686 lines
20 KiB
C++
686 lines
20 KiB
C++
/*
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Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B3_SCALAR_H
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#define B3_SCALAR_H
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#ifdef B3_MANAGED_CODE
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//Aligned data types not supported in managed code
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#pragma unmanaged
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#endif
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#include <math.h>
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#include <stdlib.h> //size_t for MSVC 6.0
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#include <float.h>
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//Original repository is at http://github.com/erwincoumans/bullet3
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#define B3_BULLET_VERSION 300
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inline int b3GetVersion()
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{
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return B3_BULLET_VERSION;
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}
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#if defined(DEBUG) || defined(_DEBUG)
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#define B3_DEBUG
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#endif
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#include "b3Logging.h" //for b3Error
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#ifdef _WIN32
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#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined(_MSC_VER) && _MSC_VER < 1300)
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#define B3_FORCE_INLINE inline
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#define B3_ATTRIBUTE_ALIGNED16(a) a
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#define B3_ATTRIBUTE_ALIGNED64(a) a
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#define B3_ATTRIBUTE_ALIGNED128(a) a
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#else
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//#define B3_HAS_ALIGNED_ALLOCATOR
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#pragma warning(disable : 4324) // disable padding warning
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// #pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.
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#pragma warning(disable : 4996) //Turn off warnings about deprecated C routines
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// #pragma warning(disable:4786) // Disable the "debug name too long" warning
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#define B3_FORCE_INLINE __forceinline
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#define B3_ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
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#define B3_ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
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#define B3_ATTRIBUTE_ALIGNED128(a) __declspec(align(128)) a
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#ifdef _XBOX
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#define B3_USE_VMX128
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#include <ppcintrinsics.h>
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#define B3_HAVE_NATIVE_FSEL
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#define b3Fsel(a, b, c) __fsel((a), (b), (c))
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#else
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#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION))
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#if (defined(_M_IX86) || defined(_M_X64))
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#define B3_USE_SSE
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#ifdef B3_USE_SSE
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//B3_USE_SSE_IN_API is disabled under Windows by default, because
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//it makes it harder to integrate Bullet into your application under Windows
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//(structured embedding Bullet structs/classes need to be 16-byte aligned)
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//with relatively little performance gain
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//If you are not embedded Bullet data in your classes, or make sure that you align those classes on 16-byte boundaries
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//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)
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//#define B3_USE_SSE_IN_API
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#endif //B3_USE_SSE
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#include <emmintrin.h>
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#endif
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#endif
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#endif //_XBOX
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#endif //__MINGW32__
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#ifdef B3_DEBUG
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#ifdef _MSC_VER
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#include <stdio.h>
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#define b3Assert(x) \
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{ \
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if (!(x)) \
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{ \
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b3Error( \
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"Assert "__FILE__ \
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":%u (" #x ")\n", \
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__LINE__); \
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__debugbreak(); \
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} \
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}
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#else //_MSC_VER
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#include <assert.h>
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#define b3Assert assert
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#endif //_MSC_VER
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#else
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#define b3Assert(x)
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#endif
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//b3FullAssert is optional, slows down a lot
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#define b3FullAssert(x)
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#define b3Likely(_c) _c
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#define b3Unlikely(_c) _c
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#else
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#if defined(__CELLOS_LV2__)
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#define B3_FORCE_INLINE inline __attribute__((always_inline))
