833 lines
24 KiB
C++
833 lines
24 KiB
C++
/*
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Copyright (c) 2003-2009 Erwin Coumans http://bullet.googlecode.com
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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 BT_SCALAR_H
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#define BT_SCALAR_H
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#ifdef BT_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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/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
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#define BT_BULLET_VERSION 317
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inline int btGetVersion()
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{
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return BT_BULLET_VERSION;
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}
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inline int btIsDoublePrecision()
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{
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#ifdef BT_USE_DOUBLE_PRECISION
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return true;
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#else
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return false;
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#endif
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}
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// The following macro "BT_NOT_EMPTY_FILE" can be put into a file
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// in order suppress the MS Visual C++ Linker warning 4221
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//
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// warning LNK4221: no public symbols found; archive member will be inaccessible
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//
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// This warning occurs on PC and XBOX when a file compiles out completely
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// has no externally visible symbols which may be dependant on configuration
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// #defines and options.
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//
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// see more https://stackoverflow.com/questions/1822887/what-is-the-best-way-to-eliminate-ms-visual-c-linker-warning-warning-lnk422
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#if defined(_MSC_VER)
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#define BT_NOT_EMPTY_FILE_CAT_II(p, res) res
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#define BT_NOT_EMPTY_FILE_CAT_I(a, b) BT_NOT_EMPTY_FILE_CAT_II(~, a##b)
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#define BT_NOT_EMPTY_FILE_CAT(a, b) BT_NOT_EMPTY_FILE_CAT_I(a, b)
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#define BT_NOT_EMPTY_FILE \
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namespace \
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{ \
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char BT_NOT_EMPTY_FILE_CAT(NoEmptyFileDummy, __COUNTER__); \
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}
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#else
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#define BT_NOT_EMPTY_FILE
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#endif
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// clang and most formatting tools don't support indentation of preprocessor guards, so turn it off
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// clang-format off
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#if defined(DEBUG) || defined (_DEBUG)
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#define BT_DEBUG
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#endif
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#ifdef _WIN32
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#if defined(__GNUC__) // it should handle both MINGW and CYGWIN
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#define SIMD_FORCE_INLINE __inline__ __attribute__((always_inline))
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#define ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))
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#define ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))
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#define ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))
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#elif ( defined(_MSC_VER) && _MSC_VER < 1300 )
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#define SIMD_FORCE_INLINE inline
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#define ATTRIBUTE_ALIGNED16(a) a
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#define ATTRIBUTE_ALIGNED64(a) a
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#define ATTRIBUTE_ALIGNED128(a) a
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#elif defined(_M_ARM)
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#define SIMD_FORCE_INLINE __forceinline
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#define ATTRIBUTE_ALIGNED16(a) __declspec() a
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#define ATTRIBUTE_ALIGNED64(a) __declspec() a
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#define ATTRIBUTE_ALIGNED128(a) __declspec () a
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#else//__MINGW32__
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//#define BT_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 SIMD_FORCE_INLINE __forceinline
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#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
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#define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
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#define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a
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#ifdef _XBOX
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#define BT_USE_VMX128
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#include <ppcintrinsics.h>
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#define BT_HAVE_NATIVE_FSEL
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#define btFsel(a,b,c) __fsel((a),(b),(c))
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#else
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#if defined (_M_ARM)
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//Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however)
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#elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
