bt -> b3 and BT -> B3 rename for content and filenames
This commit is contained in:
erwin coumans
@@ -14,10 +14,10 @@ subject to the following restrictions:
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#ifndef BT_SCALAR_H
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#define BT_SCALAR_H
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#ifndef B3_SCALAR_H
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#define B3_SCALAR_H
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#ifdef BT_MANAGED_CODE
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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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@@ -28,15 +28,15 @@ subject to the following restrictions:
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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 281
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#define B3_BULLET_VERSION 281
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inline int btGetVersion()
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inline int b3GetVersion()
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{
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return BT_BULLET_VERSION;
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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 BT_DEBUG
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#define B3_DEBUG
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#endif
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@@ -49,7 +49,7 @@ inline int btGetVersion()
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#define ATTRIBUTE_ALIGNED64(a) a
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#define ATTRIBUTE_ALIGNED128(a) a
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#else
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//#define BT_HAS_ALIGNED_ALLOCATOR
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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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@@ -60,24 +60,24 @@ inline int btGetVersion()
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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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#define B3_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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#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 (BT_USE_DOUBLE_PRECISION))
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#define BT_USE_SSE
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#ifdef BT_USE_SSE
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//BT_USE_SSE_IN_API is disabled under Windows by default, because
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#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (B3_USE_DOUBLE_PRECISION))
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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 BT_USE_SSE_IN_API
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#endif //BT_USE_SSE
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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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@@ -85,22 +85,22 @@ inline int btGetVersion()
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#endif //__MINGW32__
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#ifdef BT_DEBUG
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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 btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);__debugbreak(); }}
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#define b3Assert(x) { if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);__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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#define b3Assert assert
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#endif//_MSC_VER
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#else
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#define btAssert(x)
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#define b3Assert(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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//b3FullAssert is optional, slows down a lot
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#define b3FullAssert(x)
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#define btLikely(_c) _c
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#define btUnlikely(_c) _c
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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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@@ -112,23 +112,23 @@ inline int btGetVersion()
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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 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 btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
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#define b3Assert(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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#define b3Assert assert
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#endif
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#else
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#define btAssert(x)
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#define b3Assert(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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//b3FullAssert is optional, slows down a lot
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#define b3FullAssert(x)
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#define btLikely(_c) _c
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#define btUnlikely(_c) _c
