add ode

1 files changed, 282 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceFPU.h b/libs/ode-0.16.1/OPCODE/Ice/IceFPU.h
new file mode 100644
index 0000000..e7ec3f5
--- /dev/null
+++ b/libs/ode-0.16.1/OPCODE/Ice/IceFPU.h
@@ -0,0 +1,282 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains FPU related code.
+ *	\file		IceFPU.h
+ *	\author		Pierre Terdiman
+ *	\date		April, 4, 2000
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __ICEFPU_H__
+#define __ICEFPU_H__
+
+	#define	SIGN_BITMASK			0x80000000
+
+	namespace {
+		union float_udword { float f; udword u; };
+		union float_sdword { float f; sdword s; };
+	}
+
+
+	//! Integer representation of a floating-point value.
+	//#define IR(x)					((udword&)(x))
+	static inline udword IR(float x) { float_udword fu; fu.f = x; return fu.u; }
+
+	//! Signed integer representation of a floating-point value.
+	//#define SIR(x)					((sdword&)(x))
+	static inline sdword SIR(float x) { float_sdword fs; fs.f = x; return fs.s; }
+
+	//! Absolute integer representation of a floating-point value
+	#define AIR(x)					(IR(x)&0x7fffffff)
+
+	//! Floating-point representation of an integer value.
+	//#define FR(x)					((float&)(x))
+	static inline float FR(unsigned x) { float_udword fu; fu.u = x; return fu.f; }
+
+	//! Integer-based comparison of a floating point value.
+	//! Don't use it blindly, it can be faster or slower than the FPU comparison, depends on the context.
+	#define IS_NEGATIVE_FLOAT(x)	(IR(x)&0x80000000)
+
+	//! Fast fabs for floating-point values. It just clears the sign bit.
+	//! Don't use it blindy, it can be faster or slower than the FPU comparison, depends on the context.
+	inline_ float FastFabs(float x)
+	{
+		udword FloatBits = IR(x)&0x7fffffff;
+		return FR(FloatBits);
+	}
+
+	//! Fast square root for floating-point values.
+	inline_ float FastSqrt(float square)
+	{
+		return sqrtf(square);
+	}
+
+	//! Saturates positive to zero.
+	inline_ float fsat(float f)
+	{
+		udword y = IR(f) & ~(SIR(f) >>31);
+		return FR(y);
+	}
+
+	//! Computes 1.0f / sqrtf(x).
+	inline_ float frsqrt(float f)
+	{
+		float x = f * 0.5f;
+		udword y = 0x5f3759df - (IR(f) >> 1);
+		// Iteration...
+		const float fy = FR(y);
+		const float result = fy * ( 1.5f - ( x * fy * fy ) );
+		// Result
+		return result;
+	}
+
+	//! Computes 1.0f / sqrtf(x). Comes from NVIDIA.
+	inline_ float InvSqrt(const float& x)
+	{
+		const udword tmp = (udword(IEEE_1_0 << 1) + IEEE_1_0 - IR(x)) >> 1;      
+		const float y = FR(tmp);
+		return y * (1.47f - 0.47f * x * y * y);
+	}
+
+	//! Computes 1.0f / sqrtf(x). Comes from Quake3. Looks like the first one I had above.
+	//! See http://www.magic-software.com/3DGEDInvSqrt.html
+	inline_ float RSqrt(float number)
+	{
+		int i;
+		float x2, y;
+		const float threehalfs = 1.5f;
+
+		x2 = number * 0.5f;
+		y  = number;
+		i  = IR(y);
+		i  = 0x5f3759df - (i >> 1);
+		y  = FR(i);
+		y  = y * (threehalfs - (x2 * y * y));
+
+		return y;
+	}
+
+	//! TO BE DOCUMENTED
+	inline_ float fsqrt(float f)
+	{
+		udword y = ( ( SIR(f) - 0x3f800000 ) >> 1 ) + 0x3f800000;
+		// Iteration...?
+		// (float&)y = (3.0f - ((float&)y * (float&)y) / f) * (float&)y * 0.5f;
+		// Result
+		return FR(y);
+	}
+
+	//! Returns the float ranged espilon value.
