193 lines
6.8 KiB
C
193 lines
6.8 KiB
C
/*
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Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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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 SIMD___SCALAR_H
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#define SIMD___SCALAR_H
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#include <math.h>
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#include <cstdlib>
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#include <cfloat>
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#include <float.h>
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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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#else
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#define BT_HAS_ALIGNED_ALOCATOR
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#pragma warning(disable:4530)
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#pragma warning(disable:4996)
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#pragma warning(disable:4786)
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#define SIMD_FORCE_INLINE __forceinline
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#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
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#ifdef _XBOX
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#define BT_USE_VMX128
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#include <ppcintrinsics.h>
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#define BT_HAVE_NATIVE_FSEL
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#define btFsel(a,b,c) __fsel((a),(b),(c))
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#else
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#define BT_USE_SSE
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#endif
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#endif //__MINGW32__
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#include <assert.h>
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#define btAssert assert
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//btFullAssert is optional, slows down a lot
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#define btFullAssert(x)
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#else
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#if defined (__CELLOS_LV2__)
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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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#ifndef assert
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#include <assert.h>
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#endif
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#define btAssert assert
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//btFullAssert is optional, slows down a lot
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#define btFullAssert(x)
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#else
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//non-windows systems
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#define SIMD_FORCE_INLINE inline
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#define ATTRIBUTE_ALIGNED16(a) a
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#ifndef assert
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#include <assert.h>
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#endif
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#define btAssert assert
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//btFullAssert is optional, slows down a lot
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#define btFullAssert(x)
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#endif //__CELLOS_LV2__
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#endif
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/// older compilers (gcc 3.x) and Sun needs double version of sqrt etc.
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/// exclude Apple Intel (i's assumed to be a Macbook or new Intel Dual Core Processor)
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#if defined (__sun) || defined (__sun__) || defined (__sparc) || (defined (__APPLE__) && ! defined (__i386__))
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//use slow double float precision operation on those platforms
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#ifndef BT_USE_DOUBLE_PRECISION
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#define BT_FORCE_DOUBLE_FUNCTIONS
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#endif
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#endif
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#if defined(BT_USE_DOUBLE_PRECISION)
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typedef double btScalar;
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#else
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typedef float btScalar;
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#endif
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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) { return acos(x); }
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SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asin(x); }
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SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); }
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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); }
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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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#else
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SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { return sqrtf(x); }
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SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); }
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SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); }
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SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); }
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SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
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SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { return acosf(x); }
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SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asinf(x); }
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SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
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SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
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SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); }
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SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); }
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SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
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#endif
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#define SIMD_2_PI btScalar(6.283185307179586232)
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#define SIMD_PI (SIMD_2_PI * btScalar(0.5))
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#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25))
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#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0))
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#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI)
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#ifdef BT_USE_DOUBLE_PRECISION
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#define SIMD_EPSILON DBL_EPSILON
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#define SIMD_INFINITY DBL_MAX
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#else
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#define SIMD_EPSILON FLT_EPSILON
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#define SIMD_INFINITY FLT_MAX
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#endif
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SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x)
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{
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btScalar coeff_1 = SIMD_PI / 4.0f;
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btScalar coeff_2 = 3.0f * coeff_1;
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btScalar abs_y = btFabs(y);
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btScalar angle;
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if (x >= 0.0f) {
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btScalar r = (x - abs_y) / (x + abs_y);
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angle = coeff_1 - coeff_1 * r;
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} else {
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btScalar r = (x + abs_y) / (abs_y - x);
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angle = coeff_2 - coeff_1 * r;
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}
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return (y < 0.0f) ? -angle : angle;
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}
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SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; }
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SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) {
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return (((a) <= eps) && !((a) < -eps));
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}
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SIMD_FORCE_INLINE bool btGreaterEqual (btScalar a, btScalar eps) {
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return (!((a) <= eps));
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}
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/*SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); }
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SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); }
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SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
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SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { return acosf(x); }
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SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asinf(x); }
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SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
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SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
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*/
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SIMD_FORCE_INLINE int btIsNegative(btScalar x) {
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return x < btScalar(0.0) ? 1 : 0;
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}
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SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; }
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SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; }
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#define BT_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
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#ifndef btFsel
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SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c)
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{
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return a >= 0 ? b : c;
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}
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#endif
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#define btFsels(a,b,c) (btScalar)btFsel(a,b,c)
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#endif //SIMD___SCALAR_H
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