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rename to b3 convention, to avoid naming conflicts when using in combination with Bullet 2.x

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This commit is contained in:
erwincoumans
2013-04-29 15:19:36 -07:00
parent 7366e262fd
commit 55b69201a9
88 changed files with 1682 additions and 1584 deletions
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72
src/Bullet3Common/b3Quaternion.h
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@@ -1,5 +1,5 @@
/*
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org
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.
@@ -27,14 +27,14 @@ subject to the following restrictions:
#ifdef B3_USE_SSE
const __m128 ATTRIBUTE_ALIGNED16(vOnes) = {1.0f, 1.0f, 1.0f, 1.0f};
const __m128 B3_ATTRIBUTE_ALIGNED16(vOnes) = {1.0f, 1.0f, 1.0f, 1.0f};
#endif
#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
const b3SimdFloat4 ATTRIBUTE_ALIGNED16(vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f};
const b3SimdFloat4 ATTRIBUTE_ALIGNED16(vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f};
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f};
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f};
#endif
@@ -46,19 +46,19 @@ public:
#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))|| defined(B3_USE_NEON)
// Set Vector
SIMD_FORCE_INLINE b3Quaternion(const b3SimdFloat4 vec)
B3_FORCE_INLINE b3Quaternion(const b3SimdFloat4 vec)
{
mVec128 = vec;
}
// Copy constructor
SIMD_FORCE_INLINE b3Quaternion(const b3Quaternion& rhs)
B3_FORCE_INLINE b3Quaternion(const b3Quaternion& rhs)
{
mVec128 = rhs.mVec128;
}
// Assignment Operator
SIMD_FORCE_INLINE b3Quaternion&
B3_FORCE_INLINE b3Quaternion&
operator=(const b3Quaternion& v)
{
mVec128 = v.mVec128;
@@ -148,7 +148,7 @@ public:
}
/**@brief Add two quaternions
* @param q The quaternion to add to this one */
SIMD_FORCE_INLINE b3Quaternion& operator+=(const b3Quaternion& q)
B3_FORCE_INLINE b3Quaternion& operator+=(const b3Quaternion& q)
{
#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
mVec128 = _mm_add_ps(mVec128, q.mVec128);
@@ -350,7 +350,7 @@ public:
/**@brief Return a scaled version of this quaternion
* @param s The scale factor */
SIMD_FORCE_INLINE b3Quaternion
B3_FORCE_INLINE b3Quaternion
operator*(const b3Scalar& s) const
{
#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
@@ -406,7 +406,7 @@ public:
{
b3Scalar s_squared = 1.f-m_floats[3]*m_floats[3];
if (s_squared < b3Scalar(10.) * SIMD_EPSILON) //Check for divide by zero
if (s_squared < b3Scalar(10.) * B3_EPSILON) //Check for divide by zero
return b3Vector3(1.0, 0.0, 0.0); // Arbitrary
b3Scalar s = 1.f/b3Sqrt(s_squared);
return b3Vector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
@@ -426,7 +426,7 @@ public:
/**@brief Return the sum of this quaternion and the other
* @param q2 The other quaternion */
SIMD_FORCE_INLINE b3Quaternion
B3_FORCE_INLINE b3Quaternion
operator+(const b3Quaternion& q2) const
{
#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
@@ -441,7 +441,7 @@ public:
/**@brief Return the difference between this quaternion and the other
* @param q2 The other quaternion */
SIMD_FORCE_INLINE b3Quaternion
B3_FORCE_INLINE b3Quaternion
operator-(const b3Quaternion& q2) const
{
#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
@@ -456,7 +456,7 @@ public:
/**@brief Return the negative of this quaternion
* This simply negates each element */
SIMD_FORCE_INLINE b3Quaternion operator-() const
B3_FORCE_INLINE b3Quaternion operator-() const
{
#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
return b3Quaternion(_mm_xor_ps(mVec128, b3vMzeroMask));
@@ -468,7 +468,7 @@ public:
#endif
}
/**@todo document this and it's use */
SIMD_FORCE_INLINE b3Quaternion farthest( const b3Quaternion& qd) const
