docs/source_docs/files/bt_scalar_8h-source.html


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<h1>sdk/extensions/authoring/source/VHACD/inc/btScalar.h</h1><a href="bt_scalar_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">Copyright (c) 2003-2009 Erwin Coumans  http://bullet.googlecode.com</span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">This software is provided 'as-is', without any express or implied warranty.</span>
<a name="l00005"></a>00005 <span class="comment">In no event will the authors be held liable for any damages arising from the use of this software.</span>
<a name="l00006"></a>00006 <span class="comment">Permission is granted to anyone to use this software for any purpose, </span>
<a name="l00007"></a>00007 <span class="comment">including commercial applications, and to alter it and redistribute it freely, </span>
<a name="l00008"></a>00008 <span class="comment">subject to the following restrictions:</span>
<a name="l00009"></a>00009 <span class="comment"></span>
<a name="l00010"></a>00010 <span class="comment">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.</span>
<a name="l00011"></a>00011 <span class="comment">2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.</span>
<a name="l00012"></a>00012 <span class="comment">3. This notice may not be removed or altered from any source distribution.</span>
<a name="l00013"></a>00013 <span class="comment">*/</span>
<a name="l00014"></a>00014 
<a name="l00015"></a>00015 <span class="preprocessor">#ifndef BT_SCALAR_H</span>
<a name="l00016"></a>00016 <span class="preprocessor"></span><span class="preprocessor">#define BT_SCALAR_H</span>
<a name="l00017"></a>00017 <span class="preprocessor"></span>
<a name="l00018"></a>00018 <span class="preprocessor">#ifdef BT_MANAGED_CODE</span>
<a name="l00019"></a>00019 <span class="preprocessor"></span><span class="comment">//Aligned data types not supported in managed code</span>
<a name="l00020"></a>00020 <span class="preprocessor">#pragma unmanaged</span>
<a name="l00021"></a>00021 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00022"></a>00022 <span class="preprocessor"></span>
<a name="l00023"></a>00023 <span class="preprocessor">#include &lt;float.h&gt;</span>
<a name="l00024"></a>00024 <span class="preprocessor">#include &lt;math.h&gt;</span>
<a name="l00025"></a>00025 <span class="preprocessor">#include &lt;stdlib.h&gt;</span> <span class="comment">//size_t for MSVC 6.0</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include &lt;stdint.h&gt;</span>
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <span class="comment">/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/</span>
<a name="l00029"></a><a class="code" href="bt_scalar_8h.html#cdcfe44a281881cbd298ecdee240ea46">00029</a> <span class="preprocessor">#define BT_BULLET_VERSION 279</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a><a class="code" href="bt_scalar_8h.html#f25771f9443fab6ab8fcc9a0b78abce3">00031</a> <span class="keyword">inline</span> int32_t <a class="code" href="bt_scalar_8h.html#f25771f9443fab6ab8fcc9a0b78abce3">btGetVersion</a>()
<a name="l00032"></a>00032 {
<a name="l00033"></a>00033     <span class="keywordflow">return</span> <a class="code" href="bt_scalar_8h.html#cdcfe44a281881cbd298ecdee240ea46">BT_BULLET_VERSION</a>;
<a name="l00034"></a>00034 }
<a name="l00035"></a>00035 
<a name="l00036"></a>00036 <span class="preprocessor">#if defined(DEBUG) || defined(_DEBUG)</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#define BT_DEBUG</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#ifdef _WIN32</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span>
<a name="l00042"></a>00042 <span class="preprocessor">#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined(_MSC_VER) &amp;&amp; _MSC_VER &lt; 1300)</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span>
<a name="l00044"></a>00044 <span class="preprocessor">#define SIMD_FORCE_INLINE inline</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED16(a) a</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED64(a) a</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED128(a) a</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00049"></a>00049 <span class="preprocessor"></span><span class="comment">//#define BT_HAS_ALIGNED_ALLOCATOR</span>
<a name="l00050"></a>00050 <span class="preprocessor">#pragma warning(disable : 4324) // disable padding warning</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="comment">//          #pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.</span>
<a name="l00052"></a>00052 <span class="comment">//          #pragma warning(disable:4996) //Turn off warnings about deprecated C routines</span>
<a name="l00053"></a>00053 <span class="comment">//          #pragma warning(disable:4786) // Disable the "debug name too long" warning</span>
<a name="l00054"></a>00054 
<a name="l00055"></a>00055 <span class="preprocessor">#define SIMD_FORCE_INLINE __forceinline</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED128(a) __declspec(align(128)) a</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#ifdef _XBOX</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span><span class="preprocessor">#define BT_USE_VMX128</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span>
<a name="l00062"></a>00062 <span class="preprocessor">#include &lt;ppcintrinsics.h&gt;</span>
<a name="l00063"></a>00063 <span class="preprocessor">#define BT_HAVE_NATIVE_FSEL</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span><span class="preprocessor">#define btFsel(a, b, c) __fsel((a), (b), (c))</span>
<a name="l00065"></a>00065 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span>
<a name="l00067"></a>00067 <span class="preprocessor">#if (defined(_WIN32) &amp;&amp; (_MSC_VER) &amp;&amp; _MSC_VER &gt;= 1400) &amp;&amp; (!defined(BT_USE_DOUBLE_PRECISION))</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span><span class="preprocessor">#define BT_USE_SSE</span>
<a name="l00069"></a>00069 <span class="preprocessor"></span><span class="preprocessor">#include &lt;emmintrin.h&gt;</span>
<a name="l00070"></a>00070 <span class="preprocessor">#endif</span>
<a name="l00071"></a>00071 <span class="preprocessor"></span>
<a name="l00072"></a>00072 <span class="preprocessor">#endif //_XBOX</span>
<a name="l00073"></a>00073 <span class="preprocessor"></span>
<a name="l00074"></a>00074 <span class="preprocessor">#endif //__MINGW32__</span>
<a name="l00075"></a>00075 <span class="preprocessor"></span>
<a name="l00076"></a>00076 <span class="preprocessor">#include &lt;assert.h&gt;</span>
<a name="l00077"></a>00077 <span class="preprocessor">#ifdef BT_DEBUG</span>
<a name="l00078"></a>00078 <span class="preprocessor"></span><span class="preprocessor">#define btAssert assert</span>
<a name="l00079"></a>00079 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00080"></a>00080 <span class="preprocessor"></span><span class="preprocessor">#define btAssert(x)</span>
<a name="l00081"></a>00081 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00082"></a>00082 <span class="preprocessor"></span><span class="comment">//btFullAssert is optional, slows down a lot</span>
<a name="l00083"></a>00083 <span class="preprocessor">#define btFullAssert(x)</span>
<a name="l00084"></a>00084 <span class="preprocessor"></span>
