diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btScalar.h')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btScalar.h | 1045 |
1 files changed, 546 insertions, 499 deletions
diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h index 898669f86e2..86d94e89749 100644 --- a/extern/bullet2/src/LinearMath/btScalar.h +++ b/extern/bullet2/src/LinearMath/btScalar.h @@ -12,61 +12,93 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ - - #ifndef BT_SCALAR_H #define BT_SCALAR_H -#if defined(_MSC_VER) && defined(__clang__) /* clang supplies it's own overloads already */ -#define BT_NO_SIMD_OPERATOR_OVERLOADS -#endif #ifdef BT_MANAGED_CODE //Aligned data types not supported in managed code #pragma unmanaged #endif - #include <math.h> -#include <stdlib.h>//size_t for MSVC 6.0 +#include <stdlib.h> //size_t for MSVC 6.0 #include <float.h> /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 284 +#define BT_BULLET_VERSION 289 -inline int btGetVersion() +inline int btGetVersion() { return BT_BULLET_VERSION; } -#if defined(DEBUG) || defined (_DEBUG) -#define BT_DEBUG +inline int btIsDoublePrecision() +{ + #ifdef BT_USE_DOUBLE_PRECISION + return true; + #else + return false; + #endif +} + + +// The following macro "BT_NOT_EMPTY_FILE" can be put into a file +// in order suppress the MS Visual C++ Linker warning 4221 +// +// warning LNK4221: no public symbols found; archive member will be inaccessible +// +// This warning occurs on PC and XBOX when a file compiles out completely +// has no externally visible symbols which may be dependant on configuration +// #defines and options. +// +// see more https://stackoverflow.com/questions/1822887/what-is-the-best-way-to-eliminate-ms-visual-c-linker-warning-warning-lnk422 + +#if defined(_MSC_VER) +#define BT_NOT_EMPTY_FILE_CAT_II(p, res) res +#define BT_NOT_EMPTY_FILE_CAT_I(a, b) BT_NOT_EMPTY_FILE_CAT_II(~, a##b) +#define BT_NOT_EMPTY_FILE_CAT(a, b) BT_NOT_EMPTY_FILE_CAT_I(a, b) +#define BT_NOT_EMPTY_FILE \ + namespace \ + { \ + char BT_NOT_EMPTY_FILE_CAT(NoEmptyFileDummy, __COUNTER__); \ + } +#else +#define BT_NOT_EMPTY_FILE #endif +// clang and most formatting tools don't support indentation of preprocessor guards, so turn it off +// clang-format off +#if defined(DEBUG) || defined (_DEBUG) + #define BT_DEBUG +#endif #ifdef _WIN32 - - #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) - - #define SIMD_FORCE_INLINE inline - #define ATTRIBUTE_ALIGNED16(a) a - #define ATTRIBUTE_ALIGNED64(a) a - #define ATTRIBUTE_ALIGNED128(a) a - #elif (_M_ARM) - #define SIMD_FORCE_INLINE __forceinline - #define ATTRIBUTE_ALIGNED16(a) __declspec() a - #define ATTRIBUTE_ALIGNED64(a) __declspec() a - #define ATTRIBUTE_ALIGNED128(a) __declspec () a - #else - //#define BT_HAS_ALIGNED_ALLOCATOR - #pragma warning(disable : 4324) // disable padding warning + #if defined(__GNUC__) // it should handle both MINGW and CYGWIN + #define SIMD_FORCE_INLINE __inline__ __attribute__((always_inline)) + #define ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128))) + #elif ( defined(_MSC_VER) && _MSC_VER < 1300 ) + #define SIMD_FORCE_INLINE inline + #define ATTRIBUTE_ALIGNED16(a) a + #define ATTRIBUTE_ALIGNED64(a) a + #define ATTRIBUTE_ALIGNED128(a) a + #elif defined(_M_ARM) + #define SIMD_FORCE_INLINE __forceinline + #define ATTRIBUTE_ALIGNED16(a) __declspec() a + #define ATTRIBUTE_ALIGNED64(a) __declspec() a + #define ATTRIBUTE_ALIGNED128(a) __declspec () a + #else//__MINGW32__ + //#define BT_HAS_ALIGNED_ALLOCATOR + #pragma warning(disable : 4324) // disable padding warning // #pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning. -// #pragma warning(disable:4996) //Turn off warnings about deprecated C routines + #pragma warning(disable:4996) //Turn off warnings about deprecated C routines // #pragma warning(disable:4786) // Disable the "debug name too long" warning - #define SIMD_FORCE_INLINE __forceinline - #define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a - #define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a - #define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a + #define SIMD_FORCE_INLINE __forceinline + #define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a + #define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a + #define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a #ifdef _XBOX #define BT_USE_VMX128 @@ -78,15 +110,20 @@ inline int btGetVersion() #if defined (_M_ARM) //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however) #elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) + +#ifdef __clang__ +#define __BT_DISABLE_SSE__ +#endif +#ifndef __BT_DISABLE_SSE__ #if _MSC_VER>1400 #define BT_USE_SIMD_VECTOR3 #endif - #define BT_USE_SSE +#endif//__BT_DISABLE_SSE__ #ifdef BT_USE_SSE #if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default) - //#define BT_ALLOW_SSE4 //disable this cause blender targets sse2 + #define BT_ALLOW_SSE4 #endif //(_MSC_FULL_VER >= 160040219) //BT_USE_SSE_IN_API is disabled under Windows by default, because @@ -102,28 +139,28 @@ inline int btGetVersion() #endif//_XBOX - #endif //__MINGW32__ - -#ifdef BT_DEBUG - #if defined(_MSC_VER) && !defined(__clang__) - #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 + #endif //__MINGW32__ + + #ifdef BT_DEBUG + #ifdef _MSC_VER + #include <stdio.h> + #define btAssert(x) { if(!(x)){printf("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} + #else//_MSC_VER + #include <assert.h> + #define btAssert assert + #endif//_MSC_VER + #else #define btAssert(x) -#endif + #endif //btFullAssert is optional, slows down a lot #define btFullAssert(x) #define btLikely(_c) _c #define btUnlikely(_c) _c -#else +#else//_WIN32 -#if defined (__CELLOS_LV2__) + #if defined (__CELLOS_LV2__) #define SIMD_FORCE_INLINE inline __attribute__((always_inline)) #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) @@ -131,411 +168,431 @@ inline int btGetVersion() #ifndef assert #include <assert.h> #endif -#ifdef BT_DEBUG -#ifdef __SPU__ -#include <spu_printf.h> -#define printf spu_printf - #define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}} -#else - #define btAssert assert -#endif + #ifdef BT_DEBUG + #ifdef __SPU__ + #include <spu_printf.h> + #define printf spu_printf + #define btAssert(x) {if(!(x)){printf("Assert " __FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}} + #else + #define btAssert assert + #endif -#else - #define btAssert(x) -#endif + #else//BT_DEBUG + #define btAssert(x) + #endif//BT_DEBUG //btFullAssert is optional, slows down a lot #define btFullAssert(x) #define btLikely(_c) _c #define btUnlikely(_c) _c -#else + #else//defined (__CELLOS_LV2__) -#ifdef USE_LIBSPE2 + #ifdef USE_LIBSPE2 - #define SIMD_FORCE_INLINE __inline - #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) - #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) - #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) - #ifndef assert - #include <assert.h> - #endif -#ifdef BT_DEBUG - #define btAssert assert -#else - #define btAssert(x) -#endif - //btFullAssert is optional, slows down a lot - #define btFullAssert(x) + #define SIMD_FORCE_INLINE __inline + #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include <assert.h> + #endif + #ifdef BT_DEBUG + #define btAssert assert + #else + #define btAssert(x) + #endif + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) - #define btLikely(_c) __builtin_expect((_c), 1) - #define btUnlikely(_c) __builtin_expect((_c), 0) + #define btLikely(_c) __builtin_expect((_c), 1) + #define btUnlikely(_c) __builtin_expect((_c), 0) -#else + #else//USE_LIBSPE2 //non-windows systems -#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( __ARM_NEON__ ) - #ifdef __clang__ - #define BT_USE_NEON 1 - #define BT_USE_SIMD_VECTOR3 + #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( __ARM_NEON__ ) + #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 __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))) - #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) - #ifndef assert - #include <assert.h> - #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 - #endif//defined (__i386__) || defined (__x86_64__) - #else//defined(DEBUG) || defined (_DEBUG) - #define btAssert(x) - #endif//defined(DEBUG) || defined (_DEBUG) - - //btFullAssert is optional, slows down a lot - #define btFullAssert(x) - #define btLikely(_c) _c - #define btUnlikely(_c) _c - -#else - - #define SIMD_FORCE_INLINE 