Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

align btQuadWord on 16byte boundary

Browse Source 
slightly improved friction model
This commit is contained in:
ejcoumans
2007-09-25 06:58:53 +00:00
parent a38de566c6
commit 811c105c24
13 changed files with 224 additions and 175 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/LinearMath/btQuadWord.h
View File

@@ -19,7 +19,7 @@ subject to the following restrictions:
#include "btScalar.h"
#include "btSimdMinMax.h"
class btQuadWordStorage
ATTRIBUTE_ALIGNED16(class) btQuadWordStorage
{
protected:
btScalar m_x;

2
src/LinearMath/btQuaternion.h
View File

@@ -308,7 +308,7 @@ shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Ge
}
SIMD_FORCE_INLINE btQuaternion
shortestArcQuatNormalize(btVector3 v0,btVector3 v1)
shortestArcQuatNormalize2(btVector3& v0,btVector3& v1)
{
v0.normalize();
v1.normalize();

21
src/LinearMath/btScalar.h
View File

@@ -154,7 +154,26 @@ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return pow(x,y); }
#else
SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { return sqrtf(x); }
SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
{
#ifdef USE_APPROXIMATION
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); /* hoist out the <20>/2<> */
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;
#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); }