godotengine
/
godot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

vhacd: Recommit unmodified upstream code without style changes 

Godot-specific changes will then be redone without touching upstream formatting.
Also documented current state in thirdparty/README.md and added LICENSE.

Add vhacd to COPYRIGHT.txt.
This commit is contained in:
Rémi Verschelde 2019-04-11 17:30:12 +02:00
parent 7f2ad8bd3f
commit 531b158897
11 changed files with 3302 additions and 3050 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
COPYRIGHT.txt
View File

@ -385,6 +385,12 @@ Copyright: 2014-2018, Syoyo Fujita
2002, Industrial Light & Magic, a division of Lucas Digital Ltd. LLC 2002, Industrial Light & Magic, a division of Lucas Digital Ltd. LLC
License: BSD-3-clause License: BSD-3-clause
Files: ./thirdparty/vhacd/
Comment: V-HACD
Copyright: 2011, Khaled Mamou
2003-2009, Erwin Coumans
License: BSD-3-clause
Files: ./thirdparty/zlib/ Files: ./thirdparty/zlib/
Comment: zlib Comment: zlib
Copyright: 1995-2017, Jean-loup Gailly and Mark Adler Copyright: 1995-2017, Jean-loup Gailly and Mark Adler

21
thirdparty/README.md vendored
View File

@ -1,5 +1,6 @@
# Third party libraries # Third party libraries
## assimp ## assimp
- Upstream: http://github.com/assimp/assimp - Upstream: http://github.com/assimp/assimp
@ -294,8 +295,12 @@ Godot build configurations, check them out when updating.
File extracted from upstream release tarball `mbedtls-2.16.0-apache.tgz`: File extracted from upstream release tarball `mbedtls-2.16.0-apache.tgz`:
- All `*.h` from `include/mbedtls/` to `thirdparty/mbedtls/include/mbedtls/` - All `*.h` from `include/mbedtls/` to `thirdparty/mbedtls/include/mbedtls/`
- All `*.c` from `library/` to `thirdparty/mbedtls/library/` - All `*.c` from `library/` to `thirdparty/mbedtls/library/`
- Applied the patch in `thirdparty/mbedtls/1453.diff` (PR 1453). Soon to be merged upstream. Check it out at next update. - Applied the patch in `thirdparty/mbedtls/1453.diff` (PR 1453).
- Applied the patch in `thirdparty/mbedtls/padlock.diff`. This disables VIA padlock support which defines a symbol `unsupported` which clashses with a symbol in libwebsockets. Soon to be merged upstream. Check it out at next update.
- Applied the patch in `thirdparty/mbedtls/padlock.diff`. This disables VIA
padlock support which defines a symbol `unsupported` which clashes with
a symbol in libwebsockets.
## miniupnpc ## miniupnpc
@ -523,6 +528,18 @@ Files extracted from upstream source:
- `tinyexr.{cc,h}` - `tinyexr.{cc,h}`
## vhacd
- Upstream: https://github.com/kmammou/v-hacd
- Version: git (2297aa1, 2018)
- License: BSD-3-Clause
Files extracted from upstream source:
- From `src/VHACD_Lib/`: `inc`, `public` and `src`
- `LICENSE`
## zlib ## zlib
- Upstream: http://www.zlib.net - Upstream: http://www.zlib.net

29
thirdparty/vhacd/LICENSE vendored Normal file
View File

@ -0,0 +1,29 @@
BSD 3-Clause License
Copyright (c) 2011, Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

15
thirdparty/vhacd/inc/btAlignedAllocator.h vendored
View File

@ -21,11 +21,6 @@ subject to the following restrictions:
///that is better portable and more predictable ///that is better portable and more predictable
#include "btScalar.h" #include "btScalar.h"
//GODOT ADDITION
namespace VHACD {
//
//#define BT_DEBUG_MEMORY_ALLOCATIONS 1 //#define BT_DEBUG_MEMORY_ALLOCATIONS 1
#ifdef BT_DEBUG_MEMORY_ALLOCATIONS #ifdef BT_DEBUG_MEMORY_ALLOCATIONS
@ -84,12 +79,14 @@ public:
pointer address(reference ref) const { return &ref; } pointer address(reference ref) const { return &ref; }
const_pointer address(const_reference ref) const { return &ref; } const_pointer address(const_reference ref) const { return &ref; }
pointer allocate(size_type n, const_pointer *hint = 0) { pointer allocate(size_type n, const_pointer* hint = 0)
{
(void)hint; (void)hint;
return reinterpret_cast<pointer>(btAlignedAlloc(sizeof(value_type) * n, Alignment)); return reinterpret_cast<pointer>(btAlignedAlloc(sizeof(value_type) * n, Alignment));
} }
void construct(pointer ptr, const value_type& value) { new (ptr) value_type(value); } void construct(pointer ptr, const value_type& value) { new (ptr) value_type(value); }
void deallocate(pointer ptr) { void deallocate(pointer ptr)
{
btAlignedFree(reinterpret_cast<void*>(ptr)); btAlignedFree(reinterpret_cast<void*>(ptr));
} }
void destroy(pointer ptr) { ptr->~value_type(); } void destroy(pointer ptr) { ptr->~value_type(); }
@ -104,8 +101,4 @@ public:
friend bool operator==(const self_type&, const self_type&) { return true; } friend bool operator==(const self_type&, const self_type&) { return true; }
}; };
//GODOT ADDITION
}; // namespace VHACD
//
#endif //BT_ALIGNED_ALLOCATOR #endif //BT_ALIGNED_ALLOCATOR

