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Diffstat (limited to 'thirdparty/vhacd/inc/btScalar.h')
| -rw-r--r-- | thirdparty/vhacd/inc/btScalar.h | 573 |
1 files changed, 573 insertions, 0 deletions
diff --git a/thirdparty/vhacd/inc/btScalar.h b/thirdparty/vhacd/inc/btScalar.h new file mode 100644 index 0000000000..3999a71521 --- /dev/null +++ b/thirdparty/vhacd/inc/btScalar.h @@ -0,0 +1,573 @@ +/* +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 <float.h> +#include <math.h> +#include <stdlib.h> //size_t for MSVC 6.0 +#include <stdint.h> + +/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ +#define BT_BULLET_VERSION 279 + +// -- GODOT start -- +namespace VHACD { +// -- GODOT end -- + +inline int32_t btGetVersion() +{ + return BT_BULLET_VERSION; +} + +// -- GODOT start -- +}; // namespace VHACD +// -- GODOT end -- + +#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 +#else +//#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(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) +#define BT_USE_SSE +#include <emmintrin.h> +#endif + +#endif //_XBOX + +#endif //__MINGW32__ + +#include <assert.h> +#ifdef BT_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 + +#else + +#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 +#define btAssert(x) +#endif +//btFullAssert is optional, slows down a lot +#define btFullAssert(x) + +#define btLikely(_c) _c +#define btUnlikely(_c) _c + +#else + +#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 +//non-windows systems + +#if (defined(__APPLE__) && defined(__i386__) && (!defined(BT_USE_DOUBLE_PRECISION))) +#define BT_USE_SSE +#include <emmintrin.h> + +#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))) +#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 + +#else + +#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 + +// -- GODOT start -- +namespace VHACD { +// -- GODOT end -- + +///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 + +#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 + +SIMD_FORCE_INLINE btScalar btSqrt(btScalar 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 * 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; +#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 + +#define SIMD_2_PI btScalar(6.283185307179586232) +#define SIMD_PI (SIMD_2_PI * btScalar(0.5)) +#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25)) +#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 */ + +#ifdef BT_USE_DOUBLE_PRECISION +#define SIMD_EPSILON DBL_EPSILON +#define SIMD_INFINITY DBL_MAX +#else +#define SIMD_EPSILON FLT_EPSILON +#define SIMD_INFINITY FLT_MAX +#endif + +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 int32_t 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##__ { \ + int32_t 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)(((int32_t)condition | -(int32_t)condition) >> 31); + unsigned testEqz = ~testNz; + return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); +} +SIMD_FORCE_INLINE int32_t btSelect(unsigned condition, int32_t valueIfConditionNonZero, int32_t valueIfConditionZero) +{ + unsigned testNz = (unsigned)(((int32_t)condition | -(int32_t)condition) >> 31); + unsigned testEqz = ~testNz; + return static_cast<int32_t>((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(int32_t 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 uint32_t btSwapEndianFloat(float d) +{ + uint32_t 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(uint32_t 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; +} + +// 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(int32_t objectType) + : m_objectType(objectType) + { + } + int32_t m_objectType; + inline int32_t getObjectType() const + { + return m_objectType; + } +}; + +// -- GODOT start -- +// Cherry-picked from Bullet 2.88 to fix GH-27926 +///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; +} +// -- GODOT end -- + +// -- GODOT start -- +}; // namespace VHACD +// -- GODOT end -- + +#endif //BT_SCALAR_H |