ruby-bullet 0.0.2-x86-mingw32

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  1. data/INSTALL.md +22 -0
  2. data/LICENSE +23 -0
  3. data/README.md +41 -0
  4. data/Rakefile +131 -0
  5. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btAxisSweep3.i +30 -0
  6. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseInterface.i +8 -0
  7. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseProxy.i +8 -0
  8. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.i +8 -0
  9. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvt.i +10 -0
  10. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvtBroadphase.i +8 -0
  11. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDispatcher.i +8 -0
  12. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.i +10 -0
  13. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCache.i +8 -0
  14. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.i +8 -0
  15. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btQuantizedBvh.i +8 -0
  16. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btSimpleBroadphase.i +8 -0
  17. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/local_btAxisSweep3Internal.h +191 -0
  18. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/SphereTriangleDetector.i +8 -0
  19. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.i +8 -0
  20. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.i +8 -0
  21. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.i +8 -0
  22. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxDetector.i +8 -0
  23. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionConfiguration.i +21 -0
  24. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionCreateFunc.i +8 -0
  25. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionDispatcher.i +24 -0
  26. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionObject.i +8 -0
  27. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +82 -0
  28. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.i +8 -0
  29. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.i +8 -0
  30. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.i +8 -0
  31. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.i +8 -0
  32. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.i +8 -0
  33. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.i +8 -0
  34. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.i +8 -0
  35. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btGhostObject.i +8 -0
  36. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btInternalEdgeUtility.i +8 -0
  37. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btManifoldResult.i +8 -0
  38. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSimulationIslandManager.i +8 -0
  39. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.i +8 -0
  40. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.i +8 -0
  41. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.i +8 -0
  42. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btUnionFind.i +10 -0
  43. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBox2dShape.i +8 -0
  44. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBoxShape.i +22 -0
  45. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.i +8 -0
  46. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCapsuleShape.i +8 -0
  47. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionMargin.i +8 -0
  48. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionShape.i +8 -0
  49. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCompoundShape.i +8 -0
  50. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConcaveShape.i +8 -0
  51. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConeShape.i +8 -0
  52. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvex2dShape.i +8 -0
  53. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexHullShape.i +8 -0
  54. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexInternalShape.i +8 -0
  55. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPointCloudShape.i +8 -0
  56. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPolyhedron.i +8 -0
  57. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexShape.i +8 -0
  58. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.i +8 -0
  59. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCylinderShape.i +8 -0
  60. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btEmptyShape.i +8 -0
  61. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.i +8 -0
  62. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMaterial.i +8 -0
  63. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMinkowskiSumShape.i +8 -0
  64. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultiSphereShape.i +8 -0
  65. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.i +8 -0
  66. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btOptimizedBvh.i +8 -0
  67. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btPolyhedralConvexShape.i +8 -0
  68. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.i +8 -0
  69. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btShapeHull.i +8 -0
  70. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btSphereShape.i +8 -0
  71. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStaticPlaneShape.i +8 -0
  72. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStridingMeshInterface.i +8 -0
  73. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTetrahedronShape.i +8 -0
  74. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleBuffer.i +8 -0
  75. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleCallback.i +8 -0
  76. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.i +8 -0
  77. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.i +8 -0
  78. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleInfoMap.i +8 -0
