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-rw-r--r--extern/bullet2/src/LinearMath/btMatrix3x3.h15
-rw-r--r--extern/bullet2/src/LinearMath/btQuaternion.h31
-rw-r--r--extern/bullet2/src/LinearMath/btQuickprof.h22
-rw-r--r--extern/bullet2/src/LinearMath/btScalar.h22
-rw-r--r--extern/bullet2/src/LinearMath/btTransform.h13
5 files changed, 94 insertions, 9 deletions
diff --git a/extern/bullet2/src/LinearMath/btMatrix3x3.h b/extern/bullet2/src/LinearMath/btMatrix3x3.h
index fda348b42ab..94f53c3c0a5 100644
--- a/extern/bullet2/src/LinearMath/btMatrix3x3.h
+++ b/extern/bullet2/src/LinearMath/btMatrix3x3.h
@@ -45,6 +45,21 @@ class btMatrix3x3 {
zx, zy, zz);
}
+ SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other)
+ {
+ m_el[0] = other.m_el[0];
+ m_el[1] = other.m_el[1];
+ m_el[2] = other.m_el[2];
+ }
+
+ SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other)
+ {
+ m_el[0] = other.m_el[0];
+ m_el[1] = other.m_el[1];
+ m_el[2] = other.m_el[2];
+ return *this;
+ }
+
SIMD_FORCE_INLINE btVector3 getColumn(int i) const
{
return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
diff --git a/extern/bullet2/src/LinearMath/btQuaternion.h b/extern/bullet2/src/LinearMath/btQuaternion.h
index d5a7913b742..50334970ba6 100644
--- a/extern/bullet2/src/LinearMath/btQuaternion.h
+++ b/extern/bullet2/src/LinearMath/btQuaternion.h
@@ -212,6 +212,7 @@ public:
SIMD_FORCE_INLINE const btScalar& getW() const { return m_unusedW; }
+
};
@@ -283,6 +284,36 @@ slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t)
return q1.slerp(q2, t);
}
+SIMD_FORCE_INLINE btVector3
+quatRotate(btQuaternion& rotation, btVector3& v)
+{
+ btQuaternion q = rotation * v;
+ q *= rotation.inverse();
+ return btVector3(q.getX(),q.getY(),q.getZ());
+}
+
+SIMD_FORCE_INLINE btQuaternion
+shortestArcQuat(btVector3& v0,btVector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized
+{
+ btVector3 c = v0.cross(v1);
+ btScalar d = v0.dot(v1);
+
+ if (d < -1.0 + SIMD_EPSILON)
+ return btQuaternion(0.0f,1.0f,0.0f,0.0f); // just pick any vector
+
+ btScalar s = btSqrt((1.0f + d) * 2.0f);
+ btScalar rs = 1.0f / s;
+
+ return btQuaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f);
+}
+
+SIMD_FORCE_INLINE btQuaternion
+shortestArcQuatNormalize(btVector3& v0,btVector3& v1)
+{
+ v0.normalize();
+ v1.normalize();
+ return shortestArcQuat(v0,v1);
+}
#endif
diff --git a/extern/bullet2/src/LinearMath/btQuickprof.h b/extern/bullet2/src/LinearMath/btQuickprof.h
index 9389fcd8156..a885967c5fa 100644
--- a/extern/bullet2/src/LinearMath/btQuickprof.h
+++ b/extern/bullet2/src/LinearMath/btQuickprof.h
@@ -32,7 +32,7 @@ subject to the following restrictions:
#define USE_BT_CLOCK 1
#ifdef USE_BT_CLOCK
-#ifdef __PPU__
+#ifdef __CELLOS_LV2__
#include <sys/sys_time.h>
#include <stdio.h>
typedef uint64_t __int64;
@@ -49,8 +49,13 @@ typedef uint64_t __int64;
#define NOWINRES
#define NOMCX
#define NOIME
+#ifdef _XBOX
+ #include <Xtl.h>
+#else
#include <windows.h>
+#endif
#include <time.h>
+
#else
#include <sys/time.h>
#endif
@@ -81,7 +86,7 @@ class btClock