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))) - ///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) - #define ATTRIBUTE_ALIGNED16(a) a - #define ATTRIBUTE_ALIGNED64(a) a - #define ATTRIBUTE_ALIGNED128(a) a - #ifndef assert - #include <assert.h> - #endif - -#if defined(DEBUG) || defined (_DEBUG) - #define btAssert assert -#else - #define btAssert(x) -#endif - - //btFullAssert is optional, slows down a lot - #define btFullAssert(x) - #define btLikely(_c) _c - #define btUnlikely(_c) _c -#endif //__APPLE__ - -#endif // LIBSPE2 - -#endif //__CELLOS_LV2__ -#endif + #if defined BT_USE_NEON && defined (__clang__) + #include <arm_neon.h> + #endif//BT_USE_NEON + #endif //__clang__ + #endif//__arm__ + + #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))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include <assert.h> + #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 + #endif//defined (__i386__) || defined (__x86_64__) + #else//defined(DEBUG) || defined (_DEBUG) + #define btAssert(x) + #endif//defined(DEBUG) || defined (_DEBUG) + + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + #define btLikely(_c) _c + #define btUnlikely(_c) _c + + #else//__APPLE__ + + #define SIMD_FORCE_INLINE 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))) + ///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #define ATTRIBUTE_ALIGNED16(a) a + #define ATTRIBUTE_ALIGNED64(a) a + #define ATTRIBUTE_ALIGNED128(a) a + #ifndef assert + #include <assert.h> + #endif + + #if defined(DEBUG) || defined (_DEBUG) + #define btAssert assert + #else + #define btAssert(x) + #endif + + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + #define btLikely(_c) _c + #define btUnlikely(_c) _c + #endif //__APPLE__ + #endif // LIBSPE2 + #endif //__CELLOS_LV2__ +#endif//_WIN32 ///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 + 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 + typedef float btScalar; + //keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX + #define BT_LARGE_FLOAT 1e18f #endif #ifdef BT_USE_SSE -typedef __m128 btSimdFloat4; -#endif//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 +#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) -inline int btGetInfinityMask()//suppress stupid compiler warning -{ - return 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); -} + #ifndef BT_NAN + static int btNanMask = 0x7F800001; + #define BT_NAN (*(float *)&btNanMask) + #endif -inline __m128 operator - (const __m128 A, const __m128 B) -{ - return _mm_sub_ps(A, B); -} + #ifndef BT_INFINITY + static int btInfinityMask = 0x7F800000; + #define BT_INFINITY (*(float *)&btInfinityMask) + inline int btGetInfinityMask() //suppress stupid compiler warning + { + return btInfinityMask; + } + #endif -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)) -#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 + //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); + } -#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 -#else + inline __m128 operator-(const __m128 A, const __m128 B) + { + return _mm_sub_ps(A, B); + } -#ifdef BT_USE_NEON + 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)) + #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 +#else//BT_USE_SSE + + #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 + #define btAssign128(r0, r1, r2, r3) \ + (float32x4_t) { r0, r1, r2, r3 } + #else //BT_USE_NEON #ifndef BT_INFINITY - struct btInfMaskConverter - { - union { - float mask; - int intmask; - }; - btInfMaskConverter(int mask=0x7F800000) - :intmask(mask) - { - } + struct btInfMaskConverter + { + union { + float mask; + int intmask; }; - static btInfMaskConverter btInfinityMask = 0x7F800000; - #define BT_INFINITY (btInfinityMask.mask) - inline int btGetInfinityMask()//suppress stupid compiler warning + btInfMaskConverter(int _mask = 0x7F800000) + : intmask(_mask) { - return btInfinityMask.intmask; } + }; + static btInfMaskConverter btInfinityMask = 0x7F800000; + #define BT_INFINITY (btInfinityMask.mask) + inline int btGetInfinityMask() //suppress stupid compiler warning + { + return btInfinityMask.intmask; + } #endif -#endif//BT_USE_NEON + #endif //BT_USE_NEON -#endif //BT_USE_SSE +#endif //BT_USE_SSE #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() \ - SIMD_FORCE_INLINE void* operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \ - SIMD_FORCE_INLINE void operator delete(void* ptr) { btAlignedFree(ptr); } \ - SIMD_FORCE_INLINE void* operator new(size_t, void* ptr) { return ptr; } \ - SIMD_FORCE_INLINE void operator delete(void*, void*) { } \ - SIMD_FORCE_INLINE void* operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \ - SIMD_FORCE_INLINE void operator delete[](void* ptr) { btAlignedFree(ptr); } \ - SIMD_FORCE_INLINE void* operator new[](size_t, void* ptr) { return ptr; } \ - SIMD_FORCE_INLINE void operator delete[](void*, void*) { } \ + #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//BT_USE_NEON +#define BT_DECLARE_ALIGNED_ALLOCATOR() \ + SIMD_FORCE_INLINE void *operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \ + SIMD_FORCE_INLINE void operator delete(void *ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void *operator new(size_t, void *ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete(void *, void *) {} \ + SIMD_FORCE_INLINE void *operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \ + SIMD_FORCE_INLINE void operator delete[](void *ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void *operator new[](size_t, void *ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete[](void *, void *) {} #if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS) - -SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { return sqrt(x); } -SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); } -SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); } -SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); } -SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); } -SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { if (x<btScalar(-1)) x=btScalar(-1); if (x>btScalar(1)) x=btScalar(1); return acos(x); } -SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { if (x<btScalar(-1)) x=btScalar(-1); if (x>btScalar(1)) x=btScalar(1); return asin(x); } -SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); } -SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); } -SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); } -SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); } -SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return pow(x,y); } -SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmod(x,y); } -#else - -SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) -{ -#ifdef USE_APPROXIMATION -#ifdef __LP64__ - float xhalf = 0.5f*y; - int i = *(int*)&y; - i = 0x5f375a86 - (i>>1); - y = *(float*)&i; - y = y*(1.5f - xhalf*y*y); - y = y*(1.5f - xhalf*y*y); - y = y*(1.5f - xhalf*y*y); - y=1/y; - return y; -#else - double x, z, tempf; - unsigned long *tfptr = ((unsigned long *)&tempf) + 1; - tempf = y; - *tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */ - x = tempf; - z = y*btScalar(0.5); - x = (btScalar(1.5)*x)-(x*x)*(x*z); /* iteration formula */ - x = (btScalar(1.5)*x)-(x*x)*(x*z); - x = (btScalar(1.5)*x)-(x*x)*(x*z); - x = (btScalar(1.5)*x)-(x*x)*(x*z); - x = (btScalar(1.5)*x)-(x*x)*(x*z); - return x*y; -#endif -#else - return sqrtf(y); -#endif -} -SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); } -SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); } -SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); } -SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); } -SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { - if (x<btScalar(-1)) - x=btScalar(-1); - if (x>btScalar(1)) - x=btScalar(1); - return acosf(x); -} -SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { - if (x<btScalar(-1)) - x=btScalar(-1); - if (x>btScalar(1)) - x=btScalar(1); - return asinf(x); -} -SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); } -SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); } -SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); } -SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); } -SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); } -SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); } - -#endif + SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) + { + return