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Diffstat (limited to 'thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h | 302 |
1 files changed, 0 insertions, 302 deletions
diff --git a/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h b/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h deleted file mode 100644 index 0049317d98..0000000000 --- a/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h +++ /dev/null @@ -1,302 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_SOLVER_BODY_H -#define B3_SOLVER_BODY_H - - -#include "Bullet3Common/b3Vector3.h" -#include "Bullet3Common/b3Matrix3x3.h" - -#include "Bullet3Common/b3AlignedAllocator.h" -#include "Bullet3Common/b3TransformUtil.h" - -///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision -#ifdef B3_USE_SSE -#define USE_SIMD 1 -#endif // - - -#ifdef USE_SIMD - -struct b3SimdScalar -{ - B3_FORCE_INLINE b3SimdScalar() - { - - } - - B3_FORCE_INLINE b3SimdScalar(float fl) - :m_vec128 (_mm_set1_ps(fl)) - { - } - - B3_FORCE_INLINE b3SimdScalar(__m128 v128) - :m_vec128(v128) - { - } - union - { - __m128 m_vec128; - float m_floats[4]; - float x,y,z,w; - int m_ints[4]; - b3Scalar m_unusedPadding; - }; - B3_FORCE_INLINE __m128 get128() - { - return m_vec128; - } - - B3_FORCE_INLINE const __m128 get128() const - { - return m_vec128; - } - - B3_FORCE_INLINE void set128(__m128 v128) - { - m_vec128 = v128; - } - - B3_FORCE_INLINE operator __m128() - { - return m_vec128; - } - B3_FORCE_INLINE operator const __m128() const - { - return m_vec128; - } - - B3_FORCE_INLINE operator float() const - { - return m_floats[0]; - } - -}; - -///@brief Return the elementwise product of two b3SimdScalar -B3_FORCE_INLINE b3SimdScalar -operator*(const b3SimdScalar& v1, const b3SimdScalar& v2) -{ - return b3SimdScalar(_mm_mul_ps(v1.get128(),v2.get128())); -} - -///@brief Return the elementwise product of two b3SimdScalar -B3_FORCE_INLINE b3SimdScalar -operator+(const b3SimdScalar& v1, const b3SimdScalar& v2) -{ - return b3SimdScalar(_mm_add_ps(v1.get128(),v2.get128())); -} - - -#else -#define b3SimdScalar b3Scalar -#endif - -///The b3SolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance. -B3_ATTRIBUTE_ALIGNED16 (struct) b3SolverBody -{ - B3_DECLARE_ALIGNED_ALLOCATOR(); - b3Transform m_worldTransform; - b3Vector3 m_deltaLinearVelocity; - b3Vector3 m_deltaAngularVelocity; - b3Vector3 m_angularFactor; - b3Vector3 m_linearFactor; - b3Vector3 m_invMass; - b3Vector3 m_pushVelocity; - b3Vector3 m_turnVelocity; - b3Vector3 m_linearVelocity; - b3Vector3 m_angularVelocity; - - union - { - void* m_originalBody; - int m_originalBodyIndex; - }; - - int padding[3]; - - - void setWorldTransform(const b3Transform& worldTransform) - { - m_worldTransform = worldTransform; - } - - const b3Transform& getWorldTransform() const - { - return m_worldTransform; - } - - B3_FORCE_INLINE void getVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity ) const - { - if (m_originalBody) - velocity = m_linearVelocity+m_deltaLinearVelocity + (m_angularVelocity+m_deltaAngularVelocity).cross(rel_pos); - else - velocity.setValue(0,0,0); - } - - B3_FORCE_INLINE void getAngularVelocity(b3Vector3& angVel) const - { - if (m_originalBody) - angVel =m_angularVelocity+m_deltaAngularVelocity; - else - angVel.setValue(0,0,0); - } - - - //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position - B3_FORCE_INLINE void applyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent,const b3Scalar impulseMagnitude) - { - if (m_originalBody) - { - m_deltaLinearVelocity += linearComponent*impulseMagnitude*m_linearFactor; - m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor); - } - } - - B3_FORCE_INLINE void internalApplyPushImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent,b3Scalar impulseMagnitude) - { - if (m_originalBody) - { - m_pushVelocity += linearComponent*impulseMagnitude*m_linearFactor; - m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor); - } - } - - - - const b3Vector3& getDeltaLinearVelocity() const - { - return m_deltaLinearVelocity; - } - - const b3Vector3& getDeltaAngularVelocity() const - { - return m_deltaAngularVelocity; - } - - const b3Vector3& getPushVelocity() const - { - return m_pushVelocity; - } - - const b3Vector3& getTurnVelocity() const - { - return m_turnVelocity; - } - - - //////////////////////////////////////////////// - ///some internal methods, don't use them - - b3Vector3& internalGetDeltaLinearVelocity() - { - return m_deltaLinearVelocity; - } - - b3Vector3& internalGetDeltaAngularVelocity() - { - return m_deltaAngularVelocity; - } - - const b3Vector3& internalGetAngularFactor() const - { - return m_angularFactor; - } - - const b3Vector3& internalGetInvMass() const - { - return m_invMass; - } - - void internalSetInvMass(const b3Vector3& invMass) - { - m_invMass = invMass; - } - - b3Vector3& internalGetPushVelocity() - { - return m_pushVelocity; - } - - b3Vector3& internalGetTurnVelocity() - { - return m_turnVelocity; - } - - B3_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity ) const - { - velocity = m_linearVelocity+m_deltaLinearVelocity + (m_angularVelocity+m_deltaAngularVelocity).cross(rel_pos); - } - - B3_FORCE_INLINE void internalGetAngularVelocity(b3Vector3& angVel) const - { - angVel = m_angularVelocity+m_deltaAngularVelocity; - } - - - //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position - B3_FORCE_INLINE void internalApplyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent,const b3Scalar impulseMagnitude) - { - //if (m_originalBody) - { - m_deltaLinearVelocity += linearComponent*impulseMagnitude*m_linearFactor; - m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor); - } - } - - - - - void writebackVelocity() - { - //if (m_originalBody>=0) - { - m_linearVelocity +=m_deltaLinearVelocity; - m_angularVelocity += m_deltaAngularVelocity; - - //m_originalBody->setCompanionId(-1); - } - } - - - void writebackVelocityAndTransform(b3Scalar timeStep, b3Scalar splitImpulseTurnErp) - { - (void) timeStep; - if (m_originalBody) - { - m_linearVelocity += m_deltaLinearVelocity; - m_angularVelocity += m_deltaAngularVelocity; - - //correct the position/orientation based on push/turn recovery - b3Transform newTransform; - if (m_pushVelocity[0]!=0.f || m_pushVelocity[1]!=0 || m_pushVelocity[2]!=0 || m_turnVelocity[0]!=0.f || m_turnVelocity[1]!=0 || m_turnVelocity[2]!=0) - { - // b3Quaternion orn = m_worldTransform.getRotation(); - b3TransformUtil::integrateTransform(m_worldTransform,m_pushVelocity,m_turnVelocity*splitImpulseTurnErp,timeStep,newTransform); - m_worldTransform = newTransform; - } - //m_worldTransform.setRotation(orn); - //m_originalBody->setCompanionId(-1); - } - } - - - -}; - -#endif //B3_SOLVER_BODY_H - - |