mStartTick = GetTickCount();
mPrevElapsedTime = 0;
#else
-#ifdef __PPU__
+#ifdef __CELLOS_LV2__
typedef uint64_t __int64;
typedef __int64 ClockSize;
@@ -134,7 +139,7 @@ class btClock
return msecTicks;
#else
-#ifdef __PPU__
+#ifdef __CELLOS_LV2__
__int64 freq=sys_time_get_timebase_frequency();
double dFreq=((double) freq) / 1000.0;
typedef uint64_t __int64;
@@ -149,7 +154,7 @@ class btClock
gettimeofday(&currentTime, 0);
return (currentTime.tv_sec - mStartTime.tv_sec) * 1000 +
(currentTime.tv_usec - mStartTime.tv_usec) / 1000;
-#endif //__PPU__
+#endif //__CELLOS_LV2__
#endif
}
@@ -192,7 +197,7 @@ class btClock
return usecTicks;
#else
-#ifdef __PPU__
+#ifdef __CELLOS_LV2__
__int64 freq=sys_time_get_timebase_frequency();
double dFreq=((double) freq)/ 1000000.0;
typedef uint64_t __int64;
@@ -207,7 +212,7 @@ class btClock
gettimeofday(&currentTime, 0);
return (currentTime.tv_sec - mStartTime.tv_sec) * 1000000 +
(currentTime.tv_usec - mStartTime.tv_usec);
-#endif//__PPU__
+#endif//__CELLOS_LV2__
#endif
}
@@ -218,12 +223,12 @@ class btClock
LONGLONG mPrevElapsedTime;
LARGE_INTEGER mStartTime;
#else
-#ifdef __PPU__
+#ifdef __CELLOS_LV2__
uint64_t mStartTime;
#else
struct timeval mStartTime;
#endif
-#endif //__PPU__
+#endif //__CELLOS_LV2__
};
@@ -704,3 +709,4 @@ std::string btProfiler::createStatsString(BlockTimingMethod method)
#endif //QUICK_PROF_H
+
diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h
index 222315c1c74..01ad93e786a 100644
--- a/extern/bullet2/src/LinearMath/btScalar.h
+++ b/extern/bullet2/src/LinearMath/btScalar.h
@@ -35,6 +35,11 @@ subject to the following restrictions:
#pragma warning(disable:4786)
#define SIMD_FORCE_INLINE __forceinline
#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
+ #ifdef _XBOX
+ #define BT_USE_VMX128
+ #else
+ #define BT_USE_SSE
+ #endif
#endif //__MINGW32__
#include <assert.h>
@@ -115,7 +120,6 @@ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(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))
@@ -130,6 +134,22 @@ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
#define SIMD_INFINITY FLT_MAX
#endif
+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) {
+ btScalar r = (x - abs_y) / (x + abs_y);
+ angle = coeff_1 - coeff_1 * r;
+ } 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 btEqual(btScalar a, btScalar eps) {
diff --git a/extern/bullet2/src/LinearMath/btTransform.h b/extern/bullet2/src/LinearMath/btTransform.h
index b1f3dfca492..2d55fec83a4 100644
--- a/extern/bullet2/src/LinearMath/btTransform.h
+++ b/extern/bullet2/src/LinearMath/btTransform.h
@@ -42,6 +42,19 @@ public:
m_origin(c)
{}
+ SIMD_FORCE_INLINE btTransform (const btTransform& other)
+ : m_basis(other.m_basis),
+ m_origin(other.m_origin)
+ {
+ }
+
+ SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
+ {
+ m_basis = other.m_basis;
+ m_origin = other.m_origin;
+ return *this;
+ }
+
SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
m_basis = t1.m_basis * t2.m_basis;
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-21 21:47:38 +0300