<a name="l00085"></a>00085 <span class="preprocessor">#define btLikely(_c) _c</span>
<a name="l00086"></a>00086 <span class="preprocessor"></span><span class="preprocessor">#define btUnlikely(_c) _c</span>
<a name="l00087"></a>00087 <span class="preprocessor"></span>
<a name="l00088"></a>00088 <span class="preprocessor">#else</span>
<a name="l00089"></a>00089 <span class="preprocessor"></span>
<a name="l00090"></a>00090 <span class="preprocessor">#if defined(__CELLOS_LV2__)</span>
<a name="l00091"></a>00091 <span class="preprocessor"></span><span class="preprocessor">#define SIMD_FORCE_INLINE inline __attribute__((always_inline))</span>
<a name="l00092"></a>00092 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))</span>
<a name="l00093"></a>00093 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))</span>
<a name="l00094"></a>00094 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))</span>
<a name="l00095"></a>00095 <span class="preprocessor"></span><span class="preprocessor">#ifndef assert</span>
<a name="l00096"></a>00096 <span class="preprocessor"></span><span class="preprocessor">#include &lt;assert.h&gt;</span>
<a name="l00097"></a>00097 <span class="preprocessor">#endif</span>
<a name="l00098"></a>00098 <span class="preprocessor"></span><span class="preprocessor">#ifdef BT_DEBUG</span>
<a name="l00099"></a>00099 <span class="preprocessor"></span><span class="preprocessor">#ifdef __SPU__</span>
<a name="l00100"></a>00100 <span class="preprocessor"></span><span class="preprocessor">#include &lt;spu_printf.h&gt;</span>
<a name="l00101"></a>00101 <span class="preprocessor">#define printf spu_printf</span>
<a name="l00102"></a>00102 <span class="preprocessor"></span><span class="preprocessor">#define btAssert(x)                                                \</span>
<a name="l00103"></a>00103 <span class="preprocessor">    {                                                              \</span>
<a name="l00104"></a>00104 <span class="preprocessor">        if (!(x)) {                                                \</span>
<a name="l00105"></a>00105 <span class="preprocessor">            printf("Assert " __FILE__ ":%u (" #x ")\n", __LINE__); \</span>
<a name="l00106"></a>00106 <span class="preprocessor">            spu_hcmpeq(0, 0);                                      \</span>
<a name="l00107"></a>00107 <span class="preprocessor">        }                                                          \</span>
<a name="l00108"></a>00108 <span class="preprocessor">    }</span>
<a name="l00109"></a>00109 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00110"></a>00110 <span class="preprocessor"></span><span class="preprocessor">#define btAssert assert</span>
<a name="l00111"></a>00111 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00112"></a>00112 <span class="preprocessor"></span>
<a name="l00113"></a>00113 <span class="preprocessor">#else</span>
<a name="l00114"></a>00114 <span class="preprocessor"></span><span class="preprocessor">#define btAssert(x)</span>
<a name="l00115"></a>00115 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00116"></a>00116 <span class="preprocessor"></span><span class="comment">//btFullAssert is optional, slows down a lot</span>
<a name="l00117"></a>00117 <span class="preprocessor">#define btFullAssert(x)</span>
<a name="l00118"></a>00118 <span class="preprocessor"></span>
<a name="l00119"></a>00119 <span class="preprocessor">#define btLikely(_c) _c</span>
<a name="l00120"></a>00120 <span class="preprocessor"></span><span class="preprocessor">#define btUnlikely(_c) _c</span>
<a name="l00121"></a>00121 <span class="preprocessor"></span>
<a name="l00122"></a>00122 <span class="preprocessor">#else</span>
<a name="l00123"></a>00123 <span class="preprocessor"></span>
<a name="l00124"></a>00124 <span class="preprocessor">#ifdef USE_LIBSPE2</span>
<a name="l00125"></a>00125 <span class="preprocessor"></span>
<a name="l00126"></a>00126 <span class="preprocessor">#define SIMD_FORCE_INLINE __inline</span>
<a name="l00127"></a>00127 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))</span>
<a name="l00128"></a>00128 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))</span>
<a name="l00129"></a>00129 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))</span>
<a name="l00130"></a>00130 <span class="preprocessor"></span><span class="preprocessor">#ifndef assert</span>
<a name="l00131"></a>00131 <span class="preprocessor"></span><span class="preprocessor">#include &lt;assert.h&gt;</span>
<a name="l00132"></a>00132 <span class="preprocessor">#endif</span>
<a name="l00133"></a>00133 <span class="preprocessor"></span><span class="preprocessor">#ifdef BT_DEBUG</span>
<a name="l00134"></a>00134 <span class="preprocessor"></span><span class="preprocessor">#define btAssert assert</span>
<a name="l00135"></a>00135 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00136"></a>00136 <span class="preprocessor"></span><span class="preprocessor">#define btAssert(x)</span>
<a name="l00137"></a>00137 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00138"></a>00138 <span class="preprocessor"></span><span class="comment">//btFullAssert is optional, slows down a lot</span>
<a name="l00139"></a>00139 <span class="preprocessor">#define btFullAssert(x)</span>
<a name="l00140"></a>00140 <span class="preprocessor"></span>
<a name="l00141"></a>00141 <span class="preprocessor">#define btLikely(_c) __builtin_expect((_c), 1)</span>
<a name="l00142"></a>00142 <span class="preprocessor"></span><span class="preprocessor">#define btUnlikely(_c) __builtin_expect((_c), 0)</span>
<a name="l00143"></a>00143 <span class="preprocessor"></span>
<a name="l00144"></a>00144 <span class="preprocessor">#else</span>
<a name="l00145"></a>00145 <span class="preprocessor"></span><span class="comment">//non-windows systems</span>
<a name="l00146"></a>00146 
<a name="l00147"></a>00147 <span class="preprocessor">#if (defined(__APPLE__) &amp;&amp; defined(__i386__) &amp;&amp; (!defined(BT_USE_DOUBLE_PRECISION)))</span>
<a name="l00148"></a>00148 <span class="preprocessor"></span><span class="preprocessor">#define BT_USE_SSE</span>
<a name="l00149"></a>00149 <span class="preprocessor"></span><span class="preprocessor">#include &lt;emmintrin.h&gt;</span>
<a name="l00150"></a>00150 
<a name="l00151"></a>00151 <span class="preprocessor">#define SIMD_FORCE_INLINE inline</span>
<a name="l00153"></a>00153 <span class="preprocessor">#define ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))</span>
<a name="l00154"></a>00154 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))</span>
<a name="l00155"></a>00155 <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))</span>
<a name="l00156"></a>00156 <span class="preprocessor"></span><span class="preprocessor">#ifndef assert</span>
<a name="l00157"></a>00157 <span class="preprocessor"></span><span class="preprocessor">#include &lt;assert.h&gt;</span>
<a name="l00158"></a>00158 <span class="preprocessor">#endif</span>
<a name="l00159"></a>00159 <span class="preprocessor"></span>
<a name="l00160"></a>00160 <span class="preprocessor">#if defined(DEBUG) || defined(_DEBUG)</span>
<a name="l00161"></a>00161 <span class="preprocessor"></span><span class="preprocessor">#define btAssert assert</span>
<a name="l00162"></a>00162 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00163"></a>00163 <span class="preprocessor"></span><span class="preprocessor">#define btAssert(x)</span>