+	inline_ float fepsilon(float f)
+	{
+		udword b = IR(f) & 0xff800000;
+		udword a = b | 0x00000001;
+		// Result
+		return FR(a) - FR(b);
+	}
+
+	//! Is the float valid ?
+	inline_ bool IsNAN(float value)				{ return (IR(value)&0x7f800000) == 0x7f800000;	}
+	inline_ bool IsIndeterminate(float value)	{ return IR(value) == 0xffc00000;				}
+	inline_ bool IsPlusInf(float value)			{ return IR(value) == 0x7f800000;				}
+	inline_ bool IsMinusInf(float value)		{ return IR(value) == 0xff800000;				}
+
+	inline_	bool IsValidFloat(float value)
+	{
+		if(IsNAN(value))			return false;
+		if(IsIndeterminate(value))	return false;
+		if(IsPlusInf(value))		return false;
+		if(IsMinusInf(value))		return false;
+		return true;
+	}
+
+	#define CHECK_VALID_FLOAT(x)	ASSERT(IsValidFloat(x));
+
+/*
+	//! FPU precision setting function.
+	inline_ void SetFPU()
+	{
+		// This function evaluates whether the floating-point
+		// control word is set to single precision/round to nearest/
+		// exceptions disabled. If these conditions don't hold, the
+		// function changes the control word to set them and returns
+		// TRUE, putting the old control word value in the passback
+		// location pointed to by pwOldCW.
+		{
+			uword wTemp, wSave;
+ 
+			__asm fstcw wSave
+			if (wSave & 0x300 ||            // Not single mode
+				0x3f != (wSave & 0x3f) ||   // Exceptions enabled
+				wSave & 0xC00)              // Not round to nearest mode
+			{
+				__asm
+				{
+					mov ax, wSave
+					and ax, not 300h    ;; single mode
+					or  ax, 3fh         ;; disable all exceptions
+					and ax, not 0xC00   ;; round to nearest mode
+					mov wTemp, ax
+					fldcw   wTemp
+				}
+			}
+		}
+	}
+*/
+	//! This function computes the slowest possible floating-point value (you can also directly use FLT_EPSILON)
+	inline_ float ComputeFloatEpsilon()
+	{
+		const float f = FR( IR(1.0f) ^ 1 );
+		return f - 1.0f;	// You can check it's the same as FLT_EPSILON
+	}
+
+	inline_ bool IsFloatZero(float x, float epsilon=1e-6f)
+	{
+		return x*x < epsilon;
+	}
+
+	#define FCOMI_ST0	_asm	_emit	0xdb	_asm	_emit	0xf0
+	#define FCOMIP_ST0	_asm	_emit	0xdf	_asm	_emit	0xf0
+	#define FCMOVB_ST0	_asm	_emit	0xda	_asm	_emit	0xc0
+	#define FCMOVNB_ST0	_asm	_emit	0xdb	_asm	_emit	0xc0
+
+	#define FCOMI_ST1	_asm	_emit	0xdb	_asm	_emit	0xf1
+	#define FCOMIP_ST1	_asm	_emit	0xdf	_asm	_emit	0xf1
+	#define FCMOVB_ST1	_asm	_emit	0xda	_asm	_emit	0xc1
+	#define FCMOVNB_ST1	_asm	_emit	0xdb	_asm	_emit	0xc1
+
+	#define FCOMI_ST2	_asm	_emit	0xdb	_asm	_emit	0xf2
+	#define FCOMIP_ST2	_asm	_emit	0xdf	_asm	_emit	0xf2
+	#define FCMOVB_ST2	_asm	_emit	0xda	_asm	_emit	0xc2
+	#define FCMOVNB_ST2	_asm	_emit	0xdb	_asm	_emit	0xc2
+
+	#define FCOMI_ST3	_asm	_emit	0xdb	_asm	_emit	0xf3
