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/Scalar.inl

@@ -0,0 +1,196 @@
+// Bullet Continuous Collision Detection and Physics Library
+// Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+//
+//
+// Scalar.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
+
+
+inline Scalar::Scalar()
+{
+}
+
+inline Scalar::Scalar(float f)
+{
+	base = _mm_set1_ps(f);
+}
+
+
+inline Scalar::Scalar(int i, bool forceNoConvert)
+{
+	__declspec(align(16)) int iv[4] = {i, i, i, i};
+	*(Scalar*)&base = *(Scalar*)&iv;
+}
+
+inline Scalar::Scalar(__m128 s)
+{
+	base = s;
+}
+
+inline Scalar::Scalar(int i)
+{
+	base = _mm_cvtsi32_ss(base, i);
+	base = _mm_shuffle_ps(base, base, _MM_SHUFFLE(0, 0, 0, 0));
+}
+
+inline const Scalar& Scalar::operator=(const Scalar &a)
+{
+	base = a.base;
+	return *this;
+}
+
+inline Scalar::operator const float() const
+{
+	float f;
+	_mm_store_ss(&f, base);
+	return f;
+}
+
+inline Scalar::operator const float()
+{
+	float f;
+	_mm_store_ss(&f, base);
+	return f;
+}
+
+inline void Scalar::operator+=(const Scalar& b)
+{
+	base = _mm_add_ps(base, b.base);
+}
+
+inline void Scalar::operator-=(const Scalar& b)
+{
+	base = _mm_sub_ps(base, b.base);
+}
+
+inline void Scalar::operator*=(const Scalar& b)
+{
+	base = _mm_mul_ps(base, b.base);
+}
+
+inline void Scalar::operator/=(const Scalar& b)
+{
+	base = _mm_div_ps(base, b.base);
+}
+
+inline const Scalar operator-(const Scalar& a)
+{
+	return Scalar(_mm_sub_ps(_mm_setzero_ps(), a.base));
+}
+
+inline const Scalar Abs(const Scalar& a)
+{
+	return Scalar(_mm_and_ps(a.base, Scalar::Consts::AbsMask.base));
+}
+
+inline const Scalar Rcp(const Scalar& a)
+{
+	return Scalar(_mm_rcp_ps(a.base));
+}
+
+inline const Scalar Rsqrt(const Scalar& a)
+{
+	return Scalar(_mm_rsqrt_ps(a.base));
+}
+
+inline const Scalar Sqrt(const Scalar& a)
+{
+	return Scalar(_mm_sqrt_ps(a.base));
+}
+
+// Newton Raphson Reciprocal
+// (2 * Rcp(x)) - (x * Rcp(x) * Rcp(x))]
+inline const Scalar RcpNr(const Scalar& a)
+{
+	Scalar rcp = Rcp(a);
+	return (rcp + rcp) - (a * rcp * rcp);
+}
+
+// Newton Raphson Reciprocal Square Root
+// 0.5 * Rsqrt * (3 - x * Rsqrt(x) * Rsqrt(x))
+inline const Scalar RsqrtNr(const Scalar& a)
+{
+	Scalar rcp = Rsqrt(a);
+	return (Scalar::Consts::Half * rcp) * (Scalar::Consts::Three - (a * rcp) * rcp);
+}
+
+// binary
+inline const Scalar operator+(const Scalar& a, const Scalar& b)
+{
+	return Scalar(_mm_add_ps(a.base, b.base));
+}
+
+inline const Scalar operator-(const Scalar& a, const Scalar& b)
+{
+	return Scalar(_mm_sub_ps(a.base, b.base));
+}
+
+inline const Scalar operator*(const Scalar& a, const Scalar& b)
+{
+	return Scalar(_mm_mul_ps(a.base, b.base));
+}
+
+inline const Scalar operator/(const Scalar& a, const Scalar& b)
+{
+	return Scalar(_mm_div_ps(a.base, b.base));
+}
+
+inline const Scalar Min(const Scalar& a, const Scalar& b)
+{
+	return Scalar(_mm_min_ps(a.base, b.base));
+}
+
+inline const Scalar Max(const Scalar& a, const Scalar& b)
+{
+	return Scalar(_mm_max_ps(a.base, b.base));
+}
+
+inline const Scalar Clamp(const Scalar& a, const Scalar& min, const Scalar& max)
+{
+	return Scalar(_mm_min_ps(max.base, _mm_max_ps(min.base, a.base)));
+}
+
+inline const Scalar Lerp(const Scalar& a, const Scalar& b, const Scalar& t)
+{
+	return Scalar(a + (b - a) * t);
+}
+
+inline const int IsNegative(const Scalar& a)
+{
+	return _mm_movemask_ps(a.base) & 1;
+}
+
+// warning. this only checks for quiet nan
+inline const int IsNan(const Scalar& a)
+{
+	int aInt = *(int*)&a;
+	return ((aInt & 0x7fc00000) == 0x7fc00000);
+}
+
+inline const int IsInfinity(const Scalar& a)
+{
+	return (a == Scalar::Consts::PosInfinity || a == Scalar::Consts::NegInfinity);
+}
+
+inline const int IsPosInfinity(const Scalar& a)
+{
+	return (a == Scalar::Consts::PosInfinity);
+}
+
+inline const int IsNegInfinity(const Scalar& a)
+{
+	return (a == Scalar::Consts::NegInfinity);
+}
+