apply _clang-format to Bullet/src/LinearMath/btScalar.h, disable around preprocessor defines
(issue with clang-format lacking preprocessor indentation support, see https://bugs.llvm.org//show_bug.cgi?id=17362 and possibly apply this patch: https://github.com/mkurdej/clang/tree/indent-pp-directives )
This commit is contained in:
Erwin Coumans
@@ -12,20 +12,16 @@ subject to the following restrictions:
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_SCALAR_H
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#define BT_SCALAR_H
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#ifdef BT_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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#include <math.h>
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#include <stdlib.h>//size_t for MSVC 6.0
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#include <stdlib.h> //size_t for MSVC 6.0
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#include <float.h>
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/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
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@@ -36,15 +32,14 @@ inline int btGetVersion()
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return BT_BULLET_VERSION;
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}
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// clang and most formatting tools don't support indentation of preprocessor guards, so turn it off
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// clang-format off
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#if defined(DEBUG) || defined (_DEBUG)
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#define BT_DEBUG
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#define BT_DEBUG
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#endif
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#ifdef _WIN32
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#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
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#define SIMD_FORCE_INLINE inline
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#define ATTRIBUTE_ALIGNED16(a) a
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#define ATTRIBUTE_ALIGNED64(a) a
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@@ -54,7 +49,7 @@ inline int btGetVersion()
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#define ATTRIBUTE_ALIGNED16(a) __declspec() a
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#define ATTRIBUTE_ALIGNED64(a) __declspec() a
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#define ATTRIBUTE_ALIGNED128(a) __declspec () a
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#else
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#else//__MINGW32__
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//#define BT_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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@@ -102,7 +97,7 @@ inline int btGetVersion()
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#endif //__MINGW32__
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#ifdef BT_DEBUG
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#ifdef BT_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 (%s)\n", __LINE__, #x);__debugbreak(); }}
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@@ -110,18 +105,18 @@ inline int btGetVersion()
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#include <assert.h>
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#define btAssert assert
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#endif//_MSC_VER
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#else
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#else
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#define btAssert(x)
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#endif
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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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#else
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#else//_WIN32
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#if defined (__CELLOS_LV2__)
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#if defined (__CELLOS_LV2__)
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#define SIMD_FORCE_INLINE inline __attribute__((always_inline))
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#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
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#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
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@@ -129,27 +124,27 @@ 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 __SPU__
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#include <spu_printf.h>
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#define printf spu_printf
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#ifdef BT_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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#else
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#else
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#define btAssert assert
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#endif
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#endif
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#else
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#else//BT_DEBUG
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#define btAssert(x)
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#endif
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#endif//BT_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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#else
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#else//defined (__CELLOS_LV2__)
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#ifdef USE_LIBSPE2
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#ifdef USE_LIBSPE2
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#define SIMD_FORCE_INLINE __inline
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#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
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@@ -158,11 +153,11 @@ 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 BT_DEBUG
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#define btAssert assert
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#else
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#else
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#define btAssert(x)
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#endif
