diff options
Diffstat (limited to 'thirdparty/bullet/src/LinearMath/btScalar.h')
| -rw-r--r-- | thirdparty/bullet/src/LinearMath/btScalar.h | 810 |
1 files changed, 0 insertions, 810 deletions
diff --git a/thirdparty/bullet/src/LinearMath/btScalar.h b/thirdparty/bullet/src/LinearMath/btScalar.h deleted file mode 100644 index bffb2ce274..0000000000 --- a/thirdparty/bullet/src/LinearMath/btScalar.h +++ /dev/null @@ -1,810 +0,0 @@ -/* -Copyright (c) 2003-2009 Erwin Coumans http://bullet.googlecode.com - -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_SCALAR_H -#define BT_SCALAR_H - -#ifdef BT_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> - -/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 287 - -inline int btGetVersion() -{ - return BT_BULLET_VERSION; -} - - -// The following macro "BT_NOT_EMPTY_FILE" can be put into a file -// in order suppress the MS Visual C++ Linker warning 4221 -// -// warning LNK4221: no public symbols found; archive member will be inaccessible -// -// This warning occurs on PC and XBOX when a file compiles out completely -// has no externally visible symbols which may be dependant on configuration -// #defines and options. -// -// see more https://stackoverflow.com/questions/1822887/what-is-the-best-way-to-eliminate-ms-visual-c-linker-warning-warning-lnk422 - -#if defined (_MSC_VER) - #define BT_NOT_EMPTY_FILE_CAT_II(p, res) res - #define BT_NOT_EMPTY_FILE_CAT_I(a, b) BT_NOT_EMPTY_FILE_CAT_II(~, a ## b) - #define BT_NOT_EMPTY_FILE_CAT(a, b) BT_NOT_EMPTY_FILE_CAT_I(a, b) - #define BT_NOT_EMPTY_FILE namespace { char BT_NOT_EMPTY_FILE_CAT(NoEmptyFileDummy, __COUNTER__); } -#else - #define BT_NOT_EMPTY_FILE -#endif - - -// clang and most formatting tools don't support indentation of preprocessor guards, so turn it off -// clang-format off -#if defined(DEBUG) || defined (_DEBUG) - #define BT_DEBUG -#endif - -#ifdef _WIN32 - #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) - #define SIMD_FORCE_INLINE inline - #define ATTRIBUTE_ALIGNED16(a) a - #define ATTRIBUTE_ALIGNED64(a) a - #define ATTRIBUTE_ALIGNED128(a) a - #elif defined(_M_ARM) - #define SIMD_FORCE_INLINE __forceinline - #define ATTRIBUTE_ALIGNED16(a) __declspec() a - #define ATTRIBUTE_ALIGNED64(a) __declspec() a - #define ATTRIBUTE_ALIGNED128(a) __declspec () a - #else//__MINGW32__ - //#define BT_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 SIMD_FORCE_INLINE __forceinline - #define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a - #define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a - #define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a - #ifdef _XBOX - #define BT_USE_VMX128 - - #include <ppcintrinsics.h> - #define BT_HAVE_NATIVE_FSEL - #define btFsel(a,b,c) __fsel((a),(b),(c)) - #else - -#if defined (_M_ARM) - //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however) -#elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) - #if _MSC_VER>1400 - #define BT_USE_SIMD_VECTOR3 - #endif - - #define BT_USE_SSE - #ifdef BT_USE_SSE - -#if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default) - #define BT_ALLOW_SSE4 -#endif //(_MSC_FULL_VER >= 160040219) - - //BT_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 BT_USE_SSE_IN_API - #endif //BT_USE_SSE - #include <emmintrin.h> -#endif - - #endif//_XBOX - - #endif //__MINGW32__ - - #ifdef BT_DEBUG - #ifdef _MSC_VER - #include <stdio.h> - #define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} - #else//_MSC_VER - #include <assert.h> - #define btAssert assert - #endif//_MSC_VER - #else - #define btAssert(x) - #endif - //btFullAssert is optional, slows down a lot - #define btFullAssert(x) - - #define btLikely(_c) _c - #define btUnlikely(_c) _c - -#else//_WIN32 - - #if defined (__CELLOS_LV2__) - #define SIMD_FORCE_INLINE inline __attribute__((always_inline)) - #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) - #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) - #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) - #ifndef assert - #include <assert.h> - #endif - #ifdef BT_DEBUG - #ifdef __SPU__ - #include <spu_printf.h> - #define printf spu_printf - #define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}} - #else - #define btAssert assert - #endif - - #else//BT_DEBUG - #define btAssert(x) - #endif//BT_DEBUG - //btFullAssert is optional, slows down a lot - #define btFullAssert(x) - - #define btLikely(_c) _c - #define btUnlikely(_c) _c - - #else//defined (__CELLOS_LV2__) - - #ifdef USE_LIBSPE2 - - #define SIMD_FORCE_INLINE __inline - #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) - #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) - #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) - #ifndef