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Diffstat (limited to 'thirdparty/bullet/src/Bullet3Common/b3Scalar.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3Common/b3Scalar.h | 663 |
1 files changed, 0 insertions, 663 deletions
diff --git a/thirdparty/bullet/src/Bullet3Common/b3Scalar.h b/thirdparty/bullet/src/Bullet3Common/b3Scalar.h deleted file mode 100644 index dbc7fea397..0000000000 --- a/thirdparty/bullet/src/Bullet3Common/b3Scalar.h +++ /dev/null @@ -1,663 +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(__MINGW32__) || defined(__CYGWIN__) || (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)) - #define B3_USE_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 ("#x")\n", __LINE__);__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 - -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); -} - -#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 |