diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/gim_math.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/Gimpact/gim_math.h | 111 |
1 files changed, 51 insertions, 60 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_math.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_math.h index 939079e104..3c4f821a72 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/gim_math.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_math.h @@ -34,8 +34,6 @@ email: projectileman@yahoo.com #include "LinearMath/btScalar.h" - - #define GREAL btScalar #define GREAL2 double #define GINT int @@ -45,8 +43,6 @@ email: projectileman@yahoo.com #define GINT64 long long #define GUINT64 unsigned long long - - #define G_PI 3.14159265358979f #define G_HALF_PI 1.5707963f //267948966 @@ -54,16 +50,14 @@ email: projectileman@yahoo.com //71795864 #define G_ROOT3 1.73205f #define G_ROOT2 1.41421f -#define G_UINT_INFINITY 0xffffffff //!< A very very high value +#define G_UINT_INFINITY 0xffffffff //!< A very very high value #define G_REAL_INFINITY FLT_MAX -#define G_SIGN_BITMASK 0x80000000 +#define G_SIGN_BITMASK 0x80000000 #define G_EPSILON SIMD_EPSILON - - enum GIM_SCALAR_TYPES { - G_STYPE_REAL =0, + G_STYPE_REAL = 0, G_STYPE_REAL2, G_STYPE_SHORT, G_STYPE_USHORT, @@ -73,85 +67,82 @@ enum GIM_SCALAR_TYPES G_STYPE_UINT64 }; - - -#define G_DEGTORAD(X) ((X)*3.1415926f/180.0f) -#define G_RADTODEG(X) ((X)*180.0f/3.1415926f) +#define G_DEGTORAD(X) ((X)*3.1415926f / 180.0f) +#define G_RADTODEG(X) ((X)*180.0f / 3.1415926f) //! Integer representation of a floating-point value. -#define GIM_IR(x) ((GUINT&)(x)) +#define GIM_IR(x) ((GUINT&)(x)) //! Signed integer representation of a floating-point value. -#define GIM_SIR(x) ((GINT&)(x)) +#define GIM_SIR(x) ((GINT&)(x)) //! Absolute integer representation of a floating-point value -#define GIM_AIR(x) (GIM_IR(x)&0x7fffffff) +#define GIM_AIR(x) (GIM_IR(x) & 0x7fffffff) //! Floating-point representation of an integer value. -#define GIM_FR(x) ((GREAL&)(x)) +#define GIM_FR(x) ((GREAL&)(x)) -#define GIM_MAX(a,b) (a<b?b:a) -#define GIM_MIN(a,b) (a>b?b:a) +#define GIM_MAX(a, b) (a < b ? b : a) +#define GIM_MIN(a, b) (a > b ? b : a) -#define GIM_MAX3(a,b,c) GIM_MAX(a,GIM_MAX(b,c)) -#define GIM_MIN3(a,b,c) GIM_MIN(a,GIM_MIN(b,c)) +#define GIM_MAX3(a, b, c) GIM_MAX(a, GIM_MAX(b, c)) +#define GIM_MIN3(a, b, c) GIM_MIN(a, GIM_MIN(b, c)) -#define GIM_IS_ZERO(value) (value < G_EPSILON && value > -G_EPSILON) +#define GIM_IS_ZERO(value) (value < G_EPSILON && value > -G_EPSILON) #define GIM_IS_NEGATIVE(value) (value <= -G_EPSILON) #define GIM_IS_POSISITVE(value) (value >= G_EPSILON) -#define GIM_NEAR_EQUAL(v1,v2) GIM_IS_ZERO((v1-v2)) +#define GIM_NEAR_EQUAL(v1, v2) GIM_IS_ZERO((v1 - v2)) ///returns a clamped number -#define GIM_CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number)) +#define GIM_CLAMP(number, minval, maxval) (number < minval ? minval : (number > maxval ? maxval : number)) -#define GIM_GREATER(x, y) btFabs(x) > (y) +#define GIM_GREATER(x, y) btFabs(x) > (y) ///Swap numbers -#define GIM_SWAP_NUMBERS(a,b){ \ - a = a+b; \ - b = a-b; \ - a = a-b; \ -}\ - -#define GIM_INV_SQRT(va,isva)\ -{\ - if(va<=0.0000001f)\ - {\ - isva = G_REAL_INFINITY;\ - }\ - else\ - {\ - GREAL _x = va * 0.5f;\ - GUINT _y = 0x5f3759df - ( GIM_IR(va) >> 1);\ - isva = GIM_FR(_y);\ - isva = isva * ( 1.5f - ( _x * isva * isva ) );\ - }\ -}\ - -#define GIM_SQRT(va,sva)\ -{\ - GIM_INV_SQRT(va,sva);\ - sva = 1.0f/sva;\ -}\ +#define GIM_SWAP_NUMBERS(a, b) \ + { \ + a = a + b; \ + b = a - b; \ + a = a - b; \ + } + +#define GIM_INV_SQRT(va, isva) \ + { \ + if (va <= 0.0000001f) \ + { \ + isva = G_REAL_INFINITY; \ + } \ + else \ + { \ + GREAL _x = va * 0.5f; \ + GUINT _y = 0x5f3759df - (GIM_IR(va) >> 1); \ + isva = GIM_FR(_y); \ + isva = isva * (1.5f - (_x * isva * isva)); \ + } \ + } + +#define GIM_SQRT(va, sva) \ + { \ + GIM_INV_SQRT(va, sva); \ + sva = 1.0f / sva; \ + } //! Computes 1.0f / sqrtf(x). Comes from Quake3. See http://www.magic-software.com/3DGEDInvSqrt.html inline GREAL gim_inv_sqrt(GREAL f) { - GREAL r; - GIM_INV_SQRT(f,r); - return r; + GREAL r; + GIM_INV_SQRT(f, r); + return r; } inline GREAL gim_sqrt(GREAL f) { - GREAL r; - GIM_SQRT(f,r); - return r; + GREAL r; + GIM_SQRT(f, r); + return r; } - - -#endif // GIM_MATH_H_INCLUDED +#endif // GIM_MATH_H_INCLUDED |