ruby-bullet 0.1.0-x86-linux → 0.1.1-x86-linux

data/deps/include/bullet/LinearMath/btScalar.h

@@ -1,539 +0,0 @@
-/*
-Copyright (c) 2003-2009 Erwin Coumans  http://bullet.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-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.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#ifndef BT_SCALAR_H
-#define BT_SCALAR_H
-
-#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 <float.h>
-
-/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 280
-
-inline int	btGetVersion()
-{
-	return BT_BULLET_VERSION;
-}
-
-#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
-		#else
-			//#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: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
-		#ifdef _XBOX
-			#define BT_USE_VMX128
-
-			#include <ppcintrinsics.h>
- 			#define BT_HAVE_NATIVE_FSEL
- 			#define btFsel(a,b,c) __fsel((a),(b),(c))
-		#else
-
-#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
-			#define BT_USE_SSE
-			#include <emmintrin.h>
-#endif
-
-		#endif//_XBOX
-
-		#endif //__MINGW32__
-
-		#include <assert.h>
-#ifdef BT_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
-
-#else
-	
-#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)))
-		#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-		#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
-	
-#else
-		#define btAssert(x)
-#endif
-		//btFullAssert is optional, slows down a lot
-		#define btFullAssert(x)
-
-		#define btLikely(_c)  _c
-		#define btUnlikely(_c) _c
-
-#else
-
-#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 btLikely(_c)   __builtin_expect((_c), 1)
-		#define btUnlikely(_c) __builtin_expect((_c), 0)
-		
-
-#else
-	//non-windows systems
-
-#if (defined (__APPLE__) && defined (__i386__) && (!defined (BT_USE_DOUBLE_PRECISION)))
-	#define BT_USE_SSE
-	#include <emmintrin.h>
-
-	#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)))
-	#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
-
-#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
-
-
-///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
-#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*)      { }   \
-
-
-
-#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
-    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;
-#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
-
-#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_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 */
-
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define SIMD_EPSILON      DBL_EPSILON
-#define SIMD_INFINITY     DBL_MAX
-#else
-#define SIMD_EPSILON      FLT_EPSILON
-#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) {
-	return (((a) <= eps) && !((a) < -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 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
-
-#ifndef btFsel
-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)
-
-
-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;
-}
-
-
-
-///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) 
-{
-    // 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));
-}
-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);
-#else
-    return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero; 
-#endif
-}
-
-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));
-}
-
-SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val)
-{
-	return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8));
-}
-
-SIMD_FORCE_INLINE unsigned btSwapEndian(int val)
-{
-	return btSwapEndian((unsigned)val);
-}
-
-SIMD_FORCE_INLINE unsigned short btSwapEndian(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. 
-///so instead of returning a float/double, we return integer/long long integer
-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;
-}
-
-// unswap using char pointers
-SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a) 
-{
-    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];
-
-    return d;
-}
-
-
-// swap using char pointers
-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];
-
-}
-
-// unswap using char pointers
-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];
-
-	return d;
-}
-
-// returns normalized value in range [-SIMD_PI, SIMD_PI]
-SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) 
-{
-	angleInRadians = btFmod(angleInRadians, SIMD_2_PI);
-	if(angleInRadians < -SIMD_PI)
-	{
-		return angleInRadians + SIMD_2_PI;
-	}
-	else if(angleInRadians > SIMD_PI)
-	{
-		return angleInRadians - SIMD_2_PI;
-	}
-	else
-	{
-		return angleInRadians;
-	}
-}
-
-///rudimentary class to provide type info
-struct btTypedObject
-{
-	btTypedObject(int objectType)
-		:m_objectType(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)
-{
-        union
-        {
-                T* ptr;
-                size_t integer;
-        };
-        const size_t bit_mask = ~(alignment - 1);
-        ptr = unalignedPtr;
-		integer += alignment-1;
-        integer &= bit_mask;
-        return ptr;
-}
-
-#endif //BT_SCALAR_H