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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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@@ -171,10 +166,10 @@ inline int btGetVersion()
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#define btUnlikely(_c) __builtin_expect((_c), 0)
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#else
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#else//USE_LIBSPE2
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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 (BT_USE_DOUBLE_PRECISION)))
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#if defined (__i386__) || defined (__x86_64__)
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#define BT_USE_SIMD_VECTOR3
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#define BT_USE_SSE
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@@ -205,7 +200,7 @@ inline int btGetVersion()
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#endif//__arm__
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#define SIMD_FORCE_INLINE inline __attribute__ ((always_inline))
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///@todo: check out alignment methods for other platforms/compilers
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///@todo: check out alignment methods for other platforms/compilers
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#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
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#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
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#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
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@@ -236,7 +231,7 @@ inline int btGetVersion()
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#define btLikely(_c) _c
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#define btUnlikely(_c) _c
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#else
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#else//__APPLE__
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#define SIMD_FORCE_INLINE inline
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///@todo: check out alignment methods for other platforms/compilers
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@@ -250,105 +245,105 @@ inline int btGetVersion()
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#include <assert.h>
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#endif
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#if defined(DEBUG) || defined (_DEBUG)
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#if defined(DEBUG) || defined (_DEBUG)
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#define btAssert assert
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#else
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#else
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#define btAssert(x)
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#endif
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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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#endif //__APPLE__
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#endif // LIBSPE2
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#endif //__CELLOS_LV2__
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#endif
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#endif //__APPLE__
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#endif // LIBSPE2
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#endif //__CELLOS_LV2__
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#endif//_WIN32
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///The btScalar 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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typedef double btScalar;
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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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typedef double btScalar;
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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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#else
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typedef float btScalar;
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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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typedef float btScalar;
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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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#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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typedef __m128 btSimdFloat4;
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#endif //BT_USE_SSE
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#if defined (BT_USE_SSE)
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//#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE)
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#ifdef _WIN32
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#if defined(BT_USE_SSE)
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//#if defined BT_USE_SSE_IN_API && defined (BT_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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#endif
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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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#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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inline int btGetInfinityMask()//suppress stupid compiler warning
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{
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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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inline int btGetInfinityMask() //suppress stupid compiler warning
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{
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return btInfinityMask;
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}
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#endif
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}
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#endif
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//use this, in case there are clashes (such as xnamath.h)
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#ifndef BT_NO_SIMD_OPERATOR_OVERLOADS
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inline __m128 operator + (const __m128 A, const __m128 B)
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{
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//use this, in case there are clashes (such as xnamath.h)
