diff options
Diffstat (limited to 'thirdparty/bullet/src/LinearMath')
42 files changed, 19481 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/LinearMath/CMakeLists.txt b/thirdparty/bullet/src/LinearMath/CMakeLists.txt new file mode 100644 index 0000000000..ede21d9a70 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/CMakeLists.txt @@ -0,0 +1,75 @@ + +INCLUDE_DIRECTORIES( + ${BULLET_PHYSICS_SOURCE_DIR}/src +) + +SET(LinearMath_SRCS + btAlignedAllocator.cpp + btConvexHull.cpp + btConvexHullComputer.cpp + btGeometryUtil.cpp + btPolarDecomposition.cpp + btQuickprof.cpp + btSerializer.cpp + btSerializer64.cpp + btThreads.cpp + btVector3.cpp +) + +SET(LinearMath_HDRS + btAabbUtil2.h + btAlignedAllocator.h + btAlignedObjectArray.h + btConvexHull.h + btConvexHullComputer.h + btDefaultMotionState.h + btGeometryUtil.h + btGrahamScan2dConvexHull.h + btHashMap.h + btIDebugDraw.h + btList.h + btMatrix3x3.h + btMinMax.h + btMotionState.h + btPolarDecomposition.h + btPoolAllocator.h + btQuadWord.h + btQuaternion.h + btQuickprof.h + btRandom.h + btScalar.h + btSerializer.h + btStackAlloc.h + btThreads.h + btTransform.h + btTransformUtil.h + btVector3.h +) + +ADD_LIBRARY(LinearMath ${LinearMath_SRCS} ${LinearMath_HDRS}) +SET_TARGET_PROPERTIES(LinearMath PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(LinearMath PROPERTIES SOVERSION ${BULLET_VERSION}) + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + #FILES_MATCHING requires CMake 2.6 + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS LinearMath DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS LinearMath + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${LIB_SUFFIX} + ARCHIVE DESTINATION lib${LIB_SUFFIX}) + INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} +DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN +".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE) + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(LinearMath PROPERTIES FRAMEWORK true) + SET_TARGET_PROPERTIES(LinearMath PROPERTIES PUBLIC_HEADER "${LinearMath_HDRS}") + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/thirdparty/bullet/src/LinearMath/btAabbUtil2.h b/thirdparty/bullet/src/LinearMath/btAabbUtil2.h new file mode 100644 index 0000000000..d2997b4e65 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btAabbUtil2.h @@ -0,0 +1,232 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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 BT_AABB_UTIL2 +#define BT_AABB_UTIL2 + +#include "btTransform.h" +#include "btVector3.h" +#include "btMinMax.h" + + + +SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin, + btVector3& aabbMax, + const btVector3& expansionMin, + const btVector3& expansionMax) +{ + aabbMin = aabbMin + expansionMin; + aabbMax = aabbMax + expansionMax; +} + +/// conservative test for overlap between two aabbs +SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, + const btVector3 &point) +{ + bool overlap = true; + overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap; + overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap; + overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap; + return overlap; +} + + +/// conservative test for overlap between two aabbs +SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, + const btVector3 &aabbMin2, const btVector3 &aabbMax2) +{ + bool overlap = true; + overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap; + overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap; + overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap; + return overlap; +} + +/// conservative test for overlap between triangle and aabb +SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3 *vertices, + const btVector3 &aabbMin, const btVector3 &aabbMax) +{ + const btVector3 &p1 = vertices[0]; + const btVector3 &p2 = vertices[1]; + const btVector3 &p3 = vertices[2]; + + if (btMin(btMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false; + if (btMax(btMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false; + + if (btMin(btMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false; + if (btMax(btMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false; + + if (btMin(btMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false; + if (btMax(btMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false; + return true; +} + + +SIMD_FORCE_INLINE int btOutcode(const btVector3& p,const btVector3& halfExtent) +{ + return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) | + (p.getX() > halfExtent.getX() ? 0x08 : 0x0) | + (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) | + (p.getY() > halfExtent.getY() ? 0x10 : 0x0) | + (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) | + (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0); +} + + + +SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom, + const btVector3& rayInvDirection, + const unsigned int raySign[3], + const btVector3 bounds[2], + btScalar& tmin, + btScalar lambda_min, + btScalar lambda_max) +{ + btScalar tmax, tymin, tymax, tzmin, tzmax; + tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX(); + tmax = (bounds[1-raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX(); + tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY(); + tymax = (bounds[1-raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY(); + + if ( (tmin > tymax) || (tymin > tmax) ) + return false; + + if (tymin > tmin) + tmin = tymin; + + if (tymax < tmax) + tmax = tymax; + + tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ(); + tzmax = (bounds[1-raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ(); + + if ( (tmin > tzmax) || (tzmin > tmax) ) + return false; + if (tzmin > tmin) + tmin = tzmin; + if (tzmax < tmax) + tmax = tzmax; + return ( (tmin < lambda_max) && (tmax > lambda_min) ); +} + +SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, + const btVector3& rayTo, + const btVector3& aabbMin, + const btVector3& aabbMax, + btScalar& param, btVector3& normal) +{ + btVector3 aabbHalfExtent = (aabbMax-aabbMin)* btScalar(0.5); + btVector3 aabbCenter = (aabbMax+aabbMin)* btScalar(0.5); + btVector3 source = rayFrom - aabbCenter; + btVector3 target = rayTo - aabbCenter; + int sourceOutcode = btOutcode(source,aabbHalfExtent); + int targetOutcode = btOutcode(target,aabbHalfExtent); + if ((sourceOutcode & targetOutcode) == 0x0) + { + btScalar lambda_enter = btScalar(0.0); + btScalar lambda_exit = param; + btVector3 r = target - source; + int i; + btScalar normSign = 1; + btVector3 hitNormal(0,0,0); + int bit=1; + + for (int j=0;j<2;j++) + { + for (i = 0; i != 3; ++i) + { + if (sourceOutcode & bit) + { + btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i]; + if (lambda_enter <= lambda) + { + lambda_enter = lambda; + hitNormal.setValue(0,0,0); + hitNormal[i] = normSign; + } + } + else if (targetOutcode & bit) + { + btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i]; + btSetMin(lambda_exit, lambda); + } + bit<<=1; + } + normSign = btScalar(-1.); + } + if (lambda_enter <= lambda_exit) + { + param = lambda_enter; + normal = hitNormal; + return true; + } + } + return false; +} + + + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin,const btTransform& t,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin); + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = halfExtentsWithMargin.dot3( abs_b[0], abs_b[1], abs_b[2] ); + aabbMinOut = center - extent; + aabbMaxOut = center + extent; +} + + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin,const btVector3& localAabbMax, btScalar margin,const btTransform& trans,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btAssert(localAabbMin.getX() <= localAabbMax.getX()); + btAssert(localAabbMin.getY() <= localAabbMax.getY()); + btAssert(localAabbMin.getZ() <= localAabbMax.getZ()); + btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin); + localHalfExtents+=btVector3(margin,margin,margin); + + btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin); + btMatrix3x3 abs_b = trans.getBasis().absolute(); + btVector3 center = trans(localCenter); + btVector3 extent = localHalfExtents.dot3( abs_b[0], abs_b[1], abs_b[2] ); + aabbMinOut = center-extent; + aabbMaxOut = center+extent; +} + +#define USE_BANCHLESS 1 +#ifdef USE_BANCHLESS + //This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360) + SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) + { + return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0]) + & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2]) + & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])), + 1, 0)); + } +#else + SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) + { + bool overlap = true; + overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap; + overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap; + overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap; + return overlap; + } +#endif //USE_BANCHLESS + +#endif //BT_AABB_UTIL2 + + diff --git a/thirdparty/bullet/src/LinearMath/btAlignedAllocator.cpp b/thirdparty/bullet/src/LinearMath/btAlignedAllocator.cpp new file mode 100644 index 0000000000..e5f6040c43 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btAlignedAllocator.cpp @@ -0,0 +1,269 @@ +/* +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. +*/ + +#include "btAlignedAllocator.h" + +int gNumAlignedAllocs = 0; +int gNumAlignedFree = 0; +int gTotalBytesAlignedAllocs = 0;//detect memory leaks + +static void *btAllocDefault(size_t size) +{ + return malloc(size); +} + +static void btFreeDefault(void *ptr) +{ + free(ptr); +} + +static btAllocFunc *sAllocFunc = btAllocDefault; +static btFreeFunc *sFreeFunc = btFreeDefault; + + + +#if defined (BT_HAS_ALIGNED_ALLOCATOR) +#include <malloc.h> +static void *btAlignedAllocDefault(size_t size, int alignment) +{ + return _aligned_malloc(size, (size_t)alignment); +} + +static void btAlignedFreeDefault(void *ptr) +{ + _aligned_free(ptr); +} +#elif defined(__CELLOS_LV2__) +#include <stdlib.h> + +static inline void *btAlignedAllocDefault(size_t size, int alignment) +{ + return memalign(alignment, size); +} + +static inline void btAlignedFreeDefault(void *ptr) +{ + free(ptr); +} +#else + + + + + +static inline void *btAlignedAllocDefault(size_t size, int alignment) +{ + void *ret; + char *real; + real = (char *)sAllocFunc(size + sizeof(void *) + (alignment-1)); + if (real) { + ret = btAlignPointer(real + sizeof(void *),alignment); + *((void **)(ret)-1) = (void *)(real); + } else { + ret = (void *)(real); + } + return (ret); +} + +static inline void btAlignedFreeDefault(void *ptr) +{ + void* real; + + if (ptr) { + real = *((void **)(ptr)-1); + sFreeFunc(real); + } +} +#endif + + +static btAlignedAllocFunc *sAlignedAllocFunc = btAlignedAllocDefault; +static btAlignedFreeFunc *sAlignedFreeFunc = btAlignedFreeDefault; + +void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc) +{ + sAlignedAllocFunc = allocFunc ? allocFunc : btAlignedAllocDefault; + sAlignedFreeFunc = freeFunc ? freeFunc : btAlignedFreeDefault; +} + +void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc) +{ + sAllocFunc = allocFunc ? allocFunc : btAllocDefault; + sFreeFunc = freeFunc ? freeFunc : btFreeDefault; +} + +#ifdef BT_DEBUG_MEMORY_ALLOCATIONS + +static int allocations_id[10241024]; +static int allocations_bytes[10241024]; +static int mynumallocs = 0; +#include <stdio.h> + +int btDumpMemoryLeaks() +{ + int totalLeak = 0; + + for (int i=0;i<mynumallocs;i++) + { + printf("Error: leaked memory of allocation #%d (%d bytes)\n", allocations_id[i], allocations_bytes[i]); + totalLeak+=allocations_bytes[i]; + } + if (totalLeak) + { + printf("Error: memory leaks: %d allocations were not freed and leaked together %d bytes\n",mynumallocs,totalLeak); + } + return totalLeak; +} +//this generic allocator provides the total allocated number of bytes +#include <stdio.h> + +struct btDebugPtrMagic +{ + union + { + void** vptrptr; + void* vptr; + int* iptr; + char* cptr; + }; +}; + + +void* btAlignedAllocInternal (size_t size, int alignment,int line,char* filename) +{ + if (size==0) + { + printf("Whaat? size==0"); + return 0; + } + static int allocId = 0; + + void *ret; + char *real; + +// to find some particular memory leak, you could do something like this: +// if (allocId==172) +// { +// printf("catch me!\n"); +// } +// if (size>1024*1024) +// { +// printf("big alloc!