sqrt(x); + } + SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); } + SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); } + SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); } + SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); } + SIMD_FORCE_INLINE btScalar btAcos(btScalar x) + { + if (x < btScalar(-1)) x = btScalar(-1); + if (x > btScalar(1)) x = btScalar(1); + return acos(x); + } + SIMD_FORCE_INLINE btScalar btAsin(btScalar x) + { + if (x < btScalar(-1)) x = btScalar(-1); + if (x > btScalar(1)) x = btScalar(1); + return asin(x); + } + SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); } + SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); } + SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); } + SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); } + SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return pow(x, y); } + SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmod(x, y); } + +#else//BT_USE_DOUBLE_PRECISION -#define SIMD_PI btScalar(3.1415926535897932384626433832795029) -#define SIMD_2_PI (btScalar(2.0) * SIMD_PI) -#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5)) + SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) + { + #ifdef USE_APPROXIMATION + #ifdef __LP64__ + float xhalf = 0.5f * y; + int i = *(int *)&y; + i = 0x5f375a86 - (i >> 1); + y = *(float *)&i; + y = y * (1.5f - xhalf * y * y); + y = y * (1.5f - xhalf * y * y); + y = y * (1.5f - xhalf * y * y); + y = 1 / y; + return y; + #else + double x, z, tempf; + unsigned long *tfptr = ((unsigned long *)&tempf) + 1; + tempf = y; + *tfptr = (0xbfcdd90a - *tfptr) >> 1; /* estimate of 1/sqrt(y) */ + x = tempf; + z = y * btScalar(0.5); + x = (btScalar(1.5) * x) - (x * x) * (x * z); /* iteration formula */ + x = (btScalar(1.5) * x) - (x * x) * (x * z); + x = (btScalar(1.5) * x) - (x * x) * (x * z); + x = (btScalar(1.5) * x) - (x * x) * (x * z); + x = (btScalar(1.5) * x) - (x * x) * (x * z); + return x * y; + #endif + #else + return sqrtf(y); + #endif + } + SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); } + SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); } + SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); } + SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); } + SIMD_FORCE_INLINE btScalar btAcos(btScalar x) + { + if (x < btScalar(-1)) + x = btScalar(-1); + if (x > btScalar(1)) + x = btScalar(1); + return acosf(x); + } + SIMD_FORCE_INLINE btScalar btAsin(btScalar x) + { + if (x < btScalar(-1)) + x = btScalar(-1); + if (x > btScalar(1)) + x = btScalar(1); + return asinf(x); + } + SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); } + SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); } + SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); } + SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); } + SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return powf(x, y); } + SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmodf(x, y); } + +#endif//BT_USE_DOUBLE_PRECISION + +#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 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)) +#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 -#define SIMD_INFINITY DBL_MAX -#define BT_ONE 1.0 -#define BT_ZERO 0.0 -#define BT_TWO 2.0 -#define BT_HALF 0.5 + #define SIMD_EPSILON DBL_EPSILON + #define SIMD_INFINITY DBL_MAX + #define BT_ONE 1.0 + #define BT_ZERO 0.0 + #define BT_TWO 2.0 + #define BT_HALF 0.5 #else -#define SIMD_EPSILON FLT_EPSILON -#define SIMD_INFINITY FLT_MAX -#define BT_ONE 1.0f -#define BT_ZERO 0.0f -#define BT_TWO 2.0f -#define BT_HALF 0.5f + #define SIMD_EPSILON FLT_EPSILON + #define SIMD_INFINITY FLT_MAX + #define BT_ONE 1.0f + #define BT_ZERO 0.0f + #define BT_TWO 2.0f + #define BT_HALF 0.5f #endif -SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) +// clang-format on + +SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) { btScalar coeff_1 = SIMD_PI / 4.0f; btScalar coeff_2 = 3.0f * coeff_1; btScalar abs_y = btFabs(y); btScalar angle; - if (x >= 0.0f) { + if (x >= 0.0f) + { btScalar r = (x - abs_y) / (x + abs_y); angle = coeff_1 - coeff_1 * r; - } else { + } + else + { btScalar r = (x + abs_y) / (abs_y - x); angle = coeff_2 - coeff_1 * r; } return (y < 0.0f) ? -angle : angle; } -SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; } +SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; } -SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) { +SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) +{ return (((a) <= eps) && !