Changeset 8284 for code/branches/kicklib2/src/external/bullet/LinearMath/btScalar.h

Timestamp:

Apr 21, 2011, 6:58:23 PM (14 years ago)

Author:

rgrieder

Message:

Merged revisions 7978 - 8096 from kicklib to kicklib2.

Location:

code/branches/kicklib2

Files:

• . (modified) (1 prop)
• src/external/bullet/LinearMath/btScalar.h (modified) (18 diffs)

code/branches/kicklib2/src/external/bullet/LinearMath/btScalar.h

@@ -1 +1 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bullet.googlecode.com
 
 This software is provided 'as-is', without any express or implied warranty.
@@ -18 +18 @@
 #define SIMD___SCALAR_H
 
+#ifdef BT_MANAGED_CODE
+//Aligned data types not supported in managed code
+#pragma unmanaged
+#endif
+
+
 #include <math.h>
-
 #include <stdlib.h>//size_t for MSVC 6.0
-
 #include <cstdlib>
 #include <cfloat>
 #include <float.h>
 
-#define BT_BULLET_VERSION 274
+/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
+#define BT_BULLET_VERSION 277
 
 inline int      btGetVersion()
@@ -38 +43 @@
 
 
-#ifdef WIN32
+#ifdef _WIN32
 
                 #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
@@ -44 +49 @@
                         #define SIMD_FORCE_INLINE inline
                         #define ATTRIBUTE_ALIGNED16(a) a
+                        #define ATTRIBUTE_ALIGNED64(a) a
                         #define ATTRIBUTE_ALIGNED128(a) a
                 #else
@@ -54 +60 @@
                         #define SIMD_FORCE_INLINE __forceinline
                         #define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
+                        #define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
                         #define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a
                 #ifdef _XBOX
@@ -63 +70 @@
                 #else
 
-#if (defined (WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
+#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
                         #define BT_USE_SSE
                         #include <emmintrin.h>
@@ -87 +94 @@
         
 #if defined     (__CELLOS_LV2__)
-                #define SIMD_FORCE_INLINE inline
+                #define SIMD_FORCE_INLINE inline __attribute__((always_inline))
                 #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+                #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
+                #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
+                #ifndef assert
+                #include <assert.h>
+                #endif
+#ifdef BT_DEBUG
+#ifdef __SPU__
+#include <spu_printf.h>
+#define printf spu_printf
+        #define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
+#else
+        #define btAssert assert
+#endif
+        
+#else
+                #define btAssert(x)
+#endif
+                //btFullAssert is optional, slows down a lot
+                #define btFullAssert(x)
+
+                #define btLikely(_c)  _c
+                #define btUnlikely(_c) _c
+
+#else
+
+#ifdef USE_LIBSPE2
+
+                #define SIMD_FORCE_INLINE __inline
+                #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+                #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
                 #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
                 #ifndef assert
@@ -101 +138 @@
                 #define btFullAssert(x)
 
-                #define btLikely(_c)  _c
-                #define btUnlikely(_c) _c
-
-#else
-
-#ifdef USE_LIBSPE2
-
-                #define SIMD_FORCE_INLINE __inline
-                #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-                #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-                #ifndef assert
-                #include <assert.h>
-                #endif
-#ifdef BT_DEBUG
-                #define btAssert assert
-#else
-                #define btAssert(x)
-#endif
-                //btFullAssert is optional, slows down a lot
-                #define btFullAssert(x)
-
 
                 #define btLikely(_c)   __builtin_expect((_c), 1)
@@ -130 +146 @@
         //non-windows systems
 
+#if (defined (__APPLE__) && defined (__i386__) && (!defined (BT_USE_DOUBLE_PRECISION)))
+        #define BT_USE_SSE
+        #include <emmintrin.h>
+
+        #define SIMD_FORCE_INLINE inline
+///@todo: check out alignment methods for other platforms/compilers
+        #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+        #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
+        #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
+        #ifndef assert
+        #include <assert.h>
+        #endif
+
+        #if defined(DEBUG) || defined (_DEBUG)
+                #define btAssert assert
+        #else
+                #define btAssert(x)
+        #endif
+
+        //btFullAssert is optional, slows down a lot
+        #define btFullAssert(x)
+        #define btLikely(_c)  _c
+        #define btUnlikely(_c) _c
+
+#else
+
                 #define SIMD_FORCE_INLINE inline
                 ///@todo: check out alignment methods for other platforms/compilers
                 ///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+                ///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
                 ///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
                 #define ATTRIBUTE_ALIGNED16(a) a
+                #define ATTRIBUTE_ALIGNED64(a) a
                 #define ATTRIBUTE_ALIGNED128(a) a
                 #ifndef assert
@@ -150 +194 @@
                 #define btLikely(_c)  _c
                 #define btUnlikely(_c) _c
-
+#endif //__APPLE__ 
 
 #endif // LIBSPE2
@@ -157 +201 @@
 #endif
 
-/// older compilers (gcc 3.x) and Sun needs double version of sqrt etc.
-/// exclude Apple Intel (i's assumed to be a Macbook or new Intel Dual Core Processor)
-#if defined (__sun) || defined (__sun__) || defined (__sparc) || (defined (__APPLE__) && ! defined (__i386__))
-//use slow double float precision operation on those platforms
-#ifndef BT_USE_DOUBLE_PRECISION
-#define BT_FORCE_DOUBLE_FUNCTIONS
-#endif
-#endif
 
 ///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
 #if defined(BT_USE_DOUBLE_PRECISION)
 typedef double btScalar;
+//this number could be bigger in double precision
+#define BT_LARGE_FLOAT 1e30
 #else
 typedef float btScalar;
+//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX
+#define BT_LARGE_FLOAT 1e18f
 #endif
 
@@ -194 +234 @@
 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) { return acos(x); }
-SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asin(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); }
@@ -201 +241 @@
 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
@@ -213 +254 @@
         *tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */
         x =  tempf;
-        z =  y*btScalar(0.5);                        /* hoist out the “/2”    */
+        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);
@@ -229 +270 @@
 SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
 SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { 
-        btAssert(x <= btScalar(1.));
+        if (x<btScalar(-1))     
+                x=btScalar(-1); 
+        if (x>btScalar(1))      
+                x=btScalar(1);
         return acosf(x); 
 }
-SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asinf(x); }
+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); }
@@ -242 +292 @@
   SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
   #endif
+SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
         
 #endif
@@ -250 +301 @@
 #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 */
+
 
 #ifdef BT_USE_DOUBLE_PRECISION
@@ -440 +495 @@
 }
 
-
+// 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)
+        {
+                return angleInRadians + SIMD_2_PI;
+        }
+        else if(angleInRadians > SIMD_PI)
+        {
+                return angleInRadians - SIMD_2_PI;
+        }
+        else
+        {
+                return angleInRadians;
+        }
+}
+
+///rudimentary class to provide type info
+struct btTypedObject
+{
+        btTypedObject(int objectType)
+                :m_objectType(objectType)
+        {
+        }
+        int     m_objectType;
+        inline int getObjectType() const
+        {
+                return m_objectType;
+        }
+};
 #endif //SIMD___SCALAR_H