%d\n", size); +// } + + gTotalBytesAlignedAllocs += size; + gNumAlignedAllocs++; + + +int sz4prt = 4*sizeof(void *); + + real = (char *)sAllocFunc(size + sz4prt + (alignment-1)); + if (real) { + + ret = (void*) btAlignPointer(real + sz4prt, alignment); + btDebugPtrMagic p; + p.vptr = ret; + p.cptr-=sizeof(void*); + *p.vptrptr = (void*)real; + p.cptr-=sizeof(void*); + *p.iptr = size; + p.cptr-=sizeof(void*); + *p.iptr = allocId; + + allocations_id[mynumallocs] = allocId; + allocations_bytes[mynumallocs] = size; + mynumallocs++; + + } else { + ret = (void *)(real);//?? + } + + printf("allocation %d at address %x, from %s,line %d, size %d (total allocated = %d)\n",allocId,real, filename,line,size,gTotalBytesAlignedAllocs); + allocId++; + + int* ptr = (int*)ret; + *ptr = 12; + return (ret); +} + +void btAlignedFreeInternal (void* ptr,int line,char* filename) +{ + + void* real; + + if (ptr) { + gNumAlignedFree++; + + btDebugPtrMagic p; + p.vptr = ptr; + p.cptr-=sizeof(void*); + real = *p.vptrptr; + p.cptr-=sizeof(void*); + int size = *p.iptr; + p.cptr-=sizeof(void*); + int allocId = *p.iptr; + + bool found = false; + + for (int i=0;i<mynumallocs;i++) + { + if ( allocations_id[i] == allocId) + { + allocations_id[i] = allocations_id[mynumallocs-1]; + allocations_bytes[i] = allocations_bytes[mynumallocs-1]; + mynumallocs--; + found = true; + break; + } + } + + + gTotalBytesAlignedAllocs -= size; + + int diff = gNumAlignedAllocs-gNumAlignedFree; + printf("free %d at address %x, from %s,line %d, size %d (total remain = %d in %d non-freed allocations)\n",allocId,real, filename,line,size, gTotalBytesAlignedAllocs, diff); + + sFreeFunc(real); + } else + { + //printf("deleting a NULL ptr, no effect\n"); + } +} + +#else //BT_DEBUG_MEMORY_ALLOCATIONS + +void* btAlignedAllocInternal (size_t size, int alignment) +{ + gNumAlignedAllocs++; + void* ptr; + ptr = sAlignedAllocFunc(size, alignment); +// printf("btAlignedAllocInternal %d, %x\n",size,ptr); + return ptr; +} + +void btAlignedFreeInternal (void* ptr) +{ + if (!ptr) + { + return; + } + + gNumAlignedFree++; +// printf("btAlignedFreeInternal %x\n",ptr); + sAlignedFreeFunc(ptr); +} + +#endif //BT_DEBUG_MEMORY_ALLOCATIONS + diff --git a/thirdparty/bullet/src/LinearMath/btAlignedAllocator.h b/thirdparty/bullet/src/LinearMath/btAlignedAllocator.h new file mode 100644 index 0000000000..9873b338d9 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btAlignedAllocator.h @@ -0,0 +1,113 @@ +/* +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 BT_ALIGNED_ALLOCATOR +#define BT_ALIGNED_ALLOCATOR + +///we probably replace this with our own aligned memory allocator +///so we replace _aligned_malloc and _aligned_free with our own +///that is better portable and more predictable + +#include "btScalar.h" + + +///BT_DEBUG_MEMORY_ALLOCATIONS preprocessor can be set in build system +///for regression tests to detect memory leaks +///#define BT_DEBUG_MEMORY_ALLOCATIONS 1 +#ifdef BT_DEBUG_MEMORY_ALLOCATIONS + +int btDumpMemoryLeaks(); + +#define btAlignedAlloc(a,b) \ + btAlignedAllocInternal(a,b,__LINE__,__FILE__) + +#define btAlignedFree(ptr) \ + btAlignedFreeInternal(ptr,__LINE__,__FILE__) + +void* btAlignedAllocInternal (size_t size, int alignment,int line,char* filename); + +void btAlignedFreeInternal (void* ptr,int line,char* filename); + +#else + void* btAlignedAllocInternal (size_t size, int alignment); + void btAlignedFreeInternal (void* ptr); + + #define btAlignedAlloc(size,alignment) btAlignedAllocInternal(size,alignment) + #define btAlignedFree(ptr) btAlignedFreeInternal(ptr) + +#endif +typedef int size_type; + +typedef void *(btAlignedAllocFunc)(size_t size, int alignment); +typedef void (btAlignedFreeFunc)(void *memblock); +typedef void *(btAllocFunc)(size_t size); +typedef void (btFreeFunc)(void *memblock); + +///The developer can let all Bullet memory allocations go through a custom memory allocator, using btAlignedAllocSetCustom +void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc); +///If the developer has already an custom aligned allocator, then btAlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it. +void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc); + + +///The btAlignedAllocator is a portable class for aligned memory allocations. +///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using btAlignedAllocSetCustom and btAlignedAllocSetCustomAligned. +template < typename T , unsigned Alignment > +class btAlignedAllocator { + + typedef btAlignedAllocator< T , Alignment > self_type; + +public: + + //just going down a list: + btAlignedAllocator() {} + /* + btAlignedAllocator( const self_type & ) {} + */ + + template < typename Other > + btAlignedAllocator( const btAlignedAllocator< Other , Alignment > & ) {} + + typedef const T* const_pointer; + typedef const T& const_reference; + typedef T* pointer; + typedef T& reference; + typedef T value_type; + + pointer address ( reference ref ) const { return &ref; } + const_pointer address ( const_reference ref ) const { return &ref; } + pointer allocate ( size_type n , const_pointer * hint = 0 ) { + (void)hint; + return reinterpret_cast< pointer >(btAlignedAlloc( sizeof(value_type) * n , Alignment )); + } + void construct ( pointer ptr , const value_type & value ) { new (ptr) value_type( value ); } + void deallocate( pointer ptr ) { + btAlignedFree( reinterpret_cast< void * >( ptr ) ); + } + void destroy ( pointer ptr ) { ptr->~value_type(); } + + + template < typename O > struct rebind { + typedef btAlignedAllocator< O , Alignment > other; + }; + template < typename O > + self_type & operator=( const btAlignedAllocator< O , Alignment > & ) { return *this; } + + friend bool operator==( const self_type & , const self_type & ) { return true; } +}; + + + +#endif //BT_ALIGNED_ALLOCATOR + diff --git a/thirdparty/bullet/src/LinearMath/btAlignedObjectArray.h b/thirdparty/bullet/src/LinearMath/btAlignedObjectArray.h new file mode 100644 index 0000000000..f0b646529a --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btAlignedObjectArray.h @@ -0,0 +1,530 @@ +/* +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 BT_OBJECT_ARRAY__ +#define BT_OBJECT_ARRAY__ + +#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE +#include "btAlignedAllocator.h" + +///If the platform doesn't support placement new, you can disable BT_USE_PLACEMENT_NEW +///then the btAlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors +///You can enable BT_USE_MEMCPY, then swapping elements in the array will use memcpy instead of operator= +///see discussion here: http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1231 and +///http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1240 + +#define BT_USE_PLACEMENT_NEW 1 +//#define BT_USE_MEMCPY 1 //disable, because it is cumbersome to find out for each platform where memcpy is defined. It can be in <memory.h> or <string.h> or otherwise... +#define BT_ALLOW_ARRAY_COPY_OPERATOR // enabling this can accidently perform deep copies of data if you are not careful + +#ifdef BT_USE_MEMCPY +#include <memory.h> +#include <string.h> +#endif //BT_USE_MEMCPY + +#ifdef BT_USE_PLACEMENT_NEW +#include <new> //for placement new +#endif //BT_USE_PLACEMENT_NEW + +// The register keyword is deprecated in C++11 so don't use it. +#if __cplusplus > 199711L +#define BT_REGISTER +#else +#define BT_REGISTER register +#endif + +///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods +///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data +template <typename T> +//template <class T> +class btAlignedObjectArray +{ + btAlignedAllocator<T , 16> m_allocator; + + int m_size; + int m_capacity; + T* m_data; + //PCK: added this line + bool m_ownsMemory; + +#ifdef BT_ALLOW_ARRAY_COPY_OPERATOR +public: + SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T> &other) + { + copyFromArray(other); + return *this; + } +#else//BT_ALLOW_ARRAY_COPY_OPERATOR +private: + SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T> &other); +#endif//BT_ALLOW_ARRAY_COPY_OPERATOR + +protected: + SIMD_FORCE_INLINE int allocSize(int size) + { + return (size ? size*2 : 1); + } + SIMD_FORCE_INLINE void copy(int start,int end, T* dest) const + { + int i; + for (i=start;i<end;++i) +#ifdef BT_USE_PLACEMENT_NEW + new (&dest[i]) T(m_data[i]); +#else + dest[i] = m_data[i]; +#endif //BT_USE_PLACEMENT_NEW + } + + SIMD_FORCE_INLINE void init() + { + //PCK: added this line + m_ownsMemory = true; + m_data = 0; + m_size = 0; + m_capacity = 0; + } + SIMD_FORCE_INLINE void destroy(int first,int last) + { + int i; + for (i=first; i<last;i++) + { + m_data[i].~T(); + } + } + + SIMD_FORCE_INLINE void* allocate(int size) + { + if (size) + return m_allocator.allocate(size); + return 0; + } + + SIMD_FORCE_INLINE void deallocate() + { + if(m_data) { + //PCK: enclosed the deallocation in this block + if (m_ownsMemory) + { + m_allocator.deallocate(m_data); + } + m_data = 0; + } + } + + + + + public: + + btAlignedObjectArray() + { + init(); + } + + ~btAlignedObjectArray() + { + clear(); + } + + ///Generally it is best to avoid using the copy constructor of an btAlignedObjectArray, and use a (const) reference to the array instead. + btAlignedObjectArray(const btAlignedObjectArray& otherArray) + { + init(); + + int otherSize = otherArray.size(); + resize (otherSize); + otherArray.copy(0, otherSize, m_data); + } + + + + /// return the number of elements in the array + SIMD_FORCE_INLINE int size() const + { + return m_size; + } + + SIMD_FORCE_INLINE const T& at(int n) const + { + btAssert(n>=0); + btAssert(n<size()); + return m_data[n]; + } + + SIMD_FORCE_INLINE T& at(int n) + { + btAssert(n>=0); + btAssert(n<size()); + return m_data[n]; + } + + SIMD_FORCE_INLINE const T& operator[](int n) const + { + btAssert(n>=0); + btAssert(n<size()); + return m_data[n]; + } + + SIMD_FORCE_INLINE T& operator[](int n) + { + btAssert(n>=0); + btAssert(n<size()); + return m_data[n]; + } + + + ///clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations. + SIMD_FORCE_INLINE void clear() + { + destroy(0,size()); + + deallocate(); + + init(); + } + + SIMD_FORCE_INLINE void pop_back() + { + btAssert(m_size>0); + m_size--; + m_data[m_size].~T(); + } + + + ///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument. + ///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations. + SIMD_FORCE_INLINE void resizeNoInitialize(int newsize) + { + if (newsize > size()) + { + reserve(newsize); + } + m_size = newsize; + } + + SIMD_FORCE_INLINE void resize(int newsize, const T& fillData=T()) + { + const BT_REGISTER int curSize = size(); + + if (newsize < curSize) + { + for(int i = newsize; i < curSize; i++) + { + m_data[i].~T(); + } + } else + { + if (newsize > curSize) + { + reserve(newsize); + } +#ifdef BT_USE_PLACEMENT_NEW + for (int i=curSize;i<newsize;i++) + { + new ( &m_data[i]) T(fillData); + } +#endif //BT_USE_PLACEMENT_NEW + + } + + m_size = newsize; + } + SIMD_FORCE_INLINE T& expandNonInitializing( ) + { + const BT_REGISTER int sz = size(); + if( sz == capacity() ) + { + reserve( allocSize(size()) ); + } + m_size++; + + return m_data[sz]; + } + + + SIMD_FORCE_INLINE T& expand( const T& fillValue=T()) + { + const BT_REGISTER int sz = size(); + if( sz == capacity() ) + { + reserve( allocSize(size()) ); + } + m_size++; +#ifdef BT_USE_PLACEMENT_NEW + new (&m_data[sz]) T(fillValue); //use the in-place new (not really allocating heap memory) +#endif + + return m_data[sz]; + } + + + SIMD_FORCE_INLINE void push_back(const T& _Val) + { + const BT_REGISTER int sz = size(); + if( sz == capacity() ) + { + reserve( allocSize(size()) ); + } + +#ifdef BT_USE_PLACEMENT_NEW + new ( &m_data[m_size] ) T(_Val); +#else + m_data[size()] = _Val; +#endif //BT_USE_PLACEMENT_NEW + + m_size++; + } + + + /// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve() + SIMD_FORCE_INLINE int capacity() const + { + return m_capacity; + } + + SIMD_FORCE_INLINE void reserve(int _Count) + { // determine new minimum length of allocated storage + if (capacity() < _Count) + { // not enough room, reallocate + T* s = (T*)allocate(_Count); + + copy(0, size(), s); + + destroy(0,size()); + + deallocate(); + + //PCK: added this line + m_ownsMemory = true; + + m_data = s; + + m_capacity = _Count; + + } + } + + + class less + { + public: + + bool operator() ( const T& a, const T& b ) const + { + return ( a < b ); + } + }; + + + template <typename L> + void quickSortInternal(const L& CompareFunc,int lo, int hi) + { + // lo is the lower index, hi is the upper index + // of the region of array a that is to be sorted + int i=lo, j=hi; + T x=m_data[(lo+hi)/2]; + + // partition + do + { + while (CompareFunc(m_data[i],x)) + i++; + while (CompareFunc(x,m_data[j])) + j--; + if (i<=j) + { + swap(i,j); + i++; j--; + } + } while (i<=j); + + // recursion + if (lo<j) + quickSortInternal( CompareFunc, lo, j); + if (i<hi) + quickSortInternal( CompareFunc, i, hi); + } + + + template <typename L> + void quickSort(const L& CompareFunc) + { + //don't sort 0 or 1 elements + if (size()>1) + { + quickSortInternal(CompareFunc,0,size()-1); + } + } + + + ///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/ + template <typename L> + void downHeap(T *pArr, int k, int n, const L& CompareFunc) + { + /* PRE: a[k+1..N] is a heap */ + /* POST: a[k..N] is a heap */ + + T temp = pArr[k - 1]; + /* k has child(s) */ + while (k <= n/2) + { + int child = 2*k; + + if ((child < n) && CompareFunc(pArr[child - 1] , pArr[child])) + { + child++; + } + /* pick larger child */ + if (CompareFunc(temp , pArr[child - 1])) + { + /* move child up */ + pArr[k - 1] = pArr[child - 1]; + k = child; + } + else + { + break; + } + } + pArr[k - 1] = temp; + } /*downHeap*/ + + void swap(int index0,int index1) + { +#ifdef BT_USE_MEMCPY + char temp[sizeof(T)]; + memcpy(temp,&m_data[index0],sizeof(T)); + memcpy(&m_data[index0],&m_data[index1],sizeof(T)); + memcpy(&m_data[index1],temp,sizeof(T)); +#else + T temp = m_data[index0]; + m_data[index0] = m_data[index1]; + m_data[index1] = temp; +#endif //BT_USE_PLACEMENT_NEW + + } + + template <typename L> + void heapSort(const L& CompareFunc) + { + /* sort a[0..N-1], N.B. 0 to N-1 */ + int k; + int n = m_size; + for (k = n/2; k > 0; k--) + { + downHeap(m_data, k, n, CompareFunc); + } + + /* a[1..N] is now a heap */ + while ( n>=1 ) + { + swap(0,n-1); /* largest of a[0..n-1] */ + + + n = n - 1; + /* restore a[1..i-1] heap */ + downHeap(m_data, 1, n, CompareFunc); + } + } + + ///non-recursive binary search, assumes sorted array + int findBinarySearch(const T& key) const + { + int first = 0; + int last = size()-1; + + //assume sorted array + while (first <= last) { + int mid = (first + last) / 2; // compute mid point. + if (key > m_data[mid]) + first = mid + 1; // repeat search in top half. + else if (key < m_data[mid]) + last = mid - 1; // repeat search in bottom half. + else + return mid; // found it. return position ///// + } + return size(); // failed to find key + } + + + int findLinearSearch(const T& key) const + { + int index=size(); + int i; + + for (i=0;i<size();i++) + { + if (m_data[i] == key) + { + index = i; + break; + } + } + return index; + } + + // If the key is not in the array, return -1 instead of 0, + // since 0 also means the first element in the array. + int findLinearSearch2(const T& key) const + { + int index=-1; + int i; + + for (i=0;i<size();i++) + { + if (m_data[i] == key) + { + index = i; + break; + } + } + return index; + } + + void removeAtIndex(int index) + { + if (index<size()) + { + swap( index,size()-1); + pop_back(); + } + } + void remove(const T& key) + { + int findIndex = findLinearSearch(key); + removeAtIndex(findIndex); + } + + //PCK: whole function + void initializeFromBuffer(void *buffer, int size, int capacity) + { + clear(); + m_ownsMemory = false; + m_data = (T*)buffer; + m_size = size; + m_capacity = capacity; + } + + void copyFromArray(const btAlignedObjectArray& otherArray) + { + int