18 #ifdef BT_MANAGED_CODE 28 #define BT_BULLET_VERSION 288 47 #if defined (_MSC_VER) 48 #define BT_NOT_EMPTY_FILE_CAT_II(p, res) res 49 #define BT_NOT_EMPTY_FILE_CAT_I(a, b) BT_NOT_EMPTY_FILE_CAT_II(~, a ## b) 50 #define BT_NOT_EMPTY_FILE_CAT(a, b) BT_NOT_EMPTY_FILE_CAT_I(a, b) 51 #define BT_NOT_EMPTY_FILE namespace { char BT_NOT_EMPTY_FILE_CAT(NoEmptyFileDummy, __COUNTER__); } 53 #define BT_NOT_EMPTY_FILE 59 #if defined(DEBUG) || defined (_DEBUG) 64 #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) 65 #define SIMD_FORCE_INLINE inline 66 #define ATTRIBUTE_ALIGNED16(a) a 67 #define ATTRIBUTE_ALIGNED64(a) a 68 #define ATTRIBUTE_ALIGNED128(a) a 70 #define SIMD_FORCE_INLINE __forceinline 71 #define ATTRIBUTE_ALIGNED16(a) __declspec() a 72 #define ATTRIBUTE_ALIGNED64(a) __declspec() a 73 #define ATTRIBUTE_ALIGNED128(a) __declspec () a 76 #pragma warning(disable : 4324) // disable padding warning 78 #pragma warning(disable:4996) //Turn off warnings about deprecated C routines 81 #define SIMD_FORCE_INLINE __forceinline 82 #define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a 83 #define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a 84 #define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a 88 #include <ppcintrinsics.h> 89 #define BT_HAVE_NATIVE_FSEL 90 #define btFsel(a,b,c) __fsel((a),(b),(c)) 95 #elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) 97 #define BT_USE_SIMD_VECTOR3 103 #if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default) 104 #define BT_ALLOW_SSE4 105 #endif //(_MSC_FULL_VER >= 160040219) 115 #include <emmintrin.h> 125 #define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} 128 #define btAssert assert 134 #define btFullAssert(x) 136 #define btLikely(_c) _c 137 #define btUnlikely(_c) _c 141 #if defined (__CELLOS_LV2__) 142 #define SIMD_FORCE_INLINE inline __attribute__((always_inline)) 143 #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) 144 #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) 145 #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) 151 #include <spu_printf.h> 152 #define printf spu_printf 153 #define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}} 155 #define btAssert assert 162 #define btFullAssert(x) 164 #define btLikely(_c) _c 165 #define btUnlikely(_c) _c 167 #else//defined (__CELLOS_LV2__) 171 #define SIMD_FORCE_INLINE __inline 172 #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) 173 #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) 174 #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) 179 #define btAssert assert 184 #define btFullAssert(x) 187 #define btLikely(_c) __builtin_expect((_c), 1) 188 #define btUnlikely(_c) __builtin_expect((_c), 0) 194 #if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION))) 195 #if defined (__i386__) || defined (__x86_64__) 196 #define BT_USE_SIMD_VECTOR3 200 #define BT_USE_SSE_IN_API 203 #if defined (__SSE4_1__) 204 #include <smmintrin.h> 205 #elif defined (__SSSE3__) 206 #include <tmmintrin.h> 207 #elif defined (__SSE3__) 208 #include <pmmintrin.h> 210 #include <emmintrin.h> 213 #elif defined( __ARM_NEON__ ) 215 #define BT_USE_NEON 1 216 #define BT_USE_SIMD_VECTOR3 218 #if defined BT_USE_NEON && defined (__clang__) 219 #include <arm_neon.h> 224 #define SIMD_FORCE_INLINE inline __attribute__ ((always_inline)) 225 #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) 227 #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) 228 #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) 233 #if defined(DEBUG) || defined (_DEBUG) 234 #if defined (__i386__) || defined (__x86_64__) 240 printf("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\ 241 asm volatile ("int3");\ 244 #else//defined (__i386__) || defined (__x86_64__) 245 #define btAssert assert 246 #endif//defined (__i386__) || defined (__x86_64__) 247 #else//defined(DEBUG) || defined (_DEBUG) 249 #endif//defined(DEBUG) || defined (_DEBUG) 252 #define btFullAssert(x) 253 #define btLikely(_c) _c 254 #define btUnlikely(_c) _c 258 #define SIMD_FORCE_INLINE inline 259 #define ATTRIBUTE_ALIGNED16(a) a 264 #define ATTRIBUTE_ALIGNED64(a) a 265 #define ATTRIBUTE_ALIGNED128(a) a 270 #if defined(DEBUG) || defined (_DEBUG) 271 #define btAssert assert 277 #define btFullAssert(x) 278 #define btLikely(_c) _c 279 #define btUnlikely(_c) _c 282 #endif //__CELLOS_LV2__ 287 #if defined(BT_USE_DOUBLE_PRECISION) 290 #define BT_LARGE_FLOAT 1e30 294 #define BT_LARGE_FLOAT 1e18f 298 typedef __m128 btSimdFloat4;