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#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))
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#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))
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#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))
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#ifndef assert
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#include <assert.h>
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#endif
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#ifdef B3_DEBUG
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#ifdef __SPU__
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#include <spu_printf.h>
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#define printf spu_printf
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#define b3Assert(x) \
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{ \
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if (!(x)) \
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{ \
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b3Error( \
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"Assert "__FILE__ \
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":%u (" #x ")\n", \
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__LINE__); \
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spu_hcmpeq(0, 0); \
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} \
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}
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#else
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#define b3Assert assert
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#endif
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#else
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#define b3Assert(x)
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#endif
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//b3FullAssert is optional, slows down a lot
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#define b3FullAssert(x)
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#define b3Likely(_c) _c
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#define b3Unlikely(_c) _c
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#else
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#ifdef USE_LIBSPE2
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#define B3_FORCE_INLINE __inline
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#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))
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#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))
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#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))
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#ifndef assert
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#include <assert.h>
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#endif
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#ifdef B3_DEBUG
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#define b3Assert assert
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#else
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#define b3Assert(x)
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#endif
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//b3FullAssert is optional, slows down a lot
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#define b3FullAssert(x)
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#define b3Likely(_c) __builtin_expect((_c), 1)
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#define b3Unlikely(_c) __builtin_expect((_c), 0)
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#else
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//non-windows systems
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#if (defined(__APPLE__) && (!defined(B3_USE_DOUBLE_PRECISION)))
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#if defined(__i386__) || defined(__x86_64__)
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#define B3_USE_SSE
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//B3_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries
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//if apps run into issues, we will disable the next line
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#define B3_USE_SSE_IN_API
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#ifdef B3_USE_SSE
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// include appropriate SSE level
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#if defined(__SSE4_1__)
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#include <smmintrin.h>
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#elif defined(__SSSE3__)
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#include <tmmintrin.h>
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#elif defined(__SSE3__)
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#include <pmmintrin.h>
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#else
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#include <emmintrin.h>
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#endif
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#endif //B3_USE_SSE
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#elif defined(__armv7__)
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#ifdef __clang__
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#define B3_USE_NEON 1
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#if defined B3_USE_NEON && defined(__clang__)
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#include <arm_neon.h>
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#endif //B3_USE_NEON
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#endif //__clang__
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#endif //__arm__
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#define B3_FORCE_INLINE inline __attribute__((always_inline))
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///@todo: check out alignment methods for other platforms/compilers
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#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))
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#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))
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#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))
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#ifndef assert
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#include <assert.h>
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#endif
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#if defined(DEBUG) || defined(_DEBUG)
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#if defined(__i386__) || defined(__x86_64__)
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#include <stdio.h>
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#define b3Assert(x) \
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{ \
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if (!(x)) \
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{ \
