diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btScalar.h')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btScalar.h | 78 |
1 files changed, 71 insertions, 7 deletions
diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h index aaa1d6de6b4..37c6dec191d 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 281 +#define BT_BULLET_VERSION 282 inline int btGetVersion() { @@ -180,7 +180,7 @@ inline int btGetVersion() #include <emmintrin.h> #endif #endif //BT_USE_SSE - #elif defined( __armv7__ ) + #elif defined( __ARM_NEON__ ) #ifdef __clang__ #define BT_USE_NEON 1 #define BT_USE_SIMD_VECTOR3 @@ -257,10 +257,12 @@ inline int btGetVersion() ///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 1e30 #else + typedef float btScalar; //keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX #define BT_LARGE_FLOAT 1e18f @@ -284,6 +286,8 @@ static int btInfinityMask = 0x7F800000; #define BT_INFINITY (*(float*)&btInfinityMask) #endif +//use this, in case there are clashes (such as xnamath.h) +#ifndef BT_NO_SIMD_OPERATOR_OVERLOADS inline __m128 operator + (const __m128 A, const __m128 B) { return _mm_add_ps(A, B); @@ -298,6 +302,7 @@ inline __m128 operator * (const __m128 A, const __m128 B) { return _mm_mul_ps(A, B); } +#endif //BT_NO_SIMD_OPERATOR_OVERLOADS #define btCastfTo128i(a) (_mm_castps_si128(a)) #define btCastfTo128d(a) (_mm_castps_pd(a)) @@ -317,7 +322,24 @@ inline __m128 operator * (const __m128 A, const __m128 B) #define BT_INFINITY INFINITY #define BT_NAN NAN #endif//_WIN32 -#endif //BT_USE_SSE_IN_API +#else + +#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} +#else//BT_USE_NEON + + #ifndef BT_INFINITY + static int btInfinityMask = 0x7F800000; + #define BT_INFINITY (*(float*)&btInfinityMask) + #endif +#endif//BT_USE_NEON + +#endif //BT_USE_SSE #ifdef BT_USE_NEON #include <arm_neon.h> @@ -409,15 +431,15 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); } #endif -#define SIMD_2_PI btScalar(6.283185307179586232) -#define SIMD_PI (SIMD_2_PI * btScalar(0.5)) -#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25)) +#define SIMD_PI btScalar(3.1415926535897932384626433832795029) +#define SIMD_2_PI btScalar(2.0) * SIMD_PI +#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5)) #define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0)) #define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI) #define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490) #define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */ - +#define btRecip(x) (btScalar(1.0)/btScalar(x)) #ifdef BT_USE_DOUBLE_PRECISION #define SIMD_EPSILON DBL_EPSILON @@ -608,6 +630,46 @@ SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src) return d; } +template<typename T> +SIMD_FORCE_INLINE void btSetZero(T* a, int n) +{ + T* acurr = a; + size_t ncurr = n; + while (ncurr > 0) + { + *(acurr++) = 0; + --ncurr; + } +} + + +SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int n) +{ + btScalar p0,q0,m0,p1,q1,m1,sum; + sum = 0; + n -= 2; + while (n >= 0) { + p0 = a[0]; q0 = b[0]; + m0 = p0 * q0; + p1 = a[1]; q1 = b[1]; + m1 = p1 * q1; + sum += m0; + sum += m1; + a += 2; + b += 2; + n -= 2; + } + n += 2; + while (n > 0) { + sum += (*a) * (*b); + a++; + b++; + n--; + } + return sum; +} + + // returns normalized value in range [-SIMD_PI, SIMD_PI] SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) { @@ -626,6 +688,8 @@ SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) } } + + ///rudimentary class to provide type info struct btTypedObject { |