Get the open source Bullet library more in sync with Playstation SPU version

src/LinearMath/btAlignedAllocator.cpp

@@ -31,6 +31,26 @@ void	btAlignedFree	(void* ptr)
 
 #else
 
+#ifdef __CELLOS_LV2__
+
+#include <stdlib.h>
+
+int numAllocs = 0;
+int numFree = 0;
+
+void*	btAlignedAlloc	(int size, int alignment)
+{
+	numAllocs++;
+	return memalign(alignment, size);
+}
+
+void	btAlignedFree	(void* ptr)
+{
+	numFree++;
+	free(ptr);
+}
+
+#else
 ///todo
 ///will add some multi-platform version that works without _aligned_malloc/_aligned_free
 
@@ -43,6 +63,7 @@ void	btAlignedFree	(void* ptr)
 {
 	delete [] (char*) ptr;
 }
+#endif //
 
 #endif
 

src/LinearMath/btAlignedObjectArray.h

@@ -40,7 +40,7 @@ class btAlignedObjectArray
 		SIMD_FORCE_INLINE	void	copy(int start,int end, T* dest)
 		{
 			int i;
-			for (i=0;i<m_size;++i)
+			for (i=start;i<end;++i)
 				dest[i] = m_data[i];
 		}
 
@@ -53,7 +53,7 @@ class btAlignedObjectArray
 		SIMD_FORCE_INLINE	void	destroy(int first,int last)
 		{
 			int i;
-			for (i=0; i<m_size;i++)
+			for (i=first; i<last;i++)
 			{
 				m_data[i].~T();
 			}

src/LinearMath/btQuadWord.h

@@ -21,7 +21,8 @@ subject to the following restrictions:
 
 
 
-ATTRIBUTE_ALIGNED16 (class	btQuadWord)
+///btQuadWord is base-class for vectors, points
+class	btQuadWord
 {
 	protected:
 		btScalar	m_x;

src/LinearMath/btScalar.h

@@ -43,6 +43,17 @@ subject to the following restrictions:
 		#define btFullAssert(x)
 #else
 	
+#if defined	(__CELLOS_LV2__)
+		#define SIMD_FORCE_INLINE inline
+		#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+		#ifndef assert
+		#include <assert.h>
+		#endif
+		#define btAssert assert
+		//btFullAssert is optional, slows down a lot
+		#define btFullAssert(x)
+#else
+
 	//non-windows systems
 
 		#define SIMD_FORCE_INLINE inline
@@ -53,6 +64,7 @@ subject to the following restrictions:
 		#define btAssert assert
 		//btFullAssert is optional, slows down a lot
 		#define btFullAssert(x)
+#endif	//__CELLOS_LV2__
 #endif
 
 /// older compilers (gcc 3.x) and Sun needs double version of sqrt etc.

src/LinearMath/btVector3.h

@@ -19,11 +19,10 @@ subject to the following restrictions:
 
 #include "btQuadWord.h"
 
-
-///btVector3 is 16byte aligned, and has an extra unused component m_w
-///this extra component can be used by derived classes (Quaternion?) or by user
-class btVector3 : public btQuadWord {
-
+///btVector3 can be used to represent 3D points and vectors.
+///It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
+///Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
+class	btVector3 : public btQuadWord {
 
 public:
 	SIMD_FORCE_INLINE btVector3() {}