  79. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleMeshShape.i +8 -0
  80. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleShape.i +8 -0
  81. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btUniformScalingShape.i +8 -0
  82. data/bindings/bullet/interface/BulletCollision/Gimpact/btBoxCollision.i +8 -0
  83. data/bindings/bullet/interface/BulletCollision/Gimpact/btClipPolygon.i +8 -0
  84. data/bindings/bullet/interface/BulletCollision/Gimpact/btContactProcessing.i +8 -0
  85. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactBvh.i +8 -0
  86. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.i +8 -0
  87. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactMassUtil.i +8 -0
  88. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactQuantizedBvh.i +8 -0
  89. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactShape.i +8 -0
  90. data/bindings/bullet/interface/BulletCollision/Gimpact/btGenericPoolAllocator.i +11 -0
  91. data/bindings/bullet/interface/BulletCollision/Gimpact/btGeometryOperations.i +8 -0
  92. data/bindings/bullet/interface/BulletCollision/Gimpact/btQuantization.i +8 -0
  93. data/bindings/bullet/interface/BulletCollision/Gimpact/btTriangleShapeEx.i +8 -0
  94. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.i +8 -0
  95. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexCast.i +8 -0
  96. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.i +8 -0
  97. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.i +11 -0
  98. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.i +8 -0
  99. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpa2.i +8 -0
  100. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.i +8 -0
  101. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.i +8 -0
  102. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btManifoldPoint.i +8 -0
  103. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i +8 -0
  104. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPersistentManifold.i +8 -0
  105. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPointCollector.i +8 -0
  106. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.i +8 -0
  107. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btRaycastCallback.i +8 -0
  108. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.i +8 -0
  109. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.i +8 -0
  110. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.i +8 -0
  111. data/bindings/bullet/interface/BulletDynamics/Character/btCharacterControllerInterface.i +8 -0
  112. data/bindings/bullet/interface/BulletDynamics/Character/btKinematicCharacterController.i +8 -0
  113. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConeTwistConstraint.i +8 -0
  114. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConstraintSolver.i +8 -0
  115. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactConstraint.i +8 -0
  116. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactSolverInfo.i +8 -0
  117. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.i +8 -0
  118. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.i +8 -0
  119. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHinge2Constraint.i +8 -0
  120. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHingeConstraint.i +8 -0
  121. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btJacobianEntry.i +8 -0
  122. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.i +8 -0
  123. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.i +21 -0
  124. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSliderConstraint.i +8 -0
  125. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.i +8 -0
  126. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverBody.i +8 -0
  127. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverConstraint.i +8 -0
  128. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btTypedConstraint.i +8 -0
  129. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btUniversalConstraint.i +8 -0
  130. data/bindings/bullet/interface/BulletDynamics/Dynamics/btActionInterface.i +8 -0
  131. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.i +23 -0
  132. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDynamicsWorld.i +37 -0
  133. data/bindings/bullet/interface/BulletDynamics/Dynamics/btRigidBody.i +20 -0
  134. data/bindings/bullet/interface/BulletDynamics/Dynamics/btSimpleDynamicsWorld.i +8 -0
  135. data/bindings/bullet/interface/BulletDynamics/Vehicle/btRaycastVehicle.i +12 -0
  136. data/bindings/bullet/interface/BulletDynamics/Vehicle/btVehicleRaycaster.i +8 -0
  137. data/bindings/bullet/interface/BulletDynamics/Vehicle/btWheelInfo.i +8 -0
  138. data/bindings/bullet/interface/BulletSoftBody/btDefaultSoftBodySolver.i +8 -0
  139. data/bindings/bullet/interface/BulletSoftBody/btSoftBody.i +8 -0
  140. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.i +8 -0
  141. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyData.i +8 -0
  142. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyHelpers.i +8 -0
  143. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyInternals.i +8 -0
  144. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.i +8 -0
  145. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolverVertexBuffer.i +8 -0
  146. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolvers.i +8 -0
  147. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidCollisionAlgorithm.i +8 -0
  148. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidDynamicsWorld.i +8 -0
  149. data/bindings/bullet/interface/BulletSoftBody/btSoftSoftCollisionAlgorithm.i +8 -0
  150. data/bindings/bullet/interface/BulletSoftBody/btSparseSDF.i +8 -0
  151. data/bindings/bullet/interface/LinearMath/btAabbUtil2.i +8 -0
  152. data/bindings/bullet/interface/LinearMath/btAlignedAllocator.i +8 -0