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#ifndef BT_NO_SIMD_OPERATOR_OVERLOADS
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inline __m128 operator+(const __m128 A, const __m128 B)
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{
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return _mm_add_ps(A, B);
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}
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}
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inline __m128 operator - (const __m128 A, const __m128 B)
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{
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inline __m128 operator-(const __m128 A, const __m128 B)
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{
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return _mm_sub_ps(A, B);
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}
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}
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inline __m128 operator * (const __m128 A, const __m128 B)
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{
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inline __m128 operator*(const __m128 A, const __m128 B)
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{
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return _mm_mul_ps(A, B);
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}
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#endif //BT_NO_SIMD_OPERATOR_OVERLOADS
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}
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#endif //BT_NO_SIMD_OPERATOR_OVERLOADS
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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 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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#else//_WIN32
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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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#endif//_WIN32
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#else
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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) \
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(__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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#endif //_WIN32
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#else//BT_USE_SSE
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#ifdef BT_USE_NEON
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#ifdef BT_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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#else//BT_USE_NEON
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#define btAssign128(r0, r1, r2, r3) \
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(float32x4_t) { r0, r1, r2, r3 }
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#else //BT_USE_NEON
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#ifndef BT_INFINITY
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struct btInfMaskConverter
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@@ -357,122 +352,132 @@ inline __m128 operator * (const __m128 A, const __m128 B)
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float mask;
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int intmask;
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};
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btInfMaskConverter(int mask=0x7F800000)
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:intmask(mask)
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btInfMaskConverter(int mask = 0x7F800000)
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: intmask(mask)
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{
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}
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};
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static btInfMaskConverter btInfinityMask = 0x7F800000;
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#define BT_INFINITY (btInfinityMask.mask)
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inline int btGetInfinityMask()//suppress stupid compiler warning
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inline int btGetInfinityMask() //suppress stupid compiler warning
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{
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return btInfinityMask.intmask;
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}
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#endif
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#endif//BT_USE_NEON
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#endif //BT_USE_NEON
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#endif //BT_USE_SSE
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#ifdef BT_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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#endif
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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) \
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(float32x4_t) { r0, r1, r2, r3 }
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#endif//BT_USE_NEON
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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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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, void* ptr) { return ptr; } \
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SIMD_FORCE_INLINE void operator delete[](void*, void*) { } \
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||||
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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, 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, 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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SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { return sqrt(x); }
|
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SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); }
|
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SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); }
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SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); }
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SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); }
|
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SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { if (x<btScalar(-1)) x=btScalar(-1); if (x>btScalar(1)) x=btScalar(1); return acos(x); }