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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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@@ -141,29 +141,29 @@ inline int btGetVersion()
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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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#ifdef B3_DEBUG
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#define b3Assert assert
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#else
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#define btAssert(x)
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#define b3Assert(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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//b3FullAssert is optional, slows down a lot
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#define b3FullAssert(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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#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 (BT_USE_DOUBLE_PRECISION)))
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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 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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#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 BT_USE_SSE_IN_API
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#ifdef BT_USE_SSE
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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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@@ -174,14 +174,14 @@ inline int btGetVersion()
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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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#endif //B3_USE_SSE
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#elif defined( __armv7__ )
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#ifdef __clang__
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#define BT_USE_NEON 1
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#define B3_USE_NEON 1
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#if defined BT_USE_NEON && defined (__clang__)
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#if defined B3_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//B3_USE_NEON
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#endif //__clang__
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#endif//__arm__
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@@ -197,7 +197,7 @@ inline int btGetVersion()
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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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#define b3Assert(x)\
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{\
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if(!(x))\
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{\
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@@ -206,16 +206,16 @@ inline int btGetVersion()
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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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#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 btAssert(x)
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#define b3Assert(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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//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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@@ -232,15 +232,15 @@ inline int btGetVersion()
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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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#define b3Assert assert
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#else
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#define btAssert(x)
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#define b3Assert(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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//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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@@ -250,31 +250,31 @@ inline int btGetVersion()
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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(BT_USE_DOUBLE_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 BT_LARGE_FLOAT 1e30
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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 BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX
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#define BT_LARGE_FLOAT 1e18f
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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 BT_USE_SSE
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typedef __m128 btSimdFloat4;
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#endif//BT_USE_SSE
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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 BT_USE_SSE_IN_API && defined (BT_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 BT_NAN
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static int btNanMask = 0x7F800001;
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#define BT_NAN (*(float*)&btNanMask)
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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 BT_INFINITY
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static int btInfinityMask = 0x7F800000;
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#define BT_INFINITY (*(float*)&btInfinityMask)
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#ifndef B3_INFINITY