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#ifdef __clang__
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#define __BT_DISABLE_SSE__
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#endif
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#ifndef __BT_DISABLE_SSE__
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#if _MSC_VER>1400
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#define BT_USE_SIMD_VECTOR3
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#endif
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#define BT_USE_SSE
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#endif//__BT_DISABLE_SSE__
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#ifdef BT_USE_SSE
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#if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default)
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#define BT_ALLOW_SSE4
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#endif //(_MSC_FULL_VER >= 160040219)
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//BT_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 BT_USE_SSE_IN_API
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#endif //BT_USE_SSE
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#include <emmintrin.h>
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#endif
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#endif//_XBOX
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#endif //__MINGW32__
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#ifdef BT_DEBUG
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#ifdef _MSC_VER
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#include <stdio.h>
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#define btAssert(x) { if(!(x)){printf("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }}
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#else//_MSC_VER
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#include <assert.h>
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#define btAssert assert
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#endif//_MSC_VER
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#else
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#define btAssert(x)
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#endif
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//btFullAssert is optional, slows down a lot
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#define btFullAssert(x)
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#define btLikely(_c) _c
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#define btUnlikely(_c) _c
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#else//_WIN32
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#if defined (__CELLOS_LV2__)
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#define SIMD_FORCE_INLINE inline __attribute__((always_inline))
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#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
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#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
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#define 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 BT_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 btAssert(x) {if(!(x)){printf("Assert " __FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
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#else
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#define btAssert assert
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#endif
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#else//BT_DEBUG
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#define btAssert(x)
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#endif//BT_DEBUG
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//btFullAssert is optional, slows down a lot
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#define btFullAssert(x)
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#define btLikely(_c) _c
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#define btUnlikely(_c) _c
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#else//defined (__CELLOS_LV2__)
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#ifdef USE_LIBSPE2
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#define SIMD_FORCE_INLINE __inline
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#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
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#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
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#define 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 BT_DEBUG
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#define btAssert assert
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#else
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#define btAssert(x)
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#endif
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//btFullAssert is optional, slows down a lot
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#define btFullAssert(x)
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#define btLikely(_c) __builtin_expect((_c), 1)
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#define btUnlikely(_c) __builtin_expect((_c), 0)
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#else//USE_LIBSPE2
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//non-windows systems
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#if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION)))
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#if defined (__i386__) || defined (__x86_64__)
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#define BT_USE_SIMD_VECTOR3
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#define BT_USE_SSE
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//BT_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 BT_USE_SSE_IN_API
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#ifdef BT_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 //BT_USE_SSE
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#elif defined( __ARM_NEON__ )
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#ifdef __clang__
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#define BT_USE_NEON 1
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#define BT_USE_SIMD_VECTOR3
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#if defined BT_USE_NEON && defined (__clang__)
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#include <arm_neon.h>
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#endif//BT_USE_NEON