<a name="l00164"></a>00164 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00165"></a>00165 <span class="preprocessor"></span>
<a name="l00166"></a>00166 <span class="comment">//btFullAssert is optional, slows down a lot</span>
<a name="l00167"></a>00167 <span class="preprocessor">#define btFullAssert(x)</span>
<a name="l00168"></a>00168 <span class="preprocessor"></span><span class="preprocessor">#define btLikely(_c) _c</span>
<a name="l00169"></a>00169 <span class="preprocessor"></span><span class="preprocessor">#define btUnlikely(_c) _c</span>
<a name="l00170"></a>00170 <span class="preprocessor"></span>
<a name="l00171"></a>00171 <span class="preprocessor">#else</span>
<a name="l00172"></a>00172 <span class="preprocessor"></span>
<a name="l00173"></a><a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">00173</a> <span class="preprocessor">#define SIMD_FORCE_INLINE inline</span>
<a name="l00178"></a><a class="code" href="bt_scalar_8h.html#38c30fdd0ea2558373a1b6e41c77d9d2">00178</a> <span class="preprocessor">#define ATTRIBUTE_ALIGNED16(a) a</span>
<a name="l00179"></a><a class="code" href="bt_scalar_8h.html#f70e8b45dc0ad52b962f128ce45365dc">00179</a> <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED64(a) a</span>
<a name="l00180"></a><a class="code" href="bt_scalar_8h.html#cb9392bc9b30095ec1ff9d98576b47e4">00180</a> <span class="preprocessor"></span><span class="preprocessor">#define ATTRIBUTE_ALIGNED128(a) a</span>
<a name="l00181"></a>00181 <span class="preprocessor"></span><span class="preprocessor">#ifndef assert</span>
<a name="l00182"></a>00182 <span class="preprocessor"></span><span class="preprocessor">#include &lt;assert.h&gt;</span>
<a name="l00183"></a>00183 <span class="preprocessor">#endif</span>
<a name="l00184"></a>00184 <span class="preprocessor"></span>
<a name="l00185"></a>00185 <span class="preprocessor">#if defined(DEBUG) || defined(_DEBUG)</span>
<a name="l00186"></a>00186 <span class="preprocessor"></span><span class="preprocessor">#define btAssert assert</span>
<a name="l00187"></a>00187 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00188"></a><a class="code" href="bt_scalar_8h.html#ff3e6078c073f6ba0edb95353f2c2c62">00188</a> <span class="preprocessor"></span><span class="preprocessor">#define btAssert(x)</span>
<a name="l00189"></a>00189 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00190"></a>00190 <span class="preprocessor"></span>
<a name="l00191"></a>00191 <span class="comment">//btFullAssert is optional, slows down a lot</span>
<a name="l00192"></a><a class="code" href="bt_scalar_8h.html#90bc8c8b8f79211b2b7f0356c4cd804f">00192</a> <span class="preprocessor">#define btFullAssert(x)</span>
<a name="l00193"></a><a class="code" href="bt_scalar_8h.html#e9d26f737755d56d5374339f176a55ac">00193</a> <span class="preprocessor"></span><span class="preprocessor">#define btLikely(_c) _c</span>
<a name="l00194"></a><a class="code" href="bt_scalar_8h.html#75f41f19fd54104288141671ecf47427">00194</a> <span class="preprocessor"></span><span class="preprocessor">#define btUnlikely(_c) _c</span>
<a name="l00195"></a>00195 <span class="preprocessor"></span><span class="preprocessor">#endif //__APPLE__</span>
<a name="l00196"></a>00196 <span class="preprocessor"></span>
<a name="l00197"></a>00197 <span class="preprocessor">#endif // LIBSPE2</span>
<a name="l00198"></a>00198 <span class="preprocessor"></span>
<a name="l00199"></a>00199 <span class="preprocessor">#endif //__CELLOS_LV2__</span>
<a name="l00200"></a>00200 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00201"></a>00201 <span class="preprocessor"></span>
<a name="l00203"></a>00203 <span class="preprocessor">#if defined(BT_USE_DOUBLE_PRECISION)</span>
<a name="l00204"></a>00204 <span class="preprocessor"></span><span class="keyword">typedef</span> <span class="keywordtype">double</span> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>;
<a name="l00205"></a>00205 <span class="comment">//this number could be bigger in double precision</span>
<a name="l00206"></a>00206 <span class="preprocessor">#define BT_LARGE_FLOAT 1e30</span>
<a name="l00207"></a>00207 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00208"></a><a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018">00208</a> <span class="preprocessor"></span><span class="keyword">typedef</span> <span class="keywordtype">float</span> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>;
<a name="l00209"></a>00209 <span class="comment">//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT &lt; FLT_MAX</span>
<a name="l00210"></a><a class="code" href="bt_scalar_8h.html#3a24ecdd029d38fef175bee5d965710a">00210</a> <span class="preprocessor">#define BT_LARGE_FLOAT 1e18f</span>
<a name="l00211"></a>00211 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00212"></a>00212 <span class="preprocessor"></span>
<a name="l00213"></a><a class="code" href="bt_scalar_8h.html#0bd5b84db13a000ac43fffe2bfc32187">00213</a> <span class="preprocessor">#define BT_DECLARE_ALIGNED_ALLOCATOR()                                                                     \</span>
<a name="l00214"></a>00214 <span class="preprocessor">    SIMD_FORCE_INLINE void* operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); }   \</span>
<a name="l00215"></a>00215 <span class="preprocessor">    SIMD_FORCE_INLINE void operator delete(void* ptr) { btAlignedFree(ptr); }                              \</span>
<a name="l00216"></a>00216 <span class="preprocessor">    SIMD_FORCE_INLINE void* operator new(size_t, void* ptr) { return ptr; }                                \</span>
<a name="l00217"></a>00217 <span class="preprocessor">    SIMD_FORCE_INLINE void operator delete(void*, void*) {}                                                \</span>
<a name="l00218"></a>00218 <span class="preprocessor">    SIMD_FORCE_INLINE void* operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \</span>
<a name="l00219"></a>00219 <span class="preprocessor">    SIMD_FORCE_INLINE void operator delete[](void* ptr) { btAlignedFree(ptr); }                            \</span>
<a name="l00220"></a>00220 <span class="preprocessor">    SIMD_FORCE_INLINE void* operator new[](size_t, void* ptr) { return ptr; }                              \</span>
<a name="l00221"></a>00221 <span class="preprocessor">    SIMD_FORCE_INLINE void operator delete[](void*, void*) {}</span>
<a name="l00222"></a>00222 <span class="preprocessor"></span>
<a name="l00223"></a>00223 <span class="preprocessor">#if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS)</span>
<a name="l00224"></a>00224 <span class="preprocessor"></span>
<a name="l00225"></a>00225 <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#6b200a8d26a49406ca13329be909ec10">btSqrt</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#0d05bb202a57e1c47ae0eeeec2502c1b" title="Return the x value.">x</a>)
<a name="l00226"></a>00226 {
<a name="l00227"></a>00227     <span class="keywordflow">return</span> sqrt(x);
<a name="l00228"></a>00228 }
<a name="l00229"></a>00229 <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#4c4bd8e065ab617f4e37273d76e6d581">btFabs</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#0d05bb202a57e1c47ae0eeeec2502c1b" title="Return the x value.">x</a>) { <span class="keywordflow">return</span> fabs(x); }