assert - #include <assert.h> - #endif - #ifdef BT_DEBUG - #define btAssert assert - #else - #define btAssert(x) - #endif - //btFullAssert is optional, slows down a lot - #define btFullAssert(x) - - - #define btLikely(_c) __builtin_expect((_c), 1) - #define btUnlikely(_c) __builtin_expect((_c), 0) - - - #else//USE_LIBSPE2 - //non-windows systems - - #if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION))) - #if defined (__i386__) || defined (__x86_64__) - #define BT_USE_SIMD_VECTOR3 - #define BT_USE_SSE - //BT_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 BT_USE_SSE_IN_API - #ifdef BT_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 //BT_USE_SSE - #elif defined( __ARM_NEON__ ) - #ifdef __clang__ - #define BT_USE_NEON 1 - #define BT_USE_SIMD_VECTOR3 - - #if defined BT_USE_NEON && defined (__clang__) - #include <arm_neon.h> - #endif//BT_USE_NEON - #endif //__clang__ - #endif//__arm__ - - #define SIMD_FORCE_INLINE inline __attribute__ ((always_inline)) - ///@todo: check out alignment methods for other platforms/compilers - #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) - #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) - #define 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 btAssert(x)\ - {\ - if(!(x))\ - {\ - printf("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\ - asm volatile ("int3");\ - }\ - } - #else//defined (__i386__) || defined (__x86_64__) - #define btAssert assert - #endif//defined (__i386__) || defined (__x86_64__) - #else//defined(DEBUG) || defined (_DEBUG) - #define btAssert(x) - #endif//defined(DEBUG) || defined (_DEBUG) - - //btFullAssert is optional, slows down a lot - #define btFullAssert(x) - #define btLikely(_c) _c - #define btUnlikely(_c) _c - - #else//__APPLE__ - - #define SIMD_FORCE_INLINE inline - ///@todo: check out alignment methods for other platforms/compilers - ///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) - ///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) - ///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) - #define ATTRIBUTE_ALIGNED16(a) a - #define ATTRIBUTE_ALIGNED64(a) a - #define ATTRIBUTE_ALIGNED128(a) a - #ifndef assert - #include <assert.h> - #endif - - #if defined(DEBUG) || defined (_DEBUG) - #define btAssert assert - #else - #define btAssert(x) - #endif - - //btFullAssert is optional, slows down a lot - #define btFullAssert(x) - #define btLikely(_c) _c - #define btUnlikely(_c) _c - #endif //__APPLE__ - #endif // LIBSPE2 - #endif //__CELLOS_LV2__ -#endif//_WIN32 - - -///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision. -#if defined(BT_USE_DOUBLE_PRECISION) - typedef double btScalar; - //this number could be bigger in double precision - #define BT_LARGE_FLOAT 1e30 -#else - typedef float btScalar; - //keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX - #define BT_LARGE_FLOAT 1e18f -#endif - -#ifdef BT_USE_SSE - typedef __m128 btSimdFloat4; -#endif //BT_USE_SSE - -#if defined(BT_USE_SSE) - //#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE) - #ifdef _WIN32 - - #ifndef BT_NAN - static int btNanMask = 0x7F800001; - #define BT_NAN (*(float *)&btNanMask) - #endif - - #ifndef BT_INFINITY - static int btInfinityMask = 0x7F800000; - #define BT_INFINITY (*(float *)&btInfinityMask) - inline int btGetInfinityMask() //suppress stupid compiler warning - { - return btInfinityMask; - } - #endif - - - - //use this, in case there are clashes (such as xnamath.h) - #ifndef BT_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 //BT_NO_SIMD_OPERATOR_OVERLOADS - - #define btCastfTo128i(a) (_mm_castps_si128(a)) - #define btCastfTo128d(a) (_mm_castps_pd(a)) - #define btCastiTo128f(a) (_mm_castsi128_ps(a)) - #define btCastdTo128f(a) (_mm_castpd_ps(a)) - #define btCastdTo128i(a) (_mm_castpd_si128(a)) - #define btAssign128(r0, r1, r2, r3) _mm_setr_ps(r0, r1, r2, r3) - - #else //_WIN32 - - #define btCastfTo128i(a) ((__m128i)(a)) - #define btCastfTo128d(a) ((__m128d)(a)) - #define btCastiTo128f(a) ((__m128)(a)) - #define btCastdTo128f(a) ((__m128)(a)) - #define btCastdTo128i(a) ((__m128i)(a)) - #define btAssign128(r0, r1, r2, r3) \ - (__m128) { r0, r1, r2, r3 } - #define BT_INFINITY INFINITY - #define BT_NAN NAN - #endif //_WIN32 -#else//BT_USE_SSE - - #ifdef BT_USE_NEON - #include <arm_neon.h> - - typedef float32x4_t btSimdFloat4; - #define BT_INFINITY INFINITY - #define BT_NAN NAN - #define btAssign128(r0, r1, r2, r3) \ - (float32x4_t) { r0, r1, r2, r3 } - #else //BT_USE_NEON - - #ifndef BT_INFINITY - struct btInfMaskConverter - { - union { - float mask; - int intmask; - }; - btInfMaskConverter(int _mask = 