((a) < -eps)); } -SIMD_FORCE_INLINE bool btGreaterEqual (btScalar a, btScalar eps) { +SIMD_FORCE_INLINE bool btGreaterEqual(btScalar a, btScalar eps) +{ return (!((a) <= eps)); } - -SIMD_FORCE_INLINE int btIsNegative(btScalar x) { - return x < btScalar(0.0) ? 1 : 0; +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 +#define BT_DECLARE_HANDLE(name) \ + typedef struct name##__ \ + { \ + int unused; \ + } * name #ifndef btFsel SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c) @@ -543,60 +600,57 @@ 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) - +#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; + 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) +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)); + // 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)); + 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); + return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero); #else - return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero; + return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero; #endif } -template<typename T> SIMD_FORCE_INLINE void btSwap(T& a, T& b) +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)); + return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24)); } SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val) @@ -611,127 +665,127 @@ SIMD_FORCE_INLINE unsigned btSwapEndian(int val) SIMD_FORCE_INLINE unsigned short btSwapEndian(short val) { - return btSwapEndian((unsigned 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. +///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) +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; + 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) +SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a) { - float d = 0.0f; - unsigned char *src = (unsigned char *)&a; - unsigned char *dst = (unsigned char *)&d; + 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]; + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; - return d; + return d; } - // swap using char pointers -SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char* dst) +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]; - + 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) +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]; + 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; } -template<typename T> -SIMD_FORCE_INLINE void btSetZero(T* a, int n) +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; - } + 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; +{ + 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) +SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) { angleInRadians = btFmod(angleInRadians, SIMD_2_PI); - if(angleInRadians < -SIMD_PI) + if (angleInRadians < -SIMD_PI) { return angleInRadians + SIMD_2_PI; } - else if(angleInRadians > SIMD_PI) + else if (angleInRadians > SIMD_PI) { return angleInRadians - SIMD_2_PI; } @@ -741,45 +795,38 @@ SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) } } - - ///rudimentary class to provide type info struct btTypedObject { btTypedObject(int objectType) - :m_objectType(objectType) + : m_objectType(objectType) { } - int m_objectType; + int m_objectType; inline int getObjectType() const { return m_objectType; } }; - - ///align a pointer to the provided alignment, upwards -template <typename T>T* btAlignPointer(T* unalignedPtr, size_t alignment) +template <typename T> +T *btAlignPointer(T *unalignedPtr, size_t alignment) { - struct btConvertPointerSizeT { - union - { - T* ptr; - size_t integer; + union { + T *ptr; + size_t integer; }; }; - btConvertPointerSizeT converter; - - + btConvertPointerSizeT converter; + const size_t bit_mask = ~(alignment - 1); - converter.ptr = unalignedPtr; - converter.integer += alignment-1; + converter.ptr = unalignedPtr; + converter.integer += alignment - 1; converter.integer &= bit_mask; return converter.ptr; } - -#endif //BT_SCALAR_H +#endif //BT_SCALAR_H |