<a name="l00230"></a>00230 <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#08cebf88560180c665f205810cc02d0f">btCos</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#0d05bb202a57e1c47ae0eeeec2502c1b" title="Return the x value.">x</a>) { <span class="keywordflow">return</span> cos(x); }
<a name="l00231"></a>00231 <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#21de15ec6359a37d7876fa26be384a4b">btSin</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#0d05bb202a57e1c47ae0eeeec2502c1b" title="Return the x value.">x</a>) { <span class="keywordflow">return</span> sin(x); }
<a name="l00232"></a>00232 <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#61eba4cb1055a482189cb096b93e0862">btTan</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#0d05bb202a57e1c47ae0eeeec2502c1b" title="Return the x value.">x</a>) { <span class="keywordflow">return</span> tan(x); }
<a name="l00233"></a>00233 <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#004c41de4028b1437d1aafbaa0769cd5">btAcos</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#0d05bb202a57e1c47ae0eeeec2502c1b" title="Return the x value.">x</a>)
<a name="l00234"></a>00234 {
<a name="l00235"></a>00235     <span class="keywordflow">if</span> (x &lt; <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(-1))
<a name="l00236"></a>00236         x = <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(-1);
<a name="l00237"></a>00237     <span class="keywordflow">if</span> (x &gt; <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1))
<a name="l00238"></a>00238         x = <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1);
<a name="l00239"></a>00239     <span class="keywordflow">return</span> acos(x);
<a name="l00240"></a>00240 }
<a name="l00241"></a>00241 <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#47baddce9fad101519c2a7456e2d6c9f">btAsin</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x)
<a name="l00242"></a>00242 {
<a name="l00243"></a>00243     <span class="keywordflow">if</span> (x &lt; <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(-1))
<a name="l00244"></a>00244         x = <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(-1);
<a name="l00245"></a>00245     <span class="keywordflow">if</span> (x &gt; <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1))
<a name="l00246"></a>00246         x = <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1);
<a name="l00247"></a>00247     <span class="keywordflow">return</span> asin(x);
<a name="l00248"></a>00248 }
<a name="l00249"></a>00249 <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#92ffb99031b0c2c191ce69400c620bd0">btAtan</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x) { <span class="keywordflow">return</span> atan(x); }
<a name="l00250"></a>00250 <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#c7d89f182c6f2997f9a50fe963f6f986">btAtan2</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x, <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#88617d2888b444b2ad2384b17b0eeadf" title="Return the y value.">y</a>) { <span class="keywordflow">return</span> atan2(x, y); }
<a name="l00251"></a>00251 <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#95a570162190c25ed6d54b719f4f617b">btExp</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x) { <span class="keywordflow">return</span> exp(x); }
<a name="l00252"></a>00252 <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#8192288b73d65bcbc66d9e5f05a1b346">btLog</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x) { <span class="keywordflow">return</span> log(x); }
<a name="l00253"></a>00253 <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#fb9af7ad85bcd92acfd2bd813b706ae6">btPow</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x, <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#88617d2888b444b2ad2384b17b0eeadf" title="Return the y value.">y</a>) { <span class="keywordflow">return</span> pow(x, y); }
<a name="l00254"></a>00254 <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#e7ebb0f0f37c7851cf64cdae2075ca2f">btFmod</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x, <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#88617d2888b444b2ad2384b17b0eeadf" title="Return the y value.">y</a>) { <span class="keywordflow">return</span> fmod(x, y); }
<a name="l00255"></a>00255 
<a name="l00256"></a>00256 <span class="preprocessor">#else</span>
<a name="l00257"></a>00257 <span class="preprocessor"></span>
<a name="l00258"></a><a class="code" href="bt_scalar_8h.html#6b200a8d26a49406ca13329be909ec10">00258</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#6b200a8d26a49406ca13329be909ec10">btSqrt</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#88617d2888b444b2ad2384b17b0eeadf" title="Return the y value.">y</a>)
<a name="l00259"></a>00259 {
<a name="l00260"></a>00260 <span class="preprocessor">#ifdef USE_APPROXIMATION</span>
<a name="l00261"></a>00261 <span class="preprocessor"></span>    <span class="keywordtype">double</span> x, <a class="code" href="bt_vector3_8h.html#49dd8d4770be4de32dd57f9b926aa396" title="Return the z value.">z</a>, tempf;
<a name="l00262"></a>00262     <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>* tfptr = ((<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>*)&amp;tempf) + 1;
<a name="l00263"></a>00263 
<a name="l00264"></a>00264     tempf = y;
<a name="l00265"></a>00265     *tfptr = (0xbfcdd90a - *tfptr) &gt;&gt; 1; <span class="comment">/* estimate of 1/sqrt(y) */</span>
<a name="l00266"></a>00266     x = tempf;
<a name="l00267"></a>00267     z = y * <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(0.5);
<a name="l00268"></a>00268     x = (<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1.5) * x) - (x * x) * (x * z); <span class="comment">/* iteration formula     */</span>
<a name="l00269"></a>00269     x = (<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1.5) * x) - (x * x) * (x * z);
<a name="l00270"></a>00270     x = (<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1.5) * x) - (x * x) * (x * z);
<a name="l00271"></a>00271     x = (<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1.5) * x) - (x * x) * (x * z);
<a name="l00272"></a>00272     x = (<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1.5) * x) - (x * x) * (x * z);
<a name="l00273"></a>00273     <span class="keywordflow">return</span> x * y;
<a name="l00274"></a>00274 <span class="preprocessor">#else</span>
<a name="l00275"></a>00275 <span class="preprocessor"></span>    <span class="keywordflow">return</span> sqrtf(y);
<a name="l00276"></a>00276 <span class="preprocessor">#endif</span>
<a name="l00277"></a>00277 <span class="preprocessor"></span>}
<a name="l00278"></a><a class="code" href="bt_scalar_8h.html#4c4bd8e065ab617f4e37273d76e6d581">00278</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#4c4bd8e065ab617f4e37273d76e6d581">btFabs</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x) { <span class="keywordflow">return</span> fabsf(x); }
<a name="l00279"></a><a class="code" href="bt_scalar_8h.html#08cebf88560180c665f205810cc02d0f">00279</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#08cebf88560180c665f205810cc02d0f">btCos</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x) { <span class="keywordflow">return</span> cosf(x); }
