move parts of collision pipeline to shared header files (work-in-progress)

src/Bullet3Common/shared/b3Float4.h

@@ -10,12 +10,30 @@
 	#define b3Dot3F4 b3Dot
 	#define b3Cross3 b3Cross
 	#define	b3MakeFloat4  b3MakeVector3
+	inline b3Vector3 b3Normalized(const b3Vector3& vec)
+	{
+		return vec.normalized();
+	}
 
 	inline b3Float4 b3FastNormalized3(b3Float4ConstArg v)
 	{
 		return v.normalized();
 	}
 
+	inline b3Float4 b3MaxFloat4 (const b3Float4& a, const b3Float4& b)
+	{
+		b3Float4 tmp = a;
+		tmp.setMax(b);
+		return tmp;
+	}
+	inline b3Float4 b3MinFloat4 (const b3Float4& a, const b3Float4& b)
+	{
+		b3Float4 tmp = a;
+		tmp.setMin(b);
+		return tmp;
+	}
+
+
 
 #else
 	typedef float4	b3Float4;
@@ -33,6 +51,11 @@
 		float4 b1 = b3MakeFloat4(v1.xyz,0.f);
 		return cross(a1, b1);
 	}
+	#define b3MinFloat4 min
+	#define b3MaxFloat4 max
+
+	#define b3Normalized(a) normalize(a)
+
 #endif 
 
 

src/Bullet3Common/shared/b3Int4.h

@@ -1,8 +1,11 @@
 #ifndef B3_INT4_H
 #define B3_INT4_H
 
+#ifdef __cplusplus
+
 #include "Bullet3Common/b3Scalar.h"
 
+
 B3_ATTRIBUTE_ALIGNED16(struct) b3UnsignedInt4
 {
 	B3_DECLARE_ALIGNED_ALLOCATOR();
@@ -51,5 +54,15 @@ B3_FORCE_INLINE b3UnsignedInt4 b3MakeUnsignedInt4(unsigned int x, unsigned int y
 	return v;
 }
 
+#else
+
+
+#define b3UnsignedInt4 uint4
+#define b3Int4 int4
+#define b3MakeInt4 (int4)
+#define b3MakeUnsignedInt4 (uint4)
+
+
+#endif //__cplusplus
 
 #endif //B3_INT4_H

src/Bullet3Common/shared/b3PlatformDefinitions.h

@@ -8,9 +8,19 @@ struct MyTest
 
 #ifdef __cplusplus
 #define b3AtomicInc(a) ((*a)++)
+
+inline int b3AtomicAdd (volatile int *p, int val)
+{
+	int oldValue = *p;
+	int newValue = oldValue+val;
+	*p = newValue;
+	return oldValue;
+}
+
 #define __global 
 #else
 #define b3AtomicInc atomic_inc
+#define b3AtomicAdd atomic_add
 #define b3Fabs fabs
 #define b3Sqrt native_sqrt
 #define b3Sin native_sin

src/Bullet3Common/shared/b3Quat.h

@@ -10,6 +10,10 @@
 
 	#define b3Quat b3Quaternion
 	#define b3QuatConstArg const b3Quaternion&
+	inline b3Quat b3QuatInverse(b3QuatConstArg orn)
+	{
+		return orn.inverse();
+	}
 
 	inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)
 	{