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b3Error("Assert %s in line %d, file %s\n", #x, __LINE__, __FILE__); \
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asm volatile("int3"); \
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} \
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}
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#else //defined (__i386__) || defined (__x86_64__)
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#define b3Assert assert
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#endif //defined (__i386__) || defined (__x86_64__)
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#else //defined(DEBUG) || defined (_DEBUG)
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#define b3Assert(x)
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#endif //defined(DEBUG) || defined (_DEBUG)
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//b3FullAssert is optional, slows down a lot
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#define b3FullAssert(x)
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#define b3Likely(_c) _c
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#define b3Unlikely(_c) _c
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#else
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#define B3_FORCE_INLINE inline
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///@todo: check out alignment methods for other platforms/compilers
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#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))
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#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))
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#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))
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///#define B3_ATTRIBUTE_ALIGNED16(a) a
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///#define B3_ATTRIBUTE_ALIGNED64(a) a
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///#define B3_ATTRIBUTE_ALIGNED128(a) a
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#ifndef assert
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#include <assert.h>
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#endif
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#if defined(DEBUG) || defined(_DEBUG)
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#define b3Assert assert
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#else
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#define b3Assert(x)
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#endif
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//b3FullAssert is optional, slows down a lot
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#define b3FullAssert(x)
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#define b3Likely(_c) _c
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#define b3Unlikely(_c) _c
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#endif //__APPLE__
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#endif // LIBSPE2
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#endif //__CELLOS_LV2__
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#endif
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///The b3Scalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
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#if defined(B3_USE_DOUBLE_PRECISION)
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typedef double b3Scalar;
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//this number could be bigger in double precision
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#define B3_LARGE_FLOAT 1e30
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#else
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typedef float b3Scalar;
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//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX
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#define B3_LARGE_FLOAT 1e18f
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#endif
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#ifdef B3_USE_SSE
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typedef __m128 b3SimdFloat4;
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#endif //B3_USE_SSE
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#if defined B3_USE_SSE_IN_API && defined(B3_USE_SSE)
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#ifdef _WIN32
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#ifndef B3_NAN
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static int b3NanMask = 0x7F800001;
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#define B3_NAN (*(float *)&b3NanMask)
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#endif
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#ifndef B3_INFINITY_MASK
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static int b3InfinityMask = 0x7F800000;
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#define B3_INFINITY_MASK (*(float *)&b3InfinityMask)
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#endif
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inline __m128 operator+(const __m128 A, const __m128 B)
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{
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return _mm_add_ps(A, B);
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}
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inline __m128 operator-(const __m128 A, const __m128 B)
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{
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return _mm_sub_ps(A, B);
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}
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inline __m128 operator*(const __m128 A, const __m128 B)
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{
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return _mm_mul_ps(A, B);
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}
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#define b3CastfTo128i(a) (_mm_castps_si128(a))
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#define b3CastfTo128d(a) (_mm_castps_pd(a))
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#define b3CastiTo128f(a) (_mm_castsi128_ps(a))
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#define b3CastdTo128f(a) (_mm_castpd_ps(a))
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#define b3CastdTo128i(a) (_mm_castpd_si128(a))
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#define b3Assign128(r0, r1, r2, r3) _mm_setr_ps(r0, r1, r2, r3)
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#else //_WIN32
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#define b3CastfTo128i(a) ((__m128i)(a))
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#define b3CastfTo128d(a) ((__m128d)(a))
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#define b3CastiTo128f(a) ((__m128)(a))
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#define b3CastdTo128f(a) ((__m128)(a))
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#define b3CastdTo128i(a) ((__m128i)(a))