<a name="l00280"></a><a class="code" href="bt_scalar_8h.html#21de15ec6359a37d7876fa26be384a4b">00280</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#21de15ec6359a37d7876fa26be384a4b">btSin</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x) { <span class="keywordflow">return</span> sinf(x); }
<a name="l00281"></a><a class="code" href="bt_scalar_8h.html#61eba4cb1055a482189cb096b93e0862">00281</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#61eba4cb1055a482189cb096b93e0862">btTan</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x) { <span class="keywordflow">return</span> tanf(x); }
<a name="l00282"></a><a class="code" href="bt_scalar_8h.html#004c41de4028b1437d1aafbaa0769cd5">00282</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#004c41de4028b1437d1aafbaa0769cd5">btAcos</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x)
<a name="l00283"></a>00283 {
<a name="l00284"></a>00284     <span class="keywordflow">if</span> (x &lt; <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(-1))
<a name="l00285"></a>00285         x = <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(-1);
<a name="l00286"></a>00286     <span class="keywordflow">if</span> (x &gt; <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1))
<a name="l00287"></a>00287         x = <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1);
<a name="l00288"></a>00288     <span class="keywordflow">return</span> acosf(x);
<a name="l00289"></a>00289 }
<a name="l00290"></a><a class="code" href="bt_scalar_8h.html#47baddce9fad101519c2a7456e2d6c9f">00290</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#47baddce9fad101519c2a7456e2d6c9f">btAsin</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x)
<a name="l00291"></a>00291 {
<a name="l00292"></a>00292     <span class="keywordflow">if</span> (x &lt; <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(-1))
<a name="l00293"></a>00293         x = <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(-1);
<a name="l00294"></a>00294     <span class="keywordflow">if</span> (x &gt; <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1))
<a name="l00295"></a>00295         x = <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1);
<a name="l00296"></a>00296     <span class="keywordflow">return</span> asinf(x);
<a name="l00297"></a>00297 }
<a name="l00298"></a><a class="code" href="bt_scalar_8h.html#92ffb99031b0c2c191ce69400c620bd0">00298</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#92ffb99031b0c2c191ce69400c620bd0">btAtan</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x) { <span class="keywordflow">return</span> atanf(x); }
<a name="l00299"></a><a class="code" href="bt_scalar_8h.html#c7d89f182c6f2997f9a50fe963f6f986">00299</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#c7d89f182c6f2997f9a50fe963f6f986">btAtan2</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x, <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#88617d2888b444b2ad2384b17b0eeadf" title="Return the y value.">y</a>) { <span class="keywordflow">return</span> atan2f(x, y); }
<a name="l00300"></a><a class="code" href="bt_scalar_8h.html#95a570162190c25ed6d54b719f4f617b">00300</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#95a570162190c25ed6d54b719f4f617b">btExp</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x) { <span class="keywordflow">return</span> expf(x); }
<a name="l00301"></a><a class="code" href="bt_scalar_8h.html#8192288b73d65bcbc66d9e5f05a1b346">00301</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#8192288b73d65bcbc66d9e5f05a1b346">btLog</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x) { <span class="keywordflow">return</span> logf(x); }
<a name="l00302"></a><a class="code" href="bt_scalar_8h.html#fb9af7ad85bcd92acfd2bd813b706ae6">00302</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#fb9af7ad85bcd92acfd2bd813b706ae6">btPow</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x, <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#88617d2888b444b2ad2384b17b0eeadf" title="Return the y value.">y</a>) { <span class="keywordflow">return</span> powf(x, y); }
<a name="l00303"></a><a class="code" href="bt_scalar_8h.html#e7ebb0f0f37c7851cf64cdae2075ca2f">00303</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#e7ebb0f0f37c7851cf64cdae2075ca2f">btFmod</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x, <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#88617d2888b444b2ad2384b17b0eeadf" title="Return the y value.">y</a>) { <span class="keywordflow">return</span> fmodf(x, y); }
<a name="l00304"></a>00304 
<a name="l00305"></a>00305 <span class="preprocessor">#endif</span>
<a name="l00306"></a>00306 <span class="preprocessor"></span>
<a name="l00307"></a><a class="code" href="bt_scalar_8h.html#fa3dad5a5edb29663834714c0ef492bb">00307</a> <span class="preprocessor">#define SIMD_2_PI btScalar(6.283185307179586232)</span>
<a name="l00308"></a><a class="code" href="bt_scalar_8h.html#1bdff187c878167505bcedbbbabf7b0a">00308</a> <span class="preprocessor"></span><span class="preprocessor">#define SIMD_PI (SIMD_2_PI * btScalar(0.5))</span>
<a name="l00309"></a><a class="code" href="bt_scalar_8h.html#f451c843c6b96c5ce1fa0d1c39f4c255">00309</a> <span class="preprocessor"></span><span class="preprocessor">#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25))</span>
<a name="l00310"></a><a class="code" href="bt_scalar_8h.html#0bec5e0f836008c100e66bddc0dc464d">00310</a> <span class="preprocessor"></span><span class="preprocessor">#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0))</span>
<a name="l00311"></a><a class="code" href="bt_scalar_8h.html#3f5619d3b313715b716a938afe47207d">00311</a> <span class="preprocessor"></span><span class="preprocessor">#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI)</span>
<a name="l00312"></a><a class="code" href="bt_scalar_8h.html#568883327ba96f54afed8dfd7ec1c66e">00312</a> <span class="preprocessor"></span><span class="preprocessor">#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)</span>
<a name="l00313"></a>00313 <span class="preprocessor"></span>
<a name="l00314"></a><a class="code" href="bt_scalar_8h.html#3103b9da34215c512d7fbff3cd94dd60">00314</a> <span class="preprocessor">#define btRecipSqrt(x) ((btScalar)(btScalar(1.0) / btSqrt(btScalar(x)))) </span><span class="comment">/* reciprocal square root */</span>
<a name="l00315"></a>00315 
<a name="l00316"></a>00316 <span class="preprocessor">#ifdef BT_USE_DOUBLE_PRECISION</span>
<a name="l00317"></a>00317 <span class="preprocessor"></span><span class="preprocessor">#define SIMD_EPSILON DBL_EPSILON</span>
<a name="l00318"></a>00318 <span class="preprocessor"></span><span class="preprocessor">#define SIMD_INFINITY DBL_MAX</span>
<a name="l00319"></a>00319 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00320"></a><a class="code" href="bt_scalar_8h.html#e51eef6845bd59f964c1b2dbfe7054b7">00320</a> <span class="preprocessor"></span><span class="preprocessor">#define SIMD_EPSILON FLT_EPSILON</span>
<a name="l00321"></a><a class="code" href="bt_scalar_8h.html#87dcd463392e45ddb5350989e566f34a">00321</a> <span class="preprocessor"></span><span class="preprocessor">#define SIMD_INFINITY FLT_MAX</span>
<a name="l00322"></a>00322 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00323"></a>00323 <span class="preprocessor"></span>