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static int b3InfinityMask = 0x7F800000;
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#define B3_INFINITY (*(float*)&b3InfinityMask)
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#endif
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inline __m128 operator + (const __m128 A, const __m128 B)
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@@ -292,70 +292,70 @@ inline __m128 operator * (const __m128 A, const __m128 B)
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return _mm_mul_ps(A, B);
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}
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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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#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 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) (__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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#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) (__m128){r0,r1,r2,r3}
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#define B3_INFINITY INFINITY
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#define B3_NAN NAN
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#endif//_WIN32
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#endif //BT_USE_SSE_IN_API
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#endif //B3_USE_SSE_IN_API
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#ifdef BT_USE_NEON
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#ifdef B3_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) (float32x4_t){r0,r1,r2,r3}
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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) (float32x4_t){r0,r1,r2,r3}
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#endif
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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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#define B3_DECLARE_ALIGNED_ALLOCATOR() \
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SIMD_FORCE_INLINE void* operator new(size_t sizeInBytes) { return b3AlignedAlloc(sizeInBytes,16); } \
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SIMD_FORCE_INLINE void operator delete(void* ptr) { b3AlignedFree(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 sizeInBytes) { return b3AlignedAlloc(sizeInBytes,16); } \
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SIMD_FORCE_INLINE void operator delete[](void* ptr) { b3AlignedFree(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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#if defined(B3_USE_DOUBLE_PRECISION) || defined(B3_FORCE_DOUBLE_FUNCTIONS)
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SIMD_FORCE_INLINE b3Scalar btSqrt(b3Scalar x) { return sqrt(x); }
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SIMD_FORCE_INLINE b3Scalar btFabs(b3Scalar x) { return fabs(x); }
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SIMD_FORCE_INLINE b3Scalar btCos(b3Scalar x) { return cos(x); }
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SIMD_FORCE_INLINE b3Scalar btSin(b3Scalar x) { return sin(x); }
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SIMD_FORCE_INLINE b3Scalar btTan(b3Scalar x) { return tan(x); }
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SIMD_FORCE_INLINE b3Scalar btAcos(b3Scalar x) { if (x<b3Scalar(-1)) x=b3Scalar(-1); if (x>b3Scalar(1)) x=b3Scalar(1); return acos(x); }
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SIMD_FORCE_INLINE b3Scalar btAsin(b3Scalar x) { if (x<b3Scalar(-1)) x=b3Scalar(-1); if (x>b3Scalar(1)) x=b3Scalar(1); return asin(x); }
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SIMD_FORCE_INLINE b3Scalar btAtan(b3Scalar x) { return atan(x); }
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SIMD_FORCE_INLINE b3Scalar btAtan2(b3Scalar x, b3Scalar y) { return atan2(x, y); }
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SIMD_FORCE_INLINE b3Scalar btExp(b3Scalar x) { return exp(x); }
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SIMD_FORCE_INLINE b3Scalar btLog(b3Scalar x) { return log(x); }
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SIMD_FORCE_INLINE b3Scalar btPow(b3Scalar x,b3Scalar y) { return pow(x,y); }
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SIMD_FORCE_INLINE b3Scalar btFmod(b3Scalar x,b3Scalar y) { return fmod(x,y); }
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SIMD_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar x) { return sqrt(x); }
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SIMD_FORCE_INLINE b3Scalar b3Fabs(b3Scalar x) { return fabs(x); }
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SIMD_FORCE_INLINE b3Scalar b3Cos(b3Scalar x) { return cos(x); }
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SIMD_FORCE_INLINE b3Scalar b3Sin(b3Scalar x) { return sin(x); }
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SIMD_FORCE_INLINE b3Scalar b3Tan(b3Scalar x) { return tan(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Acos(b3Scalar x) { if (x<b3Scalar(-1)) x=b3Scalar(-1); if (x>b3Scalar(1)) x=b3Scalar(1); return acos(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Asin(b3Scalar x) { if (x<b3Scalar(-1)) x=b3Scalar(-1); if (x>b3Scalar(1)) x=b3Scalar(1); return asin(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Atan(b3Scalar x) { return atan(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Atan2(b3Scalar x, b3Scalar y) { return atan2(x, y); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Exp(b3Scalar x) { return exp(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Log(b3Scalar x) { return log(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Pow(b3Scalar x,b3Scalar y) { return pow(x,y); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x,b3Scalar y) { return fmod(x,y); }