0x7F800000) - : intmask(_mask) - { - } - }; - static btInfMaskConverter btInfinityMask = 0x7F800000; - #define BT_INFINITY (btInfinityMask.mask) - inline int btGetInfinityMask() //suppress stupid compiler warning - { - return btInfinityMask.intmask; - } - #endif - #endif //BT_USE_NEON - -#endif //BT_USE_SSE - -#ifdef BT_USE_NEON - #include <arm_neon.h> - - typedef float32x4_t btSimdFloat4; - #define BT_INFINITY INFINITY - #define BT_NAN NAN - #define btAssign128(r0, r1, r2, r3) \ - (float32x4_t) { r0, r1, r2, r3 } -#endif//BT_USE_NEON - -#define BT_DECLARE_ALIGNED_ALLOCATOR() \ - SIMD_FORCE_INLINE void *operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \ - SIMD_FORCE_INLINE void operator delete(void *ptr) { btAlignedFree(ptr); } \ - SIMD_FORCE_INLINE void *operator new(size_t, void *ptr) { return ptr; } \ - SIMD_FORCE_INLINE void operator delete(void *, void *) {} \ - SIMD_FORCE_INLINE void *operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \ - SIMD_FORCE_INLINE void operator delete[](void *ptr) { btAlignedFree(ptr); } \ - SIMD_FORCE_INLINE void *operator new[](size_t, void *ptr) { return ptr; } \ - SIMD_FORCE_INLINE void operator delete[](void *, void *) {} - -#if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS) - - SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) - { - return sqrt(x); - } - SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); } - SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); } - SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); } - SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); } - SIMD_FORCE_INLINE btScalar btAcos(btScalar x) - { - if (x < btScalar(-1)) x = btScalar(-1); - if (x > btScalar(1)) x = btScalar(1); - return acos(x); - } - SIMD_FORCE_INLINE btScalar btAsin(btScalar x) - { - if (x < btScalar(-1)) x = btScalar(-1); - if (x > btScalar(1)) x = btScalar(1); - return asin(x); - } - SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); } - SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); } - SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); } - SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); } - SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return pow(x, y); } - SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmod(x, y); } - -#else//BT_USE_DOUBLE_PRECISION - - SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) - { - #ifdef USE_APPROXIMATION - #ifdef __LP64__ - float xhalf = 0.5f * y; - int i = *(int *)&y; - i = 0x5f375a86 - (i >> 1); - y = *(float *)&i; - y = y * (1.5f - xhalf * y * y); - y = y * (1.5f - xhalf * y * y); - y = y * (1.5f - xhalf * y * y); - y = 1 / y; - return y; - #else - 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 * btScalar(0.5); - x = (btScalar(1.5) * x) - (x * x) * (x * z); /* iteration formula */ - x = (btScalar(1.5) * x) - (x * x) * (x * z); - x = (btScalar(1.5) * x) - (x * x) * (x * z); - x = (btScalar(1.5) * x) - (x * x) * (x * z); - x = (btScalar(1.5) * x) - (x * x) * (x * z); - return x * y; - #endif - #else - return sqrtf(y); - #endif - } - SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); } - SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); } - SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); } - SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); } - SIMD_FORCE_INLINE btScalar btAcos(btScalar x) - { - if (x < btScalar(-1)) - x = btScalar(-1); - if (x > btScalar(1)) - x = btScalar(1); - return acosf(x); - } - SIMD_FORCE_INLINE btScalar btAsin(btScalar x) - { - if (x < btScalar(-1)) - x = btScalar(-1); - if (x > btScalar(1)) - x = btScalar(1); - return asinf(x); - } - SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); } - SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); } - SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); } - SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); } - SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return powf(x, y); } - SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmodf(x, y); } - -#endif//BT_USE_DOUBLE_PRECISION - -#define SIMD_PI btScalar(3.1415926535897932384626433832795029) -#define SIMD_2_PI (btScalar(2.0) * SIMD_PI) -#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5)) -#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0)) -#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI) -#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490) -#define btRecipSqrt(x) ((btScalar)(btScalar(1.0) / btSqrt(btScalar(x)))) /* reciprocal square root */ -#define btRecip(x) (btScalar(1.0) / btScalar(x)) - -#ifdef BT_USE_DOUBLE_PRECISION - #define SIMD_EPSILON DBL_EPSILON - #define SIMD_INFINITY DBL_MAX - #define