+	#define FCOMIP_ST3	_asm	_emit	0xdf	_asm	_emit	0xf3
+	#define FCMOVB_ST3	_asm	_emit	0xda	_asm	_emit	0xc3
+	#define FCMOVNB_ST3	_asm	_emit	0xdb	_asm	_emit	0xc3
+
+	#define FCOMI_ST4	_asm	_emit	0xdb	_asm	_emit	0xf4
+	#define FCOMIP_ST4	_asm	_emit	0xdf	_asm	_emit	0xf4
+	#define FCMOVB_ST4	_asm	_emit	0xda	_asm	_emit	0xc4
+	#define FCMOVNB_ST4	_asm	_emit	0xdb	_asm	_emit	0xc4
+
+	#define FCOMI_ST5	_asm	_emit	0xdb	_asm	_emit	0xf5
+	#define FCOMIP_ST5	_asm	_emit	0xdf	_asm	_emit	0xf5
+	#define FCMOVB_ST5	_asm	_emit	0xda	_asm	_emit	0xc5
+	#define FCMOVNB_ST5	_asm	_emit	0xdb	_asm	_emit	0xc5
+
+	#define FCOMI_ST6	_asm	_emit	0xdb	_asm	_emit	0xf6
+	#define FCOMIP_ST6	_asm	_emit	0xdf	_asm	_emit	0xf6
+	#define FCMOVB_ST6	_asm	_emit	0xda	_asm	_emit	0xc6
+	#define FCMOVNB_ST6	_asm	_emit	0xdb	_asm	_emit	0xc6
+
+	#define FCOMI_ST7	_asm	_emit	0xdb	_asm	_emit	0xf7
+	#define FCOMIP_ST7	_asm	_emit	0xdf	_asm	_emit	0xf7
+	#define FCMOVB_ST7	_asm	_emit	0xda	_asm	_emit	0xc7
+	#define FCMOVNB_ST7	_asm	_emit	0xdb	_asm	_emit	0xc7
+
+	//! A global function to find MAX(a,b) using FCOMI/FCMOV
+	inline_ float FCMax2(float a, float b)
+	{
+		return (a > b) ? a : b;
+	}
+
+	//! A global function to find MIN(a,b) using FCOMI/FCMOV
+	inline_ float FCMin2(float a, float b)
+	{
+		return (a < b) ? a : b;
+	}
+
+	//! A global function to find MAX(a,b,c) using FCOMI/FCMOV
+	inline_ float FCMax3(float a, float b, float c)
+	{
+		return (a > b) ? ((a > c) ? a : c) : ((b > c) ? b : c);
+	}
+
+	//! A global function to find MIN(a,b,c) using FCOMI/FCMOV
+	inline_ float FCMin3(float a, float b, float c)
+	{
+		return (a < b) ? ((a < c) ? a : c) : ((b < c) ? b : c);
+	}
+
+	inline_ int ConvertToSortable(float f)
+	{
+		int Fi = SIR(f);
+		int Fmask = (Fi>>31);
+		Fi ^= Fmask;
+		Fmask &= ~(1<<31);
+		Fi -= Fmask;
+		return Fi;
+	}
+
+	enum FPUMode
+	{
+		FPU_FLOOR		= 0,
+		FPU_CEIL		= 1,
+		FPU_BEST		= 2,
+
+		FPU_FORCE_DWORD	= 0x7fffffff
+	};
+
+	FUNCTION ICECORE_API FPUMode	GetFPUMode();
+	FUNCTION ICECORE_API void		SaveFPU();
+	FUNCTION ICECORE_API void		RestoreFPU();
+	FUNCTION ICECORE_API void		SetFPUFloorMode();
+	FUNCTION ICECORE_API void		SetFPUCeilMode();
+	FUNCTION ICECORE_API void		SetFPUBestMode();
+
+	FUNCTION ICECORE_API void		SetFPUPrecision24();
+	FUNCTION ICECORE_API void		SetFPUPrecision53();
+	FUNCTION ICECORE_API void		SetFPUPrecision64();
+	FUNCTION ICECORE_API void		SetFPURoundingChop();
+	FUNCTION ICECORE_API void		SetFPURoundingUp();
+	FUNCTION ICECORE_API void		SetFPURoundingDown();
+	FUNCTION ICECORE_API void		SetFPURoundingNear();
+
+	FUNCTION ICECORE_API int		intChop(const float& f);
+	FUNCTION ICECORE_API int		intFloor(const float& f);
+	FUNCTION ICECORE_API int		intCeil(const float& f);
+
+#endif // __ICEFPU_H__