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#endif //__clang__
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#endif//__arm__
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#define SIMD_FORCE_INLINE inline __attribute__ ((always_inline))
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///@todo: check out alignment methods for other platforms/compilers
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#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
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#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
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#define 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 btAssert(x)\
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{\
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if(!(x))\
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{\
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printf("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 btAssert 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 btAssert(x)
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#endif//defined(DEBUG) || defined (_DEBUG)
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//btFullAssert is optional, slows down a lot
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#define btFullAssert(x)
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#define btLikely(_c) _c
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#define btUnlikely(_c) _c
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#else//__APPLE__
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#define SIMD_FORCE_INLINE inline
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///@todo: check out alignment methods for other platforms/compilers
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///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
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///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
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///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
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#define ATTRIBUTE_ALIGNED16(a) a
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#define ATTRIBUTE_ALIGNED64(a) a
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#define 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 btAssert assert
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#else
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#define btAssert(x)
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#endif
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//btFullAssert is optional, slows down a lot
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#define btFullAssert(x)
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#define btLikely(_c) _c
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#define btUnlikely(_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//_WIN32
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///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
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#if defined(BT_USE_DOUBLE_PRECISION)
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typedef double btScalar;
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//this number could be bigger in double precision
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#define BT_LARGE_FLOAT 1e30
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#else
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typedef float btScalar;
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//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX
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#define BT_LARGE_FLOAT 1e18f
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#endif
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#ifdef BT_USE_SSE
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typedef __m128 btSimdFloat4;
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#endif //BT_USE_SSE
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#if defined(BT_USE_SSE)
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//#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE)
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#ifdef _WIN32
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#ifndef BT_NAN
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static int btNanMask = 0x7F800001;
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#define BT_NAN (*(float *)&btNanMask)
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#endif
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#ifndef BT_INFINITY
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static int btInfinityMask = 0x7F800000;
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#define BT_INFINITY (*(float *)&btInfinityMask)
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inline int btGetInfinityMask() //suppress stupid compiler warning
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{
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return btInfinityMask;
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}
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#endif
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//use this, in case there are clashes (such as xnamath.h)
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#ifndef BT_NO_SIMD_OPERATOR_OVERLOADS
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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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#endif //BT_NO_SIMD_OPERATOR_OVERLOADS
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#define btCastfTo128i(a) (_mm_castps_si128(a))
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#define btCastfTo128d(a) (_mm_castps_pd(a))
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#define btCastiTo128f(a) (_mm_castsi128_ps(a))
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#define btCastdTo128f(a) (_mm_castpd_ps(a))
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#define btCastdTo128i(a) (_mm_castpd_si128(a))
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#define btAssign128(r0, r1, r2, r3) _mm_setr_ps(r0, r1, r2, r3)
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#else //_WIN32
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#define btCastfTo128i(a) ((__m128i)(a))
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#define btCastfTo128d(a) ((__m128d)(a))
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#define btCastiTo128f(a) ((__m128)(a))
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#define btCastdTo128f(a) ((__m128)(a))
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#define btCastdTo128i(a) ((__m128i)(a))