116
thirdparty/vhacd/inc/btAlignedObjectArray.h vendored
View File

@ -38,10 +38,6 @@ subject to the following restrictions:
#include <new> //for placement new #include <new> //for placement new
#endif //BT_USE_PLACEMENT_NEW #endif //BT_USE_PLACEMENT_NEW
//GODOT ADDITION
namespace VHACD {
//
///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods ///The btAlignedObjectArray 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 ///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data
template <typename T> template <typename T>
@ -57,7 +53,8 @@ class btAlignedObjectArray {
#ifdef BT_ALLOW_ARRAY_COPY_OPERATOR #ifdef BT_ALLOW_ARRAY_COPY_OPERATOR
public: public:
SIMD_FORCE_INLINE btAlignedObjectArray<T> &operator=(const btAlignedObjectArray<T> &other) { SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T>& other)
{
copyFromArray(other); copyFromArray(other);
return *this; return *this;
} }
@ -67,10 +64,12 @@ private:
#endif //BT_ALLOW_ARRAY_COPY_OPERATOR #endif //BT_ALLOW_ARRAY_COPY_OPERATOR
protected: protected:
SIMD_FORCE_INLINE int32_t allocSize(int32_t size) { SIMD_FORCE_INLINE int32_t allocSize(int32_t size)
{
return (size ? size * 2 : 1); return (size ? size * 2 : 1);
} }
SIMD_FORCE_INLINE void copy(int32_t start, int32_t end, T *dest) const { SIMD_FORCE_INLINE void copy(int32_t start, int32_t end, T* dest) const
{
int32_t i; int32_t i;
for (i = start; i < end; ++i) for (i = start; i < end; ++i)
#ifdef BT_USE_PLACEMENT_NEW #ifdef BT_USE_PLACEMENT_NEW
@ -80,27 +79,31 @@ protected:
#endif //BT_USE_PLACEMENT_NEW #endif //BT_USE_PLACEMENT_NEW
} }
SIMD_FORCE_INLINE void init() { SIMD_FORCE_INLINE void init()
{
//PCK: added this line //PCK: added this line
m_ownsMemory = true; m_ownsMemory = true;
m_data = 0; m_data = 0;
m_size = 0; m_size = 0;
m_capacity = 0; m_capacity = 0;
} }
SIMD_FORCE_INLINE void destroy(int32_t first, int32_t last) { SIMD_FORCE_INLINE void destroy(int32_t first, int32_t last)
{
int32_t i; int32_t i;
for (i = first; i < last; i++) { for (i = first; i < last; i++) {
m_data[i].~T(); m_data[i].~T();
} }
} }
SIMD_FORCE_INLINE void *allocate(int32_t size) { SIMD_FORCE_INLINE void* allocate(int32_t size)
{
if (size) if (size)
return m_allocator.allocate(size); return m_allocator.allocate(size);
return 0; return 0;
} }
SIMD_FORCE_INLINE void deallocate() { SIMD_FORCE_INLINE void deallocate()
{
if (m_data) { if (m_data) {
//PCK: enclosed the deallocation in this block //PCK: enclosed the deallocation in this block
if (m_ownsMemory) { if (m_ownsMemory) {
@ -111,16 +114,19 @@ protected:
} }
public: public:
btAlignedObjectArray() { btAlignedObjectArray()
{
init(); init();
} }
~btAlignedObjectArray() { ~btAlignedObjectArray()
{
clear(); clear();
} }
///Generally it is best to avoid using the copy constructor of an btAlignedObjectArray, and use a (const) reference to the array instead. ///Generally it is best to avoid using the copy constructor of an btAlignedObjectArray, and use a (const) reference to the array instead.
btAlignedObjectArray(const btAlignedObjectArray &otherArray) { btAlignedObjectArray(const btAlignedObjectArray& otherArray)
{
init(); init();
int32_t otherSize = otherArray.size(); int32_t otherSize = otherArray.size();
@ -129,36 +135,42 @@ public:
} }
/// return the number of elements in the array /// return the number of elements in the array
SIMD_FORCE_INLINE int32_t size() const { SIMD_FORCE_INLINE int32_t size() const
{
return m_size; return m_size;
} }
SIMD_FORCE_INLINE const T &at(int32_t n) const { SIMD_FORCE_INLINE const T& at(int32_t n) const
{
btAssert(n >= 0); btAssert(n >= 0);
btAssert(n < size()); btAssert(n < size());
return m_data[n]; return m_data[n];
} }
SIMD_FORCE_INLINE T &at(int32_t n) { SIMD_FORCE_INLINE T& at(int32_t n)
{
btAssert(n >= 0); btAssert(n >= 0);
btAssert(n < size()); btAssert(n < size());
return m_data[n]; return m_data[n];
} }
SIMD_FORCE_INLINE const T &operator[](int32_t n) const { SIMD_FORCE_INLINE const T& operator[](int32_t n) const
{
btAssert(n >= 0); btAssert(n >= 0);
btAssert(n < size()); btAssert(n < size());
return m_data[n]; return m_data[n];
} }
SIMD_FORCE_INLINE T &operator[](int32_t n) { SIMD_FORCE_INLINE T& operator[](int32_t n)
{
btAssert(n >= 0); btAssert(n >= 0);
btAssert(n < size()); btAssert(n < size());
return m_data[n]; 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. ///clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations.
SIMD_FORCE_INLINE void clear() { SIMD_FORCE_INLINE void clear()
{
destroy(0, size()); destroy(0, size());
deallocate(); deallocate();
@ -166,7 +178,8 @@ public:
init(); init();
} }
SIMD_FORCE_INLINE void pop_back() { SIMD_FORCE_INLINE void pop_back()
{
btAssert(m_size > 0); btAssert(m_size > 0);
m_size--; m_size--;
m_data[m_size].~T(); m_data[m_size].~T();
@ -174,14 +187,16 @@ public:
///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. ///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. ///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.
SIMD_FORCE_INLINE void resize(int32_t newsize, const T &fillData = T()) { SIMD_FORCE_INLINE void resize(int32_t newsize, const T& fillData = T())
{
int32_t curSize = size(); int32_t curSize = size();
if (newsize < curSize) { if (newsize < curSize) {
for (int32_t i = newsize; i < curSize; i++) { for (int32_t i = newsize; i < curSize; i++) {
m_data[i].~T(); m_data[i].~T();
} }
} else { }
else {
if (newsize > size()) { if (newsize > size()) {
reserve(newsize); reserve(newsize);
} }
@ -195,7 +210,8 @@ public:
m_size = newsize; m_size = newsize;
} }
SIMD_FORCE_INLINE T &expandNonInitializing() { SIMD_FORCE_INLINE T& expandNonInitializing()
{
int32_t sz = size(); int32_t sz = size();
if (sz == capacity()) { if (sz == capacity()) {
reserve(allocSize(size())); reserve(allocSize(size()));
@ -205,7 +221,8 @@ public:
return m_data[sz]; return m_data[sz];
} }
SIMD_FORCE_INLINE T &expand(const T &fillValue = T()) { SIMD_FORCE_INLINE T& expand(const T& fillValue = T())
{
int32_t sz = size(); int32_t sz = size();
if (sz == capacity()) { if (sz == capacity()) {
reserve(allocSize(size())); reserve(allocSize(size()));
@ -218,7 +235,8 @@ public:
return m_data[sz]; return m_data[sz];
} }
SIMD_FORCE_INLINE void push_back(const T &_Val) { SIMD_FORCE_INLINE void push_back(const T& _Val)
{
int32_t sz = size(); int32_t sz = size();
if (sz == capacity()) { if (sz == capacity()) {
reserve(allocSize(size())); reserve(allocSize(size()));
@ -234,11 +252,13 @@ public:
} }
/// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve() /// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve()
SIMD_FORCE_INLINE int32_t capacity() const { SIMD_FORCE_INLINE int32_t capacity() const
{
return m_capacity; return m_capacity;
} }
SIMD_FORCE_INLINE void reserve(int32_t _Count) { // determine new minimum length of allocated storage SIMD_FORCE_INLINE void reserve(int32_t _Count)
{ // determine new minimum length of allocated storage
if (capacity() < _Count) { // not enough room, reallocate if (capacity() < _Count) { // not enough room, reallocate
T* s = (T*)allocate(_Count); T* s = (T*)allocate(_Count);
@ -259,13 +279,15 @@ public:
class less { class less {
public: public:
bool operator()(const T &a, const T &b) { bool operator()(const T& a, const T& b)
{
return (a < b); return (a < b);
} }
}; };
template <typename L> template <typename L>
void quickSortInternal(const L &CompareFunc, int32_t lo, int32_t hi) { void quickSortInternal(const L& CompareFunc, int32_t lo, int32_t hi)
{
// lo is the lower index, hi is the upper index // lo is the lower index, hi is the upper index
// of the region of array a that is to be sorted // of the region of array a that is to be sorted
int32_t i = lo, j = hi; int32_t i = lo, j = hi;
@ -292,7 +314,8 @@ public:
} }
template <typename L> template <typename L>
void quickSort(const L &CompareFunc) { void quickSort(const L& CompareFunc)
{
//don't sort 0 or 1 elements //don't sort 0 or 1 elements
if (size() > 1) { if (size() > 1) {
quickSortInternal(CompareFunc, 0, size() - 1); quickSortInternal(CompareFunc, 0, size() - 1);
@ -301,7 +324,8 @@ public:
///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/ ///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
template <typename L> template <typename L>
void downHeap(T *pArr, int32_t k, int32_t n, const L &CompareFunc) { void downHeap(T* pArr, int32_t k, int32_t n, const L& CompareFunc)
{
/* PRE: a[k+1..N] is a heap */ /* PRE: a[k+1..N] is a heap */
/* POST: a[k..N] is a heap */ /* POST: a[k..N] is a heap */
@ -318,14 +342,16 @@ public:
/* move child up */ /* move child up */
pArr[k - 1] = pArr[child - 1]; pArr[k - 1] = pArr[child - 1];
k = child; k = child;
} else { }
else {
break; break;
} }
} }
pArr[k - 1] = temp; pArr[k - 1] = temp;
} /*downHeap*/ } /*downHeap*/
void swap(int32_t index0, int32_t index1) { void swap(int32_t index0, int32_t index1)
{
#ifdef BT_USE_MEMCPY #ifdef BT_USE_MEMCPY
char temp[sizeof(T)]; char temp[sizeof(T)];
memcpy(temp, &m_data[index0], sizeof(T)); memcpy(temp, &m_data[index0], sizeof(T));
@ -339,7 +365,8 @@ public:
} }
template <typename L> template <typename L>
void heapSort(const L &CompareFunc) { void heapSort(const L& CompareFunc)
{
/* sort a[0..N-1], N.B. 0 to N-1 */ /* sort a[0..N-1], N.B. 0 to N-1 */
int32_t k; int32_t k;
int32_t n = m_size; int32_t n = m_size;
@ -358,7 +385,8 @@ public:
} }
///non-recursive binary search, assumes sorted array ///non-recursive binary search, assumes sorted array
int32_t findBinarySearch(const T &key) const { int32_t findBinarySearch(const T& key) const
{
int32_t first = 0; int32_t first = 0;
int32_t last = size() - 1; int32_t last = size() - 1;
@ -375,7 +403,8 @@ public:
return size(); // failed to find key return size(); // failed to find key
} }
int32_t findLinearSearch(const T &key) const { int32_t findLinearSearch(const T& key) const
{
int32_t index = size(); int32_t index = size();
int32_t i; int32_t i;
@ -388,7 +417,8 @@ public:
return index; return index;
} }
void remove(const T &key) { void remove(const T& key)
{
int32_t findIndex = findLinearSearch(key); int32_t findIndex = findLinearSearch(key);
if (findIndex < size()) { if (findIndex < size()) {
@ -398,7 +428,8 @@ public:
} }
//PCK: whole function //PCK: whole function
void initializeFromBuffer(void *buffer, int32_t size, int32_t capacity) { void initializeFromBuffer(void* buffer, int32_t size, int32_t capacity)
{
clear(); clear();
m_ownsMemory = false; m_ownsMemory = false;
m_data = (T*)buffer; m_data = (T*)buffer;
@ -406,15 +437,12 @@ public:
m_capacity = capacity; m_capacity = capacity;
} }
void copyFromArray(const btAlignedObjectArray &otherArray) { void copyFromArray(const btAlignedObjectArray& otherArray)
{
int32_t otherSize = otherArray.size(); int32_t otherSize = otherArray.size();
resize(otherSize); resize(otherSize);
otherArray.copy(0, otherSize, m_data); otherArray.copy(0, otherSize, m_data);
} }
}; };
//GODOT ADDITION
}; // namespace VHACD
//
#endif //BT_OBJECT_ARRAY__ #endif //BT_OBJECT_ARRAY__