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#define b3Assign128(r0, r1, r2, r3) \
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(__m128) { r0, r1, r2, r3 }
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#endif //_WIN32
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#endif //B3_USE_SSE_IN_API
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#ifdef B3_USE_NEON
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#include <arm_neon.h>
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typedef float32x4_t b3SimdFloat4;
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#define B3_INFINITY INFINITY
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#define B3_NAN NAN
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#define b3Assign128(r0, r1, r2, r3) \
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(float32x4_t) { r0, r1, r2, r3 }
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#endif
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#define B3_DECLARE_ALIGNED_ALLOCATOR() \
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B3_FORCE_INLINE void *operator new(size_t sizeInBytes) { return b3AlignedAlloc(sizeInBytes, 16); } \
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B3_FORCE_INLINE void operator delete(void *ptr) { b3AlignedFree(ptr); } \
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B3_FORCE_INLINE void *operator new(size_t, void *ptr) { return ptr; } \
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B3_FORCE_INLINE void operator delete(void *, void *) {} \
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B3_FORCE_INLINE void *operator new[](size_t sizeInBytes) { return b3AlignedAlloc(sizeInBytes, 16); } \
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B3_FORCE_INLINE void operator delete[](void *ptr) { b3AlignedFree(ptr); } \
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B3_FORCE_INLINE void *operator new[](size_t, void *ptr) { return ptr; } \
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B3_FORCE_INLINE void operator delete[](void *, void *) {}
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#if defined(B3_USE_DOUBLE_PRECISION) || defined(B3_FORCE_DOUBLE_FUNCTIONS)
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B3_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar x)
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{
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return sqrt(x);
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}
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B3_FORCE_INLINE b3Scalar b3Fabs(b3Scalar x) { return fabs(x); }
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B3_FORCE_INLINE b3Scalar b3Cos(b3Scalar x) { return cos(x); }
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B3_FORCE_INLINE b3Scalar b3Sin(b3Scalar x) { return sin(x); }
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B3_FORCE_INLINE b3Scalar b3Tan(b3Scalar x) { return tan(x); }
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B3_FORCE_INLINE b3Scalar b3Acos(b3Scalar x)
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{
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if (x < b3Scalar(-1)) x = b3Scalar(-1);
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if (x > b3Scalar(1)) x = b3Scalar(1);
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return acos(x);
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}
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B3_FORCE_INLINE b3Scalar b3Asin(b3Scalar x)
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{
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if (x < b3Scalar(-1)) x = b3Scalar(-1);
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if (x > b3Scalar(1)) x = b3Scalar(1);
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return asin(x);
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}
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B3_FORCE_INLINE b3Scalar b3Atan(b3Scalar x) { return atan(x); }
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B3_FORCE_INLINE b3Scalar b3Atan2(b3Scalar x, b3Scalar y) { return atan2(x, y); }
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B3_FORCE_INLINE b3Scalar b3Exp(b3Scalar x) { return exp(x); }
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B3_FORCE_INLINE b3Scalar b3Log(b3Scalar x) { return log(x); }
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B3_FORCE_INLINE b3Scalar b3Pow(b3Scalar x, b3Scalar y) { return pow(x, y); }
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B3_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x, b3Scalar y) { return fmod(x, y); }
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#else
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B3_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar y)
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{
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#ifdef USE_APPROXIMATION
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double x, z, tempf;
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unsigned long *tfptr = ((unsigned long *)&tempf) + 1;
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tempf = y;
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*tfptr = (0xbfcdd90a - *tfptr) >> 1; /* estimate of 1/sqrt(y) */
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x = tempf;
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z = y * b3Scalar(0.5);
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x = (b3Scalar(1.5) * x) - (x * x) * (x * z); /* iteration formula */
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x = (b3Scalar(1.5) * x) - (x * x) * (x * z);
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x = (b3Scalar(1.5) * x) - (x * x) * (x * z);
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x = (b3Scalar(1.5) * x) - (x * x) * (x * z);
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x = (b3Scalar(1.5) * x) - (x * x) * (x * z);
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return x * y;
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#else
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return sqrtf(y);
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#endif
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}
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B3_FORCE_INLINE b3Scalar b3Fabs(b3Scalar x) { return fabsf(x); }
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B3_FORCE_INLINE b3Scalar b3Cos(b3Scalar x) { return cosf(x); }
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B3_FORCE_INLINE b3Scalar b3Sin(b3Scalar x) { return sinf(x); }
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B3_FORCE_INLINE b3Scalar b3Tan(b3Scalar x) { return tanf(x); }
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B3_FORCE_INLINE b3Scalar b3Acos(b3Scalar x)
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{
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if (x < b3Scalar(-1))
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x = b3Scalar(-1);
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if (x > b3Scalar(1))
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x = b3Scalar(1);
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return acosf(x);