  153. data/bindings/bullet/interface/LinearMath/btAlignedObjectArray.i +8 -0
  154. data/bindings/bullet/interface/LinearMath/btConvexHull.i +8 -0
  155. data/bindings/bullet/interface/LinearMath/btConvexHullComputer.i +8 -0
  156. data/bindings/bullet/interface/LinearMath/btDefaultMotionState.i +10 -0
  157. data/bindings/bullet/interface/LinearMath/btGeometryUtil.i +10 -0
  158. data/bindings/bullet/interface/LinearMath/btGrahamScan2dConvexHull.i +8 -0
  159. data/bindings/bullet/interface/LinearMath/btHashMap.i +8 -0
  160. data/bindings/bullet/interface/LinearMath/btIDebugDraw.i +10 -0
  161. data/bindings/bullet/interface/LinearMath/btList.i +8 -0
  162. data/bindings/bullet/interface/LinearMath/btMatrix3x3.i +8 -0
  163. data/bindings/bullet/interface/LinearMath/btMinMax.i +8 -0
  164. data/bindings/bullet/interface/LinearMath/btMotionState.i +10 -0
  165. data/bindings/bullet/interface/LinearMath/btPoolAllocator.i +10 -0
  166. data/bindings/bullet/interface/LinearMath/btQuadWord.i +8 -0
  167. data/bindings/bullet/interface/LinearMath/btQuaternion.i +60 -0
  168. data/bindings/bullet/interface/LinearMath/btQuickprof.i +10 -0
  169. data/bindings/bullet/interface/LinearMath/btRandom.i +8 -0
  170. data/bindings/bullet/interface/LinearMath/btScalar.i +8 -0
  171. data/bindings/bullet/interface/LinearMath/btSerializer.i +10 -0
  172. data/bindings/bullet/interface/LinearMath/btStackAlloc.i +10 -0
  173. data/bindings/bullet/interface/LinearMath/btTransform.i +8 -0
  174. data/bindings/bullet/interface/LinearMath/btTransformUtil.i +8 -0
  175. data/bindings/bullet/interface/LinearMath/btVector3.i +42 -0
  176. data/bindings/bullet/interface/Makefile +19 -0
  177. data/bindings/bullet/interface/bullet.i +9 -0
  178. data/bindings/bullet/interface/bullet_all.i +186 -0
  179. data/bindings/bullet/interface/bullet_wrap.cpp +194161 -0
  180. data/bindings/bullet/interface/bullet_wrap.h +106 -0
  181. data/bindings/bullet/interface/bullet_wrap.o +0 -0
  182. data/bindings/bullet/src/TickListener.h +22 -0
  183. data/deps/include/bullet/Bullet-C-Api.h +176 -0
  184. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp +37 -0
  185. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +1051 -0
  186. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +82 -0
  187. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp +17 -0
  188. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +270 -0
  189. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp +23 -0
  190. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +80 -0
  191. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +1295 -0
  192. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +1257 -0
  193. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +796 -0
  194. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +146 -0
  195. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp +22 -0
  196. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +110 -0
  197. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp +489 -0
  198. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h +151 -0
  199. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp +633 -0
  200. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +469 -0
  201. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h +40 -0
  202. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp +1375 -0
  203. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h +579 -0
  204. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +349 -0
  205. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +171 -0
  206. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btAxisSweep3.obj +0 -0
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  209. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDbvt.obj +0 -0
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  212. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btMultiSapBroadphase.obj +0 -0
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  229. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexPlaneCollisionAlgorithm.obj +0 -0
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@@ -0,0 +1,539 @@
1
+ /*
2
+ Copyright (c) 2003-2009 Erwin Coumans http://bullet.googlecode.com
3
+
4
+ This software is provided 'as-is', without any express or implied warranty.
5
+ In no event will the authors be held liable for any damages arising from the use of this software.
6
+ Permission is granted to anyone to use this software for any purpose,
7
+ including commercial applications, and to alter it and redistribute it freely,
8
+ subject to the following restrictions:
9
+
10
+ 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.
11
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
12
+ 3. This notice may not be removed or altered from any source distribution.
13
+ */
14
+
15
+
16
+
17
+ #ifndef BT_SCALAR_H
18
+ #define BT_SCALAR_H
19
+
20
+ #ifdef BT_MANAGED_CODE
21
+ //Aligned data types not supported in managed code
22
+ #pragma unmanaged
23
+ #endif
24
+
25
+
26
+ #include <math.h>
27
+ #include <stdlib.h>//size_t for MSVC 6.0
28
+ #include <float.h>
29
+
30
+ /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
31
+ #define BT_BULLET_VERSION 280
32
+
33
+ inline int btGetVersion()
34
+ {
35
+ return BT_BULLET_VERSION;
36
+ }
37
+
38
+ #if defined(DEBUG) || defined (_DEBUG)
39
+ #define BT_DEBUG
40
+ #endif
41
+
42
+
43
+ #ifdef _WIN32
44
+
45
+ #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
46
+
47
+ #define SIMD_FORCE_INLINE inline
48
+ #define ATTRIBUTE_ALIGNED16(a) a
49
+ #define ATTRIBUTE_ALIGNED64(a) a
50
+ #define ATTRIBUTE_ALIGNED128(a) a
51
+ #else
52
+ //#define BT_HAS_ALIGNED_ALLOCATOR
53
+ #pragma warning(disable : 4324) // disable padding warning
54
+ // #pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.