BT_ONE 1.0 - #define BT_ZERO 0.0 - #define BT_TWO 2.0 - #define BT_HALF 0.5 -#else - #define SIMD_EPSILON FLT_EPSILON - #define SIMD_INFINITY FLT_MAX - #define BT_ONE 1.0f - #define BT_ZERO 0.0f - #define BT_TWO 2.0f - #define BT_HALF 0.5f -#endif - -// clang-format on - -SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) -{ - btScalar coeff_1 = SIMD_PI / 4.0f; - btScalar coeff_2 = 3.0f * coeff_1; - btScalar abs_y = btFabs(y); - btScalar angle; - if (x >= 0.0f) - { - btScalar r = (x - abs_y) / (x + abs_y); - angle = coeff_1 - coeff_1 * r; - } - else - { - btScalar r = (x + abs_y) / (abs_y - x); - angle = coeff_2 - coeff_1 * r; - } - return (y < 0.0f) ? -angle : angle; -} - -SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; } - -SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) -{ - return (((a) <= eps) && !((a) < -eps)); -} -SIMD_FORCE_INLINE bool btGreaterEqual(btScalar a, btScalar eps) -{ - return (!((a) <= eps)); -} - -SIMD_FORCE_INLINE int btIsNegative(btScalar x) -{ - return x < btScalar(0.0) ? 1 : 0; -} - -SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; } -SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; } - -#define BT_DECLARE_HANDLE(name) \ - typedef struct name##__ \ - { \ - int unused; \ - } * name - -#ifndef btFsel -SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c) -{ - return a >= 0 ? b : c; -} -#endif -#define btFsels(a, b, c) (btScalar) btFsel(a, b, c) - -SIMD_FORCE_INLINE bool btMachineIsLittleEndian() -{ - 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; -} - -///btSelect 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 -SIMD_FORCE_INLINE unsigned btSelect(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)); -} -SIMD_FORCE_INLINE int btSelect(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)); -} -SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero) -{ -#ifdef BT_HAVE_NATIVE_FSEL - return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero); -#else - return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero; -#endif -} - -template <typename T> -SIMD_FORCE_INLINE void btSwap(T &a, T &b) -{ - T tmp = a; - a = b; - b = tmp; -} - -//PCK: endian swapping functions -SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val) -{ - return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24)); -} - -SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val) -{ - return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8)); -} - -SIMD_FORCE_INLINE unsigned btSwapEndian(int val) -{ - return btSwapEndian((unsigned)val); -} - -SIMD_FORCE_INLINE unsigned short btSwapEndian(short val) -{ - return btSwapEndian((unsigned short)val); -} - -///btSwapFloat uses using char pointers to swap the endianness -////btSwapFloat/btSwapDouble 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 -SIMD_FORCE_INLINE unsigned int btSwapEndianFloat(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 -SIMD_FORCE_INLINE float btUnswapEndianFloat(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 -SIMD_FORCE_INLINE void btSwapEndianDouble(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 -SIMD_FORCE_INLINE double btUnswapEndianDouble(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; -} - -template <typename T> -SIMD_FORCE_INLINE void btSetZero(T *a, int n) -{ - T *acurr = a; - size_t ncurr = n; - while (ncurr > 0) - { - *(acurr++) = 0; - --ncurr; - } -} - -SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int n) -{ - btScalar p0, q0, m0, p1, q1, m1, sum; - sum = 0; - n -= 2; - while (n >= 0) - { - p0 = a[0]; - q0 = b[0]; - m0 = p0 * q0; - p1 = a[1]; - q1 = b[1]; - m1 = p1 * q1; - sum += m0; - sum += m1; - a += 2; - b += 2; - n -= 2; - } - n += 2; - while (n > 0) - { - sum += (*a) * (*b); - a++; - b++; - n--; - } - return sum; -} - -// returns normalized value in range [-SIMD_PI, SIMD_PI] -SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) -{ - angleInRadians = btFmod(angleInRadians, SIMD_2_PI); - if (angleInRadians < -SIMD_PI) - { - return angleInRadians + SIMD_2_PI; - } - else if (angleInRadians > SIMD_PI) - { - return angleInRadians - SIMD_2_PI; - } - else - { - return angleInRadians; - } -} - -///rudimentary class to provide type info -struct btTypedObject -{ - btTypedObject(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 *btAlignPointer(T *unalignedPtr, size_t alignment) -{ - struct btConvertPointerSizeT - { - union { - T *ptr; - size_t integer; - }; - }; - btConvertPointerSizeT converter; - - const size_t bit_mask = ~(alignment - 1); - converter.ptr = unalignedPtr; - converter.integer += alignment - 1; - converter.integer &= bit_mask; - return converter.ptr; -} - -#endif //BT_SCALAR_H |