525 lines
16 KiB
C
525 lines
16 KiB
C
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/*
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Copyright (c) 2003-2009 Erwin Coumans http://bullet.googlecode.com
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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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#ifdef BT_MANAGED_CODE
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//Aligned data types not supported in managed code
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#pragma unmanaged
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#endif
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#include <math.h>
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#include <stdlib.h>//size_t for MSVC 6.0
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#include <cstdlib>
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#include <cfloat>
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#include <float.h>
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/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
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#define BT_BULLET_VERSION 277
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inline int btGetVersion()
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{
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return BT_BULLET_VERSION;
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}
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#if defined(DEBUG) || defined (_DEBUG)
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#define BT_DEBUG
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#endif
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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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#define ATTRIBUTE_ALIGNED64(a) a
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#define ATTRIBUTE_ALIGNED128(a) a
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#else
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//#define BT_HAS_ALIGNED_ALLOCATOR
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#pragma warning(disable : 4324) // disable padding warning
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// #pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.
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// #pragma warning(disable:4996) //Turn off warnings about deprecated C routines
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// #pragma warning(disable:4786) // Disable the "debug name too long" warning
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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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#define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
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#define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) 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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#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
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#define BT_USE_SSE
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#include <emmintrin.h>
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#endif
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#endif//_XBOX
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#endif //__MINGW32__
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#include <assert.h>
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#ifdef BT_DEBUG
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#define btAssert assert
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#else
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#define btAssert(x)
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#endif
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//btFullAssert is optional, slows down a lot
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#define btFullAssert(x)
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#define btLikely(_c) _c
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#define btUnlikely(_c) _c
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#else
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#if defined (__CELLOS_LV2__)
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#define SIMD_FORCE_INLINE inline __attribute__((always_inline))
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#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
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#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
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#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
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#ifndef assert
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#include <assert.h>
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#endif
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#ifdef BT_DEBUG
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#ifdef __SPU__
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#include <spu_printf.h>
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#define printf spu_printf
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#define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
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#else
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#define btAssert assert
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#endif
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#else
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#define btAssert(x)
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#endif
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//btFullAssert is optional, slows down a lot
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#define btFullAssert(x)
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#define btLikely(_c) _c
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#define btUnlikely(_c) _c
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#else
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#ifdef USE_LIBSPE2
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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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#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
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#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
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#ifndef assert
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#include <assert.h>
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#endif
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#ifdef BT_DEBUG
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#define btAssert assert
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#else
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#define btAssert(x)
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#endif
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//btFullAssert is optional, slows down a lot
