Int2 -{ - union { - struct - { - int x, y; - }; - struct - { - int s[2]; - }; - }; -}; - -inline b3Int2 b3MakeInt2(int x, int y) -{ - b3Int2 v; - v.s[0] = x; - v.s[1] = y; - return v; -} -#else - -#define b3UnsignedInt2 uint2 -#define b3Int2 int2 -#define b3MakeInt2 (int2) - -#endif //__cplusplus -#endif
\ No newline at end of file diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Int4.h b/thirdparty/bullet/Bullet3Common/shared/b3Int4.h deleted file mode 100644 index f6a1754245..0000000000 --- a/thirdparty/bullet/Bullet3Common/shared/b3Int4.h +++ /dev/null @@ -1,71 +0,0 @@ -#ifndef B3_INT4_H -#define B3_INT4_H - -#ifdef __cplusplus - -#include "Bullet3Common/b3Scalar.h" - -B3_ATTRIBUTE_ALIGNED16(struct) -b3UnsignedInt4 -{ - B3_DECLARE_ALIGNED_ALLOCATOR(); - - union { - struct - { - unsigned int x, y, z, w; - }; - struct - { - unsigned int s[4]; - }; - }; -}; - -B3_ATTRIBUTE_ALIGNED16(struct) -b3Int4 -{ - B3_DECLARE_ALIGNED_ALLOCATOR(); - - union { - struct - { - int x, y, z, w; - }; - struct - { - int s[4]; - }; - }; -}; - -B3_FORCE_INLINE b3Int4 b3MakeInt4(int x, int y, int z, int w = 0) -{ - b3Int4 v; - v.s[0] = x; - v.s[1] = y; - v.s[2] = z; - v.s[3] = w; - return v; -} - -B3_FORCE_INLINE b3UnsignedInt4 b3MakeUnsignedInt4(unsigned int x, unsigned int y, unsigned int z, unsigned int w = 0) -{ - b3UnsignedInt4 v; - v.s[0] = x; - v.s[1] = y; - v.s[2] = z; - v.s[3] = w; - return v; -} - -#else - -#define b3UnsignedInt4 uint4 -#define b3Int4 int4 -#define b3MakeInt4 (int4) -#define b3MakeUnsignedInt4 (uint4) - -#endif //__cplusplus - -#endif //B3_INT4_H diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h b/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h deleted file mode 100644 index ce6482b5a6..0000000000 --- a/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h +++ /dev/null @@ -1,157 +0,0 @@ - -#ifndef B3_MAT3x3_H -#define B3_MAT3x3_H - -#include "Bullet3Common/shared/b3Quat.h" - -#ifdef __cplusplus - -#include "Bullet3Common/b3Matrix3x3.h" - -#define b3Mat3x3 b3Matrix3x3 -#define b3Mat3x3ConstArg const b3Matrix3x3& - -inline b3Mat3x3 b3QuatGetRotationMatrix(b3QuatConstArg quat) -{ - return b3Mat3x3(quat); -} - -inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg mat) -{ - return mat.absolute(); -} - -#define b3GetRow(m, row) m.getRow(row) - -__inline b3Float4 mtMul3(b3Float4ConstArg a, b3Mat3x3ConstArg b) -{ - return b * a; -} - -#else - -typedef struct -{ - b3Float4 m_row[3]; -} b3Mat3x3; - -#define b3Mat3x3ConstArg const b3Mat3x3 -#define b3GetRow(m, row) (m.m_row[row]) - -inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat) -{ - b3Float4 quat2 = (b3Float4)(quat.x * quat.x, quat.y * quat.y, quat.z * quat.z, 0.f); - b3Mat3x3 out; - - out.m_row[0].x = 1 - 2 * quat2.y - 2 * quat2.z; - out.m_row[0].y = 2 * quat.x * quat.y - 2 * quat.w * quat.z; - out.m_row[0].z = 2 * quat.x * quat.z + 2 * quat.w * quat.y; - out.m_row[0].w = 0.f; - - out.m_row[1].x = 2 * quat.x * quat.y + 2 * quat.w * quat.z; - out.m_row[1].y = 1 - 2 * quat2.x - 2 * quat2.z; - out.m_row[1].z = 2 * quat.y * quat.z - 2 * quat.w * quat.x; - out.m_row[1].w = 0.f; - - out.m_row[2].x = 2 * quat.x * quat.z - 2 * quat.w * quat.y; - out.m_row[2].y = 2 * quat.y * quat.z + 2 * quat.w * quat.x; - out.m_row[2].z = 1 - 2 * quat2.x - 2 * quat2.y; - out.m_row[2].w = 0.f; - - return out; -} - -inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn) -{ - b3Mat3x3 out; - out.m_row[0] = fabs(matIn.m_row[0]); - out.m_row[1] = fabs(matIn.m_row[1]); - out.m_row[2] = fabs(matIn.m_row[2]); - return out; -} - -__inline b3Mat3x3 mtZero(); - -__inline b3Mat3x3 mtIdentity(); - -__inline b3Mat3x3 mtTranspose(b3Mat3x3 m); - -__inline b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b); - -__inline b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b); - -__inline b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b); - -__inline b3Mat3x3 mtZero() -{ - b3Mat3x3 m; - m.m_row[0] = (b3Float4)(0.f); - m.m_row[1] = (b3Float4)(0.f); - m.m_row[2] = (b3Float4)(0.f); - return m; -} - -__inline b3Mat3x3 mtIdentity() -{ - b3Mat3x3 m; - m.m_row[0] = (b3Float4)(1, 0, 0, 0); - m.m_row[1] = (b3Float4)(0, 1, 0, 0); - m.m_row[2] = (b3Float4)(0, 0, 1, 0); - return m; -} - -__inline b3Mat3x3 mtTranspose(b3Mat3x3 m) -{ - b3Mat3x3 out; - out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f); - out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f); - out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f); - return out; -} - -__inline b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b) -{ - b3Mat3x3 transB; - transB = mtTranspose(b); - b3Mat3x3 ans; - // why this doesn't run when 0ing in the for{} - a.m_row[0].w = 0.f; - a.m_row[1].w = 0.f; - a.m_row[2].w = 0.f; - for (int i = 0; i < 3; i++) - { - // a.m_row[i].w = 0.f; - ans.m_row[i].x = b3Dot3F4(a.m_row[i], transB.m_row[0]); - ans.m_row[i].y = b3Dot3F4(a.m_row[i], transB.m_row[1]); - ans.m_row[i].z = b3Dot3F4(a.m_row[i], transB.m_row[2]); - ans.m_row[i].w = 0.f; - } - return ans; -} - -__inline b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b) -{ - b3Float4 ans; - ans.x = b3Dot3F4(a.m_row[0], b); - ans.y = b3Dot3F4(a.m_row[1], b); - ans.z = b3Dot3F4(a.m_row[2], b); - ans.w = 0.f; - return ans; -} - -__inline b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b) -{ - b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0); - b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0); - b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0); - - b3Float4 ans; - ans.x = b3Dot3F4(a, colx); - ans.y = b3Dot3F4(a, coly); - ans.z = b3Dot3F4(a, colz); - return ans; -} - -#endif - -#endif //B3_MAT3x3_H diff --git a/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h b/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h deleted file mode 100644 index b72bee9310..0000000000 --- a/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h +++ /dev/null @@ -1,41 +0,0 @@ -#ifndef B3_PLATFORM_DEFINITIONS_H -#define B3_PLATFORM_DEFINITIONS_H - -struct MyTest -{ - int bla; -}; - -#ifdef __cplusplus -//#define b3ConstArray(a) const b3AlignedObjectArray<a>& -#define b3ConstArray(a) const a * -#define b3AtomicInc(a) ((*a)++) - -inline int b3AtomicAdd(volatile int *p, int val) -{ - int oldValue = *p; - int newValue = oldValue + val; - *p = newValue; - return oldValue; -} - -#define __global - -#define B3_STATIC static -#else -//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX -#define B3_LARGE_FLOAT 1e18f -#define B3_INFINITY 1e18f -#define b3Assert(a) -#define b3ConstArray(a) __global const a * -#define b3AtomicInc atomic_inc -#define b3AtomicAdd atomic_add -#define b3Fabs fabs -#define b3Sqrt native_sqrt -#define b3Sin native_sin -#define b3Cos native_cos - -#define B3_STATIC -#endif - -#endif diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Quat.h b/thirdparty/bullet/Bullet3Common/shared/b3Quat.h deleted file mode 100644 index 940610c77b..0000000000 --- a/thirdparty/bullet/Bullet3Common/shared/b3Quat.h +++ /dev/null @@ -1,100 +0,0 @@ -#ifndef B3_QUAT_H -#define B3_QUAT_H - -#include "Bullet3Common/shared/b3PlatformDefinitions.h" -#include "Bullet3Common/shared/b3Float4.h" - -#ifdef __cplusplus -#include "Bullet3Common/b3Quaternion.h" -#include "Bullet3Common/b3Transform.h" - -#define b3Quat b3Quaternion -#define b3QuatConstArg const b3Quaternion& -inline b3Quat b3QuatInverse(b3QuatConstArg orn) -{ - return orn.inverse(); -} - -inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation) -{ - b3Transform tr; - tr.setOrigin(translation); - tr.setRotation(orientation); - return tr(point); -} - -#else -typedef float4 b3Quat; -#define b3QuatConstArg const b3Quat - -inline float4 b3FastNormalize4(float4 v) -{ - v = (float4)(v.xyz, 0.f); - return fast_normalize(v); -} - -inline b3Quat b3QuatMul(b3Quat a, b3Quat b); -inline b3Quat b3QuatNormalized(b3QuatConstArg in); -inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec); -inline b3Quat b3QuatInvert(b3QuatConstArg q); -inline b3Quat b3QuatInverse(b3QuatConstArg q); - -inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b) -{ - b3Quat ans; - ans = b3Cross3(a, b); - ans += a.w * b + b.w * a; - // ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z); - ans.w = a.w * b.w - b3Dot3F4(a, b); - return ans; -} - -inline b3Quat b3QuatNormalized(b3QuatConstArg in) -{ - b3Quat q; - q = in; - //return b3FastNormalize4(in); - float len = native_sqrt(dot(q, q)); - if (len > 0.f) - { - q *= 1.f / len; - } - else - { - q.x = q.y = q.z = 0.f; - q.w = 1.f; - } - return q; -} -inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec) -{ - b3Quat qInv = b3QuatInvert(q); - float4 vcpy = vec; - vcpy.w = 0.f; - float4 out = b3QuatMul(b3QuatMul(q, vcpy), qInv); - return out; -} - -inline b3Quat b3QuatInverse(b3QuatConstArg q) -{ - return (b3Quat)(-q.xyz, q.w); -} - -inline b3Quat b3QuatInvert(b3QuatConstArg q) -{ - return (b3Quat)(-q.xyz, q.w); -} - -inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec) -{ - return b3QuatRotate(b3QuatInvert(q), vec); -} - -inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation) -{ - return b3QuatRotate(orientation, point) + (translation); -} - -#endif - -#endif //B3_QUAT_H |