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#define btAssign128(r0, r1, r2, r3) \
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(__m128) { r0, r1, r2, r3 }
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#define BT_INFINITY INFINITY
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#define BT_NAN NAN
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#endif //_WIN32
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#else//BT_USE_SSE
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#ifdef BT_USE_NEON
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#include <arm_neon.h>
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typedef float32x4_t btSimdFloat4;
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#define BT_INFINITY INFINITY
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#define BT_NAN NAN
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#define btAssign128(r0, r1, r2, r3) \
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(float32x4_t) { r0, r1, r2, r3 }
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#else //BT_USE_NEON
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#ifndef BT_INFINITY
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struct btInfMaskConverter
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{
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union {
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float mask;
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int intmask;
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};
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btInfMaskConverter(int _mask = 0x7F800000)
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: intmask(_mask)
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{
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}
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};
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static btInfMaskConverter btInfinityMask = 0x7F800000;
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#define BT_INFINITY (btInfinityMask.mask)
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inline int btGetInfinityMask() //suppress stupid compiler warning
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{
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return btInfinityMask.intmask;
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}
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#endif
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#endif //BT_USE_NEON
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#endif //BT_USE_SSE
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#ifdef BT_USE_NEON
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#include <arm_neon.h>
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typedef float32x4_t btSimdFloat4;
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#define BT_INFINITY INFINITY
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#define BT_NAN NAN
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#define btAssign128(r0, r1, r2, r3) \
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(float32x4_t) { r0, r1, r2, r3 }
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#endif//BT_USE_NEON
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#define BT_DECLARE_ALIGNED_ALLOCATOR() \
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SIMD_FORCE_INLINE void *operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \
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SIMD_FORCE_INLINE void operator delete(void *ptr) { btAlignedFree(ptr); } \
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SIMD_FORCE_INLINE void *operator new(size_t, void *ptr) { return ptr; } \
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SIMD_FORCE_INLINE void operator delete(void *, void *) {} \
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SIMD_FORCE_INLINE void *operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \
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SIMD_FORCE_INLINE void operator delete[](void *ptr) { btAlignedFree(ptr); } \
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SIMD_FORCE_INLINE void *operator new[](size_t, void *ptr) { return ptr; } \
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SIMD_FORCE_INLINE void operator delete[](void *, void *) {}
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#if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS)
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SIMD_FORCE_INLINE btScalar btSqrt(btScalar x)
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{
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return sqrt(x);
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}
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SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); }
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SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); }
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SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); }
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SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); }
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SIMD_FORCE_INLINE btScalar btAcos(btScalar x)
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{
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if (x < btScalar(-1)) x = btScalar(-1);
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if (x > btScalar(1)) x = btScalar(1);
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return acos(x);
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}
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SIMD_FORCE_INLINE btScalar btAsin(btScalar x)
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{
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if (x < btScalar(-1)) x = btScalar(-1);
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if (x > btScalar(1)) x = btScalar(1);
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return asin(x);
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}
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SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); }
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SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); }
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SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); }
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SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); }
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SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return pow(x, y); }
|
|
SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmod(x, y); }