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#define btFullAssert(x)
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#define btLikely(_c) __builtin_expect((_c), 1)
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#define btUnlikely(_c) __builtin_expect((_c), 0)
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#else
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//non-windows systems
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#if (defined (__APPLE__) && defined (__i386__) && (!defined (BT_USE_DOUBLE_PRECISION)))
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#define BT_USE_SSE
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#include <emmintrin.h>
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#define SIMD_FORCE_INLINE inline
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///@todo: check out alignment methods for other platforms/compilers
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#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
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#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
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#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
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#ifndef assert
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#include <assert.h>
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#endif
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#if defined(DEBUG) || defined (_DEBUG)
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#define btAssert assert
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#else
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#define btAssert(x)
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#endif
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//btFullAssert is optional, slows down a lot
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#define btFullAssert(x)
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#define btLikely(_c) _c
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#define btUnlikely(_c) _c
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#else
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#define SIMD_FORCE_INLINE inline
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///@todo: check out alignment methods for other platforms/compilers
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///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
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///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
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///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
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#define ATTRIBUTE_ALIGNED16(a) a
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#define ATTRIBUTE_ALIGNED64(a) a
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#define ATTRIBUTE_ALIGNED128(a) a
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#ifndef assert
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#include <assert.h>
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#endif
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#if defined(DEBUG) || defined (_DEBUG)
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#define btAssert assert
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#else
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#define btAssert(x)
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#endif
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//btFullAssert is optional, slows down a lot
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#define btFullAssert(x)
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#define btLikely(_c) _c
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#define btUnlikely(_c) _c
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#endif //__APPLE__
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#endif // LIBSPE2
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#endif //__CELLOS_LV2__
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#endif
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///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
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#if defined(BT_USE_DOUBLE_PRECISION)
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typedef double btScalar;
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//this number could be bigger in double precision
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#define BT_LARGE_FLOAT 1e30
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#else
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typedef float btScalar;
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//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX
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#define BT_LARGE_FLOAT 1e18f
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#endif
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#define BT_DECLARE_ALIGNED_ALLOCATOR() \
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SIMD_FORCE_INLINE void* operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \
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SIMD_FORCE_INLINE void operator delete(void* ptr) { btAlignedFree(ptr); } \
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SIMD_FORCE_INLINE void* operator new(size_t, void* ptr) { return ptr; } \
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SIMD_FORCE_INLINE void operator delete(void*, void*) { } \
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SIMD_FORCE_INLINE void* operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \
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SIMD_FORCE_INLINE void operator delete[](void* ptr) { btAlignedFree(ptr); } \
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SIMD_FORCE_INLINE void* operator new[](size_t, void* ptr) { return ptr; } \
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SIMD_FORCE_INLINE void operator delete[](void*, void*) { } \
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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) { if (x<btScalar(-1)) x=btScalar(-1); if (x>btScalar(1)) x=btScalar(1); return acos(x); }
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SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { if (x<btScalar(-1)) x=btScalar(-1); if (x>btScalar(1)) x=btScalar(1); 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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SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmod(x,y); }
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#else
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SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
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{
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#ifdef USE_APPROXIMATION
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double x, z, tempf;
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unsigned long *tfptr = ((unsigned long *)&tempf) + 1;
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tempf = y;