<a name="l00324"></a><a class="code" href="bt_scalar_8h.html#66aac39acce2b5c6d043d390f3ef4d4f">00324</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#66aac39acce2b5c6d043d390f3ef4d4f">btAtan2Fast</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#88617d2888b444b2ad2384b17b0eeadf" title="Return the y value.">y</a>, <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x)
<a name="l00325"></a>00325 {
<a name="l00326"></a>00326     <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> coeff_1 = <a class="code" href="bt_scalar_8h.html#1bdff187c878167505bcedbbbabf7b0a">SIMD_PI</a> / 4.0f;
<a name="l00327"></a>00327     <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> coeff_2 = 3.0f * coeff_1;
<a name="l00328"></a>00328     <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> abs_y = <a class="code" href="bt_scalar_8h.html#4c4bd8e065ab617f4e37273d76e6d581">btFabs</a>(y);
<a name="l00329"></a>00329     <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_vector3_8h.html#9fc74450b4146c1a60a3bd6ba3bb23a4" title="Return the angle between this and another vector.">angle</a>;
<a name="l00330"></a>00330     <span class="keywordflow">if</span> (x &gt;= 0.0f) {
<a name="l00331"></a>00331         <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> r = (x - abs_y) / (x + abs_y);
<a name="l00332"></a>00332         angle = coeff_1 - coeff_1 * r;
<a name="l00333"></a>00333     }
<a name="l00334"></a>00334     <span class="keywordflow">else</span> {
<a name="l00335"></a>00335         <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> r = (x + abs_y) / (abs_y - x);
<a name="l00336"></a>00336         angle = coeff_2 - coeff_1 * r;
<a name="l00337"></a>00337     }
<a name="l00338"></a>00338     <span class="keywordflow">return</span> (y &lt; 0.0f) ? -angle : angle;
<a name="l00339"></a>00339 }
<a name="l00340"></a>00340 
<a name="l00341"></a><a class="code" href="bt_scalar_8h.html#64883187cf63c81ef5fb15f6f0c7ae05">00341</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="bt_scalar_8h.html#64883187cf63c81ef5fb15f6f0c7ae05">btFuzzyZero</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x) { <span class="keywordflow">return</span> <a class="code" href="bt_scalar_8h.html#4c4bd8e065ab617f4e37273d76e6d581">btFabs</a>(x) &lt; <a class="code" href="bt_scalar_8h.html#e51eef6845bd59f964c1b2dbfe7054b7">SIMD_EPSILON</a>; }
<a name="l00342"></a>00342 
<a name="l00343"></a><a class="code" href="bt_scalar_8h.html#06a781aa5e366e7e0c434e071a149215">00343</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="bt_scalar_8h.html#06a781aa5e366e7e0c434e071a149215">btEqual</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> a, <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> eps)
<a name="l00344"></a>00344 {
<a name="l00345"></a>00345     <span class="keywordflow">return</span> (((a) &lt;= eps) &amp;&amp; !((a) &lt; -eps));
<a name="l00346"></a>00346 }
<a name="l00347"></a><a class="code" href="bt_scalar_8h.html#6aa33f13609b0c21f7ee3c27abf4b0e6">00347</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="bt_scalar_8h.html#6aa33f13609b0c21f7ee3c27abf4b0e6">btGreaterEqual</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> a, <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> eps)
<a name="l00348"></a>00348 {
<a name="l00349"></a>00349     <span class="keywordflow">return</span> (!((a) &lt;= eps));
<a name="l00350"></a>00350 }
<a name="l00351"></a>00351 
<a name="l00352"></a><a class="code" href="bt_scalar_8h.html#3feafcddd4c61e81aabd36c098953eaa">00352</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> int32_t <a class="code" href="bt_scalar_8h.html#3feafcddd4c61e81aabd36c098953eaa">btIsNegative</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x)
<a name="l00353"></a>00353 {
<a name="l00354"></a>00354     <span class="keywordflow">return</span> x &lt; <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(0.0) ? 1 : 0;
<a name="l00355"></a>00355 }
<a name="l00356"></a>00356 
<a name="l00357"></a><a class="code" href="bt_scalar_8h.html#8fc2a728bab313f80f38c27508fef2cc">00357</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#8fc2a728bab313f80f38c27508fef2cc">btRadians</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x) { <span class="keywordflow">return</span> x * <a class="code" href="bt_scalar_8h.html#0bec5e0f836008c100e66bddc0dc464d">SIMD_RADS_PER_DEG</a>; }
<a name="l00358"></a><a class="code" href="bt_scalar_8h.html#62ae1d5b53ca14238715ed7a1a483aea">00358</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#62ae1d5b53ca14238715ed7a1a483aea">btDegrees</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> x) { <span class="keywordflow">return</span> x * <a class="code" href="bt_scalar_8h.html#3f5619d3b313715b716a938afe47207d">SIMD_DEGS_PER_RAD</a>; }
<a name="l00359"></a>00359 
<a name="l00360"></a><a class="code" href="bt_scalar_8h.html#358fff092c05693d8351cef9e9dae9a7">00360</a> <span class="preprocessor">#define BT_DECLARE_HANDLE(name) \</span>
<a name="l00361"></a>00361 <span class="preprocessor">    typedef struct name##__ {   \</span>
<a name="l00362"></a>00362 <span class="preprocessor">        int32_t unused;             \</span>
<a name="l00363"></a>00363 <span class="preprocessor">    } * name</span>
<a name="l00364"></a>00364 <span class="preprocessor"></span>
<a name="l00365"></a>00365 <span class="preprocessor">#ifndef btFsel</span>
<a name="l00366"></a><a class="code" href="bt_scalar_8h.html#a7bb31b9cab5f27d555f039f957ce4f3">00366</a> <span class="preprocessor"></span><a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#a7bb31b9cab5f27d555f039f957ce4f3">btFsel</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> a, <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> b, <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> c)
<a name="l00367"></a>00367 {
<a name="l00368"></a>00368     <span class="keywordflow">return</span> a &gt;= 0 ? b : c;
<a name="l00369"></a>00369 }
<a name="l00370"></a>00370 <span class="preprocessor">#endif</span>
<a name="l00371"></a><a class="code" href="bt_scalar_8h.html#cb1bcde16483d0a21f71ac4fe1c334be">00371</a> <span class="preprocessor"></span><span class="preprocessor">#define btFsels(a, b, c) (btScalar) btFsel(a, b, c)</span>
<a name="l00372"></a>00372 <span class="preprocessor"></span>
<a name="l00373"></a><a class="code" href="bt_scalar_8h.html#c1da8e69f1dad68053601dbfee8b3c60">00373</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="bt_scalar_8h.html#c1da8e69f1dad68053601dbfee8b3c60">btMachineIsLittleEndian</a>()
<a name="l00374"></a>00374 {
<a name="l00375"></a>00375     <span class="keywordtype">long</span> <span class="keywordtype">int</span> i = 1;
<a name="l00376"></a>00376     <span class="keyword">const</span> <span class="keywordtype">char</span>* p = (<span class="keyword">const</span> <span class="keywordtype">char</span>*)&amp;i;
<a name="l00377"></a>00377     <span class="keywordflow">if</span> (p[0] == 1) <span class="comment">// Lowest address contains the least significant byte</span>
<a name="l00378"></a>00378         <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00379"></a>00379     <span class="keywordflow">else</span>
<a name="l00380"></a>00380         <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00381"></a>00381 }
<a name="l00382"></a>00382 
<a name="l00385"></a><a class="code" href="bt_scalar_8h.html#1e6b7e4fdd9e5402805e4da711f96af0">00385</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">unsigned</span> <a class="code" href="bt_scalar_8h.html#1e6b7e4fdd9e5402805e4da711f96af0">btSelect</a>(<span class="keywordtype">unsigned</span> condition, <span class="keywordtype">unsigned</span> valueIfConditionNonZero, <span class="keywordtype">unsigned</span> valueIfConditionZero)