23
thirdparty/vhacd/inc/btConvexHullComputer.h vendored
View File

@ -18,10 +18,6 @@ subject to the following restrictions:
#include "btAlignedObjectArray.h" #include "btAlignedObjectArray.h"
#include "btVector3.h" #include "btVector3.h"
//GODOT ADDITION
namespace VHACD {
//
/// Convex hull implementation based on Preparata and Hong /// Convex hull implementation based on Preparata and Hong
/// See http://code.google.com/p/bullet/issues/detail?id=275 /// See http://code.google.com/p/bullet/issues/detail?id=275
/// Ole Kniemeyer, MAXON Computer GmbH /// Ole Kniemeyer, MAXON Computer GmbH
@ -39,11 +35,13 @@ public:
friend class btConvexHullComputer; friend class btConvexHullComputer;
public: public:
int32_t getSourceVertex() const { int32_t getSourceVertex() const
{
return (this + reverse)->targetVertex; return (this + reverse)->targetVertex;
} }
int32_t getTargetVertex() const { int32_t getTargetVertex() const
{
return targetVertex; return targetVertex;
} }
@ -57,7 +55,8 @@ public:
return (this + reverse)->getNextEdgeOfVertex(); return (this + reverse)->getNextEdgeOfVertex();
} }
const Edge *getReverseEdge() const { const Edge* getReverseEdge() const
{
return this + reverse; return this + reverse;
} }
}; };
@ -83,18 +82,16 @@ public:
The output convex hull can be found in the member variables "vertices", "edges", "faces". The output convex hull can be found in the member variables "vertices", "edges", "faces".
*/ */
btScalar compute(const float *coords, int32_t stride, int32_t count, btScalar shrink, btScalar shrinkClamp) { btScalar compute(const float* coords, int32_t stride, int32_t count, btScalar shrink, btScalar shrinkClamp)
{
return compute(coords, false, stride, count, shrink, shrinkClamp); return compute(coords, false, stride, count, shrink, shrinkClamp);
} }
// same as above, but double precision // same as above, but double precision
btScalar compute(const double *coords, int32_t stride, int32_t count, btScalar shrink, btScalar shrinkClamp) { btScalar compute(const double* coords, int32_t stride, int32_t count, btScalar shrink, btScalar shrinkClamp)
{
return compute(coords, true, stride, count, shrink, shrinkClamp); return compute(coords, true, stride, count, shrink, shrinkClamp);
} }
}; };
//GODOT ADDITION
}; // namespace VHACD
//
#endif //BT_CONVEX_HULL_COMPUTER_H #endif //BT_CONVEX_HULL_COMPUTER_H

29
thirdparty/vhacd/inc/btMinMax.h vendored
View File

@ -17,50 +17,49 @@ subject to the following restrictions:
#include "btScalar.h" #include "btScalar.h"
//GODOT ADDITION
namespace VHACD {
//
template <class T> template <class T>
SIMD_FORCE_INLINE const T &btMin(const T &a, const T &b) { SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b)
{
return a < b ? a : b; return a < b ? a : b;
} }
template <class T> template <class T>
SIMD_FORCE_INLINE const T &btMax(const T &a, const T &b) { SIMD_FORCE_INLINE const T& btMax(const T& a, const T& b)
{
return a > b ? a : b; return a > b ? a : b;
} }
template <class T> template <class T>
SIMD_FORCE_INLINE const T &btClamped(const T &a, const T &lb, const T &ub) { SIMD_FORCE_INLINE const T& btClamped(const T& a, const T& lb, const T& ub)
{
return a < lb ? lb : (ub < a ? ub : a); return a < lb ? lb : (ub < a ? ub : a);
} }
template <class T> template <class T>
SIMD_FORCE_INLINE void btSetMin(T &a, const T &b) { SIMD_FORCE_INLINE void btSetMin(T& a, const T& b)
{
if (b < a) { if (b < a) {
a = b; a = b;
} }
} }
template <class T> template <class T>
SIMD_FORCE_INLINE void btSetMax(T &a, const T &b) { SIMD_FORCE_INLINE void btSetMax(T& a, const T& b)
{
if (a < b) { if (a < b) {
a = b; a = b;
} }
} }
template <class T> template <class T>
SIMD_FORCE_INLINE void btClamp(T &a, const T &lb, const T &ub) { SIMD_FORCE_INLINE void btClamp(T& a, const T& lb, const T& ub)
{
if (a < lb) { if (a < lb) {
a = lb; a = lb;
} else if (ub < a) { }
else if (ub < a) {
a = ub; a = ub;
} }
} }
//GODOT ADDITION
}; // namespace VHACD
//
#endif //BT_GEN_MINMAX_H #endif //BT_GEN_MINMAX_H