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*tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */
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x = tempf;
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z = y*btScalar(0.5);
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x = (btScalar(1.5)*x)-(x*x)*(x*z); /* iteration formula */
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x = (btScalar(1.5)*x)-(x*x)*(x*z);
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x = (btScalar(1.5)*x)-(x*x)*(x*z);
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x = (btScalar(1.5)*x)-(x*x)*(x*z);
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x = (btScalar(1.5)*x)-(x*x)*(x*z);
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return x*y;
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#else
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return sqrtf(y);
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#endif
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}
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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) {
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if (x<btScalar(-1))
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x=btScalar(-1);
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if (x>btScalar(1))
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x=btScalar(1);
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return acosf(x);
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}
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SIMD_FORCE_INLINE btScalar btAsin(btScalar x) {
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if (x<btScalar(-1))
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x=btScalar(-1);
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if (x>btScalar(1))
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x=btScalar(1);
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return asinf(x);
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}
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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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SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(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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#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
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#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
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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 int btIsNegative(btScalar x) {
|
||
|
|
return x < btScalar(0.0) ? 1 : 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; }
|
||
|
|
SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; }
|
||
|
|
|
||
|
|
#define BT_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
|
||
|
|
|
||
|
|
#ifndef btFsel
|
||
|
|
SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c)
|
||
|
|
{
|
||
|
|
return a >= 0 ? b : c;
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
#define btFsels(a,b,c) (btScalar)btFsel(a,b,c)
|
||
|
|
|
||
|
|
|
||
|
|
SIMD_FORCE_INLINE bool btMachineIsLittleEndian()
|
||
|
|
{
|
||
|
|
long int i = 1;
|
||
|
|
const char *p = (const char *) &i;
|
||
|
|
if (p[0] == 1) // Lowest address contains the least significant byte
|
||
|
|
return true;
|
||
|
|
else
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
///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)
|
||
|
|
{
|
||
|
|
// Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero
|
||
|
|
// Rely on positive value or'ed with its negative having sign bit on
|
||
|
|
// and zero value or'ed with its negative (which is still zero) having sign bit off
|
||
|
|
// Use arithmetic shift right, shifting the sign bit through all 32 bits
|
||
|
|
unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
|
||
|
|
unsigned testEqz = ~testNz;
|
||
|
|
return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
|
||
|
|
}
|
||
|
|
SIMD_FORCE_INLINE int btSelect(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero)
|
||
|
|
{
|
||
|
|
unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
|
||
|
|
unsigned testEqz = ~testNz;
|
||
|
|
return static_cast<int>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
|
||
|
|
}
|
||
|
|
SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero)
|
||
|
|
{
|
||
|
|
#ifdef BT_HAVE_NATIVE_FSEL
|
||
|
|
return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero);
|
||
|
|
#else
|
||
|
|
return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero;
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename T> SIMD_FORCE_INLINE void btSwap(T& a, T& b)
|
||
|
|
{
|
||
|
|
T tmp = a;
|
||
|
|
a = b;
|
||
|
|
b = tmp;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
//PCK: endian swapping functions
|
||
|
|
SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val)
|
||
|
|
{
|
||
|
|
return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24));
|
||
|
|
}
|
||
|
|
|
||
|
|
SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val)
|
||
|
|
{
|
||
|
|
return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8));
|
||
|
|
}
|
||
|
|
|
||
|
|
SIMD_FORCE_INLINE unsigned btSwapEndian(int val)
|
||
|
|
{
|
||
|
|
return btSwapEndian((unsigned)val);
|
||
|
|
}
|
||
|
|
|
||
|
|
SIMD_FORCE_INLINE unsigned short btSwapEndian(short val)
|
||
|
|
{
|
||
|
|
return btSwapEndian((unsigned 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 unsigned int btSwapEndianFloat(float d)
|
||
|
|
{
|
||
|
|
unsigned int a = 0;
|
||
|
|
unsigned char *dst = (unsigned char *)&a;
|
||
|
|
unsigned char *src = (unsigned char *)&d;
|
||
|
|
|
||
|
|
dst[0] = src[3];
|
||
|
|
dst[1] = src[2];
|
||
|
|
dst[2] = src[1];
|
||
|
|
dst[3] = src[0];
|
||
|
|
return a;
|
||
|
|
}
|
||
|
|
|
||
|
|
// unswap using char pointers
|
||
|
|
SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a)
|
||
|
|
{
|
||
|
|
float d = 0.0f;
|
||
|
|
unsigned char *src = (unsigned char *)&a;
|
||
|
|
unsigned char *dst = (unsigned char *)&d;
|
||
|
|
|
||
|
|
dst[0] = src[3];
|
||
|
|
dst[1] = src[2];
|
||
|
|
dst[2] = src[1];
|
||
|
|
dst[3] = src[0];
|
||
|
|
|
||
|
|
return d;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// swap using char pointers
|
||
|
|
SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char* dst)
|
||
|
|
{
|
||
|
|
unsigned char *src = (unsigned char *)&d;
|
||
|
|
|
||
|
|
dst[0] = src[7];
|
||
|
|
dst[1] = src[6];
|
||
|
|
dst[2] = src[5];
|
||
|
|
dst[3] = src[4];
|
||
|
|
dst[4] = src[3];
|
||
|
|
dst[5] = src[2];
|
||
|
|
dst[6] = src[1];
|
||
|
|
dst[7] = src[0];
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
// unswap using char pointers
|
||
|
|
SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src)
|
||
|
|
{
|
||
|
|
double d = 0.0;
|
||
|
|
unsigned char *dst = (unsigned char *)&d;
|
||
|
|
|
||
|
|
dst[0] = src[7];
|
||
|
|
dst[1] = src[6];
|
||
|
|
dst[2] = src[5];
|
||
|
|
dst[3] = src[4];
|
||
|
|
dst[4] = src[3];
|
||
|
|
dst[5] = src[2];
|
||
|
|
dst[6] = src[1];
|
||
|
|
dst[7] = src[0];
|
||
|
|
|
||
|
|
return d;
|
||
|
|
}
|
||
|
|
|
||
|
|
// 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
|