55
+ // #pragma warning(disable:4996) //Turn off warnings about deprecated C routines
56
+ // #pragma warning(disable:4786) // Disable the "debug name too long" warning
57
+
58
+ #define SIMD_FORCE_INLINE __forceinline
59
+ #define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
60
+ #define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
61
+ #define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a
62
+ #ifdef _XBOX
63
+ #define BT_USE_VMX128
64
+
65
+ #include <ppcintrinsics.h>
66
+ #define BT_HAVE_NATIVE_FSEL
67
+ #define btFsel(a,b,c) __fsel((a),(b),(c))
68
+ #else
69
+
70
+ #if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
71
+ #define BT_USE_SSE
72
+ #include <emmintrin.h>
73
+ #endif
74
+
75
+ #endif//_XBOX
76
+
77
+ #endif //__MINGW32__
78
+
79
+ #include <assert.h>
80
+ #ifdef BT_DEBUG
81
+ #define btAssert assert
82
+ #else
83
+ #define btAssert(x)
84
+ #endif
85
+ //btFullAssert is optional, slows down a lot
86
+ #define btFullAssert(x)
87
+
88
+ #define btLikely(_c) _c
89
+ #define btUnlikely(_c) _c
90
+
91
+ #else
92
+
93
+ #if defined (__CELLOS_LV2__)
94
+ #define SIMD_FORCE_INLINE inline __attribute__((always_inline))
95
+ #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
96
+ #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
97
+ #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
98
+ #ifndef assert
99
+ #include <assert.h>
100
+ #endif
101
+ #ifdef BT_DEBUG
102
+ #ifdef __SPU__
103
+ #include <spu_printf.h>
104
+ #define printf spu_printf
105
+ #define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
106
+ #else
107
+ #define btAssert assert
108
+ #endif
109
+
110
+ #else
111
+ #define btAssert(x)
112
+ #endif
113
+ //btFullAssert is optional, slows down a lot
114
+ #define btFullAssert(x)
115
+
116
+ #define btLikely(_c) _c
117
+ #define btUnlikely(_c) _c
118
+
119
+ #else
120
+
121
+ #ifdef USE_LIBSPE2
122
+
123
+ #define SIMD_FORCE_INLINE __inline
124
+ #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
125
+ #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
126
+ #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
127
+ #ifndef assert
128
+ #include <assert.h>
129
+ #endif
130
+ #ifdef BT_DEBUG
131
+ #define btAssert assert
132
+ #else
133
+ #define btAssert(x)
134
+ #endif
135
+ //btFullAssert is optional, slows down a lot
136
+ #define btFullAssert(x)
137
+
138
+
139
+ #define btLikely(_c) __builtin_expect((_c), 1)
140
+ #define btUnlikely(_c) __builtin_expect((_c), 0)
141
+
142
+
143
+ #else
144
+ //non-windows systems
145
+
146
+ #if (defined (__APPLE__) && defined (__i386__) && (!defined (BT_USE_DOUBLE_PRECISION)))
147
+ #define BT_USE_SSE
148
+ #include <emmintrin.h>
149
+
150
+ #define SIMD_FORCE_INLINE inline
151
+ ///@todo: check out alignment methods for other platforms/compilers
152
+ #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
153
+ #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
154
+ #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
155
+ #ifndef assert
156
+ #include <assert.h>
157
+ #endif
158
+
159
+ #if defined(DEBUG) || defined (_DEBUG)
160
+ #define btAssert assert
161
+ #else
162
+ #define btAssert(x)
163
+ #endif
164
+
165
+ //btFullAssert is optional, slows down a lot
166
+ #define btFullAssert(x)
167
+ #define btLikely(_c) _c
168
+ #define btUnlikely(_c) _c
169
+
170
+ #else
171
+
172
+ #define SIMD_FORCE_INLINE inline
173
+ ///@todo: check out alignment methods for other platforms/compilers
174
+ ///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
175
+ ///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
176
+ ///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
177
+ #define ATTRIBUTE_ALIGNED16(a) a
178
+ #define ATTRIBUTE_ALIGNED64(a) a
179
+ #define ATTRIBUTE_ALIGNED128(a) a
180
+ #ifndef assert
181
+ #include <assert.h>
182
+ #endif
183
+
184
+ #if defined(DEBUG) || defined (_DEBUG)
185
+ #define btAssert assert
186
+ #else
187
+ #define btAssert(x)
188
+ #endif
189
+
190
+ //btFullAssert is optional, slows down a lot
191
+ #define btFullAssert(x)
192
+ #define btLikely(_c) _c
193
+ #define btUnlikely(_c) _c
194
+ #endif //__APPLE__
195
+
196
+ #endif // LIBSPE2
197
+
198
+ #endif //__CELLOS_LV2__
199
+ #endif