206
thirdparty/vhacd/inc/btScalar.h vendored
View File

@ -22,24 +22,17 @@ subject to the following restrictions:
#include <float.h> #include <float.h>
#include <math.h> #include <math.h>
#include <stdint.h>
#include <stdlib.h> //size_t for MSVC 6.0 #include <stdlib.h> //size_t for MSVC 6.0
#include <stdint.h>
/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
#define BT_BULLET_VERSION 279 #define BT_BULLET_VERSION 279
//GODOT ADDITION inline int32_t btGetVersion()
namespace VHACD { {
//
inline int32_t btGetVersion() {
return BT_BULLET_VERSION; return BT_BULLET_VERSION;
} }
//GODOT ADDITION
}; // namespace VHACD
//
#if defined(DEBUG) || defined(_DEBUG) #if defined(DEBUG) || defined(_DEBUG)
#define BT_DEBUG #define BT_DEBUG
#endif #endif
@ -206,10 +199,6 @@ inline int32_t btGetVersion() {
#endif //__CELLOS_LV2__ #endif //__CELLOS_LV2__
#endif #endif
//GODOT ADDITION
namespace VHACD {
//
///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision. ///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
#if defined(BT_USE_DOUBLE_PRECISION) #if defined(BT_USE_DOUBLE_PRECISION)
typedef double btScalar; typedef double btScalar;
@ -233,57 +222,41 @@ typedef float btScalar;
#if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS) #if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS)
SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { SIMD_FORCE_INLINE btScalar btSqrt(btScalar x)
{
return sqrt(x); return sqrt(x);
} }
SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(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 btCos(btScalar x) { SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); }
return cos(x); SIMD_FORCE_INLINE btScalar btAcos(btScalar 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)) if (x < btScalar(-1))
x = btScalar(-1); x = btScalar(-1);
if (x > btScalar(1)) if (x > btScalar(1))
x = btScalar(1); x = btScalar(1);
return acos(x); return acos(x);
} }
SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { SIMD_FORCE_INLINE btScalar btAsin(btScalar x)
{
if (x < btScalar(-1)) if (x < btScalar(-1))
x = btScalar(-1); x = btScalar(-1);
if (x > btScalar(1)) if (x > btScalar(1))
x = btScalar(1); x = btScalar(1);
return asin(x); return asin(x);
} }
SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(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 btAtan2(btScalar x, btScalar y) { SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); }
return atan2(x, y); 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); }
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 #else
SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) { SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
{
#ifdef USE_APPROXIMATION #ifdef USE_APPROXIMATION
double x, z, tempf; double x, z, tempf;
unsigned long* tfptr = ((unsigned long*)&tempf) + 1; unsigned long* tfptr = ((unsigned long*)&tempf) + 1;
@ -302,50 +275,32 @@ SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) {
return sqrtf(y); return sqrtf(y);
#endif #endif
} }
SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(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 btCos(btScalar x) { SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
return cosf(x); SIMD_FORCE_INLINE btScalar btAcos(btScalar 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)) if (x < btScalar(-1))
x = btScalar(-1); x = btScalar(-1);
if (x > btScalar(1)) if (x > btScalar(1))
x = btScalar(1); x = btScalar(1);
return acosf(x); return acosf(x);
} }
SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { SIMD_FORCE_INLINE btScalar btAsin(btScalar x)
{
if (x < btScalar(-1)) if (x < btScalar(-1))
x = btScalar(-1); x = btScalar(-1);
if (x > btScalar(1)) if (x > btScalar(1))
x = btScalar(1); x = btScalar(1);
return asinf(x); return asinf(x);
} }
SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(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 btAtan2(btScalar x, btScalar y) { SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); }
return atan2f(x, y); 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); }
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 #endif
@ -366,7 +321,8 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) {
#define SIMD_INFINITY FLT_MAX #define SIMD_INFINITY FLT_MAX
#endif #endif
SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) { SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x)
{
btScalar coeff_1 = SIMD_PI / 4.0f; btScalar coeff_1 = SIMD_PI / 4.0f;
btScalar coeff_2 = 3.0f * coeff_1; btScalar coeff_2 = 3.0f * coeff_1;
btScalar abs_y = btFabs(y); btScalar abs_y = btFabs(y);
@ -374,34 +330,32 @@ SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) {
if (x >= 0.0f) { if (x >= 0.0f) {
btScalar r = (x - abs_y) / (x + abs_y); btScalar r = (x - abs_y) / (x + abs_y);
angle = coeff_1 - coeff_1 * r; angle = coeff_1 - coeff_1 * r;
} else { }
else {
btScalar r = (x + abs_y) / (abs_y - x); btScalar r = (x + abs_y) / (abs_y - x);
angle = coeff_2 - coeff_1 * r; angle = coeff_2 - coeff_1 * r;
} }
return (y < 0.0f) ? -angle : angle; return (y < 0.0f) ? -angle : angle;
} }
SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; }
return btFabs(x) < SIMD_EPSILON;
}
SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) { SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps)
{
return (((a) <= eps) && !((a) < -eps)); return (((a) <= eps) && !((a) < -eps));
} }
SIMD_FORCE_INLINE bool btGreaterEqual(btScalar a, btScalar eps) { SIMD_FORCE_INLINE bool btGreaterEqual(btScalar a, btScalar eps)
{
return (!((a) <= eps)); return (!((a) <= eps));
} }
SIMD_FORCE_INLINE int32_t btIsNegative(btScalar x) { SIMD_FORCE_INLINE int32_t btIsNegative(btScalar x)
{
return x < btScalar(0.0) ? 1 : 0; return x < btScalar(0.0) ? 1 : 0;
} }
SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; }
return x * SIMD_RADS_PER_DEG; SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; }
}
SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) {
return x * SIMD_DEGS_PER_RAD;
}
#define BT_DECLARE_HANDLE(name) \ #define BT_DECLARE_HANDLE(name) \
typedef struct name##__ { \ typedef struct name##__ { \
@ -409,13 +363,15 @@ SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) {
} * name } * name
#ifndef btFsel #ifndef btFsel
SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c) { SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c)
{
return a >= 0 ? b : c; return a >= 0 ? b : c;
} }
#endif #endif
#define btFsels(a, b, c) (btScalar) btFsel(a, b, c) #define btFsels(a, b, c) (btScalar) btFsel(a, b, c)
SIMD_FORCE_INLINE bool btMachineIsLittleEndian() { SIMD_FORCE_INLINE bool btMachineIsLittleEndian()
{
long int i = 1; long int i = 1;
const char* p = (const char*)&i; const char* p = (const char*)&i;
if (p[0] == 1) // Lowest address contains the least significant byte if (p[0] == 1) // Lowest address contains the least significant byte
@ -426,7 +382,8 @@ SIMD_FORCE_INLINE bool btMachineIsLittleEndian() {
///btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360 ///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 ///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) { SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero)
{
// Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero // 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 // 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 // and zero value or'ed with its negative (which is still zero) having sign bit off
@ -435,12 +392,14 @@ SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditio
unsigned testEqz = ~testNz; unsigned testEqz = ~testNz;
return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
} }
SIMD_FORCE_INLINE int32_t btSelect(unsigned condition, int32_t valueIfConditionNonZero, int32_t valueIfConditionZero) { 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 testNz = (unsigned)(((int32_t)condition | -(int32_t)condition) >> 31);
unsigned testEqz = ~testNz; unsigned testEqz = ~testNz;
return static_cast<int32_t>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); return static_cast<int32_t>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
} }
SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero) { SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero)
{
#ifdef BT_HAVE_NATIVE_FSEL #ifdef BT_HAVE_NATIVE_FSEL
return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero); return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero);
#else #else
@ -449,26 +408,31 @@ SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZe
} }
template <typename T> template <typename T>
SIMD_FORCE_INLINE void btSwap(T &a, T &b) { SIMD_FORCE_INLINE void btSwap(T& a, T& b)
{
T tmp = a; T tmp = a;
a = b; a = b;
b = tmp; b = tmp;
} }
//PCK: endian swapping functions //PCK: endian swapping functions
SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val) { SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val)
{
return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24)); return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24));
} }
SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val) { SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val)
{
return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8)); return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8));
} }
SIMD_FORCE_INLINE unsigned btSwapEndian(int32_t val) { SIMD_FORCE_INLINE unsigned btSwapEndian(int32_t val)
{
return btSwapEndian((unsigned)val); return btSwapEndian((unsigned)val);
} }
SIMD_FORCE_INLINE unsigned short btSwapEndian(short val) { SIMD_FORCE_INLINE unsigned short btSwapEndian(short val)
{
return btSwapEndian((unsigned short)val); return btSwapEndian((unsigned short)val);
} }
@ -478,7 +442,8 @@ SIMD_FORCE_INLINE unsigned short btSwapEndian(short val) {
///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception. ///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. ///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 ///so instead of returning a float/double, we return integer/long long integer
SIMD_FORCE_INLINE uint32_t btSwapEndianFloat(float d) { SIMD_FORCE_INLINE uint32_t btSwapEndianFloat(float d)
{
uint32_t a = 0; uint32_t a = 0;
unsigned char* dst = (unsigned char*)&a; unsigned char* dst = (unsigned char*)&a;
unsigned char* src = (unsigned char*)&d; unsigned char* src = (unsigned char*)&d;
@ -491,7 +456,8 @@ SIMD_FORCE_INLINE uint32_t btSwapEndianFloat(float d) {
} }
// unswap using char pointers // unswap using char pointers
SIMD_FORCE_INLINE float btUnswapEndianFloat(uint32_t a) { SIMD_FORCE_INLINE float btUnswapEndianFloat(uint32_t a)
{
float d = 0.0f; float d = 0.0f;
unsigned char* src = (unsigned char*)&a; unsigned char* src = (unsigned char*)&a;
unsigned char* dst = (unsigned char*)&d; unsigned char* dst = (unsigned char*)&d;
@ -505,7 +471,8 @@ SIMD_FORCE_INLINE float btUnswapEndianFloat(uint32_t a) {
} }
// swap using char pointers // swap using char pointers
SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char *dst) { SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char* dst)
{
unsigned char* src = (unsigned char*)&d; unsigned char* src = (unsigned char*)&d;
dst[0] = src[7]; dst[0] = src[7];
@ -519,7 +486,8 @@ SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char *dst) {
} }
// unswap using char pointers // unswap using char pointers
SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src) { SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char* src)
{
double d = 0.0; double d = 0.0;
unsigned char* dst = (unsigned char*)&d; unsigned char* dst = (unsigned char*)&d;
@ -536,30 +504,30 @@ SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src) {
} }
// returns normalized value in range [-SIMD_PI, SIMD_PI] // returns normalized value in range [-SIMD_PI, SIMD_PI]
SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) { SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians)
{
angleInRadians = btFmod(angleInRadians, SIMD_2_PI); angleInRadians = btFmod(angleInRadians, SIMD_2_PI);
if (angleInRadians < -SIMD_PI) { if (angleInRadians < -SIMD_PI) {
return angleInRadians + SIMD_2_PI; return angleInRadians + SIMD_2_PI;
} else if (angleInRadians > SIMD_PI) { }
else if (angleInRadians > SIMD_PI) {
return angleInRadians - SIMD_2_PI; return angleInRadians - SIMD_2_PI;
} else { }
else {
return angleInRadians; return angleInRadians;
} }
} }
///rudimentary class to provide type info ///rudimentary class to provide type info
struct btTypedObject { struct btTypedObject {
btTypedObject(int32_t objectType) : btTypedObject(int32_t objectType)
m_objectType(objectType) { : m_objectType(objectType)
{
} }
int32_t m_objectType; int32_t m_objectType;
inline int32_t getObjectType() const { inline int32_t getObjectType() const
{
return m_objectType; return m_objectType;
} }
}; };
//GODOT ADDITION
}; // namespace VHACD
//
#endif //BT_SCALAR_H #endif //BT_SCALAR_H