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SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { if (x<btScalar(-1)) x=btScalar(-1); if (x>btScalar(1)) x=btScalar(1); return asin(x); }
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SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); }
|
||||
SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); }
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SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); }
|
||||
SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); }
|
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SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return pow(x,y); }
|
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SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmod(x,y); }
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||||
SIMD_FORCE_INLINE btScalar btSqrt(btScalar x)
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{
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||||
return sqrt(x);
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||||
}
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||||
SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); }
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||||
SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); }
|
||||
SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); }
|
||||
SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); }
|
||||
SIMD_FORCE_INLINE btScalar btAcos(btScalar x)
|
||||
{
|
||||
if (x < btScalar(-1)) x = btScalar(-1);
|
||||
if (x > btScalar(1)) x = btScalar(1);
|
||||
return acos(x);
|
||||
}
|
||||
SIMD_FORCE_INLINE btScalar btAsin(btScalar x)
|
||||
{
|
||||
if (x < btScalar(-1)) x = btScalar(-1);
|
||||
if (x > btScalar(1)) x = btScalar(1);
|
||||
return asin(x);
|
||||
}
|
||||
SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); }
|
||||
SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); }
|
||||
SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); }
|
||||
SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); }
|
||||
SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return pow(x, y); }
|
||||
SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmod(x, y); }
|
||||
|
||||
#else
|
||||
#else//BT_USE_DOUBLE_PRECISION
|
||||
|
||||
SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
|
||||
{
|
||||
#ifdef USE_APPROXIMATION
|
||||
#ifdef __LP64__
|
||||
float xhalf = 0.5f*y;
|
||||
int i = *(int*)&y;
|
||||
i = 0x5f375a86 - (i>>1);
|
||||
y = *(float*)&i;
|
||||
y = y*(1.5f - xhalf*y*y);
|
||||
y = y*(1.5f - xhalf*y*y);
|
||||
y = y*(1.5f - xhalf*y*y);
|
||||
y=1/y;
|
||||
SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
|
||||
{
|
||||
#ifdef USE_APPROXIMATION
|
||||
#ifdef __LP64__
|
||||
float xhalf = 0.5f * y;
|
||||
int i = *(int *)&y;
|
||||
i = 0x5f375a86 - (i >> 1);
|
||||
y = *(float *)&i;
|
||||
y = y * (1.5f - xhalf * y * y);
|
||||
y = y * (1.5f - xhalf * y * y);
|
||||
y = y * (1.5f - xhalf * y * y);
|
||||
y = 1 / y;
|
||||
return y;
|
||||
#else
|
||||
#else
|
||||
double x, z, tempf;
|
||||
unsigned long *tfptr = ((unsigned long *)&tempf) + 1;
|
||||
tempf = y;
|
||||
*tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */
|
||||
*tfptr = (0xbfcdd90a - *tfptr) >> 1; /* estimate of 1/sqrt(y) */
|
||||
x = tempf;
|
||||
z = y*btScalar(0.5);
|
||||
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;
|
||||
#endif
|
||||
#else
|
||||
z = y * btScalar(0.5);
|
||||
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;
|
||||
#endif
|
||||
#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); }
|
||||
SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
|
||||
SIMD_FORCE_INLINE btScalar btAcos(btScalar x) {
|
||||
if (x<btScalar(-1))
|
||||
x=btScalar(-1);
|
||||
if (x>btScalar(1))
|
||||
x=btScalar(1);
|
||||
#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); }
|
||||
SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
|
||||
SIMD_FORCE_INLINE btScalar btAcos(btScalar x)
|
||||
{
|
||||
if (x < btScalar(-1))
|
||||
x = btScalar(-1);
|
||||
if (x > btScalar(1))
|
||||
x = btScalar(1);
|
||||
return acosf(x);
|
||||
}
|
||||
SIMD_FORCE_INLINE btScalar btAsin(btScalar x) {
|
||||
if (x<btScalar(-1))
|
||||
x=btScalar(-1);
|
||||
if (x>btScalar(1))
|
||||
x=btScalar(1);
|
||||
}
|
||||
SIMD_FORCE_INLINE btScalar btAsin(btScalar x)
|
||||
{
|
||||
if (x < btScalar(-1))
|
||||
x = btScalar(-1);
|
||||
if (x > btScalar(1))
|
||||
x = btScalar(1);
|
||||
return asinf(x);
|
||||
}
|
||||
SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
|
||||
SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
|
||||
SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); }
|
||||
SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); }
|
||||
SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
|
||||
SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
|
||||
}
|
||||
SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
|
||||
SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
|
||||
SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); }
|
||||
SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); }
|
||||
SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return powf(x, y); }
|
||||
SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmodf(x, y); }
|
||||
|
||||
#endif
|
||||
#endif//BT_USE_DOUBLE_PRECISION
|
||||
|
||||
#define SIMD_PI btScalar(3.1415926535897932384626433832795029)
|
||||
#define SIMD_2_PI (btScalar(2.0) * SIMD_PI)
|
||||
@@ -480,36 +485,40 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
|
||||
#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0))
|
||||
#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI)
|
||||
#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
|
||||
|
||||
#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
|
||||
#define btRecip(x) (btScalar(1.0)/btScalar(x))
|
||||
#define btRecipSqrt(x) ((btScalar)(btScalar(1.0) / btSqrt(btScalar(x)))) /* reciprocal square root */
|
||||
#define btRecip(x) (btScalar(1.0) / btScalar(x))
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
#define SIMD_EPSILON DBL_EPSILON
|
||||
#define SIMD_INFINITY DBL_MAX
|
||||
#define BT_ONE 1.0
|
||||
#define BT_ZERO 0.0
|
||||
#define BT_TWO 2.0
|
||||
#define BT_HALF 0.5
|
||||
#define SIMD_EPSILON DBL_EPSILON
|
||||
#define SIMD_INFINITY DBL_MAX
|
||||
#define BT_ONE 1.0
|
||||
#define BT_ZERO 0.0
|
||||
#define BT_TWO 2.0
|
||||
#define BT_HALF 0.5
|
||||
#else
|
||||
#define SIMD_EPSILON FLT_EPSILON
|
||||
#define SIMD_INFINITY FLT_MAX
|
||||
#define BT_ONE 1.0f
|
||||
#define BT_ZERO 0.0f
|
||||
#define BT_TWO 2.0f
|
||||
#define BT_HALF 0.5f
|
||||
#define SIMD_EPSILON FLT_EPSILON
|
||||
#define SIMD_INFINITY FLT_MAX
|
||||
#define BT_ONE 1.0f
