First stage in refactoring Bullet: moved Bullet Collision and Dynamics and LinearMath into src folder, and all files in Collision Detection and Dynamics have bt prefix.

Made all buildsystems to work again (jam, msvc, cmake)

Extras/SATConvexCollision/Quat.inl

@@ -0,0 +1,189 @@
+// Bullet Continuous Collision Detection and Physics Library
+// Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+//
+// Quat.inl
+//
+// Copyright (c) 2006 Simon Hobbs
+//
+// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+//
+// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+//
+// 3. This notice may not be removed or altered from any source distribution.
+#pragma once
+
+#include <assert.h>
+#include "math.h"
+
+inline Quat::Quat()
+{
+}
+
+inline  Quat::Quat(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w)
+{
+	Set(x.base, y.base, z.base, w.base);
+}
+
+inline Quat::Quat(const Vector3& axis, const Scalar& angle)
+{
+	assert(axis.IsFinite());
+	Set((sinf(0.5f * (float)angle) * axis).base, Scalar(cosf(0.5f * (float)angle)).base);
+}
+
+inline Quat::Quat(const Maths::IdentityTag&)
+{
+	base = Vector4Base::Consts::k0001;
+}
+
+inline Quat::Quat(const Vector3& v)
+{
+	base = v.base;
+}
+
+inline Quat::Quat(const Vector4& v)
+{
+	base = v.base;
+}
+
+inline Quat::Quat(const __m128 b)
+{
+	base = b;
+}
+
+inline Quat::Quat(const float* p)
+{
+	base = _mm_load_ps(p);
+}
+
+inline const Quat& Quat::operator=(const Quat &q)
+{		
+	base = q.base;
+	return *this;
+}
+
+inline const Quat& Quat::operator=(const Maths::IdentityTag&)
+{
+	base = Vector4Base::Consts::k0001;
+	return *this;
+}
+
+inline void Quat::operator+=(const Quat& b)
+{
+	base = _mm_add_ps(base, b.base);
+}
+
+inline void Quat::operator-=(const Quat& b)
+{
+	base = _mm_sub_ps(base, b.base);
+}
+
+inline void Quat::operator*=(const Quat& b)
+{
+	*this = (*this * b);
+}
+
+inline void Quat::operator*=(const Scalar& s)
+{
+	base = _mm_mul_ps(base, _mm_shuffle_ps(s.base, s.base, _MM_SHUFFLE(0, 0, 0, 0)));
+}
+
+inline const Quat operator-(const Quat& a)
+{
+	return Quat(_mm_sub_ps(_mm_setzero_ps(), a.base));
+}
+
+inline const Quat operator+(const Quat& a, const Quat& b)
+{
+	return Quat(_mm_add_ps(a.base, b.base));
+}
+
+inline const Quat operator-(const Quat& a, const Quat& b)
+{
+	return Quat(_mm_sub_ps(a.base, b.base));
+}
+
+inline const Quat operator*(const Quat& a, const Quat& b)
+{
+	// TODO: not happy with this
+	Vector3 va(a.base);
+	Vector3 vb(b.base);
+	Scalar wa(va.GetW());
+	Scalar wb(vb.GetW());
+	return Quat(Vector4(Cross(va, vb) + (va * wb) + (vb * wa), (wa * wb) - Dot(va, vb)));
+}
+
+inline const Quat operator*(const Quat& a, const Scalar& s)
+{
+	return Quat(_mm_mul_ps(a.base, _mm_shuffle_ps(s.base, s.base, _MM_SHUFFLE(0, 0, 0, 0))));
+}
+
+inline const Quat operator*(const Scalar& s, const Quat& a)
+{
+	return Quat(_mm_mul_ps(a.base, _mm_shuffle_ps(s.base, s.base, _MM_SHUFFLE(0, 0, 0, 0))));
+}
+
+inline const Quat Inv(const Quat& a)
+{
+	return Quat(_mm_mul_ps(a.base, Vector4Base::Consts::kNeg111_1));
+}
+
+inline const Scalar Dot(const Quat& a, const Quat& b)
+{
+	return Scalar(Vector4Base::Dot4(a.base, b.base));
+}
+
+inline const Scalar Length(const Quat& a)
+{
+	return RsqrtNr(Dot(a, a));
+}
+
+inline const Quat Normalize(const Quat& a)
+{
+	return a * RsqrtNr(Dot(a, a)); 
+}
+
+inline const Scalar LengthFast(const Quat& a)
+{
+	return Rsqrt(Dot(a, a));
+}
+
+inline const Quat NormalizeFast(const Quat& a)
+{
+	return a * Rsqrt(Dot(a, a)); 
+}
+
+inline const Quat Lerp(const Quat& a, const Quat& b, const Scalar& t)
+{
+	Quat e;
+
+	// go the shortest route
+	if (IsNegative(Dot(a, b)))
+		e = -b;
+	else
+		e = b;
+
+	return Normalize(a + (e - a) * t);
+}
+
+inline const Vector3 Quat::Rotate(const Vector3& v) const
+{
+	return Vector3(*this * Quat(v) * Inv(*this));
+}
+
+inline void Quat::GetAngleAxis(Vector3& axis, Scalar& angle) const
+{
+	float cosa = GetW();
+
+	angle = acosf(cosa);
+	angle += angle;		// * 2;
+
+	float sina = sqrtf(1.0f - cosa * cosa);
+
+	//    if ( fabs( sina ) < 0.0005 ) sina = 1;
+
+	axis = RcpNr(sina) * Vector3(*this);
+}