<a name="l00386"></a>00386 {
<a name="l00387"></a>00387     <span class="comment">// Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero</span>
<a name="l00388"></a>00388     <span class="comment">// Rely on positive value or'ed with its negative having sign bit on</span>
<a name="l00389"></a>00389     <span class="comment">// and zero value or'ed with its negative (which is still zero) having sign bit off</span>
<a name="l00390"></a>00390     <span class="comment">// Use arithmetic shift right, shifting the sign bit through all 32 bits</span>
<a name="l00391"></a>00391     <span class="keywordtype">unsigned</span> testNz = (unsigned)(((int32_t)condition | -(int32_t)condition) &gt;&gt; 31);
<a name="l00392"></a>00392     <span class="keywordtype">unsigned</span> testEqz = ~testNz;
<a name="l00393"></a>00393     <span class="keywordflow">return</span> ((valueIfConditionNonZero &amp; testNz) | (valueIfConditionZero &amp; testEqz));
<a name="l00394"></a>00394 }
<a name="l00395"></a><a class="code" href="bt_scalar_8h.html#ef88ac3279b66587efd1fc594ec4c740">00395</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> int32_t <a class="code" href="bt_scalar_8h.html#1e6b7e4fdd9e5402805e4da711f96af0">btSelect</a>(<span class="keywordtype">unsigned</span> condition, int32_t valueIfConditionNonZero, int32_t valueIfConditionZero)
<a name="l00396"></a>00396 {
<a name="l00397"></a>00397     <span class="keywordtype">unsigned</span> testNz = (unsigned)(((int32_t)condition | -(int32_t)condition) &gt;&gt; 31);
<a name="l00398"></a>00398     <span class="keywordtype">unsigned</span> testEqz = ~testNz;
<a name="l00399"></a>00399     <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span>int32_t<span class="keyword">&gt;</span>((valueIfConditionNonZero &amp; testNz) | (valueIfConditionZero &amp; testEqz));
<a name="l00400"></a>00400 }
<a name="l00401"></a><a class="code" href="bt_scalar_8h.html#17fb72058bc8ff21cac791c87c8afc52">00401</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">float</span> <a class="code" href="bt_scalar_8h.html#1e6b7e4fdd9e5402805e4da711f96af0">btSelect</a>(<span class="keywordtype">unsigned</span> condition, <span class="keywordtype">float</span> valueIfConditionNonZero, <span class="keywordtype">float</span> valueIfConditionZero)
<a name="l00402"></a>00402 {
<a name="l00403"></a>00403 <span class="preprocessor">#ifdef BT_HAVE_NATIVE_FSEL</span>
<a name="l00404"></a>00404 <span class="preprocessor"></span>    <span class="keywordflow">return</span> (<span class="keywordtype">float</span>)<a class="code" href="bt_scalar_8h.html#a7bb31b9cab5f27d555f039f957ce4f3">btFsel</a>((<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>)condition - <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a>(1.0f), valueIfConditionNonZero, valueIfConditionZero);
<a name="l00405"></a>00405 <span class="preprocessor">#else</span>
<a name="l00406"></a>00406 <span class="preprocessor"></span>    <span class="keywordflow">return</span> (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero;
<a name="l00407"></a>00407 <span class="preprocessor">#endif</span>
<a name="l00408"></a>00408 <span class="preprocessor"></span>}
<a name="l00409"></a>00409 
<a name="l00410"></a>00410 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;
<a name="l00411"></a><a class="code" href="bt_scalar_8h.html#2914d44e9957536703eda13dd0a4a2b2">00411</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">void</span> <a class="code" href="bt_scalar_8h.html#2914d44e9957536703eda13dd0a4a2b2">btSwap</a>(T&amp; a, T&amp; b)
<a name="l00412"></a>00412 {
<a name="l00413"></a>00413     T tmp = a;
<a name="l00414"></a>00414     a = b;
<a name="l00415"></a>00415     b = tmp;
<a name="l00416"></a>00416 }
<a name="l00417"></a>00417 
<a name="l00418"></a>00418 <span class="comment">//PCK: endian swapping functions</span>
<a name="l00419"></a><a class="code" href="bt_scalar_8h.html#21b4d7889e86774c7f56b4a9da21e4f9">00419</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">unsigned</span> <a class="code" href="bt_scalar_8h.html#21b4d7889e86774c7f56b4a9da21e4f9">btSwapEndian</a>(<span class="keywordtype">unsigned</span> val)
<a name="l00420"></a>00420 {
<a name="l00421"></a>00421     <span class="keywordflow">return</span> (((val &amp; 0xff000000) &gt;&gt; 24) | ((val &amp; 0x00ff0000) &gt;&gt; 8) | ((val &amp; 0x0000ff00) &lt;&lt; 8) | ((val &amp; 0x000000ff) &lt;&lt; 24));
<a name="l00422"></a>00422 }
<a name="l00423"></a>00423 
<a name="l00424"></a><a class="code" href="bt_scalar_8h.html#62f53958f838c392ff106c83deb50933">00424</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> <a class="code" href="bt_scalar_8h.html#21b4d7889e86774c7f56b4a9da21e4f9">btSwapEndian</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> val)
<a name="l00425"></a>00425 {
<a name="l00426"></a>00426     <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">short</span><span class="keyword">&gt;</span>(((val &amp; 0xff00) &gt;&gt; 8) | ((val &amp; 0x00ff) &lt;&lt; 8));
<a name="l00427"></a>00427 }
<a name="l00428"></a>00428 
<a name="l00429"></a><a class="code" href="bt_scalar_8h.html#4bf92f546517c647cf87ae6e476ec733">00429</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">unsigned</span> <a class="code" href="bt_scalar_8h.html#21b4d7889e86774c7f56b4a9da21e4f9">btSwapEndian</a>(int32_t val)
<a name="l00430"></a>00430 {
<a name="l00431"></a>00431     <span class="keywordflow">return</span> <a class="code" href="bt_scalar_8h.html#21b4d7889e86774c7f56b4a9da21e4f9">btSwapEndian</a>((<span class="keywordtype">unsigned</span>)val);
<a name="l00432"></a>00432 }
<a name="l00433"></a>00433 
<a name="l00434"></a><a class="code" href="bt_scalar_8h.html#37fef177a45696453f84b5de8b5a2dd3">00434</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> <a class="code" href="bt_scalar_8h.html#21b4d7889e86774c7f56b4a9da21e4f9">btSwapEndian</a>(<span class="keywordtype">short</span> val)
<a name="l00435"></a>00435 {
<a name="l00436"></a>00436     <span class="keywordflow">return</span> <a class="code" href="bt_scalar_8h.html#21b4d7889e86774c7f56b4a9da21e4f9">btSwapEndian</a>((<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span>)val);
<a name="l00437"></a>00437 }
<a name="l00438"></a>00438 
<a name="l00445"></a><a class="code" href="bt_scalar_8h.html#f37c54c90dcb716e0190b9c41eb0f3dc">00445</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> uint32_t <a class="code" href="bt_scalar_8h.html#f37c54c90dcb716e0190b9c41eb0f3dc" title="btSwapFloat uses using char pointers to swap the endianness">btSwapEndianFloat</a>(<span class="keywordtype">float</span> d)
<a name="l00446"></a>00446 {
<a name="l00447"></a>00447     uint32_t a = 0;
<a name="l00448"></a>00448     <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* dst = (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*)&amp;a;
<a name="l00449"></a>00449     <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* src = (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*)&amp;d;
<a name="l00450"></a>00450 
<a name="l00451"></a>00451     dst[0] = src[3];
<a name="l00452"></a>00452     dst[1] = src[2];
<a name="l00453"></a>00453     dst[2] = src[1];