otherSize = otherArray.size(); + resize (otherSize); + otherArray.copy(0, otherSize, m_data); + } + +}; + +#endif //BT_OBJECT_ARRAY__ diff --git a/thirdparty/bullet/src/LinearMath/btConvexHull.cpp b/thirdparty/bullet/src/LinearMath/btConvexHull.cpp new file mode 100644 index 0000000000..f8b79a1aba --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btConvexHull.cpp @@ -0,0 +1,1167 @@ +/* +Stan Melax Convex Hull Computation +Copyright (c) 2003-2006 Stan Melax http://www.melax.com/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include <string.h> + +#include "btConvexHull.h" +#include "btAlignedObjectArray.h" +#include "btMinMax.h" +#include "btVector3.h" + + + + + +//---------------------------------- + +class int3 +{ +public: + int x,y,z; + int3(){}; + int3(int _x,int _y, int _z){x=_x;y=_y;z=_z;} + const int& operator[](int i) const {return (&x)[i];} + int& operator[](int i) {return (&x)[i];} +}; + + +//------- btPlane ---------- + + +inline btPlane PlaneFlip(const btPlane &plane){return btPlane(-plane.normal,-plane.dist);} +inline int operator==( const btPlane &a, const btPlane &b ) { return (a.normal==b.normal && a.dist==b.dist); } +inline int coplanar( const btPlane &a, const btPlane &b ) { return (a==b || a==PlaneFlip(b)); } + + +//--------- Utility Functions ------ + +btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1); +btVector3 PlaneProject(const btPlane &plane, const btVector3 &point); + +btVector3 ThreePlaneIntersection(const btPlane &p0,const btPlane &p1, const btPlane &p2); +btVector3 ThreePlaneIntersection(const btPlane &p0,const btPlane &p1, const btPlane &p2) +{ + btVector3 N1 = p0.normal; + btVector3 N2 = p1.normal; + btVector3 N3 = p2.normal; + + btVector3 n2n3; n2n3 = N2.cross(N3); + btVector3 n3n1; n3n1 = N3.cross(N1); + btVector3 n1n2; n1n2 = N1.cross(N2); + + btScalar quotient = (N1.dot(n2n3)); + + btAssert(btFabs(quotient) > btScalar(0.000001)); + + quotient = btScalar(-1.) / quotient; + n2n3 *= p0.dist; + n3n1 *= p1.dist; + n1n2 *= p2.dist; + btVector3 potentialVertex = n2n3; + potentialVertex += n3n1; + potentialVertex += n1n2; + potentialVertex *= quotient; + + btVector3 result(potentialVertex.getX(),potentialVertex.getY(),potentialVertex.getZ()); + return result; + +} + +btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint=NULL, btVector3 *vpoint=NULL); +btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2); +btVector3 NormalOf(const btVector3 *vert, const int n); + + +btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1) +{ + // returns the point where the line p0-p1 intersects the plane n&d + btVector3 dif; + dif = p1-p0; + btScalar dn= btDot(plane.normal,dif); + btScalar t = -(plane.dist+btDot(plane.normal,p0) )/dn; + return p0 + (dif*t); +} + +btVector3 PlaneProject(const btPlane &plane, const btVector3 &point) +{ + return point - plane.normal * (btDot(point,plane.normal)+plane.dist); +} + +btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) +{ + // return the normal of the triangle + // inscribed by v0, v1, and v2 + btVector3 cp=btCross(v1-v0,v2-v1); + btScalar m=cp.length(); + if(m==0) return btVector3(1,0,0); + return cp*(btScalar(1.0)/m); +} + + +btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint, btVector3 *vpoint) +{ + btVector3 cp; + cp = btCross(udir,vdir).normalized(); + + btScalar distu = -btDot(cp,ustart); + btScalar distv = -btDot(cp,vstart); + btScalar dist = (btScalar)fabs(distu-distv); + if(upoint) + { + btPlane plane; + plane.normal = btCross(vdir,cp).normalized(); + plane.dist = -btDot(plane.normal,vstart); + *upoint = PlaneLineIntersection(plane,ustart,ustart+udir); + } + if(vpoint) + { + btPlane plane; + plane.normal = btCross(udir,cp).normalized(); + plane.dist = -btDot(plane.normal,ustart); + *vpoint = PlaneLineIntersection(plane,vstart,vstart+vdir); + } + return dist; +} + + + + + + + +#define COPLANAR (0) +#define UNDER (1) +#define OVER (2) +#define SPLIT (OVER|UNDER) +#define PAPERWIDTH (btScalar(0.001)) + +btScalar planetestepsilon = PAPERWIDTH; + + + +typedef ConvexH::HalfEdge HalfEdge; + +ConvexH::ConvexH(int vertices_size,int edges_size,int facets_size) +{ + vertices.resize(vertices_size); + edges.resize(edges_size); + facets.resize(facets_size); +} + + +int PlaneTest(const btPlane &p, const btVector3 &v); +int PlaneTest(const btPlane &p, const btVector3 &v) { + btScalar a = btDot(v,p.normal)+p.dist; + int flag = (a>planetestepsilon)?OVER:((a<-planetestepsilon)?UNDER:COPLANAR); + return flag; +} + +int SplitTest(ConvexH &convex,const btPlane &plane); +int SplitTest(ConvexH &convex,const btPlane &plane) { + int flag=0; + for(int i=0;i<convex.vertices.size();i++) { + flag |= PlaneTest(plane,convex.vertices[i]); + } + return flag; +} + +class VertFlag +{ +public: + unsigned char planetest; + unsigned char junk; + unsigned char undermap; + unsigned char overmap; +}; +class EdgeFlag +{ +public: + unsigned char planetest; + unsigned char fixes; + short undermap; + short overmap; +}; +class PlaneFlag +{ +public: + unsigned char undermap; + unsigned char overmap; +}; +class Coplanar{ +public: + unsigned short ea; + unsigned char v0; + unsigned char v1; +}; + + + + + + + + +template<class T> +int maxdirfiltered(const T *p,int count,const T &dir,btAlignedObjectArray<int> &allow) +{ + btAssert(count); + int m=-1; + for(int i=0;i<count;i++) + if(allow[i]) + { + if(m==-1 || btDot(p[i],dir)>btDot(p[m],dir)) + m=i; + } + btAssert(m!=-1); + return m; +} + +btVector3 orth(const btVector3 &v); +btVector3 orth(const btVector3 &v) +{ + btVector3 a=btCross(v,btVector3(0,0,1)); + btVector3 b=btCross(v,btVector3(0,1,0)); + if (a.length() > b.length()) + { + return a.normalized(); + } else { + return b.normalized(); + } +} + + +template<class T> +int maxdirsterid(const T *p,int count,const T &dir,btAlignedObjectArray<int> &allow) +{ + int m=-1; + while(m==-1) + { + m = maxdirfiltered(p,count,dir,allow); + if(allow[m]==3) return m; + T u = orth(dir); + T v = btCross(u,dir); + int ma=-1; + for(btScalar x = btScalar(0.0) ; x<= btScalar(360.0) ; x+= btScalar(45.0)) + { + btScalar s = btSin(SIMD_RADS_PER_DEG*(x)); + btScalar c = btCos(SIMD_RADS_PER_DEG*(x)); + int mb = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow); + if(ma==m && mb==m) + { + allow[m]=3; + return m; + } + if(ma!=-1 && ma!=mb) // Yuck - this is really ugly + { + int mc = ma; + for(btScalar xx = x-btScalar(40.0) ; xx <= x ; xx+= btScalar(5.0)) + { + btScalar s = btSin(SIMD_RADS_PER_DEG*(xx)); + btScalar c = btCos(SIMD_RADS_PER_DEG*(xx)); + int md = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow); + if(mc==m && md==m) + { + allow[m]=3; + return m; + } + mc=md; + } + } + ma=mb; + } + allow[m]=0; + m=-1; + } + btAssert(0); + return m; +} + + + + +int operator ==(const int3 &a,const int3 &b); +int operator ==(const int3 &a,const int3 &b) +{ + for(int i=0;i<3;i++) + { + if(a[i]!=b[i]) return 0; + } + return 1; +} + + +int above(btVector3* vertices,const int3& t, const btVector3 &p, btScalar epsilon); +int above(btVector3* vertices,const int3& t, const btVector3 &p, btScalar epsilon) +{ + btVector3 n=TriNormal(vertices[t[0]],vertices[t[1]],vertices[t[2]]); + return (btDot(n,p-vertices[t[0]]) > epsilon); // EPSILON??? +} +int hasedge(const int3 &t, int a,int b); +int hasedge(const int3 &t, int a,int b) +{ + for(int i=0;i<3;i++) + { + int i1= (i+1)%3; + if(t[i]==a && t[i1]==b) return 1; + } + return 0; +} +int hasvert(const int3 &t, int v); +int hasvert(const int3 &t, int v) +{ + return (t[0]==v || t[1]==v || t[2]==v) ; +} +int shareedge(const int3 &a,const int3 &b); +int shareedge(const int3 &a,const int3 &b) +{ + int i; + for(i=0;i<3;i++) + { + int i1= (i+1)%3; + if(hasedge(a,b[i1],b[i])) return 1; + } + return 0; +} + +class btHullTriangle; + + + +class btHullTriangle : public int3 +{ +public: + int3 n; + int id; + int vmax; + btScalar rise; + btHullTriangle(int a,int b,int c):int3(a,b,c),n(-1,-1,-1) + { + vmax=-1; + rise = btScalar(0.0); + } + ~btHullTriangle() + { + } + int &neib(int a,int b); +}; + + +int &btHullTriangle::neib(int a,int b) +{ + static int er=-1; + int i; + for(i=0;i<3;i++) + { + int i1=(i+1)%3; + int i2=(i+2)%3; + if((*this)[i]==a && (*this)[i1]==b) return n[i2]; + if((*this)[i]==b && (*this)[i1]==a) return n[i2]; + } + btAssert(0); + return er; +} +void HullLibrary::b2bfix(btHullTriangle* s,btHullTriangle*t) +{ + int i; + for(i=0;i<3;i++) + { + int i1=(i+1)%3; + int i2=(i+2)%3; + int a = (*s)[i1]; + int b = (*s)[i2]; + btAssert(m_tris[s->neib(a,b)]->neib(b,a) == s->id); + btAssert(m_tris[t->neib(a,b)]->neib(b,a) == t->id); + m_tris[s->neib(a,b)]->neib(b,a) = t->neib(b,a); + m_tris[t->neib(b,a)]->neib(a,b) = s->neib(a,b); + } +} + +void HullLibrary::removeb2b(btHullTriangle* s,btHullTriangle*t) +{ + b2bfix(s,t); + deAllocateTriangle(s); + + deAllocateTriangle(t); +} + +void HullLibrary::checkit(btHullTriangle *t) +{ + (void)t; + + int i; + btAssert(m_tris[t->id]==t); + for(i=0;i<3;i++) + { + int i1=(i+1)%3; + int i2=(i+2)%3; + int a = (*t)[i1]; + int b = (*t)[i2]; + + // release compile fix + (void)i1; + (void)i2; + (void)a; + (void)b; + + btAssert(a!=b); + btAssert( m_tris[t->n[i]]->neib(b,a) == t->id); + } +} + +btHullTriangle* HullLibrary::allocateTriangle(int a,int b,int c) +{ + void* mem = btAlignedAlloc(sizeof(btHullTriangle),16); + btHullTriangle* tr = new (mem)btHullTriangle(a,b,c); + tr->id = m_tris.size(); + m_tris.push_back(tr); + + return tr; +} + +void HullLibrary::deAllocateTriangle(btHullTriangle* tri) +{ + btAssert(m_tris[tri->id]==tri); + m_tris[tri->id]=NULL; + tri->~btHullTriangle(); + btAlignedFree(tri); +} + + +void HullLibrary::extrude(btHullTriangle *t0,int v) +{ + int3 t= *t0; + int n = m_tris.size(); + btHullTriangle* ta = allocateTriangle(v,t[1],t[2]); + ta->n = int3(t0->n[0],n+1,n+2); + m_tris[t0->n[0]]->neib(t[1],t[2]) = n+0; + btHullTriangle* tb = allocateTriangle(v,t[2],t[0]); + tb->n = int3(t0->n[1],n+2,n+0); + m_tris[t0->n[1]]->neib(t[2],t[0]) = n+1; + btHullTriangle* tc = allocateTriangle(v,t[0],t[1]); + tc->n = int3(t0->n[2],n+0,n+1); + m_tris[t0->n[2]]->neib(t[0],t[1]) = n+2; + checkit(ta); + checkit(tb); + checkit(tc); + if(hasvert(*m_tris[ta->n[0]],v)) removeb2b(ta,m_tris[ta->n[0]]); + if(hasvert(*m_tris[tb->n[0]],v)) removeb2b(tb,m_tris[tb->n[0]]); + if(hasvert(*m_tris[tc->n[0]],v)) removeb2b(tc,m_tris[tc->n[0]]); + deAllocateTriangle(t0); + +} + +btHullTriangle* HullLibrary::extrudable(btScalar epsilon) +{ + int i; + btHullTriangle *t=NULL; + for(i=0;i<m_tris.size();i++) + { + if(!t || (m_tris[i] && t->rise<m_tris[i]->rise)) + { + t = m_tris[i]; + } + } + return (t->rise >epsilon)?t:NULL ; +} + + + + +int4 HullLibrary::FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectArray<int> &allow) +{ + btVector3 basis[3]; + basis[0] = btVector3( btScalar(0.01), btScalar(0.02), btScalar(1.0) ); + int p0 = maxdirsterid(verts,verts_count, basis[0],allow); + int p1 = maxdirsterid(verts,verts_count,-basis[0],allow); + basis[0] = verts[p0]-verts[p1]; + if(p0==p1 || basis[0]==btVector3(0,0,0)) + return int4(-1,-1,-1,-1); + basis[1] = btCross(btVector3( btScalar(1),btScalar(0.02), btScalar(0)),basis[0]); + basis[2] = btCross(btVector3(btScalar(-0.02), btScalar(1), btScalar(0)),basis[0]); + if (basis[1].length() > basis[2].length()) + { + basis[1].normalize(); + } else { + basis[1] = basis[2]; + basis[1].normalize (); + } + int p2 = maxdirsterid(verts,verts_count,basis[1],allow); + if(p2 == p0 || p2 == p1) + { + p2 = maxdirsterid(verts,verts_count,-basis[1],allow); + } + if(p2 == p0 || p2 == p1) + return int4(-1,-1,-1,-1); + basis[1] = verts[p2] - verts[p0]; + basis[2] = btCross(basis[1],basis[0]).normalized(); + int p3 = maxdirsterid(verts,verts_count,basis[2],allow); + if(p3==p0||p3==p1||p3==p2) p3 = maxdirsterid(verts,verts_count,-basis[2],allow); + if(p3==p0||p3==p1||p3==p2) + return int4(-1,-1,-1,-1); + btAssert(!(p0==p1||p0==p2||p0==p3||p1==p2||p1==p3||p2==p3)); + if(btDot(verts[p3]-verts[p0],btCross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {btSwap(p2,p3);} + return int4(p0,p1,p2,p3); +} + +int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit) +{ + if(verts_count <4) return 0; + if(vlimit==0) vlimit=1000000000; + int j; + btVector3 bmin(*verts),bmax(*verts); + btAlignedObjectArray<int> isextreme; + isextreme.reserve(verts_count); + btAlignedObjectArray<int> allow; + allow.reserve(verts_count); + + for(j=0;j<verts_count;j++) + { + allow.push_back(1); + isextreme.push_back(0); + bmin.setMin (verts[j]); + bmax.setMax (verts[j]); + } + btScalar epsilon = (bmax-bmin).length() * btScalar(0.001); + btAssert (epsilon != 0.0); + + + int4 p = FindSimplex(verts,verts_count,allow); + if(p.x==-1) return 0; // simplex failed + + + + btVector3 center = (verts[p[0]]+verts[p[1]]+verts[p[2]]+verts[p[3]]) / btScalar(4.0); // a valid interior point + btHullTriangle *t0 = allocateTriangle(p[2],p[3],p[1]); t0->n=int3(2,3,1); + btHullTriangle *t1 = allocateTriangle(p[3],p[2],p[0]); t1->n=int3(3,2,0); + btHullTriangle *t2 = allocateTriangle(p[0],p[1],p[3]); t2->n=int3(0,1,3); + btHullTriangle *t3 = allocateTriangle(p[1],p[0],p[2]); t3->n=int3(1,0,2); + isextreme[p[0]]=isextreme[p[1]]=isextreme[p[2]]=isextreme[p[3]]=1; + checkit(t0);checkit(t1);checkit(t2);checkit(t3); + + for(j=0;j<m_tris.size();j++) + { + btHullTriangle *t=m_tris[j]; + btAssert(t); + btAssert(t->vmax<0); + btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]); + t->vmax = maxdirsterid(verts,verts_count,n,allow); + t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]); + } + btHullTriangle *te; + vlimit-=4; + while(vlimit >0 && ((te=extrudable(epsilon)) != 0)) + { + //int3 ti=*te; + int v=te->vmax; + btAssert(v != -1); + btAssert(!isextreme[v]); // wtf we've already done this vertex + isextreme[v]=1; + //if(v==p0 || v==p1 || v==p2 || v==p3) continue; // done these already + j=m_tris.size(); + while(j--) { + if(!m_tris[j]) continue; + int3 t=*m_tris[j]; + if(above(verts,t,verts[v],btScalar(0.01)*epsilon)) + { + extrude(m_tris[j],v); + } + } + // now check for those degenerate cases where we have a flipped triangle or a really skinny triangle + j=m_tris.size(); + while(j--) + { + if(!m_tris[j]) continue; + if(!hasvert(*m_tris[j],v)) break; + int3 nt=*m_tris[j]; + if(above(verts,nt,center,btScalar(0.01)*epsilon) || btCross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) ) + { + btHullTriangle *nb = m_tris[m_tris[j]->n[0]]; + btAssert(nb);btAssert(!hasvert(*nb,v));btAssert(nb->id<j); + extrude(nb,v); + j=m_tris.size(); + } + } + j=m_tris.size(); + while(j--) + { + btHullTriangle *t=m_tris[j]; + if(!t) continue; + if(t->vmax>=0) break; + btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]); + t->vmax = maxdirsterid(verts,verts_count,n,allow); + if(isextreme[t->vmax]) + { + t->vmax=-1; // already done that vertex - algorithm needs to be able to terminate. + } + else + { + t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]); + } + } + vlimit --; + } + return 1; +} + +int HullLibrary::calchull(btVector3 *verts,int verts_count, TUIntArray& tris_out, int &tris_count,int vlimit) +{ + int rc=calchullgen(verts,verts_count, vlimit) ; + if(!rc) return 0; + btAlignedObjectArray<int> ts; + int i; + + for(i=0;i<m_tris.size();i++) + { + if(m_tris[i]) + { + for(int j=0;j<3;j++) + ts.push_back((*m_tris[i])[j]); + deAllocateTriangle(m_tris[i]); + } + } + tris_count = ts.size()/3; + tris_out.resize(ts.size()); + + for (i=0;i<ts.size();i++) + { + tris_out[i] = static_cast<unsigned int>(ts[i]); + } + m_tris.resize(0); + + return 1; +} + + + + + +bool HullLibrary::ComputeHull(unsigned int vcount,const btVector3 *vertices,PHullResult &result,unsigned int vlimit) +{ + + int tris_count; + int ret = calchull( (btVector3 *) vertices, (int) vcount, result.m_Indices, tris_count, static_cast<int>(vlimit) ); + if(!ret) return false; + result.mIndexCount = (unsigned int) (tris_count*3); + result.mFaceCount = (unsigned int) tris_count; + result.mVertices = (btVector3*) vertices; + result.mVcount = (unsigned int) vcount; + return true; + +} + + +void ReleaseHull(PHullResult &result); +void ReleaseHull(PHullResult &result) +{ + if ( result.m_Indices.size() ) + { + result.m_Indices.clear(); + } + + result.mVcount = 0; + result.mIndexCount = 0; + result.mVertices = 0; +} + + +//********************************************************************* +//********************************************************************* +//******** HullLib header +//********************************************************************* +//********************************************************************* + +//********************************************************************* +//********************************************************************* +//******** HullLib implementation +//********************************************************************* +//********************************************************************* + +HullError HullLibrary::CreateConvexHull(const HullDesc &desc, // describes the input request + HullResult &result) // contains the resulst +{ + HullError ret = QE_FAIL; + + + PHullResult hr; + + unsigned int vcount = desc.mVcount; + if ( vcount < 8 ) vcount = 8; + + btAlignedObjectArray<btVector3> vertexSource; + vertexSource.resize(static_cast<int>(vcount)); + + btVector3 scale; + + unsigned int ovcount; + + bool ok = CleanupVertices(desc.mVcount,desc.mVertices, desc.mVertexStride, ovcount, &vertexSource[0], desc.mNormalEpsilon, scale ); // normalize point cloud, remove duplicates! + + if ( ok ) + { + + +// if ( 1 ) // scale vertices back to their original size. + { + for (unsigned int i=0; i<ovcount; i++) + { + btVector3& v = vertexSource[static_cast<int>(i)]; + v[0]*=scale[0]; + v[1]*=scale[1]; + v[2]*=scale[2]; + } + } + + ok = ComputeHull(ovcount,&vertexSource[0],hr,desc.mMaxVertices); + + if ( ok ) + { + + // re-index triangle mesh so it refers to only used vertices, rebuild a new vertex table. + btAlignedObjectArray<btVector3> vertexScratch; + vertexScratch.resize(static_cast<int>(hr.mVcount)); + + BringOutYourDead(hr.mVertices,hr.mVcount, &vertexScratch[0], ovcount, &hr.m_Indices[0], hr.mIndexCount ); + + ret = QE_OK; + + if ( desc.HasHullFlag(QF_TRIANGLES) ) // if he wants the results as triangle! + { + result.mPolygons = false; + result.mNumOutputVertices = ovcount; + result.m_OutputVertices.resize(static_cast<int>(ovcount)); + result.mNumFaces = hr.mFaceCount; + result.mNumIndices = hr.mIndexCount; + + result.m_Indices.resize(static_cast<int>(hr.mIndexCount)); + + memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3)*ovcount ); + + if ( desc.HasHullFlag(QF_REVERSE_ORDER) ) + { + + const unsigned int *source = &hr.m_Indices[0]; + unsigned int *dest = &result.m_Indices[0]; + + for (unsigned int i=0; i<hr.mFaceCount; i++) + { + dest[0] = source[2]; + dest[1] = source[1]; + dest[2] = source[0]; + dest+=3; + source+=3; + } + + } + else + { + memcpy(&result.m_Indices[0], &hr.m_Indices[0], sizeof(unsigned int)*hr.mIndexCount); + } + } + else + { + result.mPolygons = true; + result.mNumOutputVertices = ovcount; + result.m_OutputVertices.resize(static_cast<int>(ovcount)); + result.mNumFaces = hr.mFaceCount; + result.mNumIndices = hr.mIndexCount+hr.mFaceCount; + result.m_Indices.resize(static_cast<int>(result.mNumIndices)); + memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3)*ovcount ); + +// if ( 1 ) + { + const unsigned int *source = &hr.m_Indices[0]; + unsigned int *dest = &result.m_Indices[0]; + for (unsigned int i=0; i<hr.mFaceCount; i++) + { + dest[0] = 3; + if ( desc.HasHullFlag(QF_REVERSE_ORDER) ) + { + dest[1] = source[2]; + dest[2] = source[1]; + dest[3] = source[0]; + } + else + { + dest[1] = source[0]; + dest[2] = source[1]; + dest[3] = source[2]; + } + + dest+=4; + source+=3; + } + } + } + ReleaseHull(hr); + } + } + + return ret; +} + + + +HullError HullLibrary::ReleaseResult(HullResult &result) // release memory allocated for this result, we are done with it. +{ + if ( result.m_OutputVertices.size()) + { + result.mNumOutputVertices=0; + result.m_OutputVertices.clear(); + } + if ( result.m_Indices.size() ) + { + result.mNumIndices=0; + result.m_Indices.clear(); + } + return QE_OK; +} + + +static void addPoint(unsigned int &vcount,btVector3 *p,btScalar x,btScalar y,btScalar z) +{ + // XXX, might be broken + btVector3& dest = p[vcount]; + dest[0] = x; + dest[1] = y; + dest[2] = z; + vcount++; +} + +btScalar GetDist(btScalar px,btScalar py,btScalar pz,const btScalar *p2); +btScalar GetDist(btScalar px,btScalar py,btScalar pz,const btScalar *p2) +{ + + btScalar dx = px - p2[0]; + btScalar dy = py - p2[1]; + btScalar dz = pz - p2[2]; + + return dx*dx+dy*dy+dz*dz; +} + + + +bool HullLibrary::CleanupVertices(unsigned int svcount, + const btVector3 *svertices, + unsigned int stride, + unsigned int &vcount, // output number of vertices + btVector3 *vertices, // location to store the results. + btScalar normalepsilon, + btVector3& scale) +{ + if ( svcount == 0 ) return false; + + m_vertexIndexMapping.resize(0); + + +#define EPSILON btScalar(0.000001) /* close enough to consider two btScalaring point numbers to be 'the same'. */ + + vcount = 0; + + btScalar recip[3]={0.f,0.f,0.f}; + + if ( scale ) + { + scale[0] = 1; + scale[1] = 1; + scale[2] = 1; + } + + btScalar bmin[3] = { FLT_MAX, FLT_MAX, FLT_MAX }; + btScalar bmax[3] = { -FLT_MAX, -FLT_MAX, -FLT_MAX }; + + const char *vtx = (const char *) svertices; + +// if ( 1 ) + { + for (unsigned int i=0; i<svcount; i++) + { + const btScalar *p = (const btScalar *) vtx; + + vtx+=stride; + + for (int j=0; j<3; j++) + { + if ( p[j] < bmin[j] ) bmin[j] = p[j]; + if ( p[j] > bmax[j] ) bmax[j] = p[j]; + } + } + } + + btScalar dx = bmax[0] - bmin[0]; + btScalar dy = bmax[1] - bmin[1]; + btScalar dz = bmax[2] - bmin[2]; + + btVector3 center; + + center[0] = dx*btScalar(0.5) + bmin[0]; + center[1] = dy*btScalar(0.5) + bmin[1]; + center[2] = dz*btScalar(0.5) + bmin[2]; + + if ( dx < EPSILON || dy < EPSILON || dz < EPSILON || svcount < 3 ) + { + + btScalar len = FLT_MAX; + + if ( dx > EPSILON && dx < len ) len = dx; + if ( dy > EPSILON && dy < len ) len = dy; + if ( dz > EPSILON && dz < len ) len = dz; + + if ( len == FLT_MAX ) + { + dx = dy = dz = btScalar(0.01); // one centimeter + } + else + { + if ( dx < EPSILON ) dx = len * btScalar(0.05); // 1/5th the shortest non-zero edge. + if ( dy < EPSILON ) dy = len * btScalar(0.05); + if ( dz < EPSILON ) dz = len * btScalar(0.05); + } + + btScalar x1 = center[0] - dx; + btScalar x2 = center[0] + dx; + + btScalar y1 = center[1] - dy; + btScalar y2 = center[1] + dy; + + btScalar z1 = center[2] - dz; + btScalar z2 = center[2] + dz; + + addPoint(vcount,vertices,x1,y1,z1); + addPoint(vcount,vertices,x2,y1,z1); + addPoint(vcount,vertices,x2,y2,z1); + addPoint(vcount,vertices,x1,y2,z1); + addPoint(vcount,vertices,x1,y1,z2); + addPoint(vcount,vertices,x2,y1,z2); + addPoint(vcount,vertices,x2,y2,z2); + addPoint(vcount,vertices,x1,y2,z2); + + return true; // return cube + + + } + else + { + if ( scale ) + { + scale[0] = dx; + scale[1] = dy; + scale[2] = dz; + + recip[0] = 1 / dx; + recip[1] = 1 / dy; + recip[2] = 1 / dz; + + center[0]*=recip[0]; + center[1]*=recip[1]; + center[2]*=recip[2]; + + } + + } + + + + vtx = (const char *) svertices; + + for (unsigned int i=0; i<svcount; i++) + { + const btVector3 *p = (const btVector3 *)vtx; + vtx+=stride; + + btScalar px = p->getX(); + btScalar py = p->getY(); + btScalar pz = p->getZ(); + + if ( scale ) + { + px = px*recip[0]; // normalize + py = py*recip[1]; // normalize + pz = pz*recip[2]; // normalize + } + +// if ( 1 ) + { + unsigned int j; + + for (j=0; j<vcount; j++) + { + /// XXX might be broken + btVector3& v = vertices[j]; + + btScalar x = v[0]; + btScalar y = v[1]; + btScalar z = v[2]; + + btScalar dx = btFabs(x - px ); + btScalar dy = btFabs(y - py ); + btScalar dz = btFabs(z - pz ); + + if ( dx < normalepsilon && dy < normalepsilon && dz < normalepsilon ) + { + // ok, it is close enough to the old one + // now let us see if it is further from the center of the point cloud than the one we already recorded. + // in which case we keep this one instead. + + btScalar dist1 = GetDist(px,py,pz,center); + btScalar dist2 = GetDist(v[0],v[1],v[2],center); + + if ( dist1 > dist2 ) + { + v[0] = px; + v[1] = py; + v[2] = pz; + + } + + break; + } + } + + if ( j == vcount ) + { + btVector3& dest = vertices[vcount]; + dest[0] = px; + dest[1] = py; + dest[2] = pz; + vcount++; + } + m_vertexIndexMapping.push_back(j); + } + } + + // ok..now make sure we didn't prune so many vertices it is now invalid. +// if ( 1 ) + { + btScalar bmin[3] = { FLT_MAX, FLT_MAX, FLT_MAX }; + btScalar bmax[3] = { -FLT_MAX, -FLT_MAX, -FLT_MAX }; + + for (unsigned int i=0; i<vcount; i++) + { + const btVector3& p = vertices[i]; + for (int j=0; j<3; j++) + { + if ( p[j] < bmin[j] ) bmin[j] = p[j]; + if ( p[j] > bmax[j] ) bmax[j] = p[j]; + } + } + + btScalar dx = bmax[0] - bmin[0]; + btScalar dy = bmax[1] - bmin[1]; + btScalar dz = bmax[2] - bmin[2]; + + if ( dx < EPSILON || dy < EPSILON || dz < EPSILON || vcount < 3) + { + btScalar cx = dx*btScalar(0.5) + bmin[0]; + btScalar cy = dy*btScalar(0.5) + bmin[1]; + btScalar cz = dz*btScalar(0.5) + bmin[2]; + + btScalar len = FLT_MAX; + + if ( dx >= EPSILON && dx < len ) len = dx; + if ( dy >= EPSILON && dy < len ) len = dy; + if ( dz >= EPSILON && dz < len ) len = dz; + + if ( len == FLT_MAX ) + { + dx = dy = dz = btScalar(0.01); // one centimeter + } + else + { + if ( dx < EPSILON ) dx = len * btScalar(0.05); // 1/5th the shortest non-zero edge. + if ( dy < EPSILON ) dy = len * btScalar(0.05); + if ( dz < EPSILON ) dz = len * btScalar(0.05); + } + + btScalar x1 = cx - dx; + btScalar x2 = cx + dx; + + btScalar y1 = cy - dy; + btScalar y2 = cy + dy; + + btScalar z1 = cz - dz; + btScalar z2 = cz + dz; + + vcount = 0; // add box + + addPoint(vcount,vertices,x1,y1,z1); + addPoint(vcount,vertices,x2,y1,z1); + addPoint(vcount,vertices,x2,y2,z1); + addPoint(vcount,vertices,x1,y2,z1); + addPoint(vcount,vertices,x1,y1,z2); + addPoint(vcount,vertices,x2,y1,z2); + addPoint(vcount,vertices,x2,y2,z2); + addPoint(vcount,vertices,x1,y2,z2); + + return true; + } + } + + return true; +} + +void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int *indices,unsigned indexcount) +{ + btAlignedObjectArray<int>tmpIndices; + tmpIndices.resize(m_vertexIndexMapping.size()); + int i; + + for (i=0;i<m_vertexIndexMapping.size();i++) + { + tmpIndices[i] = m_vertexIndexMapping[i]; + } + + TUIntArray usedIndices; + usedIndices.resize(static_cast<int>(vcount)); + memset(&usedIndices[0],0,sizeof(unsigned int)*vcount); + + ocount = 0; + + for (i=0; i<int (indexcount); i++) + { + unsigned int v = indices[i]; // original array index + + btAssert( v >= 0 && v < vcount ); + + if ( usedIndices[static_cast<int>(v)] ) // if already remapped + { + indices[i] = usedIndices[static_cast<int>(v)]-1; // index to new array + } + else + { + + indices[i] = ocount; // new index mapping + + overts[ocount][0] = verts[v][0]; // copy old vert to new vert array + overts[ocount][1] = verts[v][1]; + overts[ocount][2] = verts[v][2]; + + for (int k=0;k<m_vertexIndexMapping.size();k++) + { + if (tmpIndices[k]==int(v)) + m_vertexIndexMapping[k]=ocount; + } + + ocount++; // increment output vert count + + btAssert( ocount >=0 && ocount <= vcount ); + + usedIndices[static_cast<int>(v)] = ocount; // assign new index remapping + + + } + } + + +} diff --git a/thirdparty/bullet/src/LinearMath/btConvexHull.h b/thirdparty/bullet/src/LinearMath/btConvexHull.h new file mode 100644 index 0000000000..69c52bc6f8 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btConvexHull.h @@ -0,0 +1,241 @@ + +/* +Stan Melax Convex Hull Computation +Copyright (c) 2008 Stan Melax http://www.melax.com/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +///includes modifications/improvements by John Ratcliff, see BringOutYourDead below. + +#ifndef BT_CD_HULL_H +#define BT_CD_HULL_H + +#include "btVector3.h" +#include "btAlignedObjectArray.h" + +typedef btAlignedObjectArray<unsigned int> TUIntArray; + +class HullResult +{ +public: + HullResult(void) + { + mPolygons = true; + mNumOutputVertices = 0; + mNumFaces = 0; + mNumIndices = 0; + } + bool mPolygons; // true if indices represents