B3_FORCE_INLINE b3Quaternion farthest( const b3Quaternion& qd) const
{
b3Quaternion diff,sum;
diff = *this - qd;
@@ -479,7 +479,7 @@ public:
}
/**@todo document this and it's use */
SIMD_FORCE_INLINE b3Quaternion nearest( const b3Quaternion& qd) const
B3_FORCE_INLINE b3Quaternion nearest( const b3Quaternion& qd) const
{
b3Quaternion diff,sum;
diff = *this - qd;
@@ -528,7 +528,7 @@ public:
return identityQuat;
}
SIMD_FORCE_INLINE const b3Scalar& getW() const { return m_floats[3]; }
B3_FORCE_INLINE const b3Scalar& getW() const { return m_floats[3]; }
};
@@ -538,7 +538,7 @@ public:
/**@brief Return the product of two quaternions */
SIMD_FORCE_INLINE b3Quaternion
B3_FORCE_INLINE b3Quaternion
operator*(const b3Quaternion& q1, const b3Quaternion& q2)
{
#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
@@ -626,7 +626,7 @@ operator*(const b3Quaternion& q1, const b3Quaternion& q2)
#endif
}
SIMD_FORCE_INLINE b3Quaternion
B3_FORCE_INLINE b3Quaternion
operator*(const b3Quaternion& q, const b3Vector3& w)
{
#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
@@ -709,7 +709,7 @@ operator*(const b3Quaternion& q, const b3Vector3& w)
#endif
}
SIMD_FORCE_INLINE b3Quaternion
B3_FORCE_INLINE b3Quaternion
operator*(const b3Vector3& w, const b3Quaternion& q)
{
#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
@@ -793,30 +793,30 @@ operator*(const b3Vector3& w, const b3Quaternion& q)
}
/**@brief Calculate the dot product between two quaternions */
SIMD_FORCE_INLINE b3Scalar
dot(const b3Quaternion& q1, const b3Quaternion& q2)
B3_FORCE_INLINE b3Scalar
b3Dot(const b3Quaternion& q1, const b3Quaternion& q2)
{
return q1.dot(q2);
}
/**@brief Return the length of a quaternion */
SIMD_FORCE_INLINE b3Scalar
length(const b3Quaternion& q)
B3_FORCE_INLINE b3Scalar
b3Length(const b3Quaternion& q)
{
return q.length();
}
/**@brief Return the angle between two quaternions*/
SIMD_FORCE_INLINE b3Scalar
B3_FORCE_INLINE b3Scalar
b3Angle(const b3Quaternion& q1, const b3Quaternion& q2)
{
return q1.angle(q2);
}
/**@brief Return the inverse of a quaternion*/
SIMD_FORCE_INLINE b3Quaternion
inverse(const b3Quaternion& q)
B3_FORCE_INLINE b3Quaternion
b3Inverse(const b3Quaternion& q)
{
return q.inverse();
}
@@ -826,14 +826,14 @@ inverse(const b3Quaternion& q)
* @param q2 The second quaternion
* @param t The ration between q1 and q2. t = 0 return q1, t=1 returns q2
* Slerp assumes constant velocity between positions. */
SIMD_FORCE_INLINE b3Quaternion
slerp(const b3Quaternion& q1, const b3Quaternion& q2, const b3Scalar& t)
B3_FORCE_INLINE b3Quaternion
b3Slerp(const b3Quaternion& q1, const b3Quaternion& q2, const b3Scalar& t)
{
return q1.slerp(q2, t);
}
SIMD_FORCE_INLINE b3Vector3
quatRotate(const b3Quaternion& rotation, const b3Vector3& v)
B3_FORCE_INLINE b3Vector3
b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v)
{
b3Quaternion q = rotation * v;
q *= rotation.inverse();
@@ -846,13 +846,13 @@ quatRotate(const b3Quaternion& rotation, const b3Vector3& v)
#endif
}
SIMD_FORCE_INLINE b3Quaternion
shortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized
B3_FORCE_INLINE b3Quaternion
b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized
{
b3Vector3 c = v0.cross(v1);
b3Scalar d = v0.dot(v1);
if (d < -1.0 + SIMD_EPSILON)
if (d < -1.0 + B3_EPSILON)
{
b3Vector3 n,unused;
b3PlaneSpace1(v0,n,unused);
@@ -865,12 +865,12 @@ shortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming Ge
return b3Quaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f);
}
SIMD_FORCE_INLINE b3Quaternion
shortestArcQuatNormalize2(b3Vector3& v0,b3Vector3& v1)
B3_FORCE_INLINE b3Quaternion
b3ShortestArcQuatNormalize2(b3Vector3& v0,b3Vector3& v1)
{
v0.normalize();
v1.normalize();
return shortestArcQuat(v0,v1);
return b3ShortestArcQuat(v0,v1);
}
#endif //B3_SIMD__QUATERNION_H_