220
thirdparty/vhacd/inc/btVector3.h vendored
View File

@ -30,18 +30,16 @@ subject to the following restrictions:
* It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user * It has an un-used w component to suit 16-byte alignment when btVector3 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 * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
*/ */
//GODOT ADDITION
namespace VHACD {
//
ATTRIBUTE_ALIGNED16(class) ATTRIBUTE_ALIGNED16(class)
btVector3 { btVector3
{
public: public:
#if defined(__SPU__) && defined(__CELLOS_LV2__) #if defined(__SPU__) && defined(__CELLOS_LV2__)
btScalar m_floats[4]; btScalar m_floats[4];
public: public:
SIMD_FORCE_INLINE const vec_float4 &get128() const { SIMD_FORCE_INLINE const vec_float4& get128() const
{
return *((const vec_float4*)&m_floats[0]); return *((const vec_float4*)&m_floats[0]);
} }
@ -52,10 +50,12 @@ public:
__m128 mVec128; __m128 mVec128;
btScalar m_floats[4]; btScalar m_floats[4];
}; };
SIMD_FORCE_INLINE __m128 get128() const { SIMD_FORCE_INLINE __m128 get128() const
{
return mVec128; return mVec128;
} }
SIMD_FORCE_INLINE void set128(__m128 v128) { SIMD_FORCE_INLINE void set128(__m128 v128)
{
mVec128 = v128; mVec128 = v128;
} }
#else #else
@ -72,7 +72,8 @@ public:
* @param y Y value * @param y Y value
* @param z Z value * @param z Z value
*/ */
SIMD_FORCE_INLINE btVector3(const btScalar &x, const btScalar &y, const btScalar &z) { SIMD_FORCE_INLINE btVector3(const btScalar& x, const btScalar& y, const btScalar& z)
{
m_floats[0] = x; m_floats[0] = x;
m_floats[1] = y; m_floats[1] = y;
m_floats[2] = z; m_floats[2] = z;
@ -81,7 +82,8 @@ public:
/**@brief Add a vector to this one /**@brief Add a vector to this one
* @param The vector to add to this one */ * @param The vector to add to this one */
SIMD_FORCE_INLINE btVector3 &operator+=(const btVector3 &v) { SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v)
{
m_floats[0] += v.m_floats[0]; m_floats[0] += v.m_floats[0];
m_floats[1] += v.m_floats[1]; m_floats[1] += v.m_floats[1];
@ -91,7 +93,8 @@ public:
/**@brief Subtract a vector from this one /**@brief Subtract a vector from this one
* @param The vector to subtract */ * @param The vector to subtract */
SIMD_FORCE_INLINE btVector3 &operator-=(const btVector3 &v) { SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v)
{
m_floats[0] -= v.m_floats[0]; m_floats[0] -= v.m_floats[0];
m_floats[1] -= v.m_floats[1]; m_floats[1] -= v.m_floats[1];
m_floats[2] -= v.m_floats[2]; m_floats[2] -= v.m_floats[2];
@ -99,7 +102,8 @@ public:
} }
/**@brief Scale the vector /**@brief Scale the vector
* @param s Scale factor */ * @param s Scale factor */
SIMD_FORCE_INLINE btVector3 &operator*=(const btScalar &s) { SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s)
{
m_floats[0] *= s; m_floats[0] *= s;
m_floats[1] *= s; m_floats[1] *= s;
m_floats[2] *= s; m_floats[2] *= s;
@ -108,24 +112,28 @@ public:
/**@brief Inversely scale the vector /**@brief Inversely scale the vector
* @param s Scale factor to divide by */ * @param s Scale factor to divide by */
SIMD_FORCE_INLINE btVector3 &operator/=(const btScalar &s) { SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s)
{
btFullAssert(s != btScalar(0.0)); btFullAssert(s != btScalar(0.0));
return * this *= btScalar(1.0) / s; return * this *= btScalar(1.0) / s;
} }
/**@brief Return the dot product /**@brief Return the dot product
* @param v The other vector in the dot product */ * @param v The other vector in the dot product */
SIMD_FORCE_INLINE btScalar dot(const btVector3 &v) const { SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const
{
return m_floats[0] * v.m_floats[0] + m_floats[1] * v.m_floats[1] + m_floats[2] * v.m_floats[2]; return m_floats[0] * v.m_floats[0] + m_floats[1] * v.m_floats[1] + m_floats[2] * v.m_floats[2];
} }
/**@brief Return the length of the vector squared */ /**@brief Return the length of the vector squared */
SIMD_FORCE_INLINE btScalar length2() const { SIMD_FORCE_INLINE btScalar length2() const
{
return dot(*this); return dot(*this);
} }
/**@brief Return the length of the vector */ /**@brief Return the length of the vector */
SIMD_FORCE_INLINE btScalar length() const { SIMD_FORCE_INLINE btScalar length() const
{
return btSqrt(length2()); return btSqrt(length2());
} }
@ -137,7 +145,8 @@ public:
* This is symantically treating the vector like a point */ * This is symantically treating the vector like a point */
SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const; SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;
SIMD_FORCE_INLINE btVector3 &safeNormalize() { SIMD_FORCE_INLINE btVector3& safeNormalize()
{
btVector3 absVec = this->absolute(); btVector3 absVec = this->absolute();
int32_t maxIndex = absVec.maxAxis(); int32_t maxIndex = absVec.maxAxis();
if (absVec[maxIndex] > 0) { if (absVec[maxIndex] > 0) {
@ -150,7 +159,8 @@ public:
/**@brief Normalize this vector /**@brief Normalize this vector
* x^2 + y^2 + z^2 = 1 */ * x^2 + y^2 + z^2 = 1 */
SIMD_FORCE_INLINE btVector3 &normalize() { SIMD_FORCE_INLINE btVector3& normalize()
{
return * this /= length(); return * this /= length();
} }
@ -164,13 +174,15 @@ public:
/**@brief Return the angle between this and another vector /**@brief Return the angle between this and another vector
* @param v The other vector */ * @param v The other vector */
SIMD_FORCE_INLINE btScalar angle(const btVector3 &v) const { SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const
{
btScalar s = btSqrt(length2() * v.length2()); btScalar s = btSqrt(length2() * v.length2());
btFullAssert(s != btScalar(0.0)); btFullAssert(s != btScalar(0.0));
return btAcos(dot(v) / s); return btAcos(dot(v) / s);
} }
/**@brief Return a vector will the absolute values of each element */ /**@brief Return a vector will the absolute values of each element */
SIMD_FORCE_INLINE btVector3 absolute() const { SIMD_FORCE_INLINE btVector3 absolute() const
{
return btVector3( return btVector3(
btFabs(m_floats[0]), btFabs(m_floats[0]),
btFabs(m_floats[1]), btFabs(m_floats[1]),
@ -178,38 +190,45 @@ public:
} }
/**@brief Return the cross product between this and another vector /**@brief Return the cross product between this and another vector
* @param v The other vector */ * @param v The other vector */
SIMD_FORCE_INLINE btVector3 cross(const btVector3 &v) const { SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const
{
return btVector3( return btVector3(
m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1], 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[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]); m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]);
} }
SIMD_FORCE_INLINE btScalar triple(const btVector3 &v1, const btVector3 &v2) const { SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const
{
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]); 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]);
} }
/**@brief Return the axis with the smallest value /**@brief Return the axis with the smallest value
* Note return values are 0,1,2 for x, y, or z */ * Note return values are 0,1,2 for x, y, or z */
SIMD_FORCE_INLINE int32_t minAxis() const { SIMD_FORCE_INLINE int32_t 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); 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 /**@brief Return the axis with the largest value
* Note return values are 0,1,2 for x, y, or z */ * Note return values are 0,1,2 for x, y, or z */
SIMD_FORCE_INLINE int32_t maxAxis() const { SIMD_FORCE_INLINE int32_t 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); return m_floats[0] < m_floats[1] ? (m_floats[1] < m_floats[2] ? 2 : 1) : (m_floats[0] < m_floats[2] ? 2 : 0);
} }
SIMD_FORCE_INLINE int32_t furthestAxis() const { SIMD_FORCE_INLINE int32_t furthestAxis() const
{
return absolute().minAxis(); return absolute().minAxis();
} }
SIMD_FORCE_INLINE int32_t closestAxis() const { SIMD_FORCE_INLINE int32_t closestAxis() const
{
return absolute().maxAxis(); return absolute().maxAxis();
} }
SIMD_FORCE_INLINE void setInterpolate3(const btVector3 &v0, const btVector3 &v1, btScalar rt) { SIMD_FORCE_INLINE void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt)
{
btScalar s = btScalar(1.0) - rt; btScalar s = btScalar(1.0) - rt;
m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0]; 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[1] = s * v0.m_floats[1] + rt * v1.m_floats[1];
@ -221,7 +240,8 @@ public:
/**@brief Return the linear interpolation between this and another vector /**@brief Return the linear interpolation between this and another vector
* @param v The other vector * @param v The other vector
* @param t The ration of this to v (t = 0 => return this, t=1 => return other) */ * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */
SIMD_FORCE_INLINE btVector3 lerp(const btVector3 &v, const btScalar &t) const { SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const
{
return btVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t, return btVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
m_floats[1] + (v.m_floats[1] - m_floats[1]) * t, m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
m_floats[2] + (v.m_floats[2] - m_floats[2]) * t); m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
@ -229,7 +249,8 @@ public:
/**@brief Elementwise multiply this vector by the other /**@brief Elementwise multiply this vector by the other
* @param v The other vector */ * @param v The other vector */
SIMD_FORCE_INLINE btVector3 &operator*=(const btVector3 &v) { SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v)
{
m_floats[0] *= v.m_floats[0]; m_floats[0] *= v.m_floats[0];
m_floats[1] *= v.m_floats[1]; m_floats[1] *= v.m_floats[1];
m_floats[2] *= v.m_floats[2]; m_floats[2] *= v.m_floats[2];
@ -265,18 +286,21 @@ public:
SIMD_FORCE_INLINE operator btScalar*() { return &m_floats[0]; } SIMD_FORCE_INLINE operator btScalar*() { return &m_floats[0]; }
SIMD_FORCE_INLINE operator const btScalar*() const { return &m_floats[0]; } SIMD_FORCE_INLINE operator const btScalar*() const { return &m_floats[0]; }
SIMD_FORCE_INLINE bool operator==(const btVector3 &other) const { SIMD_FORCE_INLINE bool operator==(const btVector3& other) const
{
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])); 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]));
} }
SIMD_FORCE_INLINE bool operator!=(const btVector3 &other) const { SIMD_FORCE_INLINE bool operator!=(const btVector3& other) const
{
return !(*this == other); return !(*this == other);
} }
/**@brief Set each element to the max of the current values and the values of another btVector3 /**@brief Set each element to the max of the current values and the values of another btVector3
* @param other The other btVector3 to compare with * @param other The other btVector3 to compare with
*/ */
SIMD_FORCE_INLINE void setMax(const btVector3 &other) { SIMD_FORCE_INLINE void setMax(const btVector3& other)
{
btSetMax(m_floats[0], other.m_floats[0]); btSetMax(m_floats[0], other.m_floats[0]);
btSetMax(m_floats[1], other.m_floats[1]); btSetMax(m_floats[1], other.m_floats[1]);
btSetMax(m_floats[2], other.m_floats[2]); btSetMax(m_floats[2], other.m_floats[2]);
@ -285,35 +309,41 @@ public:
/**@brief Set each element to the min of the current values and the values of another btVector3 /**@brief Set each element to the min of the current values and the values of another btVector3
* @param other The other btVector3 to compare with * @param other The other btVector3 to compare with
*/ */
SIMD_FORCE_INLINE void setMin(const btVector3 &other) { SIMD_FORCE_INLINE void setMin(const btVector3& other)
{
btSetMin(m_floats[0], other.m_floats[0]); btSetMin(m_floats[0], other.m_floats[0]);
btSetMin(m_floats[1], other.m_floats[1]); btSetMin(m_floats[1], other.m_floats[1]);
btSetMin(m_floats[2], other.m_floats[2]); btSetMin(m_floats[2], other.m_floats[2]);
btSetMin(m_floats[3], other.w()); btSetMin(m_floats[3], other.w());
} }
SIMD_FORCE_INLINE void setValue(const btScalar &x, const btScalar &y, const btScalar &z) { SIMD_FORCE_INLINE void setValue(const btScalar& x, const btScalar& y, const btScalar& z)
{
m_floats[0] = x; m_floats[0] = x;
m_floats[1] = y; m_floats[1] = y;
m_floats[2] = z; m_floats[2] = z;
m_floats[3] = btScalar(0.); m_floats[3] = btScalar(0.);
} }
void getSkewSymmetricMatrix(btVector3 * v0, btVector3 * v1, btVector3 * v2) const { void getSkewSymmetricMatrix(btVector3 * v0, btVector3 * v1, btVector3 * v2) const
{
v0->setValue(0., -z(), y()); v0->setValue(0., -z(), y());
v1->setValue(z(), 0., -x()); v1->setValue(z(), 0., -x());
v2->setValue(-y(), x(), 0.); v2->setValue(-y(), x(), 0.);
} }
void setZero() { void setZero()
{
setValue(btScalar(0.), btScalar(0.), btScalar(0.)); setValue(btScalar(0.), btScalar(0.), btScalar(0.));
} }
SIMD_FORCE_INLINE bool isZero() const { SIMD_FORCE_INLINE bool isZero() const
{
return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0); return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0);
} }
SIMD_FORCE_INLINE bool fuzzyZero() const { SIMD_FORCE_INLINE bool fuzzyZero() const
{
return length2() < SIMD_EPSILON; return length2() < SIMD_EPSILON;
} }
@ -332,84 +362,98 @@ public:
/**@brief Return the sum of two vectors (Point symantics)*/ /**@brief Return the sum of two vectors (Point symantics)*/
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator+(const btVector3 &v1, const btVector3 &v2) { operator+(const btVector3& v1, const btVector3& v2)
{
return btVector3(v1.m_floats[0] + v2.m_floats[0], v1.m_floats[1] + v2.m_floats[1], v1.m_floats[2] + v2.m_floats[2]); return btVector3(v1.m_floats[0] + v2.m_floats[0], v1.m_floats[1] + v2.m_floats[1], v1.m_floats[2] + v2.m_floats[2]);
} }
/**@brief Return the elementwise product of two vectors */ /**@brief Return the elementwise product of two vectors */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator*(const btVector3 &v1, const btVector3 &v2) { operator*(const btVector3& v1, const btVector3& v2)
{
return btVector3(v1.m_floats[0] * v2.m_floats[0], v1.m_floats[1] * v2.m_floats[1], v1.m_floats[2] * v2.m_floats[2]); return btVector3(v1.m_floats[0] * v2.m_floats[0], v1.m_floats[1] * v2.m_floats[1], v1.m_floats[2] * v2.m_floats[2]);
} }
/**@brief Return the difference between two vectors */ /**@brief Return the difference between two vectors */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator-(const btVector3 &v1, const btVector3 &v2) { operator-(const btVector3& v1, const btVector3& v2)
{
return btVector3(v1.m_floats[0] - v2.m_floats[0], v1.m_floats[1] - v2.m_floats[1], v1.m_floats[2] - v2.m_floats[2]); return btVector3(v1.m_floats[0] - v2.m_floats[0], v1.m_floats[1] - v2.m_floats[1], v1.m_floats[2] - v2.m_floats[2]);
} }
/**@brief Return the negative of the vector */ /**@brief Return the negative of the vector */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator-(const btVector3 &v) { operator-(const btVector3& v)
{
return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]); return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
} }
/**@brief Return the vector scaled by s */ /**@brief Return the vector scaled by s */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator*(const btVector3 &v, const btScalar &s) { operator*(const btVector3& v, const btScalar& s)
{
return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s); return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
} }
/**@brief Return the vector scaled by s */ /**@brief Return the vector scaled by s */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator*(const btScalar &s, const btVector3 &v) { operator*(const btScalar& s, const btVector3& v)
{
return v * s; return v * s;
} }
/**@brief Return the vector inversely scaled by s */ /**@brief Return the vector inversely scaled by s */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator/(const btVector3 &v, const btScalar &s) { operator/(const btVector3& v, const btScalar& s)
{
btFullAssert(s != btScalar(0.0)); btFullAssert(s != btScalar(0.0));
return v * (btScalar(1.0) / s); return v * (btScalar(1.0) / s);
} }
/**@brief Return the vector inversely scaled by s */ /**@brief Return the vector inversely scaled by s */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator/(const btVector3 &v1, const btVector3 &v2) { operator/(const btVector3& v1, const btVector3& v2)
{
return btVector3(v1.m_floats[0] / v2.m_floats[0], v1.m_floats[1] / v2.m_floats[1], v1.m_floats[2] / v2.m_floats[2]); return btVector3(v1.m_floats[0] / v2.m_floats[0], v1.m_floats[1] / v2.m_floats[1], v1.m_floats[2] / v2.m_floats[2]);
} }
/**@brief Return the dot product between two vectors */ /**@brief Return the dot product between two vectors */
SIMD_FORCE_INLINE btScalar SIMD_FORCE_INLINE btScalar
btDot(const btVector3 &v1, const btVector3 &v2) { btDot(const btVector3& v1, const btVector3& v2)
{
return v1.dot(v2); return v1.dot(v2);
} }
/**@brief Return the distance squared between two vectors */ /**@brief Return the distance squared between two vectors */
SIMD_FORCE_INLINE btScalar SIMD_FORCE_INLINE btScalar
btDistance2(const btVector3 &v1, const btVector3 &v2) { btDistance2(const btVector3& v1, const btVector3& v2)
{
return v1.distance2(v2); return v1.distance2(v2);
} }
/**@brief Return the distance between two vectors */ /**@brief Return the distance between two vectors */
SIMD_FORCE_INLINE btScalar SIMD_FORCE_INLINE btScalar
btDistance(const btVector3 &v1, const btVector3 &v2) { btDistance(const btVector3& v1, const btVector3& v2)
{
return v1.distance(v2); return v1.distance(v2);
} }
/**@brief Return the angle between two vectors */ /**@brief Return the angle between two vectors */
SIMD_FORCE_INLINE btScalar SIMD_FORCE_INLINE btScalar