polygons, false indices are triangles + unsigned int mNumOutputVertices; // number of vertices in the output hull + btAlignedObjectArray<btVector3> m_OutputVertices; // array of vertices + unsigned int mNumFaces; // the number of faces produced + unsigned int mNumIndices; // the total number of indices + btAlignedObjectArray<unsigned int> m_Indices; // pointer to indices. + +// If triangles, then indices are array indexes into the vertex list. +// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc.. +}; + +enum HullFlag +{ + QF_TRIANGLES = (1<<0), // report results as triangles, not polygons. + QF_REVERSE_ORDER = (1<<1), // reverse order of the triangle indices. + QF_DEFAULT = QF_TRIANGLES +}; + + +class HullDesc +{ +public: + HullDesc(void) + { + mFlags = QF_DEFAULT; + mVcount = 0; + mVertices = 0; + mVertexStride = sizeof(btVector3); + mNormalEpsilon = 0.001f; + mMaxVertices = 4096; // maximum number of points to be considered for a convex hull. + mMaxFaces = 4096; + }; + + HullDesc(HullFlag flag, + unsigned int vcount, + const btVector3 *vertices, + unsigned int stride = sizeof(btVector3)) + { + mFlags = flag; + mVcount = vcount; + mVertices = vertices; + mVertexStride = stride; + mNormalEpsilon = btScalar(0.001); + mMaxVertices = 4096; + } + + bool HasHullFlag(HullFlag flag) const + { + if ( mFlags & flag ) return true; + return false; + } + + void SetHullFlag(HullFlag flag) + { + mFlags|=flag; + } + + void ClearHullFlag(HullFlag flag) + { + mFlags&=~flag; + } + + unsigned int mFlags; // flags to use when generating the convex hull. + unsigned int mVcount; // number of vertices in the input point cloud + const btVector3 *mVertices; // the array of vertices. + unsigned int mVertexStride; // the stride of each vertex, in bytes. + btScalar mNormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on. + unsigned int mMaxVertices; // maximum number of vertices to be considered for the hull! + unsigned int mMaxFaces; +}; + +enum HullError +{ + QE_OK, // success! + QE_FAIL // failed. +}; + +class btPlane +{ + public: + btVector3 normal; + btScalar dist; // distance below origin - the D from plane equasion Ax+By+Cz+D=0 + btPlane(const btVector3 &n,btScalar d):normal(n),dist(d){} + btPlane():normal(),dist(0){} + +}; + + + +class ConvexH +{ + public: + class HalfEdge + { + public: + short ea; // the other half of the edge (index into edges list) + unsigned char v; // the vertex at the start of this edge (index into vertices list) + unsigned char p; // the facet on which this edge lies (index into facets list) + HalfEdge(){} + HalfEdge(short _ea,unsigned char _v, unsigned char _p):ea(_ea),v(_v),p(_p){} + }; + ConvexH() + { + } + ~ConvexH() + { + } + btAlignedObjectArray<btVector3> vertices; + btAlignedObjectArray<HalfEdge> edges; + btAlignedObjectArray<btPlane> facets; + ConvexH(int vertices_size,int edges_size,int facets_size); +}; + + +class int4 +{ +public: + int x,y,z,w; + int4(){}; + int4(int _x,int _y, int _z,int _w){x=_x;y=_y;z=_z;w=_w;} + const int& operator[](int i) const {return (&x)[i];} + int& operator[](int i) {return (&x)[i];} +}; + +class PHullResult +{ +public: + + PHullResult(void) + { + mVcount = 0; + mIndexCount = 0; + mFaceCount = 0; + mVertices = 0; + } + + unsigned int mVcount; + unsigned int mIndexCount; + unsigned int mFaceCount; + btVector3* mVertices; + TUIntArray m_Indices; +}; + + + +///The HullLibrary class can create a convex hull from a collection of vertices, using the ComputeHull method. +///The btShapeHull class uses this HullLibrary to create a approximate convex mesh given a general (non-polyhedral) convex shape. +class HullLibrary +{ + + btAlignedObjectArray<class btHullTriangle*> m_tris; + +public: + + btAlignedObjectArray<int> m_vertexIndexMapping; + + + HullError CreateConvexHull(const HullDesc& desc, // describes the input request + HullResult& result); // contains the resulst + HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it. + +private: + + bool ComputeHull(unsigned int vcount,const btVector3 *vertices,PHullResult &result,unsigned int vlimit); + + class btHullTriangle* allocateTriangle(int a,int b,int c); + void deAllocateTriangle(btHullTriangle*); + void b2bfix(btHullTriangle* s,btHullTriangle*t); + + void removeb2b(btHullTriangle* s,btHullTriangle*t); + + void checkit(btHullTriangle *t); + + btHullTriangle* extrudable(btScalar epsilon); + + int calchull(btVector3 *verts,int verts_count, TUIntArray& tris_out, int &tris_count,int vlimit); + + int calchullgen(btVector3 *verts,int verts_count, int vlimit); + + int4 FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectArray<int> &allow); + + class ConvexH* ConvexHCrop(ConvexH& convex,const btPlane& slice); + + void extrude(class btHullTriangle* t0,int v); + + ConvexH* test_cube(); + + //BringOutYourDead (John Ratcliff): When you create a convex hull you hand it a large input set of vertices forming a 'point cloud'. + //After the hull is generated it give you back a set of polygon faces which index the *original* point cloud. + //The thing is, often times, there are many 'dead vertices' in the point cloud that are on longer referenced by the hull. + //The routine 'BringOutYourDead' find only the referenced vertices, copies them to an new buffer, and re-indexes the hull so that it is a minimal representation. + void BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int* indices,unsigned indexcount); + + bool CleanupVertices(unsigned int svcount, + const btVector3* svertices, + unsigned int stride, + unsigned int &vcount, // output number of vertices + btVector3* vertices, // location to store the results. + btScalar normalepsilon, + btVector3& scale); +}; + + +#endif //BT_CD_HULL_H + diff --git a/thirdparty/bullet/src/LinearMath/btConvexHullComputer.cpp b/thirdparty/bullet/src/LinearMath/btConvexHullComputer.cpp new file mode 100644 index 0000000000..2ea22cbe3b --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btConvexHullComputer.cpp @@ -0,0 +1,2768 @@ +/* +Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net + +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. +*/ + +#include <string.h> + +#include "btConvexHullComputer.h" +#include "btAlignedObjectArray.h" +#include "btMinMax.h" +#include "btVector3.h" + +#ifdef __GNUC__ + #include <stdint.h> +#elif defined(_MSC_VER) + typedef __int32 int32_t; + typedef __int64 int64_t; + typedef unsigned __int32 uint32_t; + typedef unsigned __int64 uint64_t; +#else + typedef int int32_t; + typedef long long int int64_t; + typedef unsigned int uint32_t; + typedef unsigned long long int uint64_t; +#endif + + +//The definition of USE_X86_64_ASM is moved into the build system. You can enable it manually by commenting out the following lines +//#if (defined(__GNUC__) && defined(__x86_64__) && !defined(__ICL)) // || (defined(__ICL) && defined(_M_X64)) bug in Intel compiler, disable inline assembly +// #define USE_X86_64_ASM +//#endif + + +//#define DEBUG_CONVEX_HULL +//#define SHOW_ITERATIONS + +#if defined(DEBUG_CONVEX_HULL) || defined(SHOW_ITERATIONS) + #include <stdio.h> +#endif + +// Convex hull implementation based on Preparata and Hong +// Ole Kniemeyer, MAXON Computer GmbH +class btConvexHullInternal +{ + public: + + class Point64 + { + public: + int64_t x; + int64_t y; + int64_t z; + + Point64(int64_t x, int64_t y, int64_t z): x(x), y(y), z(z) + { + } + + bool isZero() + { + return (x == 0) && (y == 0) && (z == 0); + } + + int64_t dot(const Point64& b) const + { + return x * b.x + y * b.y + z * b.z; + } + }; + + class Point32 + { + public: + int32_t x; + int32_t y; + int32_t z; + int index; + + Point32() + { + } + + Point32(int32_t x, int32_t y, int32_t z): x(x), y(y), z(z), index(-1) + { + } + + bool operator==(const Point32& b) const + { + return (x == b.x) && (y == b.y) && (z == b.z); + } + + bool operator!=(const Point32& b) const + { + return (x != b.x) || (y != b.y) || (z != b.z); + } + + bool isZero() + { + return (x == 0) && (y == 0) && (z == 0); + } + + Point64 cross(const Point32& b) const + { + return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x); + } + + Point64 cross(const Point64& b) const + { + return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x); + } + + int64_t dot(const Point32& b) const + { + return x * b.x + y * b.y + z * b.z; + } + + int64_t dot(const Point64& b) const + { + return x * b.x + y * b.y + z * b.z; + } + + Point32 operator+(const Point32& b) const + { + return Point32(x + b.x, y + b.y, z + b.z); + } + + Point32 operator-(const Point32& b) const + { + return Point32(x - b.x, y - b.y, z - b.z); + } + }; + + class Int128 + { + public: + uint64_t low; + uint64_t high; + + Int128() + { + } + + Int128(uint64_t low, uint64_t high): low(low), high(high) + { + } + + Int128(uint64_t low): low(low), high(0) + { + } + + Int128(int64_t value): low(value), high((value >= 0) ? 0 : (uint64_t) -1LL) + { + } + + static Int128 mul(int64_t a, int64_t b); + + static Int128 mul(uint64_t a, uint64_t b); + + Int128 operator-() const + { + return Int128((uint64_t) -(int64_t)low, ~high + (low == 0)); + } + + Int128 operator+(const Int128& b) const + { +#ifdef USE_X86_64_ASM + Int128 result; + __asm__ ("addq %[bl], %[rl]\n\t" + "adcq %[bh], %[rh]\n\t" + : [rl] "=r" (result.low), [rh] "=r" (result.high) + : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) + : "cc" ); + return result; +#else + uint64_t lo = low + b.low; + return Int128(lo, high + b.high + (lo < low)); +#endif + } + + Int128 operator-(const Int128& b) const + { +#ifdef USE_X86_64_ASM + Int128 result; + __asm__ ("subq %[bl], %[rl]\n\t" + "sbbq %[bh], %[rh]\n\t" + : [rl] "=r" (result.low), [rh] "=r" (result.high) + : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) + : "cc" ); + return result; +#else + return *this + -b; +#endif + } + + Int128& operator+=(const Int128& b) + { +#ifdef USE_X86_64_ASM + __asm__ ("addq %[bl], %[rl]\n\t" + "adcq %[bh], %[rh]\n\t" + : [rl] "=r" (low), [rh] "=r" (high) + : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) + : "cc" ); +#else + uint64_t lo = low + b.low; + if (lo < low) + { + ++high; + } + low = lo; + high += b.high; +#endif + return *this; + } + + Int128& operator++() + { + if (++low == 0) + { + ++high; + } + return *this; + } + + Int128 operator*(int64_t b) const; + + btScalar toScalar() const + { + return ((int64_t) high >= 0) ? btScalar(high) * (btScalar(0x100000000LL) * btScalar(0x100000000LL)) + btScalar(low) + : -(-*this).toScalar(); + } + + int getSign() const + { + return ((int64_t) high < 0) ? -1 : (high || low) ? 1 : 0; + } + + bool operator<(const Int128& b) const + { + return (high < b.high) || ((high == b.high) && (low < b.low)); + } + + int ucmp(const Int128&b) const + { + if (high < b.high) + { + return -1; + } + if (high > b.high) + { + return 1; + } + if (low < b.low) + { + return -1; + } + if (low > b.low) + { + return 1; + } + return 0; + } + }; + + + class Rational64 + { + private: + uint64_t m_numerator; + uint64_t m_denominator; + int sign; + + public: + Rational64(int64_t numerator, int64_t denominator) + { + if (numerator > 0) + { + sign = 1; + m_numerator = (uint64_t) numerator; + } + else if (numerator < 0) + { + sign = -1; + m_numerator = (uint64_t) -numerator; + } + else + { + sign = 0; + m_numerator = 0; + } + if (denominator > 0) + { + m_denominator = (uint64_t) denominator; + } + else if (denominator < 0) + { + sign = -sign; + m_denominator = (uint64_t) -denominator; + } + else + { + m_denominator = 0; + } + } + + bool isNegativeInfinity() const + { + return (sign < 0) && (m_denominator == 0); + } + + bool isNaN() const + { + return (sign == 0) && (m_denominator == 0); + } + + int compare(const Rational64& b) const; + + btScalar toScalar() const + { + return sign * ((m_denominator == 0) ? SIMD_INFINITY : (btScalar) m_numerator / m_denominator); + } + }; + + + class Rational128 + { + private: + Int128 numerator; + Int128 denominator; + int sign; + bool isInt64; + + public: + Rational128(int64_t value) + { + if (value > 0) + { + sign = 1; + this->numerator = value; + } + else if (value < 0) + { + sign = -1; + this->numerator = -value; + } + else + { + sign = 0; + this->numerator = (uint64_t) 0; + } + this->denominator = (uint64_t) 1; + isInt64 = true; + } + + Rational128(const Int128& numerator, const Int128& denominator) + { + sign = numerator.getSign(); + if (sign >= 0) + { + this->numerator = numerator; + } + else + { + this->numerator = -numerator; + } + int dsign = denominator.getSign(); + if (dsign >= 0) + { + this->denominator = denominator; + } + else + { + sign = -sign; + this->denominator = -denominator; + } + isInt64 = false; + } + + int compare(const Rational128& b) const; + + int compare(int64_t b) const; + + btScalar toScalar() const + { + return sign * ((denominator.getSign() == 0) ? SIMD_INFINITY : numerator.toScalar() / denominator.toScalar()); + } + }; + + class PointR128 + { + public: + Int128 x; + Int128 y; + Int128 z; + Int128 denominator; + + PointR128() + { + } + + PointR128(Int128 x, Int128 y, Int128 z, Int128 denominator): x(x), y(y), z(z), denominator(denominator) + { + } + + btScalar xvalue() const + { + return x.toScalar() / denominator.toScalar(); + } + + btScalar yvalue() const + { + return y.toScalar() / denominator.toScalar(); + } + + btScalar zvalue() const + { + return z.toScalar() / denominator.toScalar(); + } + }; + + + class Edge; + class Face; + + class Vertex + { + public: + Vertex* next; + Vertex* prev; + Edge* edges; + Face* firstNearbyFace; + Face* lastNearbyFace; + PointR128 point128; + Point32 point; + int copy; + + Vertex(): next(NULL), prev(NULL), edges(NULL), firstNearbyFace(NULL), lastNearbyFace(NULL), copy(-1) + { + } + +#ifdef DEBUG_CONVEX_HULL + void print() + { + printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z); + } + + void printGraph(); +#endif + + Point32 operator-(const Vertex& b) const + { + return point - b.point; + } + + Rational128 dot(const Point64& b) const + { + return (point.index >= 0) ? Rational128(point.dot(b)) + : Rational128(point128.x * b.x + point128.y * b.y + point128.z * b.z, point128.denominator); + } + + btScalar xvalue() const + { + return (point.index >= 0) ? btScalar(point.x) : point128.xvalue(); + } + + btScalar yvalue() const + { + return (point.index >= 0) ? btScalar(point.y) : point128.yvalue(); + } + + btScalar zvalue() const + { + return (point.index >= 0) ? btScalar(point.z) : point128.zvalue(); + } + + void receiveNearbyFaces(Vertex* src) + { + if (lastNearbyFace) + { + lastNearbyFace->nextWithSameNearbyVertex = src->firstNearbyFace; + } + else + { + firstNearbyFace = src->firstNearbyFace; + } + if (src->lastNearbyFace) + { + lastNearbyFace = src->lastNearbyFace; + } + for (Face* f = src->firstNearbyFace; f; f = f->nextWithSameNearbyVertex) + { + btAssert(f->nearbyVertex == src); + f->nearbyVertex = this; + } + src->firstNearbyFace = NULL; + src->lastNearbyFace = NULL; + } + }; + + + class Edge + { + public: + Edge* next; + Edge* prev; + Edge* reverse; + Vertex* target; + Face* face; + int copy; + + ~Edge() + { + next = NULL; + prev = NULL; + reverse = NULL; + target = NULL; + face = NULL; + } + + void link(Edge* n) + { + btAssert(reverse->target == n->reverse->target); + next = n; + n->prev = this; + } + +#ifdef DEBUG_CONVEX_HULL + void print() + { + printf("E%p : %d -> %d, n=%p p=%p (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev, + reverse->target->point.x, reverse->target->point.y, reverse->target->point.z, target->point.x, target->point.y, target->point.z); + } +#endif + }; + + class Face + { + public: + Face* next; + Vertex* nearbyVertex; + Face* nextWithSameNearbyVertex; + Point32 origin; + Point32 dir0; + Point32 dir1; + + Face(): next(NULL), nearbyVertex(NULL), nextWithSameNearbyVertex(NULL) + { + } + + void init(Vertex* a, Vertex* b, Vertex* c) + { + nearbyVertex = a; + origin = a->point; + dir0 = *b - *a; + dir1 = *c - *a; + if (a->lastNearbyFace) + { + a->lastNearbyFace->nextWithSameNearbyVertex = this; + } + else + { + a->firstNearbyFace = this; + } + a->lastNearbyFace = this; + } + + Point64 getNormal() + { + return dir0.cross(dir1); + } + }; + + template<typename UWord, typename UHWord> class DMul + { + private: + static uint32_t high(uint64_t value) + { + return (uint32_t) (value >> 32); + } + + static uint32_t low(uint64_t value) + { + return (uint32_t) value; + } + + static uint64_t mul(uint32_t a, uint32_t b) + { + return (uint64_t) a * (uint64_t) b; + } + + static void shlHalf(uint64_t& value) + { + value <<= 32; + } + + static uint64_t high(Int128 value) + { + return value.high; + } + + static uint64_t low(Int128 value) + { + return value.low; + } + + static Int128 mul(uint64_t a, uint64_t b) + { + return Int128::mul(a, b); + } + + static void shlHalf(Int128& value) + { + value.high = value.low; + value.low = 0; + } + + public: + + static void mul(UWord a, UWord b, UWord& resLow, UWord& resHigh) + { + UWord p00 = mul(low(a), low(b)); + UWord p01 = mul(low(a), high(b)); + UWord p10 = mul(high(a), low(b)); + UWord p11 = mul(high(a), high(b)); + UWord p0110 = UWord(low(p01)) + UWord(low(p10)); + p11 += high(p01); + p11 += high(p10); + p11 += high(p0110); + shlHalf(p0110); + p00 += p0110; + if (p00 < p0110) + { + ++p11; + } + resLow = p00; + resHigh = p11; + } + }; + + private: + + class IntermediateHull + { + public: + Vertex* minXy; + Vertex* maxXy; + Vertex* minYx; + Vertex* maxYx; + + IntermediateHull(): minXy(NULL), maxXy(NULL), minYx(NULL), maxYx(NULL) + { + } + + void print(); + }; + + enum Orientation {NONE, CLOCKWISE, COUNTER_CLOCKWISE}; + + template <typename T> class PoolArray + { + private: + T* array; + int size; + + public: + PoolArray<T>* next; + + PoolArray(int size): size(size), next(NULL) + { + array = (T*) btAlignedAlloc(sizeof(T) * size, 16); + } + + ~PoolArray() + { + btAlignedFree(array); + } + + T* init() + { + T* o = array; + for (int i = 0; i < size; i++, o++) + { + o->next = (i+1 < size) ? o + 1 : NULL; + } + return array; + } + }; + + template <typename T> class Pool + { + private: + PoolArray<T>* arrays; + PoolArray<T>* nextArray; + T* freeObjects; + int arraySize; + + public: + Pool(): arrays(NULL), nextArray(NULL), freeObjects(NULL), arraySize(256) + { + } + + ~Pool() + { + while (arrays) + { + PoolArray<T>* p = arrays; + arrays = p->next; + p->~PoolArray<T>(); + btAlignedFree(p); + } + } + + void reset() + { + nextArray = arrays; + freeObjects = NULL; + } + + void setArraySize(int arraySize) + { + this->arraySize = arraySize; + } + + T* newObject() + { + T* o = freeObjects; + if (!o) + { + PoolArray<T>* p = nextArray; + if (p) + { + nextArray = p->next; + } + else + { + p = new(btAlignedAlloc(sizeof(PoolArray<T>), 16)) PoolArray<T>(arraySize); + p->next = arrays; + arrays = p; + } + o = p->init(); + } + freeObjects = o->next; + return new(o) T(); + }; + + void freeObject(T* object) + { + object->~T(); + object->next = freeObjects; + freeObjects = object; + } + }; + + btVector3 scaling; + btVector3 center; + Pool<Vertex> vertexPool; + Pool<Edge> edgePool; + Pool<Face> facePool; + btAlignedObjectArray<Vertex*> originalVertices; + int mergeStamp; + int minAxis; + int medAxis; + int maxAxis; + int usedEdgePairs; + int maxUsedEdgePairs; + + static Orientation getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t); + Edge* findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot); + void findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1); + + Edge* newEdgePair(Vertex* from, Vertex* to); + + void removeEdgePair(Edge* edge) + { + Edge* n = edge->next; + Edge* r = edge->reverse; + + btAssert(edge->target && r->target); + + if (n != edge) + { + n->prev = edge->prev; + edge->prev->next = n; + r->target->edges = n; + } + else + { + r->target->edges = NULL; + } + + n = r->next; + + if (n != r) + { + n->prev = r->prev; + r->prev->next = n; + edge->target->edges = n; + } + else + { + edge->target->edges = NULL; + } + + edgePool.freeObject(edge); + edgePool.freeObject(r); + usedEdgePairs--; + } + + void computeInternal(int start, int end, IntermediateHull& result); + + bool mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1); + + void merge(IntermediateHull& h0, IntermediateHull& h1); + + btVector3 toBtVector(const Point32& v); + + btVector3 getBtNormal(Face* face); + + bool shiftFace(Face* face, btScalar amount, btAlignedObjectArray<Vertex*> stack); + + public: + Vertex* vertexList; + + void compute(const void* coords, bool doubleCoords, int stride, int count); + + btVector3 getCoordinates(const Vertex* v); + + btScalar shrink(btScalar amount, btScalar clampAmount); +}; + + +btConvexHullInternal::Int128 btConvexHullInternal::Int128::operator*(int64_t b) const +{ + bool negative = (int64_t) high < 0; + Int128 a = negative ? -*this : *this; + if (b < 0) + { + negative = !negative; + b = -b; + } + Int128 result = mul(a.low, (uint64_t) b); + result.high += a.high * (uint64_t) b; + return negative ? -result : result; +} + +btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(int64_t a, int64_t b) +{ + Int128 result; + +#ifdef USE_X86_64_ASM + __asm__ ("imulq %[b]" + : "=a" (result.low), "=d" (result.high) + : "0"(a), [b] "r"(b) + : "cc" ); + return result; + +#else + bool negative = a < 0; + if (negative) + { + a = -a; + } + if (b < 0) + { + negative = !negative; + b = -b; + } + DMul<uint64_t, uint32_t>::mul((uint64_t) a, (uint64_t) b, result.low, result.high); + return negative ? -result : result; +#endif +} + +btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(uint64_t a, uint64_t b) +{ + Int128 result; + +#ifdef USE_X86_64_ASM + __asm__ ("mulq %[b]" + : "=a" (result.low), "=d" (result.high) + : "0"(a), [b] "r"(b) + : "cc" ); + +#else + DMul<uint64_t, uint32_t>::mul(a, b, result.low, result.high); +#endif + + return result; +} + +int btConvexHullInternal::Rational64::compare(const Rational64& b) const +{ + if (sign != b.sign) + { + return sign - b.sign; + } + else if (sign == 0) + { + return 0; + } + + // return (numerator * b.denominator > b.numerator * denominator) ? sign : (numerator * b.denominator < b.numerator * denominator) ? -sign : 0; + +#ifdef USE_X86_64_ASM + + int result; + int64_t tmp; + int64_t dummy; + __asm__ ("mulq %[bn]\n\t" + "movq %%rax, %[tmp]\n\t" + "movq %%rdx, %%rbx\n\t" + "movq %[tn], %%rax\n\t" + "mulq %[bd]\n\t" + "subq %[tmp], %%rax\n\t" + "sbbq %%rbx, %%rdx\n\t" // rdx:rax contains 128-bit-difference "numerator*b.denominator - b.numerator*denominator" + "setnsb %%bh\n\t" // bh=1 if difference is non-negative, bh=0 otherwise + "orq %%rdx, %%rax\n\t" + "setnzb %%bl\n\t" // bl=1 if difference if non-zero, bl=0 if it is zero + "decb %%bh\n\t" // now bx=0x0000 if difference is zero, 0xff01 if it is negative, 0x0001 if it is positive (i.e., same sign as difference) + "shll $16, %%ebx\n\t" // ebx has same sign as difference + : "=&b"(result), [tmp] "=&r"(tmp), "=a"(dummy) + : "a"(denominator), [bn] "g"(b.numerator), [tn] "g"(numerator), [bd] "g"(b.denominator) + : "%rdx", "cc" ); + return result ? result ^ sign // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero) + // if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero) + : 0; + +#else + + return sign * Int128::mul(m_numerator, b.m_denominator).ucmp(Int128::mul(m_denominator, b.m_numerator)); + +#endif +} + +int btConvexHullInternal::Rational128::compare(const Rational128& b) const +{ + if (sign != b.sign) + { + return sign - b.sign; + } + else if (sign == 0) + { + return 0; + } + if (isInt64) + { + return -b.compare(sign * (int64_t) numerator.low); + } + + Int128 nbdLow, nbdHigh, dbnLow, dbnHigh; + DMul<Int128, uint64_t>::mul(numerator, b.denominator, nbdLow, nbdHigh); + DMul<Int128, uint64_t>::mul(denominator, b.numerator, dbnLow, dbnHigh); + + int cmp = nbdHigh.ucmp(dbnHigh); + if (cmp) + { + return cmp * sign; + } + return nbdLow.ucmp(dbnLow) * sign; +} + +int btConvexHullInternal::Rational128::compare(int64_t b) const +{ + if (isInt64) + { + int64_t a = sign * (int64_t) numerator.low; + return (a > b) ? 1 : (a < b) ? -1 : 0; + } + if (b > 0) + { + if (sign <= 0) + { + return -1; + } + } + else if (b < 0) + { + if (sign >= 0) + { + return 1; + } + b = -b; + } + else + { + return sign; + } + + return numerator.ucmp(denominator * b) * sign; +} + + +btConvexHullInternal::Edge* btConvexHullInternal::newEdgePair(Vertex* from, Vertex* to) +{ + btAssert(from && to); + Edge* e = edgePool.newObject(); + Edge* r = edgePool.newObject(); + e->reverse = r; + r->reverse = e; + e->copy = mergeStamp; + r->copy = mergeStamp; + e->target = to; + r->target = from; + e->face = NULL; + r->face = NULL; + usedEdgePairs++; + if (usedEdgePairs > maxUsedEdgePairs) + { + maxUsedEdgePairs = usedEdgePairs; + } + return e; +} + +bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1) +{ + Vertex* v0 = h0.maxYx; + Vertex* v1 = h1.minYx; + if ((v0->point.x == v1->point.x) && (v0->point.y == v1->point.y)) + { + btAssert(v0->point.z < v1->point.z); + Vertex* v1p = v1->prev; + if (v1p == v1) + { + c0 = v0; + if (v1->edges) + { + btAssert(v1->edges->next == v1->edges); + v1 = v1->edges->target; + btAssert(v1->edges->next == v1->edges); + } + c1 = v1; + return false; + } + Vertex* v1n = v1->next; + v1p->next = v1n; + v1n->prev = v1p; + if (v1 == h1.minXy) + { + if ((v1n->point.x < v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y < v1p->point.y))) + { + h1.minXy = v1n; + } + else + { + h1.minXy = v1p; + } + } + if (v1 == h1.maxXy) + { + if ((v1n->point.x > v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y > v1p->point.y))) + { + h1.maxXy = v1n; + } + else + { + h1.maxXy = v1p; + } + } + } + + v0 = h0.maxXy; + v1 = h1.maxXy; + Vertex* v00 = NULL; + Vertex* v10 = NULL; + int32_t sign = 1; + + for (int side = 0; side <= 1; side++) + { + int32_t dx = (v1->point.x - v0->point.x) * sign; + if (dx > 0) + { + while (true) + { + int32_t dy = v1->point.y - v0->point.y; + + Vertex* w0 = side ? v0->next : v0->prev; + if (w0 != v0) + { + int32_t dx0 = (w0->point.x - v0->point.x) * sign; + int32_t dy0 = w0->point.y - v0->point.y; + if ((dy0 <= 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx <= dy * dx0)))) + { + v0 = w0; + dx = (v1->point.x - v0->point.x) * sign; + continue; + } + } + + Vertex* w1 = side ? v1->next : v1->prev; + if (w1 != v1) + { + int32_t dx1 = (w1->point.x - v1->point.x) * sign; + int32_t dy1 = w1->point.y - v1->point.y; + int32_t dxn = (w1->point.x - v0->point.x) * sign; + if ((dxn > 0) && (dy1 < 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx < dy * dx1)))) + { + v1 = w1; + dx = dxn; + continue; + } + } + + break; + } + } + else if (dx < 0) + { + while (true) + { + int32_t dy = v1->point.y - v0->point.y; + + Vertex* w1 = side ? v1->prev : v1->next; + if (w1 != v1) + { + int32_t dx1 = (w1->point.x - v1->point.x) * sign; + int32_t dy1 = w1->point.y - v1->point.y; + if ((dy1 >= 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx <= dy * dx1)))) + { + v1 = w1; + dx = (v1->point.x - v0->point.x) * sign; + continue; + } + } + + Vertex* w0 = side ? v0->prev : v0->next; + if (w0 != v0) + { + int32_t dx0 = (w0->point.x - v0->point.x) * sign; + int32_t dy0 = w0->point.y - v0->point.y; + int32_t dxn = (v1->point.x - w0->point.x) * sign; + if ((dxn < 0) && (dy0 > 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx < dy * dx0)))) + { + v0 = w0; + dx = dxn; + continue; + } + } + + break; + } + } + else + { + int32_t x = v0->point.x; + int32_t y0 = v0->point.y; + Vertex* w0 = v0; + Vertex* t; + while (((t = side ? w0->next : w0->prev) != v0) && (t->point.x == x) && (t->point.y <= y0)) + { + w0 = t; + y0 = t->point.y; + } + v0 = w0; + + int32_t y1 = v1->point.y; + Vertex* w1 = v1; + while (((t = side ? w1->prev : w1->next) != v1) && (t->point.x == x) && (t->point.y >= y1)) + { + w1 = t; + y1 = t->point.y; + } + v1 = w1; + } + + if (side == 0) + { + v00 = v0; + v10 = v1; + + v0 = h0.minXy; + v1 = h1.minXy; + sign = -1; + } + } + + v0->prev = v1; + v1->next = v0; + + v00->next = v10; + v10->prev = v00; + + if (h1.minXy->point.x < h0.minXy->point.x) + { + h0.minXy = h1.minXy; + } + if (h1.maxXy->point.x >= h0.maxXy->point.x) + { + h0.maxXy = h1.maxXy; + } + + h0.maxYx = h1.maxYx; + + c0 = v00; + c1 = v10; + + return true; +} + +void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull& result) +{ + int n = end - start; + switch (n) + { + case 