diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btScalar.h')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btScalar.h | 136 |
1 files changed, 128 insertions, 8 deletions
diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h index ecae972243c..aaa1d6de6b4 100644 --- a/extern/bullet2/src/LinearMath/btScalar.h +++ b/extern/bullet2/src/LinearMath/btScalar.h @@ -28,7 +28,7 @@ subject to the following restrictions: #include <float.h> /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 280 +#define BT_BULLET_VERSION 281 inline int btGetVersion() { @@ -68,7 +68,20 @@ inline int btGetVersion() #else #if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) + #if _MSC_VER>1400 + #define BT_USE_SIMD_VECTOR3 + #endif + #define BT_USE_SSE + #ifdef BT_USE_SSE + //BT_USE_SSE_IN_API is disabled under Windows by default, because + //it makes it harder to integrate Bullet into your application under Windows + //(structured embedding Bullet structs/classes need to be 16-byte aligned) + //with relatively little performance gain + //If you are not embedded Bullet data in your classes, or make sure that you align those classes on 16-byte boundaries + //you can manually enable this line or set it in the build system for a bit of performance gain (a few percent, dependent on usage) + //#define BT_USE_SSE_IN_API + #endif //BT_USE_SSE #include <emmintrin.h> #endif @@ -76,9 +89,14 @@ inline int btGetVersion() #endif //__MINGW32__ - #include <assert.h> #ifdef BT_DEBUG + #ifdef _MSC_VER + #include <stdio.h> + #define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);__debugbreak(); }} + #else//_MSC_VER + #include <assert.h> #define btAssert assert + #endif//_MSC_VER #else #define btAssert(x) #endif @@ -143,11 +161,37 @@ inline int btGetVersion() #else //non-windows systems -#if (defined (__APPLE__) && defined (__i386__) && (!defined (BT_USE_DOUBLE_PRECISION))) - #define BT_USE_SSE - #include <emmintrin.h> +#if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION))) + #if defined (__i386__) || defined (__x86_64__) + #define BT_USE_SIMD_VECTOR3 + #define BT_USE_SSE + //BT_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries + //if apps run into issues, we will disable the next line + #define BT_USE_SSE_IN_API + #ifdef BT_USE_SSE + // include appropriate SSE level + #if defined (__SSE4_1__) + #include <smmintrin.h> + #elif defined (__SSSE3__) + #include <tmmintrin.h> + #elif defined (__SSE3__) + #include <pmmintrin.h> + #else + #include <emmintrin.h> + #endif + #endif //BT_USE_SSE + #elif defined( __armv7__ ) + #ifdef __clang__ + #define BT_USE_NEON 1 + #define BT_USE_SIMD_VECTOR3 + + #if defined BT_USE_NEON && defined (__clang__) + #include <arm_neon.h> + #endif//BT_USE_NEON + #endif //__clang__ + #endif//__arm__ - #define SIMD_FORCE_INLINE inline + #define SIMD_FORCE_INLINE inline __attribute__ ((always_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))) @@ -157,10 +201,22 @@ inline int btGetVersion() #endif #if defined(DEBUG) || defined (_DEBUG) + #if defined (__i386__) || defined (__x86_64__) + #include <stdio.h> + #define btAssert(x)\ + {\ + if(!(x))\ + {\ + printf("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\ + asm volatile ("int3");\ + }\ + } + #else//defined (__i386__) || defined (__x86_64__) #define btAssert assert - #else + #endif//defined (__i386__) || defined (__x86_64__) + #else//defined(DEBUG) || defined (_DEBUG) #define btAssert(x) - #endif + #endif//defined(DEBUG) || defined (_DEBUG) //btFullAssert is optional, slows down a lot #define btFullAssert(x) @@ -210,6 +266,70 @@ typedef float btScalar; #define BT_LARGE_FLOAT 1e18f #endif +#ifdef BT_USE_SSE +typedef __m128 btSimdFloat4; +#endif//BT_USE_SSE + +#if defined (BT_USE_SSE) +//#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE) +#ifdef _WIN32 + +#ifndef BT_NAN +static int btNanMask = 0x7F800001; +#define BT_NAN (*(float*)&btNanMask) +#endif + +#ifndef BT_INFINITY +static int btInfinityMask = 0x7F800000; +#define BT_INFINITY (*(float*)&btInfinityMask) +#endif + +inline __m128 operator + (const __m128 A, const __m128 B) +{ + return _mm_add_ps(A, B); +} + +inline __m128 operator - (const __m128 A, const __m128 B) +{ + return _mm_sub_ps(A, B); +} + +inline __m128 operator * (const __m128 A, const __m128 B) +{ + return _mm_mul_ps(A, B); +} + +#define btCastfTo128i(a) (_mm_castps_si128(a)) +#define btCastfTo128d(a) (_mm_castps_pd(a)) +#define btCastiTo128f(a) (_mm_castsi128_ps(a)) +#define btCastdTo128f(a) (_mm_castpd_ps(a)) +#define btCastdTo128i(a) (_mm_castpd_si128(a)) +#define btAssign128(r0,r1,r2,r3) _mm_setr_ps(r0,r1,r2,r3) + +#else//_WIN32 + +#define btCastfTo128i(a) ((__m128i)(a)) +#define btCastfTo128d(a) ((__m128d)(a)) +#define btCastiTo128f(a) ((__m128) (a)) +#define btCastdTo128f(a) ((__m128) (a)) +#define btCastdTo128i(a) ((__m128i)(a)) +#define btAssign128(r0,r1,r2,r3) (__m128){r0,r1,r2,r3} +#define BT_INFINITY INFINITY +#define BT_NAN NAN +#endif//_WIN32 +#endif //BT_USE_SSE_IN_API + +#ifdef BT_USE_NEON +#include <arm_neon.h> + +typedef float32x4_t btSimdFloat4; +#define BT_INFINITY INFINITY +#define BT_NAN NAN +#define btAssign128(r0,r1,r2,r3) (float32x4_t){r0,r1,r2,r3} +#endif + + + #define BT_DECLARE_ALIGNED_ALLOCATOR() \ |