|
|
|
|
#else//BT_USE_DOUBLE_PRECISION
|
|
|
|
SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
|
|
{
|
|
#ifdef USE_APPROXIMATION
|
|
#ifdef __LP64__
|
|
float xhalf = 0.5f * y;
|
|
int i = *(int *)&y;
|
|
i = 0x5f375a86 - (i >> 1);
|
|
y = *(float *)&i;
|
|
y = y * (1.5f - xhalf * y * y);
|
|
y = y * (1.5f - xhalf * y * y);
|
|
y = y * (1.5f - xhalf * y * y);
|
|
y = 1 / y;
|
|
return y;
|
|
#else
|
|
double x, z, tempf;
|
|
unsigned long *tfptr = ((unsigned long *)&tempf) + 1;
|
|
tempf = y;
|
|
*tfptr = (0xbfcdd90a - *tfptr) >> 1; /* estimate of 1/sqrt(y) */
|
|
x = tempf;
|
|
z = y * btScalar(0.5);
|
|
x = (btScalar(1.5) * x) - (x * x) * (x * z); /* iteration formula */
|
|
x = (btScalar(1.5) * x) - (x * x) * (x * z);
|
|
x = (btScalar(1.5) * x) - (x * x) * (x * z);
|
|
x = (btScalar(1.5) * x) - (x * x) * (x * z);
|
|
x = (btScalar(1.5) * x) - (x * x) * (x * z);
|
|
return x * y;
|
|
#endif
|
|
#else
|
|
return sqrtf(y);
|
|
#endif
|
|
}
|
|
SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); }
|
|
SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); }
|
|
SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); }
|
|
SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
|
|
SIMD_FORCE_INLINE btScalar btAcos(btScalar x)
|
|
{
|
|
if (x < btScalar(-1))
|
|
x = btScalar(-1);
|
|
if (x > btScalar(1))
|
|
x = btScalar(1);
|
|
return acosf(x);
|
|
}
|
|
SIMD_FORCE_INLINE btScalar btAsin(btScalar x)
|
|
{
|
|
if (x < btScalar(-1))
|
|
x = btScalar(-1);
|
|
if (x > btScalar(1))
|
|
x = btScalar(1);
|
|
return asinf(x);
|
|
}
|
|
SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
|
|
SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
|
|
SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); }
|
|
SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); }
|
|
SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return powf(x, y); }
|
|
SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmodf(x, y); }
|
|
|
|
#endif//BT_USE_DOUBLE_PRECISION
|
|
|
|
#define SIMD_PI btScalar(3.1415926535897932384626433832795029)
|
|
#define SIMD_2_PI (btScalar(2.0) * SIMD_PI)
|
|
#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5))
|
|
#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0))
|
|
#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI)
|
|
#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
|
|
#define btRecipSqrt(x) ((btScalar)(btScalar(1.0) / btSqrt(btScalar(x)))) /* reciprocal square root */
|
|
#define btRecip(x) (btScalar(1.0) / btScalar(x))
|
|
|
|
#ifdef BT_USE_DOUBLE_PRECISION
|
|
#define SIMD_EPSILON DBL_EPSILON
|
|
#define SIMD_INFINITY DBL_MAX
|
|
#define BT_ONE 1.0
|
|
#define BT_ZERO 0.0
|
|
#define BT_TWO 2.0
|
|
#define BT_HALF 0.5
|
|
#else
|
|
#define SIMD_EPSILON FLT_EPSILON
|
|
#define SIMD_INFINITY FLT_MAX
|
|
#define BT_ONE 1.0f
|
|
#define BT_ZERO 0.0f
|
|
#define BT_TWO 2.0f
|
|
#define BT_HALF 0.5f
|
|
#endif
|
|
|
|
// clang-format on
|
|
|
|
SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x)
|
|
{
|
|
btScalar coeff_1 = SIMD_PI / 4.0f;
|
|
btScalar coeff_2 = 3.0f * coeff_1;
|
|
btScalar abs_y = btFabs(y);
|
|
btScalar angle;
|
|
if (x >= 0.0f)
|
|
{
|
|
btScalar r = (x - abs_y) / (x + abs_y);
|
|
angle = coeff_1 - coeff_1 * r;
|
|
}
|
|
else
|
|
{
|
|
btScalar r = (x + abs_y) / (abs_y - x);
|
|
angle = coeff_2 - coeff_1 * r;
|
|
}
|
|
return (y < 0.0f) ? -angle : angle;
|
|
}
|
|
|
|
SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; }
|
|
|
|
SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps)
|
|
{
|
|
return (((a) <= eps) && !((a) < -eps));
|
|
}
|
|
SIMD_FORCE_INLINE bool btGreaterEqual(btScalar a, btScalar eps)
|
|
{
|
|
return (!((a) <= eps));
|
|
}
|
|
|
|
SIMD_FORCE_INLINE int btIsNegative(btScalar x)
|
|
{
|
|
return x < btScalar(0.0) ? 1 : 0;
|
|
}
|
|
|
|
SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; }
|
|
SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; }
|
|
|
|
#define BT_DECLARE_HANDLE(name) \
|
|
typedef struct name##__ \
|
|
{ \
|
|
int unused; \
|
|
} * name
|
|
|
|
#ifndef btFsel
|
|
SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c)
|
|
{
|
|
return a >= 0 ? b : c;
|
|
}
|
|
#endif
|
|
#define btFsels(a, b, c) (btScalar) btFsel(a, b, c)
|
|
|
|
SIMD_FORCE_INLINE bool btMachineIsLittleEndian()
|
|
{
|
|
long int i = 1;
|
|
const char *p = (const char *)&i;
|
|
if (p[0] == 1) // Lowest address contains the least significant byte
|
|
return true;
|
|
else
|
|
return false;
|
|
}
|
|
|
|
///btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360
|
|
///Thanks Phil Knight. See also http://www.cellperformance.com/articles/2006/04/more_techniques_for_eliminatin_1.html
|
|
SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero)
|
|
{
|
|
// Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero
|
|
// Rely on positive value or'ed with its negative having sign bit on
|
|
// and zero value or'ed with its negative (which is still zero) having sign bit off
|
|
// Use arithmetic shift right, shifting the sign bit through all 32 bits
|
|
unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
|
|
unsigned testEqz = ~testNz;
|
|
return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
|
|
}
|
|
SIMD_FORCE_INLINE int btSelect(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero)
|
|
{
|
|
unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
|
|
unsigned testEqz = ~testNz;
|
|
return static_cast<int>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
|
|
}
|
|
SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero)
|
|
{
|
|
#ifdef BT_HAVE_NATIVE_FSEL
|
|
return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero);
|
|
#else
|
|
return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero;
|
|
#endif
|
|
}
|
|
|
|
template <typename T>
|
|
SIMD_FORCE_INLINE void btSwap(T &a, T &b)
|
|
{
|
|
T tmp = a;
|
|
a = b;
|
|
b = tmp;
|
|
}
|
|
|
|
//PCK: endian swapping functions
|
|
SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val)
|
|
{
|
|
return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24));
|
|
}
|
|
|
|
SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val)
|
|
{
|
|
return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8));
|
|
}
|
|
|
|
SIMD_FORCE_INLINE unsigned btSwapEndian(int val)
|
|
{
|
|
return btSwapEndian((unsigned)val);
|
|
}
|
|
|
|
SIMD_FORCE_INLINE unsigned short btSwapEndian(short val)
|
|
{
|
|
return btSwapEndian((unsigned short)val);
|
|
}
|
|
|
|
///btSwapFloat uses using char pointers to swap the endianness
|
|
////btSwapFloat/btSwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values
|
|
///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754.
|
|
///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception.
|
|
///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you.