<a name="l00454"></a>00454     dst[3] = src[0];
<a name="l00455"></a>00455     <span class="keywordflow">return</span> a;
<a name="l00456"></a>00456 }
<a name="l00457"></a>00457 
<a name="l00458"></a>00458 <span class="comment">// unswap using char pointers</span>
<a name="l00459"></a><a class="code" href="bt_scalar_8h.html#cde4b445d01bf42cb389be3cc9ddeccd">00459</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">float</span> <a class="code" href="bt_scalar_8h.html#cde4b445d01bf42cb389be3cc9ddeccd">btUnswapEndianFloat</a>(uint32_t a)
<a name="l00460"></a>00460 {
<a name="l00461"></a>00461     <span class="keywordtype">float</span> d = 0.0f;
<a name="l00462"></a>00462     <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* src = (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*)&amp;a;
<a name="l00463"></a>00463     <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* dst = (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*)&amp;d;
<a name="l00464"></a>00464 
<a name="l00465"></a>00465     dst[0] = src[3];
<a name="l00466"></a>00466     dst[1] = src[2];
<a name="l00467"></a>00467     dst[2] = src[1];
<a name="l00468"></a>00468     dst[3] = src[0];
<a name="l00469"></a>00469 
<a name="l00470"></a>00470     <span class="keywordflow">return</span> d;
<a name="l00471"></a>00471 }
<a name="l00472"></a>00472 
<a name="l00473"></a>00473 <span class="comment">// swap using char pointers</span>
<a name="l00474"></a><a class="code" href="bt_scalar_8h.html#29e3fd9bbf730416c5d60c18ae21b1ba">00474</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">void</span> <a class="code" href="bt_scalar_8h.html#29e3fd9bbf730416c5d60c18ae21b1ba">btSwapEndianDouble</a>(<span class="keywordtype">double</span> d, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* dst)
<a name="l00475"></a>00475 {
<a name="l00476"></a>00476     <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* src = (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*)&amp;d;
<a name="l00477"></a>00477 
<a name="l00478"></a>00478     dst[0] = src[7];
<a name="l00479"></a>00479     dst[1] = src[6];
<a name="l00480"></a>00480     dst[2] = src[5];
<a name="l00481"></a>00481     dst[3] = src[4];
<a name="l00482"></a>00482     dst[4] = src[3];
<a name="l00483"></a>00483     dst[5] = src[2];
<a name="l00484"></a>00484     dst[6] = src[1];
<a name="l00485"></a>00485     dst[7] = src[0];
<a name="l00486"></a>00486 }
<a name="l00487"></a>00487 
<a name="l00488"></a>00488 <span class="comment">// unswap using char pointers</span>
<a name="l00489"></a><a class="code" href="bt_scalar_8h.html#0092a5e4ef2131b31a2d3f669e2d4abf">00489</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <span class="keywordtype">double</span> <a class="code" href="bt_scalar_8h.html#0092a5e4ef2131b31a2d3f669e2d4abf">btUnswapEndianDouble</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* src)
<a name="l00490"></a>00490 {
<a name="l00491"></a>00491     <span class="keywordtype">double</span> d = 0.0;
<a name="l00492"></a>00492     <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* dst = (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*)&amp;d;
<a name="l00493"></a>00493 
<a name="l00494"></a>00494     dst[0] = src[7];
<a name="l00495"></a>00495     dst[1] = src[6];
<a name="l00496"></a>00496     dst[2] = src[5];
<a name="l00497"></a>00497     dst[3] = src[4];
<a name="l00498"></a>00498     dst[4] = src[3];
<a name="l00499"></a>00499     dst[5] = src[2];
<a name="l00500"></a>00500     dst[6] = src[1];
<a name="l00501"></a>00501     dst[7] = src[0];
<a name="l00502"></a>00502 
<a name="l00503"></a>00503     <span class="keywordflow">return</span> d;
<a name="l00504"></a>00504 }
<a name="l00505"></a>00505 
<a name="l00506"></a>00506 <span class="comment">// returns normalized value in range [-SIMD_PI, SIMD_PI]</span>
<a name="l00507"></a><a class="code" href="bt_scalar_8h.html#451c9dba9cd626281ab92dec7705b1a3">00507</a> <a class="code" href="bt_scalar_8h.html#8a6a3e8b28846a3d7271e376c738ec40">SIMD_FORCE_INLINE</a> <a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> <a class="code" href="bt_scalar_8h.html#451c9dba9cd626281ab92dec7705b1a3">btNormalizeAngle</a>(<a class="code" href="bt_scalar_8h.html#1e5824cfc8adbf5a77f2622132d16018" title="The btScalar type abstracts floating point numbers, to easily switch between double...">btScalar</a> angleInRadians)
<a name="l00508"></a>00508 {
<a name="l00509"></a>00509     angleInRadians = <a class="code" href="bt_scalar_8h.html#e7ebb0f0f37c7851cf64cdae2075ca2f">btFmod</a>(angleInRadians, <a class="code" href="bt_scalar_8h.html#fa3dad5a5edb29663834714c0ef492bb">SIMD_2_PI</a>);
<a name="l00510"></a>00510     <span class="keywordflow">if</span> (angleInRadians &lt; -<a class="code" href="bt_scalar_8h.html#1bdff187c878167505bcedbbbabf7b0a">SIMD_PI</a>) {
<a name="l00511"></a>00511         <span class="keywordflow">return</span> angleInRadians + <a class="code" href="bt_scalar_8h.html#fa3dad5a5edb29663834714c0ef492bb">SIMD_2_PI</a>;
<a name="l00512"></a>00512     }
<a name="l00513"></a>00513     <span class="keywordflow">else</span> <span class="keywordflow">if</span> (angleInRadians &gt; <a class="code" href="bt_scalar_8h.html#1bdff187c878167505bcedbbbabf7b0a">SIMD_PI</a>) {
<a name="l00514"></a>00514         <span class="keywordflow">return</span> angleInRadians - <a class="code" href="bt_scalar_8h.html#fa3dad5a5edb29663834714c0ef492bb">SIMD_2_PI</a>;
<a name="l00515"></a>00515     }
<a name="l00516"></a>00516     <span class="keywordflow">else</span> {
<a name="l00517"></a>00517         <span class="keywordflow">return</span> angleInRadians;
<a name="l00518"></a>00518     }
<a name="l00519"></a>00519 }
<a name="l00520"></a>00520 
<a name="l00522"></a><a class="code" href="structbt_typed_object.html">00522</a> <span class="keyword">struct </span><a class="code" href="structbt_typed_object.html" title="rudimentary class to provide type info">btTypedObject</a> {
<a name="l00523"></a><a class="code" href="structbt_typed_object.html#f10da9ddb749e24940da236199d920cd">00523</a>     <a class="code" href="structbt_typed_object.html#f10da9ddb749e24940da236199d920cd">btTypedObject</a>(int32_t objectType)
<a name="l00524"></a>00524         : <a class="code" href="structbt_typed_object.html#c600a3119429dab41dc6b4ca64762ee2">m_objectType</a>(objectType)
<a name="l00525"></a>00525     {
<a name="l00526"></a>00526     }
<a name="l00527"></a><a class="code" href="structbt_typed_object.html#c600a3119429dab41dc6b4ca64762ee2">00527</a>     int32_t <a class="code" href="structbt_typed_object.html#c600a3119429dab41dc6b4ca64762ee2">m_objectType</a>;
<a name="l00528"></a><a class="code" href="structbt_typed_object.html#89ec4b523dcc4749bf902dea09a7419c">00528</a>     <span class="keyword">inline</span> int32_t <a class="code" href="structbt_typed_object.html#89ec4b523dcc4749bf902dea09a7419c">getObjectType</a>()<span class="keyword"> const</span>
<a name="l00529"></a>00529 <span class="keyword">    </span>{
<a name="l00530"></a>00530         <span class="keywordflow">return</span> <a class="code" href="structbt_typed_object.html#c600a3119429dab41dc6b4ca64762ee2">m_objectType</a>;
<a name="l00531"></a>00531     }
<a name="l00532"></a>00532 };
<a name="l00533"></a>00533 <span class="preprocessor">#endif //BT_SCALAR_H</span>
</pre></div></div>
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