/* Copyright (c) 2003-2009 Erwin Coumans http://bullet.googlecode.com This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution. */ #ifndef BT_SCALAR_H #define BT_SCALAR_H #ifdef BT_MANAGED_CODE //Aligned data types not supported in managed code #pragma unmanaged #endif #include <float.h> #include <math.h> #include <stdlib.h> //size_t for MSVC 6.0 #include <stdint.h> /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ #define BT_BULLET_VERSION … // -- GODOT start -- namespace VHACD { // -- GODOT end -- inline int32_t btGetVersion() { … } // -- GODOT start -- }; // namespace VHACD // -- GODOT end -- #if defined(DEBUG) || defined(_DEBUG) #define BT_DEBUG #endif #ifdef _WIN32 #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined(_MSC_VER) && _MSC_VER < 1300) #define SIMD_FORCE_INLINE … #define ATTRIBUTE_ALIGNED16 … #define ATTRIBUTE_ALIGNED64 … #define ATTRIBUTE_ALIGNED128 … #else //#define BT_HAS_ALIGNED_ALLOCATOR #pragma warning(disable : 4324) // disable padding warning // #pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning. // #pragma warning(disable:4996) //Turn off warnings about deprecated C routines // #pragma warning(disable:4786) // Disable the "debug name too long" warning #define SIMD_FORCE_INLINE … #define ATTRIBUTE_ALIGNED16 … #define ATTRIBUTE_ALIGNED64 … #define ATTRIBUTE_ALIGNED128 … #ifdef _XBOX #define BT_USE_VMX128 #include <ppcintrinsics.h> #define BT_HAVE_NATIVE_FSEL #define btFsel … #else // -- GODOT start -- //#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)) && (!defined(_M_ARM)) && (!defined(_M_ARM64)) // -- GODOT end -- #define BT_USE_SSE #include <emmintrin.h> #endif #endif //_XBOX #endif //__MINGW32__ #include <assert.h> #ifdef BT_DEBUG #define btAssert … #else #define btAssert … #endif //btFullAssert is optional, slows down a lot #define btFullAssert … #define btLikely … #define btUnlikely … #else #if defined(__CELLOS_LV2__) #define SIMD_FORCE_INLINE … #define ATTRIBUTE_ALIGNED16 … #define ATTRIBUTE_ALIGNED64 … #define ATTRIBUTE_ALIGNED128 … #ifndef assert #include <assert.h> #endif #ifdef BT_DEBUG #ifdef __SPU__ #include <spu_printf.h> #define printf … #define btAssert … #else #define btAssert … #endif #else #define btAssert … #endif //btFullAssert is optional, slows down a lot #define btFullAssert … #define btLikely … #define btUnlikely … #else #ifdef USE_LIBSPE2 #define SIMD_FORCE_INLINE … #define ATTRIBUTE_ALIGNED16 … #define ATTRIBUTE_ALIGNED64 … #define ATTRIBUTE_ALIGNED128 … #ifndef assert #include <assert.h> #endif #ifdef BT_DEBUG #define btAssert … #else #define btAssert … #endif //btFullAssert is optional, slows down a lot #define btFullAssert … #define btLikely … #define btUnlikely … #else //non-windows systems #if (defined(__APPLE__) && defined(__i386__) && (!defined(BT_USE_DOUBLE_PRECISION))) #define BT_USE_SSE #include <emmintrin.h> #define SIMD_FORCE_INLINE … ///@todo: check out alignment methods for other platforms/compilers #define ATTRIBUTE_ALIGNED16 … #define ATTRIBUTE_ALIGNED64 … #define ATTRIBUTE_ALIGNED128 … #ifndef assert #include <assert.h> #endif #if defined(DEBUG) || defined(_DEBUG) #define btAssert … #else #define btAssert … #endif //btFullAssert is optional, slows down a lot #define btFullAssert … #define btLikely … #define btUnlikely … #else #define SIMD_FORCE_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) … #define ATTRIBUTE_ALIGNED64(a) … #define ATTRIBUTE_ALIGNED128(a) … #ifndef assert #include <assert.h> #endif #if defined(DEBUG) || defined(_DEBUG) #define btAssert … #else #define btAssert(x) … #endif //btFullAssert is optional, slows down a lot #define btFullAssert(x) … #define btLikely(_c) … #define btUnlikely(_c) … #endif //__APPLE__ #endif // LIBSPE2 #endif //__CELLOS_LV2__ #endif // -- GODOT start -- namespace VHACD { // -- GODOT end -- ///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 … #else btScalar; //keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX #define BT_LARGE_FLOAT … #endif #define BT_DECLARE_ALIGNED_ALLOCATOR() … #if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS) SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { return sqrt(x); } SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); } 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 SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) { … } SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { … } SIMD_FORCE_INLINE btScalar btCos(btScalar x) { … } SIMD_FORCE_INLINE btScalar btSin(btScalar x) { … } SIMD_FORCE_INLINE btScalar btTan(btScalar x) { … } SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { … } SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { … } SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { … } SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { … } SIMD_FORCE_INLINE btScalar btExp(btScalar x) { … } SIMD_FORCE_INLINE btScalar btLog(btScalar x) { … } SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { … } SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { … } #endif #define SIMD_2_PI … #define SIMD_PI … #define SIMD_HALF_PI … #define SIMD_RADS_PER_DEG … #define SIMD_DEGS_PER_RAD … #define SIMDSQRT12 … #define btRecipSqrt(x) … #ifdef BT_USE_DOUBLE_PRECISION #define SIMD_EPSILON … #define SIMD_INFINITY … #else #define SIMD_EPSILON … #define SIMD_INFINITY … #endif SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) { … } SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { … } SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) { … } SIMD_FORCE_INLINE bool btGreaterEqual(btScalar a, btScalar eps) { … } SIMD_FORCE_INLINE int32_t btIsNegative(btScalar x) { … } SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { … } SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { … } #define BT_DECLARE_HANDLE(name) … #ifndef btFsel SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c) { … } #endif #define btFsels(a, b, c) … SIMD_FORCE_INLINE bool btMachineIsLittleEndian() { … } ///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) { … } SIMD_FORCE_INLINE int32_t btSelect(unsigned condition, int32_t valueIfConditionNonZero, int32_t valueIfConditionZero) { … } SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero) { … } template <typename T> SIMD_FORCE_INLINE void btSwap(T& a, T& b) { … } //PCK: endian swapping functions SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val) { … } SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val) { … } SIMD_FORCE_INLINE unsigned btSwapEndian(int32_t val) { … } SIMD_FORCE_INLINE unsigned short btSwapEndian(short val) { … } ///btSwapFloat uses using char pointers to swap the endianness ////btSwapFloat/btSwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values ///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754. ///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception. ///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you. ///so instead of returning a float/double, we return integer/long long integer SIMD_FORCE_INLINE uint32_t btSwapEndianFloat(float d) { … } // unswap using char pointers SIMD_FORCE_INLINE float btUnswapEndianFloat(uint32_t a) { … } // swap using char pointers SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char* dst) { … } // unswap using char pointers SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char* src) { … } // returns normalized value in range [-SIMD_PI, SIMD_PI] SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) { … } ///rudimentary class to provide type info struct btTypedObject { … }; // -- GODOT start -- // Cherry-picked from Bullet 2.88 to fix GH-27926 ///align a pointer to the provided alignment, upwards template <typename T> T *btAlignPointer(T *unalignedPtr, size_t alignment) { … } // -- GODOT end -- // -- GODOT start -- }; // namespace VHACD // -- GODOT end -- #endif //BT_SCALAR_H
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