301 #if defined(BT_USE_SSE) 306 static int btNanMask = 0x7F800001;
307 #define BT_NAN (*(float *)&btNanMask) 312 #define BT_INFINITY (*(float *)&btInfinityMask) 322 #ifndef BT_NO_SIMD_OPERATOR_OVERLOADS 323 inline __m128
operator+(
const __m128 A,
const __m128 B)
325 return _mm_add_ps(A, B);
328 inline __m128
operator-(
const __m128 A,
const __m128 B)
330 return _mm_sub_ps(A, B);
333 inline __m128
operator*(
const __m128 A,
const __m128 B)
335 return _mm_mul_ps(A, B);
337 #endif //BT_NO_SIMD_OPERATOR_OVERLOADS 339 #define btCastfTo128i(a) (_mm_castps_si128(a)) 340 #define btCastfTo128d(a) (_mm_castps_pd(a)) 341 #define btCastiTo128f(a) (_mm_castsi128_ps(a)) 342 #define btCastdTo128f(a) (_mm_castpd_ps(a)) 343 #define btCastdTo128i(a) (_mm_castpd_si128(a)) 344 #define btAssign128(r0, r1, r2, r3) _mm_setr_ps(r0, r1, r2, r3) 348 #define btCastfTo128i(a) ((__m128i)(a)) 349 #define btCastfTo128d(a) ((__m128d)(a)) 350 #define btCastiTo128f(a) ((__m128)(a)) 351 #define btCastdTo128f(a) ((__m128)(a)) 352 #define btCastdTo128i(a) ((__m128i)(a)) 353 #define btAssign128(r0, r1, r2, r3) \ 354 (__m128) { r0, r1, r2, r3 } 355 #define BT_INFINITY INFINITY 361 #include <arm_neon.h> 363 typedef float32x4_t btSimdFloat4;
364 #define BT_INFINITY INFINITY 366 #define btAssign128(r0, r1, r2, r3) \ 367 (float32x4_t) { r0, r1, r2, r3 } 383 #define BT_INFINITY (btInfinityMask.mask) 394 #include <arm_neon.h> 396 typedef float32x4_t btSimdFloat4;
397 #define BT_INFINITY INFINITY 399 #define btAssign128(r0, r1, r2, r3) \ 400 (float32x4_t) { r0, r1, r2, r3 } 403 #define BT_DECLARE_ALIGNED_ALLOCATOR() \ 404 SIMD_FORCE_INLINE void *operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \ 405 SIMD_FORCE_INLINE void operator delete(void *ptr) { btAlignedFree(ptr); } \ 406 SIMD_FORCE_INLINE void *operator new(size_t, void *ptr) { return ptr; } \ 407 SIMD_FORCE_INLINE void operator delete(void *, void *) {} \ 408 SIMD_FORCE_INLINE void *operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \ 409 SIMD_FORCE_INLINE void operator delete[](void *ptr) { btAlignedFree(ptr); } \ 410 SIMD_FORCE_INLINE void *operator new[](size_t, void *ptr) { return ptr; } \ 411 SIMD_FORCE_INLINE void operator delete[](void *, void *) {} 413 #if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS) 442 #else//BT_USE_DOUBLE_PRECISION 446 #ifdef USE_APPROXIMATION 448 float xhalf = 0.5f * y;
450 i = 0x5f375a86 - (i >> 1);
452 y = y * (1.5f - xhalf * y * y);
453 y = y * (1.5f - xhalf * y * y);
454 y = y * (1.5f - xhalf * y * y);
459 unsigned long *tfptr = ((
unsigned long *)&tempf) + 1;
461 *tfptr = (0xbfcdd90a - *tfptr) >> 1;
464 x = (
btScalar(1.5) * x) - (x * x) * (x * z);
465 x = (
btScalar(1.5) * x) - (x * x) * (x * z);
466 x = (
btScalar(1.5) * x) - (x * x) * (x * z);
467 x = (
btScalar(1.5) * x) - (x * x) * (x * z);
468 x = (
btScalar(1.5) * x) - (x * x) * (x * z);
502 #endif//BT_USE_DOUBLE_PRECISION 504 #define SIMD_PI btScalar(3.1415926535897932384626433832795029) 505 #define SIMD_2_PI (btScalar(2.0) * SIMD_PI) 506 #define SIMD_HALF_PI (SIMD_PI * btScalar(0.5)) 507 #define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0)) 508 #define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI) 509 #define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490) 510 #define btRecipSqrt(x) ((btScalar)(btScalar(1.0) / btSqrt(btScalar(x)))) 511 #define btRecip(x) (btScalar(1.0) / btScalar(x)) 513 #ifdef BT_USE_DOUBLE_PRECISION 514 #define SIMD_EPSILON DBL_EPSILON 515 #define SIMD_INFINITY DBL_MAX 521 #define SIMD_EPSILON FLT_EPSILON 522 #define SIMD_INFINITY FLT_MAX 539 btScalar r = (x - abs_y) / (x + abs_y);
