Reorganize library code into `libs/` (#3119)

* Reorganize files into libs/{dolphin,JSystem,PowerPC_EABI_Support,revolution,TRK_MINNOW_DOLPHIN}

* Update configure.py and project.py for new libs structure

* Refactor `#include <dolphin/x.h>` -> `<x.h>`

* Remove `__REVOLUTION_SDK__` forwards from dolphin

* Fix dolphin/ references in revolution

* Wrap `#include <dolphin.h>` in `!__REVOLUTION_SDK__`

* Always build TRK against dolphin headers

* Resolve revolution SDK header resolution issues

1 files changed, 126 insertions, 0 deletions

diff --git a/libs/JSystem/src/JMath/JMath.cpp b/libs/JSystem/src/JMath/JMath.cpp
new file mode 100644
index 0000000000..40ba07e463
--- /dev/null
+++ b/libs/JSystem/src/JMath/JMath.cpp
@@ -0,0 +1,126 @@
+#include "JSystem/JSystem.h" // IWYU pragma: keep
+
+#include "JSystem/JMath/JMath.h"
+#include "JSystem/JMath/JMATrigonometric.h"
+
+void JMAEulerToQuat(s16 x, s16 y, s16 z, Quaternion* quat) {
+    f32 cosX = JMASCos(x / 2);
+    f32 cosY = JMASCos(y / 2);
+    f32 cosZ = JMASCos(z / 2);
+    f32 sinX = JMASSin(x / 2);
+    f32 sinY = JMASSin(y / 2);
+    f32 sinZ = JMASSin(z / 2);
+
+    f32 cyz = cosY * cosZ;
+    f32 syz = sinY * sinZ;
+    quat->w = cosX * (cyz) + sinX * (syz);
+    quat->x = sinX * (cyz)-cosX * (syz);
+    quat->y = cosZ * (cosX * sinY) + sinZ * (sinX * cosY);
+    quat->z = sinZ * (cosX * cosY) - cosZ * (sinX * sinY);
+}
+
+void JMAQuatLerp(__REGISTER const Quaternion* p, __REGISTER const Quaternion* q, f32 t,
+                 Quaternion* dst) {
+    __REGISTER f32 pxy, pzw, qxy, qzw;
+    __REGISTER f32 dp;
+
+#ifdef __MWERKS__ // clang-format off    
+    // compute dot product
+    asm {
+        psq_l       pxy, 0(p), 0, 0
+        psq_l       qxy, 0(q), 0, 0
+        ps_mul      dp, pxy, qxy
+        
+        psq_l       pzw, 8(p), 0, 0
+        psq_l       qzw, 8(q), 0, 0
+        ps_madd     dp, pzw, qzw, dp
+        
+        ps_sum0     dp, dp, dp, dp
+    }
+#endif // clang-format on
+    f32 local_78 = dp;
+    if (local_78 < 0.0) {
+        int unused;
+        dst->x = -t * (p->x + q->x) + p->x;
+        dst->y = -t * (p->y + q->y) + p->y;
+        dst->z = -t * (p->z + q->z) + p->z;
+        dst->w = -t * (p->w + q->w) + p->w;
+    } else {
+        dst->x = -t * (p->x - q->x) + p->x;
+        dst->y = -t * (p->y - q->y) + p->y;
+        dst->z = -t * (p->z - q->z) + p->z;
+        dst->w = -t * (p->w - q->w) + p->w;
+    }
+}
+
+void JMAFastVECNormalize(__REGISTER const Vec* src, __REGISTER Vec* dst) {
+    __REGISTER f32 vxy, rxy, vz, length;
+#ifdef __MWERKS__  // clang-format off
+	asm {
+		psq_l vxy, 0(src), 0, 0
+		ps_mul rxy, vxy, vxy
+		lfs vz, src->z
+		ps_madd length, vz, vz, rxy
+		ps_sum0 length, length, rxy, rxy
+		frsqrte length, length
+		ps_muls0 vxy, vxy, length;
+		psq_st vxy, 0(dst), 0, 0
+		fmuls vz, vz, length
+		stfs vz, dst->z
+	}
+#endif  // clang-format on
+}
+
+void JMAVECScaleAdd(__REGISTER const Vec* vec1, __REGISTER const Vec* vec2, __REGISTER Vec* dst,
+                    __REGISTER f32 scale) {
+    __REGISTER f32 v1xy;
+    __REGISTER f32 v2xy;
+    __REGISTER f32 rxy, v1z, v2z, rz;
+#ifdef __MWERKS__  // clang-format off
+	asm {
+        psq_l v1xy, 0(vec1), 0, 0
+        psq_l v2xy, 0(vec2), 0, 0
+        ps_madds0 rxy, v1xy, scale, v2xy
+        psq_st rxy, 0(dst), 0, 0
+
+        psq_l v1z, 8(vec1), 1, 0
+        psq_l v2z, 8(vec2), 1, 0
+        ps_madds0 rz, v1z,  scale, v2z
+        psq_st rz, 8(dst), 1, 0
+	}
+#endif  // clang-format on
+}
+
+void JMAMTXApplyScale(__REGISTER const Mtx src, __REGISTER Mtx dst, __REGISTER f32 xScale,
+                      __REGISTER f32 yScale, __REGISTER f32 zScale) {
+    __REGISTER f32 scale = yScale;
+    __REGISTER f32 x, y, z;
+    __REGISTER f32 normal = 1.0f;
+#ifdef __MWERKS__  // clang-format off
+    asm {
+        // scale first 2 components
+        ps_merge00 scale, xScale, scale
+        psq_l x, 0(src), 0, 0
+        psq_l y, 16(src), 0, 0
+        psq_l z, 32(src), 0, 0
+        ps_mul x, x, scale
+        ps_mul y, y, scale
+        ps_mul z, z, scale
+        psq_st x, 0(dst), 0, 0
+        psq_st y, 16(dst), 0, 0
+        psq_st z, 32(dst), 0, 0
+
+        // scale last 2 components
+        ps_merge00 scale, zScale, normal
+        psq_l x, 8(src), 0, 0
+        psq_l y, 24(src), 0, 0
+        psq_l z, 40(src), 0, 0
+        ps_mul x, x, scale
+        ps_mul y, y, scale
+        ps_mul z, z, scale
+        psq_st x, 8(dst), 0, 0
+        psq_st y, 24(dst), 0, 0
+        psq_st z, 40(dst), 0, 0
+    }
+#endif  // clang-format on
+}