200
+
201
+
202
+ ///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
203
+ #if defined(BT_USE_DOUBLE_PRECISION)
204
+ typedef double btScalar;
205
+ //this number could be bigger in double precision
206
+ #define BT_LARGE_FLOAT 1e30
207
+ #else
208
+ typedef float btScalar;
209
+ //keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX
210
+ #define BT_LARGE_FLOAT 1e18f
211
+ #endif
212
+
213
+
214
+
215
+ #define BT_DECLARE_ALIGNED_ALLOCATOR() \
216
+ SIMD_FORCE_INLINE void* operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \
217
+ SIMD_FORCE_INLINE void operator delete(void* ptr) { btAlignedFree(ptr); } \
218
+ SIMD_FORCE_INLINE void* operator new(size_t, void* ptr) { return ptr; } \
219
+ SIMD_FORCE_INLINE void operator delete(void*, void*) { } \
220
+ SIMD_FORCE_INLINE void* operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \
221
+ SIMD_FORCE_INLINE void operator delete[](void* ptr) { btAlignedFree(ptr); } \
222
+ SIMD_FORCE_INLINE void* operator new[](size_t, void* ptr) { return ptr; } \
223
+ SIMD_FORCE_INLINE void operator delete[](void*, void*) { } \
224
+
225
+
226
+
227
+ #if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS)
228
+
229
+ SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { return sqrt(x); }
230
+ SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); }
231
+ SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); }
232
+ SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); }
233
+ SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); }
234
+ SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { if (x<btScalar(-1)) x=btScalar(-1); if (x>btScalar(1)) x=btScalar(1); return acos(x); }
235
+ SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { if (x<btScalar(-1)) x=btScalar(-1); if (x>btScalar(1)) x=btScalar(1); return asin(x); }
236
+ SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); }
237
+ SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); }
238
+ SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); }
239
+ SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); }
240
+ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return pow(x,y); }
241
+ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmod(x,y); }
242
+
243
+ #else
244
+
245
+ SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
246
+ {
247
+ #ifdef USE_APPROXIMATION
248
+ double x, z, tempf;
249
+ unsigned long *tfptr = ((unsigned long *)&tempf) + 1;
250
+
251
+ tempf = y;
252
+ *tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */
253
+ x = tempf;
254
+ z = y*btScalar(0.5);
255
+ x = (btScalar(1.5)*x)-(x*x)*(x*z); /* iteration formula */
256
+ x = (btScalar(1.5)*x)-(x*x)*(x*z);
257
+ x = (btScalar(1.5)*x)-(x*x)*(x*z);
258
+ x = (btScalar(1.5)*x)-(x*x)*(x*z);
259
+ x = (btScalar(1.5)*x)-(x*x)*(x*z);
260
+ return x*y;
261
+ #else
262
+ return sqrtf(y);
263
+ #endif
264
+ }
265
+ SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); }
266
+ SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); }
267
+ SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); }
268
+ SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
269
+ SIMD_FORCE_INLINE btScalar btAcos(btScalar x) {
270
+ if (x<btScalar(-1))
271
+ x=btScalar(-1);
272
+ if (x>btScalar(1))
273
+ x=btScalar(1);
274
+ return acosf(x);
275
+ }
276
+ SIMD_FORCE_INLINE btScalar btAsin(btScalar x) {
277
+ if (x<btScalar(-1))
278
+ x=btScalar(-1);
279
+ if (x>btScalar(1))
280
+ x=btScalar(1);
281
+ return asinf(x);
282
+ }
283
+ SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
284
+ SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
285
+ SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); }
286
+ SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); }
287
+ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
288
+ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
289
+
290
+ #endif
291
+
292
+ #define SIMD_2_PI btScalar(6.283185307179586232)
293
+ #define SIMD_PI (SIMD_2_PI * btScalar(0.5))
294
+ #define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25))
295
+ #define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0))
296
+ #define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI)
297