|
||||
#define BT_ZERO 0.0f
|
||||
#define BT_TWO 2.0f
|
||||
#define BT_HALF 0.5f
|
||||
#endif
|
||||
|
||||
// clang-format on
|
||||
|
||||
SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x)
|
||||
{
|
||||
btScalar coeff_1 = SIMD_PI / 4.0f;
|
||||
btScalar coeff_2 = 3.0f * coeff_1;
|
||||
btScalar abs_y = btFabs(y);
|
||||
btScalar angle;
|
||||
if (x >= 0.0f) {
|
||||
if (x >= 0.0f)
|
||||
{
|
||||
btScalar r = (x - abs_y) / (x + abs_y);
|
||||
angle = coeff_1 - coeff_1 * r;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
btScalar r = (x + abs_y) / (abs_y - x);
|
||||
angle = coeff_2 - coeff_1 * r;
|
||||
}
|
||||
@@ -518,22 +527,28 @@ SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x)
|
||||
|
||||
SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; }
|
||||
|
||||
SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) {
|
||||
SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps)
|
||||
{
|
||||
return (((a) <= eps) && !((a) < -eps));
|
||||
}
|
||||
SIMD_FORCE_INLINE bool btGreaterEqual (btScalar a, btScalar eps) {
|
||||
SIMD_FORCE_INLINE bool btGreaterEqual(btScalar a, btScalar eps)
|
||||
{
|
||||
return (!((a) <= eps));
|
||||
}
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE int btIsNegative(btScalar x) {
|
||||
SIMD_FORCE_INLINE int btIsNegative(btScalar x)
|
||||
{
|
||||
return x < btScalar(0.0) ? 1 : 0;
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; }
|
||||
SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; }
|
||||
|
||||
#define BT_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
|
||||
#define BT_DECLARE_HANDLE(name) \
|
||||
typedef struct name##__ \
|
||||
{ \
|
||||
int unused; \
|
||||
} * name
|
||||
|
||||
#ifndef btFsel
|
||||
SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c)
|
||||
@@ -541,21 +556,18 @@ SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c)
|
||||
return a >= 0 ? b : c;
|
||||
}
|
||||
#endif
|
||||
#define btFsels(a,b,c) (btScalar)btFsel(a,b,c)
|
||||
|
||||
#define btFsels(a, b, c) (btScalar) btFsel(a, b, c)
|
||||
|
||||
SIMD_FORCE_INLINE bool btMachineIsLittleEndian()
|
||||
{
|
||||
long int i = 1;
|
||||
const char *p = (const char *) &i;
|
||||
const char *p = (const char *)&i;
|
||||
if (p[0] == 1) // Lowest address contains the least significant byte
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
///btSelect 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)
|
||||
@@ -583,14 +595,14 @@ SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZe
|
||||
#endif
|
||||
}
|
||||
|
||||
template<typename T> SIMD_FORCE_INLINE void btSwap(T& a, T& b)
|
||||
template <typename T>
|
||||
SIMD_FORCE_INLINE void btSwap(T &a, T &b)
|
||||
{
|
||||
T tmp = a;
|
||||
a = b;
|
||||
b = tmp;
|
||||
}
|
||||
|
||||
|
||||
//PCK: endian swapping functions
|
||||
SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val)
|
||||
{
|
||||
@@ -609,7 +621,7 @@ SIMD_FORCE_INLINE unsigned btSwapEndian(int val)
|
||||
|
||||
SIMD_FORCE_INLINE unsigned short btSwapEndian(short val)
|
||||
{
|
||||
return btSwapEndian((unsigned short) val);
|
||||
return btSwapEndian((unsigned short)val);
|
||||
}
|
||||
|
||||
///btSwapFloat uses using char pointers to swap the endianness
|
||||
@@ -646,9 +658,8 @@ SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a)
|
||||
return d;
|
||||
}
|
||||
|
||||
|
||||
// swap using char pointers
|
||||
SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char* dst)
|
||||
SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char *dst)
|
||||
{
|
||||
unsigned char *src = (unsigned char *)&d;
|
||||
|
||||
@@ -660,7 +671,6 @@ SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char* dst)
|
||||
dst[5] = src[2];
|
||||
dst[6] = src[1];
|
||||
dst[7] = src[0];
|
||||
|
||||
}
|
||||
|
||||
// unswap using char pointers
|
||||
@@ -681,10 +691,10 @@ SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src)
|
||||
return d;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
SIMD_FORCE_INLINE void btSetZero(T* a, int n)
|
||||
template <typename T>
|
||||
SIMD_FORCE_INLINE void btSetZero(T *a, int n)
|
||||
{
|
||||
T* acurr = a;
|
||||
T *acurr = a;
|
||||
size_t ncurr = n;
|
||||
while (ncurr > 0)
|
||||
{
|
||||
@@ -693,16 +703,18 @@ SIMD_FORCE_INLINE void btSetZero(T* a, int n)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int n)
|
||||
{
|
||||
btScalar p0,q0,m0,p1,q1,m1,sum;
|
||||
btScalar p0, q0, m0, p1, q1, m1, sum;
|
||||
sum = 0;
|
||||
n -= 2;
|
||||
while (n >= 0) {
|
||||
p0 = a[0]; q0 = b[0];
|
||||
while (n >= 0)
|
||||
{
|
||||
p0 = a[0];
|
||||
q0 = b[0];
|
||||
m0 = p0 * q0;
|
||||
p1 = a[1]; q1 = b[1];
|
||||
p1 = a[1];
|
||||
q1 = b[1];
|
||||
m1 = p1 * q1;
|
||||
sum += m0;
|
||||
sum += m1;
|
||||
@@ -711,7 +723,8 @@ SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int
|
||||
n -= 2;
|
||||
}
|
||||
n += 2;
|
||||
while (n > 0) {
|
||||
while (n > 0)
|
||||
{
|
||||
sum += (*a) * (*b);
|
||||
a++;
|
||||
b++;
|
||||
@@ -720,16 +733,15 @@ SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int
|
||||
return sum;
|
||||
}
|
||||
|
||||
|
||||
// returns normalized value in range [-SIMD_PI, SIMD_PI]
|
||||
SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians)
|
||||
{
|
||||
angleInRadians = btFmod(angleInRadians, SIMD_2_PI);
|
||||
if(angleInRadians < -SIMD_PI)
|
||||
if (angleInRadians < -SIMD_PI)
|
||||
{
|
||||
return angleInRadians + SIMD_2_PI;
|
||||
}
|
||||
else if(angleInRadians > SIMD_PI)
|
||||
else if (angleInRadians > SIMD_PI)
|
||||
{
|
||||
return angleInRadians - SIMD_2_PI;
|
||||
}
|
||||
@@ -739,13 +751,11 @@ SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
///rudimentary class to provide type info
|
||||
struct btTypedObject
|
||||
{
|
||||
btTypedObject(int objectType)
|
||||
:m_objectType(objectType)
|
||||
: m_objectType(objectType)
|
||||
{
|
||||
}
|
||||
int m_objectType;
|
||||
@@ -755,29 +765,24 @@ struct btTypedObject
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
///align a pointer to the provided alignment, upwards
|
||||
template <typename T>T* btAlignPointer(T* unalignedPtr, size_t alignment)
|
||||
template <typename T>
|
||||
T *btAlignPointer(T *unalignedPtr, size_t alignment)
|
||||
{
|
||||
|
||||
struct btConvertPointerSizeT
|
||||
{
|
||||
union
|
||||
{
|
||||
T* ptr;
|
||||
union {
|
||||
T *ptr;
|
||||
size_t integer;
|
||||
};
|
||||
};
|
||||
btConvertPointerSizeT converter;
|
||||
|
||||
|
||||
const size_t bit_mask = ~(alignment - 1);
|
||||
converter.ptr = unalignedPtr;
|
||||
converter.integer += alignment-1;
|
||||
converter.integer += alignment - 1;
|
||||
converter.integer &= bit_mask;
|
||||
return converter.ptr;
|
||||
}
|
||||
|
||||
|
||||
#endif //BT_SCALAR_H
|
||||
|
||||
Reference in New Issue
Block a user