540 angle = coeff_1 - coeff_1 * r;
544 btScalar r = (x + abs_y) / (abs_y - x);
545 angle = coeff_2 - coeff_1 * r;
547 return (y < 0.0f) ? -angle : angle;
554 return (((a) <= eps) && !((a) < -eps));
558 return (!((a) <= eps));
569 #define BT_DECLARE_HANDLE(name) \ 570 typedef struct name##__ \ 578 return a >= 0 ? b : c;
581 #define btFsels(a, b, c) (btScalar) btFsel(a, b, c) 586 const char *p = (
const char *)&i;
601 unsigned testNz = (unsigned)(((
int)condition | -(
int)condition) >> 31);
602 unsigned testEqz = ~testNz;
603 return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
607 unsigned testNz = (unsigned)(((
int)condition | -(
int)condition) >> 31);
608 unsigned testEqz = ~testNz;
609 return static_cast<int>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
613 #ifdef BT_HAVE_NATIVE_FSEL 614 return (
float)
btFsel((
btScalar)condition -
btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero);
616 return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero;
620 template <
typename T>
631 return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24));
636 return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8));
658 unsigned char *dst = (
unsigned char *)&a;
659 unsigned char *src = (
unsigned char *)&d;
672 unsigned char *src = (
unsigned char *)&a;
673 unsigned char *dst = (
unsigned char *)&d;
686 unsigned char *src = (
unsigned char *)&d;
702 unsigned char *dst = (
unsigned char *)&d;
716 template <
typename T>
766 else if (angleInRadians >
SIMD_PI)
772 return angleInRadians;
780 : m_objectType(objectType)
791 template <
typename T>
794 struct btConvertPointerSizeT
801 btConvertPointerSizeT converter;
803 const size_t bit_mask = ~(alignment - 1);
804 converter.ptr = unalignedPtr;
805 converter.integer += alignment - 1;
806 converter.integer &= bit_mask;
807 return converter.ptr;
int btIsNegative(btScalar x)
static T sum(const btAlignedObjectArray< T > &items)
unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero)
btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBo...
btScalar btRadians(btScalar x)
btScalar btDegrees(btScalar x)
btScalar btSin(btScalar x)
btScalar btSqrt(btScalar y)
bool btGreaterEqual(btScalar a, btScalar eps)
#define SIMD_FORCE_INLINE
bool btEqual(btScalar a, btScalar eps)
btMatrix3x3 operator+(const btMatrix3x3 &m1, const btMatrix3x3 &m2)
btScalar btFsel(btScalar a, btScalar b, btScalar c)
bool btMachineIsLittleEndian()
btScalar btAtan2Fast(btScalar y, btScalar x)
#define SIMD_DEGS_PER_RAD
btScalar btAtan2(btScalar x, btScalar y)
btTypedObject(int objectType)
btMatrix3x3 operator*(const btMatrix3x3 &m, const btScalar &k)
void btSetZero(T *a, int n)
btScalar btPow(btScalar x, btScalar y)
btScalar btAcos(btScalar x)
unsigned int btSwapEndianFloat(float d)
btSwapFloat uses using char pointers to swap the endianness
btScalar btNormalizeAngle(btScalar angleInRadians)
btScalar btAtan(btScalar x)
btScalar btLog(btScalar x)
btMatrix3x3 operator-(const btMatrix3x3 &m1, const btMatrix3x3 &m2)
rudimentary class to provide type info
btScalar btFmod(btScalar x, btScalar y)
bool btFuzzyZero(btScalar x)
#define BT_BULLET_VERSION
btScalar btExp(btScalar x)
void btSwapEndianDouble(double d, unsigned char *dst)
unsigned btSwapEndian(unsigned val)
static btInfMaskConverter btInfinityMask
btInfMaskConverter(int _mask=0x7F800000)
T * btAlignPointer(T *unalignedPtr, size_t alignment)
align a pointer to the provided alignment, upwards
btScalar btAsin(btScalar x)
int getObjectType() const
#define SIMD_RADS_PER_DEG
float btUnswapEndianFloat(unsigned int a)
btScalar btTan(btScalar x)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar btCos(btScalar x)
btScalar btLargeDot(const btScalar *a, const btScalar *b, int n)
btScalar btFabs(btScalar x)
double btUnswapEndianDouble(const unsigned char *src)