btAngle(const btVector3 &v1, const btVector3 &v2) { btAngle(const btVector3& v1, const btVector3& v2)
{
return v1.angle(v2); return v1.angle(v2);
} }
/**@brief Return the cross product of two vectors */ /**@brief Return the cross product of two vectors */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
btCross(const btVector3 &v1, const btVector3 &v2) { btCross(const btVector3& v1, const btVector3& v2)
{
return v1.cross(v2); return v1.cross(v2);
} }
SIMD_FORCE_INLINE btScalar SIMD_FORCE_INLINE btScalar
btTriple(const btVector3 &v1, const btVector3 &v2, const btVector3 &v3) { btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
{
return v1.triple(v2, v3); return v1.triple(v2, v3);
} }
@ -418,23 +462,28 @@ btTriple(const btVector3 &v1, const btVector3 &v2, const btVector3 &v3) {
* @param v2 The other vector * @param v2 The other vector
* @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */ * @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
lerp(const btVector3 &v1, const btVector3 &v2, const btScalar &t) { lerp(const btVector3& v1, const btVector3& v2, const btScalar& t)
{
return v1.lerp(v2, t); return v1.lerp(v2, t);
} }
SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3 &v) const { SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3& v) const
{
return (v - *this).length2(); return (v - *this).length2();
} }
SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3 &v) const { SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3& v) const
{
return (v - *this).length(); return (v - *this).length();
} }
SIMD_FORCE_INLINE btVector3 btVector3::normalized() const { SIMD_FORCE_INLINE btVector3 btVector3::normalized() const
{
return *this / length(); return *this / length();
} }
SIMD_FORCE_INLINE btVector3 btVector3::rotate(const btVector3 &wAxis, const btScalar angle) const { SIMD_FORCE_INLINE btVector3 btVector3::rotate(const btVector3& wAxis, const btScalar angle) const
{
// wAxis must be a unit lenght vector // wAxis must be a unit lenght vector
btVector3 o = wAxis * wAxis.dot(*this); btVector3 o = wAxis * wAxis.dot(*this);
@ -450,12 +499,14 @@ class btVector4 : public btVector3 {
public: public:
SIMD_FORCE_INLINE btVector4() {} SIMD_FORCE_INLINE btVector4() {}
SIMD_FORCE_INLINE btVector4(const btScalar &x, const btScalar &y, const btScalar &z, const btScalar &w) : SIMD_FORCE_INLINE btVector4(const btScalar& x, const btScalar& y, const btScalar& z, const btScalar& w)
btVector3(x, y, z) { : btVector3(x, y, z)
{
m_floats[3] = w; m_floats[3] = w;
} }
SIMD_FORCE_INLINE btVector4 absolute4() const { SIMD_FORCE_INLINE btVector4 absolute4() const
{
return btVector4( return btVector4(
btFabs(m_floats[0]), btFabs(m_floats[0]),
btFabs(m_floats[1]), btFabs(m_floats[1]),
@ -465,7 +516,8 @@ public:
btScalar getW() const { return m_floats[3]; } btScalar getW() const { return m_floats[3]; }
SIMD_FORCE_INLINE int32_t maxAxis4() const { SIMD_FORCE_INLINE int32_t maxAxis4() const
{
int32_t maxIndex = -1; int32_t maxIndex = -1;
btScalar maxVal = btScalar(-BT_LARGE_FLOAT); btScalar maxVal = btScalar(-BT_LARGE_FLOAT);
if (m_floats[0] > maxVal) { if (m_floats[0] > maxVal) {
@ -486,7 +538,8 @@ public:
return maxIndex; return maxIndex;
} }
SIMD_FORCE_INLINE int32_t minAxis4() const { SIMD_FORCE_INLINE int32_t minAxis4() const
{
int32_t minIndex = -1; int32_t minIndex = -1;
btScalar minVal = btScalar(BT_LARGE_FLOAT); btScalar minVal = btScalar(BT_LARGE_FLOAT);
if (m_floats[0] < minVal) { if (m_floats[0] < minVal) {
@ -508,7 +561,8 @@ public:
return minIndex; return minIndex;
} }
SIMD_FORCE_INLINE int32_t closestAxis4() const { SIMD_FORCE_INLINE int32_t closestAxis4() const
{
return absolute4().maxAxis4(); return absolute4().maxAxis4();
} }
@ -531,7 +585,8 @@ public:
* @param z Value of z * @param z Value of z
* @param w Value of w * @param w Value of w
*/ */
SIMD_FORCE_INLINE void setValue(const btScalar &x, const btScalar &y, const btScalar &z, const btScalar &w) { SIMD_FORCE_INLINE void setValue(const btScalar& x, const btScalar& y, const btScalar& z, const btScalar& w)
{
m_floats[0] = x; m_floats[0] = x;
m_floats[1] = y; m_floats[1] = y;
m_floats[2] = z; m_floats[2] = z;
@ -540,7 +595,8 @@ public:
}; };
///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization ///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar &sourceVal, btScalar &destVal) { SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal)
{
#ifdef BT_USE_DOUBLE_PRECISION #ifdef BT_USE_DOUBLE_PRECISION
unsigned char* dest = (unsigned char*)&destVal; unsigned char* dest = (unsigned char*)&destVal;
unsigned char* src = (unsigned char*)&sourceVal; unsigned char* src = (unsigned char*)&sourceVal;
@ -562,14 +618,16 @@ SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar &sourceVal, btScalar &d
#endif //BT_USE_DOUBLE_PRECISION #endif //BT_USE_DOUBLE_PRECISION
} }
///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization ///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
SIMD_FORCE_INLINE void btSwapVector3Endian(const btVector3 &sourceVec, btVector3 &destVec) { SIMD_FORCE_INLINE void btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec)
{
for (int32_t i = 0; i < 4; i++) { for (int32_t i = 0; i < 4; i++) {
btSwapScalarEndian(sourceVec[i], destVec[i]); btSwapScalarEndian(sourceVec[i], destVec[i]);
} }
} }
///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization ///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3 &vector) { SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector)
{
btVector3 swappedVec; btVector3 swappedVec;
for (int32_t i = 0; i < 4; i++) { for (int32_t i = 0; i < 4; i++) {
@ -579,7 +637,8 @@ SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3 &vector) {
} }
template <class T> template <class T>
SIMD_FORCE_INLINE void btPlaneSpace1(const T &n, T &p, T &q) { SIMD_FORCE_INLINE void btPlaneSpace1(const T& n, T& p, T& q)
{
if (btFabs(n[2]) > SIMDSQRT12) { if (btFabs(n[2]) > SIMDSQRT12) {
// choose p in y-z plane // choose p in y-z plane
btScalar a = n[1] * n[1] + n[2] * n[2]; btScalar a = n[1] * n[1] + n[2] * n[2];
@ -591,7 +650,8 @@ SIMD_FORCE_INLINE void btPlaneSpace1(const T &n, T &p, T &q) {
q[0] = a * k; q[0] = a * k;
q[1] = -n[0] * p[2]; q[1] = -n[0] * p[2];
q[2] = n[0] * p[1]; q[2] = n[0] * p[1];
} else { }
else {
// choose p in x-y plane // choose p in x-y plane
btScalar a = n[0] * n[0] + n[1] * n[1]; btScalar a = n[0] * n[0] + n[1] * n[1];
btScalar k = btRecipSqrt(a); btScalar k = btRecipSqrt(a);
@ -613,41 +673,43 @@ struct btVector3DoubleData {
double m_floats[4]; double m_floats[4];
}; };
SIMD_FORCE_INLINE void btVector3::serializeFloat(struct btVector3FloatData &dataOut) const { SIMD_FORCE_INLINE void btVector3::serializeFloat(struct btVector3FloatData& dataOut) const
{
///could also do a memcpy, check if it is worth it ///could also do a memcpy, check if it is worth it
for (int32_t i = 0; i < 4; i++) for (int32_t i = 0; i < 4; i++)
dataOut.m_floats[i] = float(m_floats[i]); dataOut.m_floats[i] = float(m_floats[i]);
} }
SIMD_FORCE_INLINE void btVector3::deSerializeFloat(const struct btVector3FloatData &dataIn) { SIMD_FORCE_INLINE void btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn)
{
for (int32_t i = 0; i < 4; i++) for (int32_t i = 0; i < 4; i++)
m_floats[i] = btScalar(dataIn.m_floats[i]); m_floats[i] = btScalar(dataIn.m_floats[i]);
} }
SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData &dataOut) const { SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData& dataOut) const
{
///could also do a memcpy, check if it is worth it ///could also do a memcpy, check if it is worth it
for (int32_t i = 0; i < 4; i++) for (int32_t i = 0; i < 4; i++)
dataOut.m_floats[i] = double(m_floats[i]); dataOut.m_floats[i] = double(m_floats[i]);
} }
SIMD_FORCE_INLINE void btVector3::deSerializeDouble(const struct btVector3DoubleData &dataIn) { SIMD_FORCE_INLINE void btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn)
{
for (int32_t i = 0; i < 4; i++) for (int32_t i = 0; i < 4; i++)
m_floats[i] = btScalar(dataIn.m_floats[i]); m_floats[i] = btScalar(dataIn.m_floats[i]);
} }
SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data &dataOut) const { SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const
{
///could also do a memcpy, check if it is worth it ///could also do a memcpy, check if it is worth it
for (int32_t i = 0; i < 4; i++) for (int32_t i = 0; i < 4; i++)
dataOut.m_floats[i] = m_floats[i]; dataOut.m_floats[i] = m_floats[i];
} }
SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3Data &dataIn) { SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3Data& dataIn)
{
for (int32_t i = 0; i < 4; i++) for (int32_t i = 0; i < 4; i++)
m_floats[i] = dataIn.m_floats[i]; m_floats[i] = dataIn.m_floats[i];
} }
//GODOT ADDITION
}; // namespace VHACD
//
#endif //BT_VECTOR3_H #endif //BT_VECTOR3_H