|
||||
|
||||
#else
|
||||
|
||||
SIMD_FORCE_INLINE b3Scalar btSqrt(b3Scalar y)
|
||||
SIMD_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar y)
|
||||
{
|
||||
#ifdef USE_APPROXIMATION
|
||||
double x, z, tempf;
|
||||
@@ -375,30 +375,30 @@ SIMD_FORCE_INLINE b3Scalar btSqrt(b3Scalar y)
|
||||
return sqrtf(y);
|
||||
#endif
|
||||
}
|
||||
SIMD_FORCE_INLINE b3Scalar btFabs(b3Scalar x) { return fabsf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar btCos(b3Scalar x) { return cosf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar btSin(b3Scalar x) { return sinf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar btTan(b3Scalar x) { return tanf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar btAcos(b3Scalar x) {
|
||||
SIMD_FORCE_INLINE b3Scalar b3Fabs(b3Scalar x) { return fabsf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Cos(b3Scalar x) { return cosf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Sin(b3Scalar x) { return sinf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Tan(b3Scalar x) { return tanf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Acos(b3Scalar x) {
|
||||
if (x<b3Scalar(-1))
|
||||
x=b3Scalar(-1);
|
||||
if (x>b3Scalar(1))
|
||||
x=b3Scalar(1);
|
||||
return acosf(x);
|
||||
}
|
||||
SIMD_FORCE_INLINE b3Scalar btAsin(b3Scalar x) {
|
||||
SIMD_FORCE_INLINE b3Scalar b3Asin(b3Scalar x) {
|
||||
if (x<b3Scalar(-1))
|
||||
x=b3Scalar(-1);
|
||||
if (x>b3Scalar(1))
|
||||
x=b3Scalar(1);
|
||||
return asinf(x);
|
||||
}
|
||||
SIMD_FORCE_INLINE b3Scalar btAtan(b3Scalar x) { return atanf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar btAtan2(b3Scalar x, b3Scalar y) { return atan2f(x, y); }
|
||||
SIMD_FORCE_INLINE b3Scalar btExp(b3Scalar x) { return expf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar btLog(b3Scalar x) { return logf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar btPow(b3Scalar x,b3Scalar y) { return powf(x,y); }
|
||||
SIMD_FORCE_INLINE b3Scalar btFmod(b3Scalar x,b3Scalar y) { return fmodf(x,y); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Atan(b3Scalar x) { return atanf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Atan2(b3Scalar x, b3Scalar y) { return atan2f(x, y); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Exp(b3Scalar x) { return expf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Log(b3Scalar x) { return logf(x); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Pow(b3Scalar x,b3Scalar y) { return powf(x,y); }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x,b3Scalar y) { return fmodf(x,y); }
|
||||
|
||||
#endif
|
||||
|
||||
@@ -409,10 +409,10 @@ SIMD_FORCE_INLINE b3Scalar btFmod(b3Scalar x,b3Scalar y) { return fmodf(x,y); }
|
||||
#define SIMD_DEGS_PER_RAD (b3Scalar(360.0) / SIMD_2_PI)
|
||||
#define SIMDSQRT12 b3Scalar(0.7071067811865475244008443621048490)
|
||||
|
||||
#define btRecipSqrt(x) ((b3Scalar)(b3Scalar(1.0)/btSqrt(b3Scalar(x)))) /* reciprocal square root */
|
||||
#define b3RecipSqrt(x) ((b3Scalar)(b3Scalar(1.0)/b3Sqrt(b3Scalar(x)))) /* reciprocal square root */
|
||||
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
#ifdef B3_USE_DOUBLE_PRECISION
|
||||
#define SIMD_EPSILON DBL_EPSILON
|
||||
#define SIMD_INFINITY DBL_MAX
|
||||
#else
|
||||
@@ -420,11 +420,11 @@ SIMD_FORCE_INLINE b3Scalar btFmod(b3Scalar x,b3Scalar y) { return fmodf(x,y); }
|
||||
#define SIMD_INFINITY FLT_MAX
|
||||
#endif
|
||||
|
||||
SIMD_FORCE_INLINE b3Scalar btAtan2Fast(b3Scalar y, b3Scalar x)
|
||||
SIMD_FORCE_INLINE b3Scalar b3Atan2Fast(b3Scalar y, b3Scalar x)
|
||||
{
|
||||
b3Scalar coeff_1 = SIMD_PI / 4.0f;
|
||||
b3Scalar coeff_2 = 3.0f * coeff_1;
|
||||
b3Scalar abs_y = btFabs(y);
|
||||
b3Scalar abs_y = b3Fabs(y);
|
||||
b3Scalar angle;
|
||||
if (x >= 0.0f) {
|
||||
b3Scalar r = (x - abs_y) / (x + abs_y);
|
||||
@@ -436,35 +436,35 @@ SIMD_FORCE_INLINE b3Scalar btAtan2Fast(b3Scalar y, b3Scalar x)
|
||||
return (y < 0.0f) ? -angle : angle;
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE bool btFuzzyZero(b3Scalar x) { return btFabs(x) < SIMD_EPSILON; }
|
||||
SIMD_FORCE_INLINE bool b3FuzzyZero(b3Scalar x) { return b3Fabs(x) < SIMD_EPSILON; }
|
||||
|
||||
SIMD_FORCE_INLINE bool btEqual(b3Scalar a, b3Scalar eps) {
|
||||
SIMD_FORCE_INLINE bool b3Equal(b3Scalar a, b3Scalar eps) {
|
||||
return (((a) <= eps) && !((a) < -eps));
|
||||
}
|
||||
SIMD_FORCE_INLINE bool btGreaterEqual (b3Scalar a, b3Scalar eps) {
|
||||
SIMD_FORCE_INLINE bool b3GreaterEqual (b3Scalar a, b3Scalar eps) {
|
||||
return (!((a) <= eps));
|
||||
}
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE int btIsNegative(b3Scalar x) {
|
||||
SIMD_FORCE_INLINE int b3IsNegative(b3Scalar x) {
|
||||
return x < b3Scalar(0.0) ? 1 : 0;
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE b3Scalar btRadians(b3Scalar x) { return x * SIMD_RADS_PER_DEG; }
|
||||
SIMD_FORCE_INLINE b3Scalar btDegrees(b3Scalar x) { return x * SIMD_DEGS_PER_RAD; }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Radians(b3Scalar x) { return x * SIMD_RADS_PER_DEG; }
|
||||
SIMD_FORCE_INLINE b3Scalar b3Degrees(b3Scalar x) { return x * SIMD_DEGS_PER_RAD; }
|
||||
|
||||
#define BT_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
|
||||
#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
|
||||
|
||||
#ifndef btFsel
|
||||
SIMD_FORCE_INLINE b3Scalar btFsel(b3Scalar a, b3Scalar b, b3Scalar c)
|
||||
#ifndef b3Fsel
|
||||
SIMD_FORCE_INLINE b3Scalar b3Fsel(b3Scalar a, b3Scalar b, b3Scalar c)
|
||||
{
|
||||
return a >= 0 ? b : c;
|
||||
}
|
||||
#endif
|
||||
#define btFsels(a,b,c) (b3Scalar)btFsel(a,b,c)
|
||||