|
|
///so instead of returning a float/double, we return integer/long long integer
|
|
SIMD_FORCE_INLINE unsigned int btSwapEndianFloat(float d)
|
|
{
|
|
unsigned int a = 0;
|
|
unsigned char *dst = (unsigned char *)&a;
|
|
unsigned char *src = (unsigned char *)&d;
|
|
|
|
dst[0] = src[3];
|
|
dst[1] = src[2];
|
|
dst[2] = src[1];
|
|
dst[3] = src[0];
|
|
return a;
|
|
}
|
|
|
|
// unswap using char pointers
|
|
SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a)
|
|
{
|
|
float d = 0.0f;
|
|
unsigned char *src = (unsigned char *)&a;
|
|
unsigned char *dst = (unsigned char *)&d;
|
|
|
|
dst[0] = src[3];
|
|
dst[1] = src[2];
|
|
dst[2] = src[1];
|
|
dst[3] = src[0];
|
|
|
|
return d;
|
|
}
|
|
|
|
// swap using char pointers
|
|
SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char *dst)
|
|
{
|
|
unsigned char *src = (unsigned char *)&d;
|
|
|
|
dst[0] = src[7];
|
|
dst[1] = src[6];
|
|
dst[2] = src[5];
|
|
dst[3] = src[4];
|
|
dst[4] = src[3];
|
|
dst[5] = src[2];
|
|
dst[6] = src[1];
|
|
dst[7] = src[0];
|
|
}
|
|
|
|
// unswap using char pointers
|
|
SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src)
|
|
{
|
|
double d = 0.0;
|
|
unsigned char *dst = (unsigned char *)&d;
|
|
|
|
dst[0] = src[7];
|
|
dst[1] = src[6];
|
|
dst[2] = src[5];
|
|
dst[3] = src[4];
|
|
dst[4] = src[3];
|
|
dst[5] = src[2];
|
|
dst[6] = src[1];
|
|
dst[7] = src[0];
|
|
|
|
return d;
|
|
}
|
|
|
|
template <typename T>
|
|
SIMD_FORCE_INLINE void btSetZero(T *a, int n)
|
|
{
|
|
T *acurr = a;
|
|
size_t ncurr = n;
|
|
while (ncurr > 0)
|
|
{
|
|
*(acurr++) = 0;
|
|
--ncurr;
|
|
}
|
|
}
|
|
|
|
SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int n)
|
|
{
|
|
btScalar p0, q0, m0, p1, q1, m1, sum;
|
|
sum = 0;
|
|
n -= 2;
|
|
while (n >= 0)
|
|
{
|
|
p0 = a[0];
|
|
q0 = b[0];
|
|
m0 = p0 * q0;
|
|
p1 = a[1];
|
|
q1 = b[1];
|
|
m1 = p1 * q1;
|
|
sum += m0;
|
|
sum += m1;
|
|
a += 2;
|
|
b += 2;
|
|
n -= 2;
|
|
}
|
|
n += 2;
|
|
while (n > 0)
|
|
{
|
|
sum += (*a) * (*b);
|
|
a++;
|
|
b++;
|
|
n--;
|
|
}
|
|
return sum;
|
|
}
|
|
|
|
// returns normalized value in range [-SIMD_PI, SIMD_PI]
|
|
SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians)
|
|
{
|
|
angleInRadians = btFmod(angleInRadians, SIMD_2_PI);
|
|
if (angleInRadians < -SIMD_PI)
|
|
{
|
|
return angleInRadians + SIMD_2_PI;
|
|
}
|
|
else if (angleInRadians > SIMD_PI)
|
|
{
|
|
return angleInRadians - SIMD_2_PI;
|
|
}
|
|
else
|
|
{
|
|
return angleInRadians;
|
|
}
|
|
}
|
|
|
|
///rudimentary class to provide type info
|
|
struct btTypedObject
|
|
{
|
|
btTypedObject(int objectType)
|
|
: m_objectType(objectType)
|
|
{
|
|
}
|
|
int m_objectType;
|
|
inline int getObjectType() const
|
|
{
|
|
return m_objectType;
|
|
}
|
|
};
|
|
|
|
///align a pointer to the provided alignment, upwards
|
|
template <typename T>
|
|
T *btAlignPointer(T *unalignedPtr, size_t alignment)
|
|
{
|
|
struct btConvertPointerSizeT
|
|
{
|
|
union {
|
|
T *ptr;
|
|
size_t integer;
|
|
};
|
|
};
|
|
btConvertPointerSizeT converter;
|
|
|
|
const size_t bit_mask = ~(alignment - 1);
|
|
converter.ptr = unalignedPtr;
|
|
converter.integer += alignment - 1;
|
|
converter.integer &= bit_mask;
|
|
return converter.ptr;
|
|
}
|
|
|
|
#endif //BT_SCALAR_H
|