+ #define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
298
+
299
+ #define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
300
+
301
+
302
+ #ifdef BT_USE_DOUBLE_PRECISION
303
+ #define SIMD_EPSILON DBL_EPSILON
304
+ #define SIMD_INFINITY DBL_MAX
305
+ #else
306
+ #define SIMD_EPSILON FLT_EPSILON
307
+ #define SIMD_INFINITY FLT_MAX
308
+ #endif
309
+
310
+ SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x)
311
+ {
312
+ btScalar coeff_1 = SIMD_PI / 4.0f;
313
+ btScalar coeff_2 = 3.0f * coeff_1;
314
+ btScalar abs_y = btFabs(y);
315
+ btScalar angle;
316
+ if (x >= 0.0f) {
317
+ btScalar r = (x - abs_y) / (x + abs_y);
318
+ angle = coeff_1 - coeff_1 * r;
319
+ } else {
320
+ btScalar r = (x + abs_y) / (abs_y - x);
321
+ angle = coeff_2 - coeff_1 * r;
322
+ }
323
+ return (y < 0.0f) ? -angle : angle;
324
+ }
325
+
326
+ SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; }
327
+
328
+ SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) {
329
+ return (((a) <= eps) && !((a) < -eps));
330
+ }
331
+ SIMD_FORCE_INLINE bool btGreaterEqual (btScalar a, btScalar eps) {
332
+ return (!((a) <= eps));
333
+ }
334
+
335
+
336
+ SIMD_FORCE_INLINE int btIsNegative(btScalar x) {
337
+ return x < btScalar(0.0) ? 1 : 0;
338
+ }
339
+
340
+ SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; }
341
+ SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; }
342
+
343
+ #define BT_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
344
+
345
+ #ifndef btFsel
346
+ SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c)
347
+ {
348
+ return a >= 0 ? b : c;
349
+ }
350
+ #endif
351
+ #define btFsels(a,b,c) (btScalar)btFsel(a,b,c)
352
+
353
+
354
+ SIMD_FORCE_INLINE bool btMachineIsLittleEndian()
355
+ {
356
+ long int i = 1;
357
+ const char *p = (const char *) &i;
358
+ if (p[0] == 1) // Lowest address contains the least significant byte
359
+ return true;
360
+ else
361
+ return false;
362
+ }
363
+
364
+
365
+
366
+ ///btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360
367
+ ///Thanks Phil Knight. See also http://www.cellperformance.com/articles/2006/04/more_techniques_for_eliminatin_1.html
368
+ SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero)
369
+ {
370
+ // Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero
371
+ // Rely on positive value or'ed with its negative having sign bit on
372
+ // and zero value or'ed with its negative (which is still zero) having sign bit off
373
+ // Use arithmetic shift right, shifting the sign bit through all 32 bits
374
+ unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
375
+ unsigned testEqz = ~testNz;
376
+ return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
377
+ }
378
+ SIMD_FORCE_INLINE int btSelect(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero)
379
+ {
380
+ unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
381
+ unsigned testEqz = ~testNz;
382
+ return static_cast<int>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
383
+ }
384
+ SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero)
385
+ {
386
+ #ifdef BT_HAVE_NATIVE_FSEL
387
+ return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero);
388
+ #else
389
+ return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero;
390
+ #endif
391
+ }
392
+
393
+ template<typename T> SIMD_FORCE_INLINE void btSwap(T& a, T& b)
394
+ {
395
+ T tmp = a;
396
+ a = b;
397
+ b = tmp;
398
+ }
399
+
400
+
401
+ //PCK: endian swapping functions
402
+ SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val)
403
+ {
404
+ return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24));
405
+ }
406
+
407
+ SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val)
408
+ {
409
+ return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8));
410
+ }
411
+
412
+ SIMD_FORCE_INLINE unsigned btSwapEndian(int val)
413
+ {
414
+ return btSwapEndian((unsigned)val);
415
+ }
416
+
417
+ SIMD_FORCE_INLINE unsigned short btSwapEndian(short val)
418
+ {
419
+ return btSwapEndian((unsigned short) val);
420
+ }
421
+
422
+ ///btSwapFloat uses using char pointers to swap the endianness
423
+ ////btSwapFloat/btSwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values
424
+ ///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754.