#define b3Fsels(a,b,c) (b3Scalar)b3Fsel(a,b,c)
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE bool btMachineIsLittleEndian()
|
||||
SIMD_FORCE_INLINE bool b3MachineIsLittleEndian()
|
||||
{
|
||||
long int i = 1;
|
||||
const char *p = (const char *) &i;
|
||||
@@ -476,9 +476,9 @@ SIMD_FORCE_INLINE bool btMachineIsLittleEndian()
|
||||
|
||||
|
||||
|
||||
///btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360
|
||||
///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
|
||||
SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero)
|
||||
SIMD_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
|
||||
@@ -488,22 +488,22 @@ SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditio
|
||||
unsigned testEqz = ~testNz;
|
||||
return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
|
||||
}
|
||||
SIMD_FORCE_INLINE int btSelect(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero)
|
||||
SIMD_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));
|
||||
}
|
||||
SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero)
|
||||
SIMD_FORCE_INLINE float b3Select(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero)
|
||||
{
|
||||
#ifdef BT_HAVE_NATIVE_FSEL
|
||||
return (float)btFsel((b3Scalar)condition - b3Scalar(1.0f), valueIfConditionNonZero, 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> SIMD_FORCE_INLINE void btSwap(T& a, T& b)
|
||||
template<typename T> SIMD_FORCE_INLINE void b3Swap(T& a, T& b)
|
||||
{
|
||||
T tmp = a;
|
||||
a = b;
|
||||
@@ -512,33 +512,33 @@ template<typename T> SIMD_FORCE_INLINE void btSwap(T& a, T& b)
|
||||
|
||||
|
||||
//PCK: endian swapping functions
|
||||
SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val)
|
||||
SIMD_FORCE_INLINE unsigned b3SwapEndian(unsigned val)
|
||||
{
|
||||
return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24));
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val)
|
||||
SIMD_FORCE_INLINE unsigned short b3SwapEndian(unsigned short val)
|
||||
{
|
||||
return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8));
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE unsigned btSwapEndian(int val)
|
||||
SIMD_FORCE_INLINE unsigned b3SwapEndian(int val)
|
||||
{
|
||||
return btSwapEndian((unsigned)val);
|
||||
return b3SwapEndian((unsigned)val);
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE unsigned short btSwapEndian(short val)
|
||||
SIMD_FORCE_INLINE unsigned short b3SwapEndian(short val)
|
||||
{
|
||||
return btSwapEndian((unsigned short) val);
|
||||
return b3SwapEndian((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
|
||||
///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
|
||||
SIMD_FORCE_INLINE unsigned int btSwapEndianFloat(float d)
|
||||
SIMD_FORCE_INLINE unsigned int b3SwapEndianFloat(float d)
|
||||
{
|
||||
unsigned int a = 0;
|
||||
unsigned char *dst = (unsigned char *)&a;
|
||||
@@ -552,7 +552,7 @@ SIMD_FORCE_INLINE unsigned int btSwapEndianFloat(float d)
|
||||
}
|
||||
|
||||
// unswap using char pointers
|
||||
SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a)
|
||||
SIMD_FORCE_INLINE float b3UnswapEndianFloat(unsigned int a)
|
||||
{
|
||||
float d = 0.0f;
|
||||
unsigned char *src = (unsigned char *)&a;
|
||||
@@ -568,7 +568,7 @@ SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a)
|
||||
|
||||
|
||||
// swap using char pointers
|
||||
SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char* dst)
|
||||
SIMD_FORCE_INLINE void b3SwapEndianDouble(double d, unsigned char* dst)
|
||||
{
|
||||
unsigned char *src = (unsigned char *)&d;
|
||||
|
||||
@@ -584,7 +584,7 @@ SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char* dst)
|
||||
}
|
||||
|
||||
// unswap using char pointers
|
||||
SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src)
|
||||
SIMD_FORCE_INLINE double b3UnswapEndianDouble(const unsigned char *src)
|
||||
{
|
||||
double d = 0.0;
|
||||
unsigned char *dst = (unsigned char *)&d;
|
||||
@@ -602,9 +602,9 @@ SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src)
|
||||
}
|
||||
|
||||
// returns normalized value in range [-SIMD_PI, SIMD_PI]
|
||||
SIMD_FORCE_INLINE b3Scalar btNormalizeAngle(b3Scalar angleInRadians)
|
||||
SIMD_FORCE_INLINE b3Scalar b3NormalizeAngle(b3Scalar angleInRadians)
|
||||
{
|
||||
angleInRadians = btFmod(angleInRadians, SIMD_2_PI);
|
||||
angleInRadians = b3Fmod(angleInRadians, SIMD_2_PI);
|
||||
if(angleInRadians < -SIMD_PI)
|
||||
{
|
||||
return angleInRadians + SIMD_2_PI;
|
||||
@@ -620,9 +620,9 @@ SIMD_FORCE_INLINE b3Scalar btNormalizeAngle(b3Scalar angleInRadians)
|
||||
}
|
||||
|
||||
///rudimentary class to provide type info
|
||||
struct btTypedObject
|
||||
struct b3TypedObject
|
||||
{
|
||||
btTypedObject(int objectType)
|
||||
b3TypedObject(int objectType)
|
||||
:m_objectType(objectType)
|
||||
{
|
||||
}
|
||||
@@ -636,10 +636,10 @@ struct btTypedObject
|
||||
|
||||
|
||||
///align a pointer to the provided alignment, upwards
|
||||
template <typename T>T* btAlignPointer(T* unalignedPtr, size_t alignment)
|
||||
template <typename T>T* b3AlignPointer(T* unalignedPtr, size_t alignment)
|
||||
{
|
||||
|
||||
struct btConvertPointerSizeT
|
||||
struct b3ConvertPointerSizeT
|
||||
{
|
||||
union
|
||||
{
|
||||
@@ -647,7 +647,7 @@ template <typename T>T* btAlignPointer(T* unalignedPtr, size_t alignment)
|
||||
size_t integer;
|
||||
};
|
||||
};
|
||||
btConvertPointerSizeT converter;
|
||||
b3ConvertPointerSizeT converter;
|
||||
|
||||
|
||||
const size_t bit_mask = ~(alignment - 1);
|
||||
@@ -657,4 +657,4 @@ template <typename T>T* btAlignPointer(T* unalignedPtr, size_t alignment)
|
||||
return converter.ptr;
|
||||
}
|
||||
|
||||
#endif //BT_SCALAR_H
|
||||
#endif //B3_SCALAR_H
|
||||
|
||||
Reference in New Issue
Block a user