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}
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B3_FORCE_INLINE b3Scalar b3Asin(b3Scalar x)
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{
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if (x < b3Scalar(-1))
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x = b3Scalar(-1);
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if (x > b3Scalar(1))
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x = b3Scalar(1);
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return asinf(x);
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}
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B3_FORCE_INLINE b3Scalar b3Atan(b3Scalar x) { return atanf(x); }
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B3_FORCE_INLINE b3Scalar b3Atan2(b3Scalar x, b3Scalar y) { return atan2f(x, y); }
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B3_FORCE_INLINE b3Scalar b3Exp(b3Scalar x) { return expf(x); }
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B3_FORCE_INLINE b3Scalar b3Log(b3Scalar x) { return logf(x); }
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B3_FORCE_INLINE b3Scalar b3Pow(b3Scalar x, b3Scalar y) { return powf(x, y); }
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B3_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x, b3Scalar y) { return fmodf(x, y); }
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#endif
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#define B3_2_PI b3Scalar(6.283185307179586232)
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#define B3_PI (B3_2_PI * b3Scalar(0.5))
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#define B3_HALF_PI (B3_2_PI * b3Scalar(0.25))
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#define B3_RADS_PER_DEG (B3_2_PI / b3Scalar(360.0))
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#define B3_DEGS_PER_RAD (b3Scalar(360.0) / B3_2_PI)
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#define B3_SQRT12 b3Scalar(0.7071067811865475244008443621048490)
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#define b3RecipSqrt(x) ((b3Scalar)(b3Scalar(1.0) / b3Sqrt(b3Scalar(x)))) /* reciprocal square root */
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#ifdef B3_USE_DOUBLE_PRECISION
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#define B3_EPSILON DBL_EPSILON
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#define B3_INFINITY DBL_MAX
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#else
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#define B3_EPSILON FLT_EPSILON
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#define B3_INFINITY FLT_MAX
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|
#endif
|
|
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B3_FORCE_INLINE b3Scalar b3Atan2Fast(b3Scalar y, b3Scalar x)
|
|
{
|
|
b3Scalar coeff_1 = B3_PI / 4.0f;
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b3Scalar coeff_2 = 3.0f * coeff_1;
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b3Scalar abs_y = b3Fabs(y);
|
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b3Scalar angle;
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|
if (x >= 0.0f)
|
|
{
|
|
b3Scalar r = (x - abs_y) / (x + abs_y);
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|
angle = coeff_1 - coeff_1 * r;
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|
}
|
|
else
|
|
{
|
|
b3Scalar r = (x + abs_y) / (abs_y - x);
|
|
angle = coeff_2 - coeff_1 * r;
|
|
}
|
|
return (y < 0.0f) ? -angle : angle;
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|
}
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|
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|
B3_FORCE_INLINE bool b3FuzzyZero(b3Scalar x) { return b3Fabs(x) < B3_EPSILON; }
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|
|
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B3_FORCE_INLINE bool b3Equal(b3Scalar a, b3Scalar eps)
|
|
{
|
|
return (((a) <= eps) && !((a) < -eps));
|
|
}
|
|
B3_FORCE_INLINE bool b3GreaterEqual(b3Scalar a, b3Scalar eps)
|
|
{
|
|
return (!((a) <= eps));
|
|
}
|
|
|
|
B3_FORCE_INLINE int b3IsNegative(b3Scalar x)
|
|
{
|
|
return x < b3Scalar(0.0) ? 1 : 0;
|
|
}
|
|
|
|
B3_FORCE_INLINE b3Scalar b3Radians(b3Scalar x) { return x * B3_RADS_PER_DEG; }
|
|
B3_FORCE_INLINE b3Scalar b3Degrees(b3Scalar x) { return x * B3_DEGS_PER_RAD; }
|
|
|
|
#define B3_DECLARE_HANDLE(name) \
|
|
typedef struct name##__ \
|
|
{ \
|
|
int unused; \
|
|
} * name
|
|
|
|
#ifndef b3Fsel
|
|
B3_FORCE_INLINE b3Scalar b3Fsel(b3Scalar a, b3Scalar b, b3Scalar c)
|
|
{
|
|
return a >= 0 ? b : c;
|
|
}
|
|
#endif
|
|
#define b3Fsels(a, b, c) (b3Scalar) b3Fsel(a, b, c)
|
|
|
|
B3_FORCE_INLINE bool b3MachineIsLittleEndian()
|
|
{
|
|
long int i = 1;
|
|
const char *p = (const char *)&i;
|
|
if (p[0] == 1) // Lowest address contains the least significant byte
|
|
return true;
|
|
else
|
|
return false;
|
|
}
|
|
|
|
///b3Select avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360
|
|
///Thanks Phil Knight. See also http://www.cellperformance.com/articles/2006/04/more_techniques_for_eliminatin_1.html
|
|
B3_FORCE_INLINE unsigned b3Select(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero)
|
|
{
|
|
// Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero
|
|
// Rely on positive value or'ed with its negative having sign bit on
|
|
// and zero value or'ed with its negative (which is still zero) having sign bit off
|
|
// Use arithmetic shift right, shifting the sign bit through all 32 bits
|
|
unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
|
|
unsigned testEqz = ~testNz;
|
|
return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
|
|
}
|
|
B3_FORCE_INLINE int b3Select(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero)
|
|
{
|
|
unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
|
|
unsigned testEqz = ~testNz;
|
|
return static_cast<int>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
|
|
}
|
|
B3_FORCE_INLINE float b3Select(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero)
|
|
{
|
|
#ifdef B3_HAVE_NATIVE_FSEL
|
|
return (float)b3Fsel((b3Scalar)condition - b3Scalar(1.0f), valueIfConditionNonZero, valueIfConditionZero);
|
|
#else
|
|
return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero;
|
|
#endif
|
|
}
|
|
|
|
template <typename T>
|
|
B3_FORCE_INLINE void b3Swap(T &a, T &b)
|
|
{
|
|
T tmp = a;
|
|
a = b;
|
|
b = tmp;
|
|
}
|
|
|
|
//PCK: endian swapping functions
|
|
B3_FORCE_INLINE unsigned b3SwapEndian(unsigned val)
|
|
{
|
|
return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24));
|
|
}
|
|
|
|
B3_FORCE_INLINE unsigned short b3SwapEndian(unsigned short val)
|
|
{
|
|
return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8));
|
|
}
|
|
|
|
B3_FORCE_INLINE unsigned b3SwapEndian(int val)
|
|
{
|
|
return b3SwapEndian((unsigned)val);
|
|
}
|
|
|
|
B3_FORCE_INLINE unsigned short b3SwapEndian(short val)
|
|
{
|
|
return b3SwapEndian((unsigned short)val);
|
|
}
|
|
|
|
///b3SwapFloat uses using char pointers to swap the endianness
|
|
////b3SwapFloat/b3SwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values
|
|
///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754.