425
+ ///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception.
426
+ ///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.
427
+ ///so instead of returning a float/double, we return integer/long long integer
428
+ SIMD_FORCE_INLINE unsigned int btSwapEndianFloat(float d)
429
+ {
430
+ unsigned int a = 0;
431
+ unsigned char *dst = (unsigned char *)&a;
432
+ unsigned char *src = (unsigned char *)&d;
433
+
434
+ dst[0] = src[3];
435
+ dst[1] = src[2];
436
+ dst[2] = src[1];
437
+ dst[3] = src[0];
438
+ return a;
439
+ }
440
+
441
+ // unswap using char pointers
442
+ SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a)
443
+ {
444
+ float d = 0.0f;
445
+ unsigned char *src = (unsigned char *)&a;
446
+ unsigned char *dst = (unsigned char *)&d;
447
+
448
+ dst[0] = src[3];
449
+ dst[1] = src[2];
450
+ dst[2] = src[1];
451
+ dst[3] = src[0];
452
+
453
+ return d;
454
+ }
455
+
456
+
457
+ // swap using char pointers
458
+ SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char* dst)
459
+ {
460
+ unsigned char *src = (unsigned char *)&d;
461
+
462
+ dst[0] = src[7];
463
+ dst[1] = src[6];
464
+ dst[2] = src[5];
465
+ dst[3] = src[4];
466
+ dst[4] = src[3];
467
+ dst[5] = src[2];
468
+ dst[6] = src[1];
469
+ dst[7] = src[0];
470
+
471
+ }
472
+
473
+ // unswap using char pointers
474
+ SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src)
475
+ {
476
+ double d = 0.0;
477
+ unsigned char *dst = (unsigned char *)&d;
478
+
479
+ dst[0] = src[7];
480
+ dst[1] = src[6];
481
+ dst[2] = src[5];
482
+ dst[3] = src[4];
483
+ dst[4] = src[3];
484
+ dst[5] = src[2];
485
+ dst[6] = src[1];
486
+ dst[7] = src[0];
487
+
488
+ return d;
489
+ }
490
+
491
+ // returns normalized value in range [-SIMD_PI, SIMD_PI]
492
+ SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians)
493
+ {
494
+ angleInRadians = btFmod(angleInRadians, SIMD_2_PI);
495
+ if(angleInRadians < -SIMD_PI)
496
+ {
497
+ return angleInRadians + SIMD_2_PI;
498
+ }
499
+ else if(angleInRadians > SIMD_PI)
500
+ {
501
+ return angleInRadians - SIMD_2_PI;
502
+ }
503
+ else
504
+ {
505
+ return angleInRadians;
506
+ }
507
+ }
508
+
509
+ ///rudimentary class to provide type info
510
+ struct btTypedObject
511
+ {
512
+ btTypedObject(int objectType)
513
+ :m_objectType(objectType)
514
+ {
515
+ }
516
+ int m_objectType;
517
+ inline int getObjectType() const
518
+ {
519
+ return m_objectType;
520
+ }
521
+ };
522
+
523
+
524
+ ///align a pointer to the provided alignment, upwards
525
+ template <typename T>T* btAlignPointer(T* unalignedPtr, size_t alignment)
526
+ {
527
+ union
528
+ {
529
+ T* ptr;
530
+ size_t integer;
531
+ };
532
+ const size_t bit_mask = ~(alignment - 1);
533
+ ptr = unalignedPtr;
534
+ integer += alignment-1;
535
+ integer &= bit_mask;
536
+ return ptr;
537
+ }
538
+
539
+ #endif //BT_SCALAR_H