59
thirdparty/vhacd/src/btAlignedAllocator.cpp vendored
View File

@ -15,10 +15,6 @@ subject to the following restrictions:
#include "btAlignedAllocator.h" #include "btAlignedAllocator.h"
//GODOT ADDITION
namespace VHACD {
//
#ifdef _MSC_VER #ifdef _MSC_VER
#pragma warning(disable:4311 4302) #pragma warning(disable:4311 4302)
#endif #endif
@ -27,11 +23,13 @@ int32_t gNumAlignedAllocs = 0;
int32_t gNumAlignedFree = 0; int32_t gNumAlignedFree = 0;
int32_t gTotalBytesAlignedAllocs = 0; //detect memory leaks int32_t gTotalBytesAlignedAllocs = 0; //detect memory leaks
static void *btAllocDefault(size_t size) { static void* btAllocDefault(size_t size)
{
return malloc(size); return malloc(size);
} }
static void btFreeDefault(void *ptr) { static void btFreeDefault(void* ptr)
{
free(ptr); free(ptr);
} }
@ -40,25 +38,30 @@ static btFreeFunc *sFreeFunc = btFreeDefault;
#if defined(BT_HAS_ALIGNED_ALLOCATOR) #if defined(BT_HAS_ALIGNED_ALLOCATOR)
#include <malloc.h> #include <malloc.h>
static void *btAlignedAllocDefault(size_t size, int32_t alignment) { static void* btAlignedAllocDefault(size_t size, int32_t alignment)
{
return _aligned_malloc(size, (size_t)alignment); return _aligned_malloc(size, (size_t)alignment);
} }
static void btAlignedFreeDefault(void *ptr) { static void btAlignedFreeDefault(void* ptr)
{
_aligned_free(ptr); _aligned_free(ptr);
} }
#elif defined(__CELLOS_LV2__) #elif defined(__CELLOS_LV2__)
#include <stdlib.h> #include <stdlib.h>
static inline void *btAlignedAllocDefault(size_t size, int32_t alignment) { static inline void* btAlignedAllocDefault(size_t size, int32_t alignment)
{
return memalign(alignment, size); return memalign(alignment, size);
} }
static inline void btAlignedFreeDefault(void *ptr) { static inline void btAlignedFreeDefault(void* ptr)
{
free(ptr); free(ptr);
} }
#else #else
static inline void *btAlignedAllocDefault(size_t size, int32_t alignment) { static inline void* btAlignedAllocDefault(size_t size, int32_t alignment)
{
void* ret; void* ret;
char* real; char* real;
unsigned long offset; unsigned long offset;
@ -68,13 +71,15 @@ static inline void *btAlignedAllocDefault(size_t size, int32_t alignment) {
offset = (alignment - (unsigned long)(real + sizeof(void*))) & (alignment - 1); offset = (alignment - (unsigned long)(real + sizeof(void*))) & (alignment - 1);
ret = (void*)((real + sizeof(void*)) + offset); ret = (void*)((real + sizeof(void*)) + offset);
*((void**)(ret)-1) = (void*)(real); *((void**)(ret)-1) = (void*)(real);
} else { }
else {
ret = (void*)(real); ret = (void*)(real);
} }
return (ret); return (ret);
} }
static inline void btAlignedFreeDefault(void *ptr) { static inline void btAlignedFreeDefault(void* ptr)
{
void* real; void* real;
if (ptr) { if (ptr) {
@ -87,12 +92,14 @@ static inline void btAlignedFreeDefault(void *ptr) {
static btAlignedAllocFunc* sAlignedAllocFunc = btAlignedAllocDefault; static btAlignedAllocFunc* sAlignedAllocFunc = btAlignedAllocDefault;
static btAlignedFreeFunc* sAlignedFreeFunc = btAlignedFreeDefault; static btAlignedFreeFunc* sAlignedFreeFunc = btAlignedFreeDefault;
void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc) { void btAlignedAllocSetCustomAligned(btAlignedAllocFunc* allocFunc, btAlignedFreeFunc* freeFunc)
{
sAlignedAllocFunc = allocFunc ? allocFunc : btAlignedAllocDefault; sAlignedAllocFunc = allocFunc ? allocFunc : btAlignedAllocDefault;
sAlignedFreeFunc = freeFunc ? freeFunc : btAlignedFreeDefault; sAlignedFreeFunc = freeFunc ? freeFunc : btAlignedFreeDefault;
} }
void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc) { void btAlignedAllocSetCustom(btAllocFunc* allocFunc, btFreeFunc* freeFunc)
{
sAllocFunc = allocFunc ? allocFunc : btAllocDefault; sAllocFunc = allocFunc ? allocFunc : btAllocDefault;
sFreeFunc = freeFunc ? freeFunc : btFreeDefault; sFreeFunc = freeFunc ? freeFunc : btFreeDefault;
} }
@ -101,7 +108,8 @@ void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc) {
//this generic allocator provides the total allocated number of bytes //this generic allocator provides the total allocated number of bytes
#include <stdio.h> #include <stdio.h>
void *btAlignedAllocInternal(size_t size, int32_t alignment, int32_t line, char *filename) { void* btAlignedAllocInternal(size_t size, int32_t alignment, int32_t line, char* filename)
{
void* ret; void* ret;
char* real; char* real;
unsigned long offset; unsigned long offset;
@ -115,7 +123,8 @@ void *btAlignedAllocInternal(size_t size, int32_t alignment, int32_t line, char
ret = (void*)((real + 2 * sizeof(void*)) + offset); ret = (void*)((real + 2 * sizeof(void*)) + offset);
*((void**)(ret)-1) = (void*)(real); *((void**)(ret)-1) = (void*)(real);
*((int32_t*)(ret)-2) = size; *((int32_t*)(ret)-2) = size;
} else { }
else {
ret = (void*)(real); //?? ret = (void*)(real); //??
} }
@ -126,7 +135,8 @@ void *btAlignedAllocInternal(size_t size, int32_t alignment, int32_t line, char
return (ret); return (ret);
} }
void btAlignedFreeInternal(void *ptr, int32_t line, char *filename) { void btAlignedFreeInternal(void* ptr, int32_t line, char* filename)
{
void* real; void* real;
gNumAlignedFree++; gNumAlignedFree++;
@ -139,14 +149,16 @@ void btAlignedFreeInternal(void *ptr, int32_t line, char *filename) {
printf("free #%d at address %x, from %s,line %d, size %d\n", gNumAlignedFree, real, filename, line, size); printf("free #%d at address %x, from %s,line %d, size %d\n", gNumAlignedFree, real, filename, line, size);
sFreeFunc(real); sFreeFunc(real);
} else { }
else {
printf("NULL ptr\n"); printf("NULL ptr\n");
} }
} }
#else //BT_DEBUG_MEMORY_ALLOCATIONS #else //BT_DEBUG_MEMORY_ALLOCATIONS
void *btAlignedAllocInternal(size_t size, int32_t alignment) { void* btAlignedAllocInternal(size_t size, int32_t alignment)
{
gNumAlignedAllocs++; gNumAlignedAllocs++;
void* ptr; void* ptr;
ptr = sAlignedAllocFunc(size, alignment); ptr = sAlignedAllocFunc(size, alignment);
@ -154,7 +166,8 @@ void *btAlignedAllocInternal(size_t size, int32_t alignment) {
return ptr; return ptr;
} }
void btAlignedFreeInternal(void *ptr) { void btAlignedFreeInternal(void* ptr)
{
if (!ptr) { if (!ptr) {
return; return;
} }
@ -164,8 +177,4 @@ void btAlignedFreeInternal(void *ptr) {
sAlignedFreeFunc(ptr); sAlignedFreeFunc(ptr);
} }
//GODOT ADDITION
};
//
#endif //BT_DEBUG_MEMORY_ALLOCATIONS #endif //BT_DEBUG_MEMORY_ALLOCATIONS

542
thirdparty/vhacd/src/btConvexHullComputer.cpp vendored
View File

File diff suppressed because it is too large Load Diff