|
|
///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception.
|
|
///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you.
|
|
///so instead of returning a float/double, we return integer/long long integer
|
|
B3_FORCE_INLINE unsigned int b3SwapEndianFloat(float d)
|
|
{
|
|
unsigned int a = 0;
|
|
unsigned char *dst = (unsigned char *)&a;
|
|
unsigned char *src = (unsigned char *)&d;
|
|
|
|
dst[0] = src[3];
|
|
dst[1] = src[2];
|
|
dst[2] = src[1];
|
|
dst[3] = src[0];
|
|
return a;
|
|
}
|
|
|
|
// unswap using char pointers
|
|
B3_FORCE_INLINE float b3UnswapEndianFloat(unsigned int a)
|
|
{
|
|
float d = 0.0f;
|
|
unsigned char *src = (unsigned char *)&a;
|
|
unsigned char *dst = (unsigned char *)&d;
|
|
|
|
dst[0] = src[3];
|
|
dst[1] = src[2];
|
|
dst[2] = src[1];
|
|
dst[3] = src[0];
|
|
|
|
return d;
|
|
}
|
|
|
|
// swap using char pointers
|
|
B3_FORCE_INLINE void b3SwapEndianDouble(double d, unsigned char *dst)
|
|
{
|
|
unsigned char *src = (unsigned char *)&d;
|
|
|
|
dst[0] = src[7];
|
|
dst[1] = src[6];
|
|
dst[2] = src[5];
|
|
dst[3] = src[4];
|
|
dst[4] = src[3];
|
|
dst[5] = src[2];
|
|
dst[6] = src[1];
|
|
dst[7] = src[0];
|
|
}
|
|
|
|
// unswap using char pointers
|
|
B3_FORCE_INLINE double b3UnswapEndianDouble(const unsigned char *src)
|
|
{
|
|
double d = 0.0;
|
|
unsigned char *dst = (unsigned char *)&d;
|
|
|
|
dst[0] = src[7];
|
|
dst[1] = src[6];
|
|
dst[2] = src[5];
|
|
dst[3] = src[4];
|
|
dst[4] = src[3];
|
|
dst[5] = src[2];
|
|
dst[6] = src[1];
|
|
dst[7] = src[0];
|
|
|
|
return d;
|
|
}
|
|
|
|
// returns normalized value in range [-B3_PI, B3_PI]
|
|
B3_FORCE_INLINE b3Scalar b3NormalizeAngle(b3Scalar angleInRadians)
|
|
{
|
|
angleInRadians = b3Fmod(angleInRadians, B3_2_PI);
|
|
if (angleInRadians < -B3_PI)
|
|
{
|
|
return angleInRadians + B3_2_PI;
|
|
}
|
|
else if (angleInRadians > B3_PI)
|
|
{
|
|
return angleInRadians - B3_2_PI;
|
|
}
|
|
else
|
|
{
|
|
return angleInRadians;
|
|
}
|
|
}
|
|
|
|
///rudimentary class to provide type info
|
|
struct b3TypedObject
|
|
{
|
|
b3TypedObject(int objectType)
|
|
: m_objectType(objectType)
|
|
{
|
|
}
|
|
int m_objectType;
|
|
inline int getObjectType() const
|
|
{
|
|
return m_objectType;
|
|
}
|
|
};
|
|
|
|
///align a pointer to the provided alignment, upwards
|
|
template <typename T>
|
|
T *b3AlignPointer(T *unalignedPtr, size_t alignment)
|
|
{
|
|
struct b3ConvertPointerSizeT
|
|
{
|
|
union {
|
|
T *ptr;
|
|
size_t integer;
|
|
};
|
|
};
|
|
b3ConvertPointerSizeT converter;
|
|
|
|
const size_t bit_mask = ~(alignment - 1);
|
|
converter.ptr = unalignedPtr;
|
|
converter.integer += alignment - 1;
|
|
converter.integer &= bit_mask;
|
|
return converter.ptr;
|
|
}
|
|
|
|
#endif //B3_SCALAR_H
|