0: + result.minXy = NULL; + result.maxXy = NULL; + result.minYx = NULL; + result.maxYx = NULL; + return; + case 2: + { + Vertex* v = originalVertices[start]; + Vertex* w = v + 1; + if (v->point != w->point) + { + int32_t dx = v->point.x - w->point.x; + int32_t dy = v->point.y - w->point.y; + + if ((dx == 0) && (dy == 0)) + { + if (v->point.z > w->point.z) + { + Vertex* t = w; + w = v; + v = t; + } + btAssert(v->point.z < w->point.z); + v->next = v; + v->prev = v; + result.minXy = v; + result.maxXy = v; + result.minYx = v; + result.maxYx = v; + } + else + { + v->next = w; + v->prev = w; + w->next = v; + w->prev = v; + + if ((dx < 0) || ((dx == 0) && (dy < 0))) + { + result.minXy = v; + result.maxXy = w; + } + else + { + result.minXy = w; + result.maxXy = v; + } + + if ((dy < 0) || ((dy == 0) && (dx < 0))) + { + result.minYx = v; + result.maxYx = w; + } + else + { + result.minYx = w; + result.maxYx = v; + } + } + + Edge* e = newEdgePair(v, w); + e->link(e); + v->edges = e; + + e = e->reverse; + e->link(e); + w->edges = e; + + return; + } + { + Vertex* v = originalVertices[start]; + v->edges = NULL; + v->next = v; + v->prev = v; + + result.minXy = v; + result.maxXy = v; + result.minYx = v; + result.maxYx = v; + } + + return; + } + + case 1: + { + Vertex* v = originalVertices[start]; + v->edges = NULL; + v->next = v; + v->prev = v; + + result.minXy = v; + result.maxXy = v; + result.minYx = v; + result.maxYx = v; + + return; + } + } + + int split0 = start + n / 2; + Point32 p = originalVertices[split0-1]->point; + int split1 = split0; + while ((split1 < end) && (originalVertices[split1]->point == p)) + { + split1++; + } + computeInternal(start, split0, result); + IntermediateHull hull1; + computeInternal(split1, end, hull1); +#ifdef DEBUG_CONVEX_HULL + printf("\n\nMerge\n"); + result.print(); + hull1.print(); +#endif + merge(result, hull1); +#ifdef DEBUG_CONVEX_HULL + printf("\n Result\n"); + result.print(); +#endif +} + +#ifdef DEBUG_CONVEX_HULL +void btConvexHullInternal::IntermediateHull::print() +{ + printf(" Hull\n"); + for (Vertex* v = minXy; v; ) + { + printf(" "); + v->print(); + if (v == maxXy) + { + printf(" maxXy"); + } + if (v == minYx) + { + printf(" minYx"); + } + if (v == maxYx) + { + printf(" maxYx"); + } + if (v->next->prev != v) + { + printf(" Inconsistency"); + } + printf("\n"); + v = v->next; + if (v == minXy) + { + break; + } + } + if (minXy) + { + minXy->copy = (minXy->copy == -1) ? -2 : -1; + minXy->printGraph(); + } +} + +void btConvexHullInternal::Vertex::printGraph() +{ + print(); + printf("\nEdges\n"); + Edge* e = edges; + if (e) + { + do + { + e->print(); + printf("\n"); + e = e->next; + } while (e != edges); + do + { + Vertex* v = e->target; + if (v->copy != copy) + { + v->copy = copy; + v->printGraph(); + } + e = e->next; + } while (e != edges); + } +} +#endif + +btConvexHullInternal::Orientation btConvexHullInternal::getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t) +{ + btAssert(prev->reverse->target == next->reverse->target); + if (prev->next == next) + { + if (prev->prev == next) + { + Point64 n = t.cross(s); + Point64 m = (*prev->target - *next->reverse->target).cross(*next->target - *next->reverse->target); + btAssert(!m.isZero()); + int64_t dot = n.dot(m); + btAssert(dot != 0); + return (dot > 0) ? COUNTER_CLOCKWISE : CLOCKWISE; + } + return COUNTER_CLOCKWISE; + } + else if (prev->prev == next) + { + return CLOCKWISE; + } + else + { + return NONE; + } +} + +btConvexHullInternal::Edge* btConvexHullInternal::findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot) +{ + Edge* minEdge = NULL; + +#ifdef DEBUG_CONVEX_HULL + printf("find max edge for %d\n", start->point.index); +#endif + Edge* e = start->edges; + if (e) + { + do + { + if (e->copy > mergeStamp) + { + Point32 t = *e->target - *start; + Rational64 cot(t.dot(sxrxs), t.dot(rxs)); +#ifdef DEBUG_CONVEX_HULL + printf(" Angle is %f (%d) for ", (float) btAtan(cot.toScalar()), (int) cot.isNaN()); + e->print(); +#endif + if (cot.isNaN()) + { + btAssert(ccw ? (t.dot(s) < 0) : (t.dot(s) > 0)); + } + else + { + int cmp; + if (minEdge == NULL) + { + minCot = cot; + minEdge = e; + } + else if ((cmp = cot.compare(minCot)) < 0) + { + minCot = cot; + minEdge = e; + } + else if ((cmp == 0) && (ccw == (getOrientation(minEdge, e, s, t) == COUNTER_CLOCKWISE))) + { + minEdge = e; + } + } +#ifdef DEBUG_CONVEX_HULL + printf("\n"); +#endif + } + e = e->next; + } while (e != start->edges); + } + return minEdge; +} + +void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1) +{ + Edge* start0 = e0; + Edge* start1 = e1; + Point32 et0 = start0 ? start0->target->point : c0->point; + Point32 et1 = start1 ? start1->target->point : c1->point; + Point32 s = c1->point - c0->point; + Point64 normal = ((start0 ? start0 : start1)->target->point - c0->point).cross(s); + int64_t dist = c0->point.dot(normal); + btAssert(!start1 || (start1->target->point.dot(normal) == dist)); + Point64 perp = s.cross(normal); + btAssert(!perp.isZero()); + +#ifdef DEBUG_CONVEX_HULL + printf(" Advancing %d %d (%p %p, %d %d)\n", c0->point.index, c1->point.index, start0, start1, start0 ? start0->target->point.index : -1, start1 ? start1->target->point.index : -1); +#endif + + int64_t maxDot0 = et0.dot(perp); + if (e0) + { + while (e0->target != stop0) + { + Edge* e = e0->reverse->prev; + if (e->target->point.dot(normal) < dist) + { + break; + } + btAssert(e->target->point.dot(normal) == dist); + if (e->copy == mergeStamp) + { + break; + } + int64_t dot = e->target->point.dot(perp); + if (dot <= maxDot0) + { + break; + } + maxDot0 = dot; + e0 = e; + et0 = e->target->point; + } + } + + int64_t maxDot1 = et1.dot(perp); + if (e1) + { + while (e1->target != stop1) + { + Edge* e = e1->reverse->next; + if (e->target->point.dot(normal) < dist) + { + break; + } + btAssert(e->target->point.dot(normal) == dist); + if (e->copy == mergeStamp) + { + break; + } + int64_t dot = e->target->point.dot(perp); + if (dot <= maxDot1) + { + break; + } + maxDot1 = dot; + e1 = e; + et1 = e->target->point; + } + } + +#ifdef DEBUG_CONVEX_HULL + printf(" Starting at %d %d\n", et0.index, et1.index); +#endif + + int64_t dx = maxDot1 - maxDot0; + if (dx > 0) + { + while (true) + { + int64_t dy = (et1 - et0).dot(s); + + if (e0 && (e0->target != stop0)) + { + Edge* f0 = e0->next->reverse; + if (f0->copy > mergeStamp) + { + int64_t dx0 = (f0->target->point - et0).dot(perp); + int64_t dy0 = (f0->target->point - et0).dot(s); + if ((dx0 == 0) ? (dy0 < 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) >= 0))) + { + et0 = f0->target->point; + dx = (et1 - et0).dot(perp); + e0 = (e0 == start0) ? NULL : f0; + continue; + } + } + } + + if (e1 && (e1->target != stop1)) + { + Edge* f1 = e1->reverse->next; + if (f1->copy > mergeStamp) + { + Point32 d1 = f1->target->point - et1; + if (d1.dot(normal) == 0) + { + int64_t dx1 = d1.dot(perp); + int64_t dy1 = d1.dot(s); + int64_t dxn = (f1->target->point - et0).dot(perp); + if ((dxn > 0) && ((dx1 == 0) ? (dy1 < 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) > 0)))) + { + e1 = f1; + et1 = e1->target->point; + dx = dxn; + continue; + } + } + else + { + btAssert((e1 == start1) && (d1.dot(normal) < 0)); + } + } + } + + break; + } + } + else if (dx < 0) + { + while (true) + { + int64_t dy = (et1 - et0).dot(s); + + if (e1 && (e1->target != stop1)) + { + Edge* f1 = e1->prev->reverse; + if (f1->copy > mergeStamp) + { + int64_t dx1 = (f1->target->point - et1).dot(perp); + int64_t dy1 = (f1->target->point - et1).dot(s); + if ((dx1 == 0) ? (dy1 > 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) <= 0))) + { + et1 = f1->target->point; + dx = (et1 - et0).dot(perp); + e1 = (e1 == start1) ? NULL : f1; + continue; + } + } + } + + if (e0 && (e0->target != stop0)) + { + Edge* f0 = e0->reverse->prev; + if (f0->copy > mergeStamp) + { + Point32 d0 = f0->target->point - et0; + if (d0.dot(normal) == 0) + { + int64_t dx0 = d0.dot(perp); + int64_t dy0 = d0.dot(s); + int64_t dxn = (et1 - f0->target->point).dot(perp); + if ((dxn < 0) && ((dx0 == 0) ? (dy0 > 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) < 0)))) + { + e0 = f0; + et0 = e0->target->point; + dx = dxn; + continue; + } + } + else + { + btAssert((e0 == start0) && (d0.dot(normal) < 0)); + } + } + } + + break; + } + } +#ifdef DEBUG_CONVEX_HULL + printf(" Advanced edges to %d %d\n", et0.index, et1.index); +#endif +} + + +void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1) +{ + if (!h1.maxXy) + { + return; + } + if (!h0.maxXy) + { + h0 = h1; + return; + } + + mergeStamp--; + + Vertex* c0 = NULL; + Edge* toPrev0 = NULL; + Edge* firstNew0 = NULL; + Edge* pendingHead0 = NULL; + Edge* pendingTail0 = NULL; + Vertex* c1 = NULL; + Edge* toPrev1 = NULL; + Edge* firstNew1 = NULL; + Edge* pendingHead1 = NULL; + Edge* pendingTail1 = NULL; + Point32 prevPoint; + + if (mergeProjection(h0, h1, c0, c1)) + { + Point32 s = *c1 - *c0; + Point64 normal = Point32(0, 0, -1).cross(s); + Point64 t = s.cross(normal); + btAssert(!t.isZero()); + + Edge* e = c0->edges; + Edge* start0 = NULL; + if (e) + { + do + { + int64_t dot = (*e->target - *c0).dot(normal); + btAssert(dot <= 0); + if ((dot == 0) && ((*e->target - *c0).dot(t) > 0)) + { + if (!start0 || (getOrientation(start0, e, s, Point32(0, 0, -1)) == CLOCKWISE)) + { + start0 = e; + } + } + e = e->next; + } while (e != c0->edges); + } + + e = c1->edges; + Edge* start1 = NULL; + if (e) + { + do + { + int64_t dot = (*e->target - *c1).dot(normal); + btAssert(dot <= 0); + if ((dot == 0) && ((*e->target - *c1).dot(t) > 0)) + { + if (!start1 || (getOrientation(start1, e, s, Point32(0, 0, -1)) == COUNTER_CLOCKWISE)) + { + start1 = e; + } + } + e = e->next; + } while (e != c1->edges); + } + + if (start0 || start1) + { + findEdgeForCoplanarFaces(c0, c1, start0, start1, NULL, NULL); + if (start0) + { + c0 = start0->target; + } + if (start1) + { + c1 = start1->target; + } + } + + prevPoint = c1->point; + prevPoint.z++; + } + else + { + prevPoint = c1->point; + prevPoint.x++; + } + + Vertex* first0 = c0; + Vertex* first1 = c1; + bool firstRun = true; + + while (true) + { + Point32 s = *c1 - *c0; + Point32 r = prevPoint - c0->point; + Point64 rxs = r.cross(s); + Point64 sxrxs = s.cross(rxs); + +#ifdef DEBUG_CONVEX_HULL + printf("\n Checking %d %d\n", c0->point.index, c1->point.index); +#endif + Rational64 minCot0(0, 0); + Edge* min0 = findMaxAngle(false, c0, s, rxs, sxrxs, minCot0); + Rational64 minCot1(0, 0); + Edge* min1 = findMaxAngle(true, c1, s, rxs, sxrxs, minCot1); + if (!min0 && !min1) + { + Edge* e = newEdgePair(c0, c1); + e->link(e); + c0->edges = e; + + e = e->reverse; + e->link(e); + c1->edges = e; + return; + } + else + { + int cmp = !min0 ? 1 : !min1 ? -1 : minCot0.compare(minCot1); +#ifdef DEBUG_CONVEX_HULL + printf(" -> Result %d\n", cmp); +#endif + if (firstRun || ((cmp >= 0) ? !minCot1.isNegativeInfinity() : !minCot0.isNegativeInfinity())) + { + Edge* e = newEdgePair(c0, c1); + if (pendingTail0) + { + pendingTail0->prev = e; + } + else + { + pendingHead0 = e; + } + e->next = pendingTail0; + pendingTail0 = e; + + e = e->reverse; + if (pendingTail1) + { + pendingTail1->next = e; + } + else + { + pendingHead1 = e; + } + e->prev = pendingTail1; + pendingTail1 = e; + } + + Edge* e0 = min0; + Edge* e1 = min1; + +#ifdef DEBUG_CONVEX_HULL + printf(" Found min edges to %d %d\n", e0 ? e0->target->point.index : -1, e1 ? e1->target->point.index : -1); +#endif + + if (cmp == 0) + { + findEdgeForCoplanarFaces(c0, c1, e0, e1, NULL, NULL); + } + + if ((cmp >= 0) && e1) + { + if (toPrev1) + { + for (Edge* e = toPrev1->next, *n = NULL; e != min1; e = n) + { + n = e->next; + removeEdgePair(e); + } + } + + if (pendingTail1) + { + if (toPrev1) + { + toPrev1->link(pendingHead1); + } + else + { + min1->prev->link(pendingHead1); + firstNew1 = pendingHead1; + } + pendingTail1->link(min1); + pendingHead1 = NULL; + pendingTail1 = NULL; + } + else if (!toPrev1) + { + firstNew1 = min1; + } + + prevPoint = c1->point; + c1 = e1->target; + toPrev1 = e1->reverse; + } + + if ((cmp <= 0) && e0) + { + if (toPrev0) + { + for (Edge* e = toPrev0->prev, *n = NULL; e != min0; e = n) + { + n = e->prev; + removeEdgePair(e); + } + } + + if (pendingTail0) + { + if (toPrev0) + { + pendingHead0->link(toPrev0); + } + else + { + pendingHead0->link(min0->next); + firstNew0 = pendingHead0; + } + min0->link(pendingTail0); + pendingHead0 = NULL; + pendingTail0 = NULL; + } + else if (!toPrev0) + { + firstNew0 = min0; + } + + prevPoint = c0->point; + c0 = e0->target; + toPrev0 = e0->reverse; + } + } + + if ((c0 == first0) && (c1 == first1)) + { + if (toPrev0 == NULL) + { + pendingHead0->link(pendingTail0); + c0->edges = pendingTail0; + } + else + { + for (Edge* e = toPrev0->prev, *n = NULL; e != firstNew0; e = n) + { + n = e->prev; + removeEdgePair(e); + } + if (pendingTail0) + { + pendingHead0->link(toPrev0); + firstNew0->link(pendingTail0); + } + } + + if (toPrev1 == NULL) + { + pendingTail1->link(pendingHead1); + c1->edges = pendingTail1; + } + else + { + for (Edge* e = toPrev1->next, *n = NULL; e != firstNew1; e = n) + { + n = e->next; + removeEdgePair(e); + } + if (pendingTail1) + { + toPrev1->link(pendingHead1); + pendingTail1->link(firstNew1); + } + } + + return; + } + + firstRun = false; + } +} + +class pointCmp +{ + public: + + bool operator() ( const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q ) const + { + return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z)))); + } +}; + +void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count) +{ + btVector3 min(btScalar(1e30), btScalar(1e30), btScalar(1e30)), max(btScalar(-1e30), btScalar(-1e30), btScalar(-1e30)); + const char* ptr = (const char*) coords; + if (doubleCoords) + { + for (int i = 0; i < count; i++) + { + const double* v = (const double*) ptr; + btVector3 p((btScalar) v[0], (btScalar) v[1], (btScalar) v[2]); + ptr += stride; + min.setMin(p); + max.setMax(p); + } + } + else + { + for (int i = 0; i < count; i++) + { + const float* v = (const float*) ptr; + btVector3 p(v[0], v[1], v[2]); + ptr += stride; + min.setMin(p); + max.setMax(p); + } + } + + btVector3 s = max - min; + maxAxis = s.maxAxis(); + minAxis = s.minAxis(); + if (minAxis == maxAxis) + { + minAxis = (maxAxis + 1) % 3; + } + medAxis = 3 - maxAxis - minAxis; + + s /= btScalar(10216); + if (((medAxis + 1) % 3) != maxAxis) + { + s *= -1; + } + scaling = s; + + if (s[0] != 0) + { + s[0] = btScalar(1) / s[0]; + } + if (s[1] != 0) + { + s[1] = btScalar(1) / s[1]; + } + if (s[2] != 0) + { + s[2] = btScalar(1) / s[2]; + } + + center = (min + max) * btScalar(0.5); + + btAlignedObjectArray<Point32> points; + points.resize(count); + ptr = (const char*) coords; + if (doubleCoords) + { + for (int i = 0; i < count; i++) + { + const double* v = (const double*) ptr; + btVector3 p((btScalar) v[0], (btScalar) v[1], (btScalar) v[2]); + ptr += stride; + p = (p - center) * s; + points[i].x = (int32_t) p[medAxis]; + points[i].y = (int32_t) p[maxAxis]; + points[i].z = (int32_t) p[minAxis]; + points[i].index = i; + } + } + else + { + for (int i = 0; i < count; i++) + { + const float* v = (const float*) ptr; + btVector3 p(v[0], v[1], v[2]); + ptr += stride; + p = (p - center) * s; + points[i].x = (int32_t) p[medAxis]; + points[i].y = (int32_t) p[maxAxis]; + points[i].z = (int32_t) p[minAxis]; + points[i].index = i; + } + } + points.quickSort(pointCmp()); + + vertexPool.reset(); + vertexPool.setArraySize(count); + originalVertices.resize(count); + for (int i = 0; i < count; i++) + { + Vertex* v = vertexPool.newObject(); + v->edges = NULL; + v->point = points[i]; + v->copy = -1; + originalVertices[i] = v; + } + + points.clear(); + + edgePool.reset(); + edgePool.setArraySize(6 * count); + + usedEdgePairs = 0; + maxUsedEdgePairs = 0; + + mergeStamp = -3; + + IntermediateHull hull; + computeInternal(0, count, hull); + vertexList = hull.minXy; +#ifdef DEBUG_CONVEX_HULL + printf("max. edges %d (3v = %d)", maxUsedEdgePairs, 3 * count); +#endif +} + +btVector3 btConvexHullInternal::toBtVector(const Point32& v) +{ + btVector3 p; + p[medAxis] = btScalar(v.x); + p[maxAxis] = btScalar(v.y); + p[minAxis] = btScalar(v.z); + return p * scaling; +} + +btVector3 btConvexHullInternal::getBtNormal(Face* face) +{ + return toBtVector(face->dir0).cross(toBtVector(face->dir1)).normalized(); +} + +btVector3 btConvexHullInternal::getCoordinates(const Vertex* v) +{ + btVector3 p; + p[medAxis] = v->xvalue(); + p[maxAxis] = v->yvalue(); + p[minAxis] = v->zvalue(); + return p * scaling + center; +} + +btScalar btConvexHullInternal::shrink(btScalar amount, btScalar clampAmount) +{ + if (!vertexList) + { + return 0; + } + int stamp = --mergeStamp; + btAlignedObjectArray<Vertex*> stack; + vertexList->copy = stamp; + stack.push_back(vertexList); + btAlignedObjectArray<Face*> faces; + + Point32 ref = vertexList->point; + Int128 hullCenterX(0, 0); + Int128 hullCenterY(0, 0); + Int128 hullCenterZ(0, 0); + Int128 volume(0, 0); + + while (stack.size() > 0) + { + Vertex* v = stack[stack.size() - 1]; + stack.pop_back(); + Edge* e = v->edges; + if (e) + { + do + { + if (e->target->copy != stamp) + { + e->target->copy = stamp; + stack.push_back(e->target); + } + if (e->copy != stamp) + { + Face* face = facePool.newObject(); + face->init(e->target, e->reverse->prev->target, v); + faces.push_back(face); + Edge* f = e; + + Vertex* a = NULL; + Vertex* b = NULL; + do + { + if (a && b) + { + int64_t vol = (v->point - ref).dot((a->point - ref).cross(b->point - ref)); + btAssert(vol >= 0); + Point32 c = v->point + a->point + b->point + ref; + hullCenterX += vol * c.x; + hullCenterY += vol * c.y; + hullCenterZ += vol * c.z; + volume += vol; + } + + btAssert(f->copy != stamp); + f->copy = stamp; + f->face = face; + + a = b; + b = f->target; + + f = f->reverse->prev; + } while (f != e); + } + e = e->next; + } while (e != v->edges); + } + } + + if (volume.getSign() <= 0) + { + return 0; + } + + btVector3 hullCenter; + hullCenter[medAxis] = hullCenterX.toScalar(); + hullCenter[maxAxis] = hullCenterY.toScalar(); + hullCenter[minAxis] = hullCenterZ.toScalar(); + hullCenter /= 4 * volume.toScalar(); + hullCenter *= scaling; + + int faceCount = faces.size(); + + if (clampAmount > 0) + { + btScalar minDist = SIMD_INFINITY; + for (int i = 0; i < faceCount; i++) + { + btVector3 normal = getBtNormal(faces[i]); + btScalar dist = normal.dot(toBtVector(faces[i]->origin) - hullCenter); + if (dist < minDist) + { + minDist = dist; + } + } + + if (minDist <= 0) + { + return 0; + } + + amount = btMin(amount, minDist * clampAmount); + } + + unsigned int seed = 243703; + for (int i = 0; i < faceCount; i++, seed = 1664525 * seed + 1013904223) + { + btSwap(faces[i], faces[seed % faceCount]); + } + + for (int i = 0; i < faceCount; i++) + { + if (!shiftFace(faces[i], amount, stack)) + { + return -amount; + } + } + + return amount; +} + +bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjectArray<Vertex*> stack) +{ + btVector3 origShift = getBtNormal(face) * -amount; + if (scaling[0] != 0) + { + origShift[0] /= scaling[0]; + } + if (scaling[1] != 0) + { + origShift[1] /= scaling[1]; + } + if (scaling[2] != 0) + { + origShift[2] /= scaling[2]; + } + Point32 shift((int32_t) origShift[medAxis], (int32_t) origShift[maxAxis], (int32_t) origShift[minAxis]); + if (shift.isZero()) + { + return true; + } + Point64 normal = face->getNormal(); +#ifdef DEBUG_CONVEX_HULL + printf("\nShrinking face (%d %d %d) (%d %d %d) (%d %d %d) by (%d %d %d)\n", + face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z); +#endif + int64_t origDot = face->origin.dot(normal); + Point32 shiftedOrigin = face->origin + shift; + int64_t shiftedDot = shiftedOrigin.dot(normal); + btAssert(shiftedDot <= origDot); + if (shiftedDot >= origDot) + { + return false; + } + + Edge* intersection = NULL; + + Edge* startEdge = face->nearbyVertex->edges; +#ifdef DEBUG_CONVEX_HULL + printf("Start edge is "); + startEdge->print(); + printf(", normal is (%lld %lld %lld), shifted dot is %lld\n", normal.x, normal.y, normal.z, shiftedDot); +#endif + Rational128 optDot = face->nearbyVertex->dot(normal); + int cmp = optDot.compare(shiftedDot); +#ifdef SHOW_ITERATIONS + int n = 0; +#endif + if (cmp >= 0) + { + Edge* e = startEdge; + do + { +#ifdef SHOW_ITERATIONS + n++; +#endif + Rational128 dot = e->target->dot(normal); + btAssert(dot.compare(origDot) <= 0); +#ifdef DEBUG_CONVEX_HULL + printf("Moving downwards, edge is "); + e->print(); + printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot); +#endif + if (dot.compare(optDot) < 0) + { + int c = dot.compare(shiftedDot); + optDot = dot; + e = e->reverse; + startEdge = e; + if (c < 0) + { + intersection = e; + break; + } + cmp = c; + } + e = e->prev; + } while (e != startEdge); + + if (!intersection) + { + return false; + } + } + else + { + Edge* e = startEdge; + do + { +#ifdef SHOW_ITERATIONS + n++; +#endif + Rational128 dot = e->target->dot(normal); + btAssert(dot.compare(origDot) <= 0); +#ifdef DEBUG_CONVEX_HULL + printf("Moving upwards, edge is "); + e->print(); + printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot); +#endif + if (dot.compare(optDot) > 0) + { + cmp = dot.compare(shiftedDot); + if (cmp >= 0) + { + intersection = e; + break; + } + optDot = dot; + e = e->reverse; + startEdge = e; + } + e = e->prev; + } while (e != startEdge); + + if (!intersection) + { + return true; + } + } + +#ifdef SHOW_ITERATIONS + printf("Needed %d iterations to find initial intersection\n", n); +#endif + + if (cmp == 0) + { + Edge* e = intersection->reverse->next; +#ifdef SHOW_ITERATIONS + n = 0; +#endif + while (e->target->dot(normal).compare(shiftedDot) <= 0) + { +#ifdef SHOW_ITERATIONS + n++; +#endif + e = e->next; + if (e == intersection->reverse) + { + return true; + } +#ifdef DEBUG_CONVEX_HULL + printf("Checking for outwards edge, current edge is "); + e->print(); + printf("\n"); +#endif + } +#ifdef SHOW_ITERATIONS + printf("Needed %d iterations to check for complete containment\n", n); +#endif + } + + Edge* firstIntersection = NULL; + Edge* faceEdge = NULL; + Edge* firstFaceEdge = NULL; + +#ifdef SHOW_ITERATIONS + int m = 0; +#endif + while (true) + { +#ifdef SHOW_ITERATIONS + m++; +#endif +#ifdef DEBUG_CONVEX_HULL + printf("Intersecting edge is "); + intersection->print(); + printf("\n"); +#endif + if (cmp == 0) + { + Edge* e = intersection->reverse->next; + startEdge = e; +#ifdef SHOW_ITERATIONS + n = 0; +#endif + while (true) + { +#ifdef SHOW_ITERATIONS + n++; +#endif + if (e->target->dot(normal).compare(shiftedDot) >= 0) + { + break; + } + intersection = e->reverse; + e = e->next; + if (e == startEdge) + { + return true; + } + } +#ifdef SHOW_ITERATIONS + printf("Needed %d iterations to advance intersection\n", n); +#endif + } + +#ifdef DEBUG_CONVEX_HULL + printf("Advanced intersecting edge to "); + intersection->print(); + printf(", cmp = %d\n", cmp); +#endif + + if (!firstIntersection) + { + firstIntersection = intersection; + } + else if (intersection == firstIntersection) + { + break; + } + + int prevCmp = cmp; + Edge* prevIntersection = intersection; + Edge* prevFaceEdge = faceEdge; + + Edge* e = intersection->reverse; +#ifdef SHOW_ITERATIONS + n = 0; +#endif + while (true) + { +#ifdef SHOW_ITERATIONS + n++; +#endif + e = e->reverse->prev; + btAssert(e != intersection->reverse); + cmp = e->target->dot(normal).compare(shiftedDot); +#ifdef DEBUG_CONVEX_HULL + printf("Testing edge "); + e->print(); + printf(" -> cmp = %d\n", cmp); +#endif + if (cmp >= 0) + { + intersection = e; + break; + } + } +#ifdef SHOW_ITERATIONS + printf("Needed %d iterations to find other intersection of face\n", n); +#endif + + if (cmp > 0) + { + Vertex* removed = intersection->target; + e = intersection->reverse; + if (e->prev == e) + { + removed->edges = NULL; + } + else + { + removed->edges = e->prev; + e->prev->link(e->next); + e->link(e); + } +#ifdef DEBUG_CONVEX_HULL + printf("1: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); +#endif + + Point64 n0 = intersection->face->getNormal(); + Point64 n1 = intersection->reverse->face->getNormal(); + int64_t m00 = face->dir0.dot(n0); + int64_t m01 = face->dir1.dot(n0); + int64_t m10 = face->dir0.dot(n1); + int64_t m11 = face->dir1.dot(n1); + int64_t r0 = (intersection->face->origin - shiftedOrigin).dot(n0); + int64_t r1 = (intersection->reverse->face->origin - shiftedOrigin).dot(n1); + Int128 det = Int128::mul(m00, m11) - Int128::mul(m01, m10); + btAssert(det.getSign() != 0); + Vertex* v = vertexPool.newObject(); + v->point.index = -1; + v->copy = -1; + v->point128 = PointR128(Int128::mul(face->dir0.x * r0, m11) - Int128::mul(face->dir0.x * r1, m01) + + Int128::mul(face->dir1.x * r1, m00) - Int128::mul(face->dir1.x * r0, m10) + det * shiftedOrigin.x, + Int128::mul(face->dir0.y * r0, m11) - Int128::mul(face->dir0.y * r1, m01) + + Int128::mul(face->dir1.y * r1, m00) - Int128::mul(face->dir1.y * r0, m10) + det * shiftedOrigin.y, + Int128::mul(face->dir0.z * r0, m11) - Int128::mul(face->dir0.z * r1, m01) + + Int128::mul(face->dir1.z * r1, m00) - Int128::mul(face->dir1.z * r0, m10) + det * shiftedOrigin.z, + det); + v->point.x = (int32_t) v->point128.xvalue(); + v->point.y = (int32_t) v->point128.yvalue(); + v->point.z = (int32_t) v->point128.zvalue(); + intersection->target = v; + v->edges = e; + + stack.push_back(v); + stack.push_back(removed); + stack.push_back(NULL); + } + + if (cmp || prevCmp || (prevIntersection->reverse->next->target != intersection->target)) + { + faceEdge = newEdgePair(prevIntersection->target, intersection->target); + if (prevCmp == 0) + { + faceEdge->link(prevIntersection->reverse->next); + } + if ((prevCmp == 0) || prevFaceEdge) + { + prevIntersection->reverse->link(faceEdge); + } + if (cmp == 0) + { + intersection->reverse->prev->link(faceEdge->reverse); + } + faceEdge->reverse->link(intersection->reverse); + } + else + { + faceEdge = prevIntersection->reverse->next; + } + + if (prevFaceEdge) + { + if (prevCmp > 0) + { + faceEdge->link(prevFaceEdge->reverse); + } + else if (faceEdge != prevFaceEdge->reverse) + { + stack.push_back(prevFaceEdge->target); + while (faceEdge->next != prevFaceEdge->reverse) + { + Vertex* removed = faceEdge->next->target; + removeEdgePair(faceEdge->next); + stack.push_back(removed); +#ifdef DEBUG_CONVEX_HULL + printf("2: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); +#endif + } + stack.push_back(NULL); + } + } + faceEdge->face = face; + faceEdge->reverse->face = intersection->face; + + if (!firstFaceEdge) + { + firstFaceEdge = faceEdge; + } + } +#ifdef SHOW_ITERATIONS + printf("Needed %d iterations to process all intersections\n", m); +#endif + + if (cmp > 0) + { + firstFaceEdge->reverse->target = faceEdge->target; + firstIntersection->reverse->link(firstFaceEdge); + firstFaceEdge->link(faceEdge->reverse); + } + else if (firstFaceEdge != faceEdge->reverse) + { + stack.push_back(faceEdge->target); + while (firstFaceEdge->next != faceEdge->reverse) + { + Vertex* removed = firstFaceEdge->next->target; + removeEdgePair(firstFaceEdge->next); + stack.push_back(removed); +#ifdef DEBUG_CONVEX_HULL + printf("3: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); +#endif + } + stack.push_back(NULL); + } + + btAssert(stack.size() > 0); + vertexList = stack[0]; + +#ifdef DEBUG_CONVEX_HULL + printf("Removing part\n"); +#endif +#ifdef SHOW_ITERATIONS + n = 0; +#endif + int pos = 0; + while (pos < stack.size()) + { + int end = stack.size(); + while (pos < end) + { + Vertex* kept = stack[pos++]; +#ifdef DEBUG_CONVEX_HULL + kept->print(); +#endif + bool deeper = false; + Vertex* removed; + while ((removed = stack[pos++]) != NULL) + { +#ifdef SHOW_ITERATIONS + n++; +#endif + kept->receiveNearbyFaces(removed); + while (removed->edges) + { + if (!deeper) + { + deeper = true; + stack.push_back(kept); + } + stack.push_back(removed->edges->target); + removeEdgePair(removed->edges); + } + } + if (deeper) + { + stack.push_back(NULL); + } + } + } +#ifdef SHOW_ITERATIONS + printf("Needed %d iterations to remove part\n", n); +#endif + + stack.resize(0); + face->origin = shiftedOrigin; + + return true; +} + + +static int getVertexCopy(btConvexHullInternal::Vertex* vertex, btAlignedObjectArray<btConvexHullInternal::Vertex*>& vertices) +{ + int index = vertex->copy; + if (index < 0) + { + index = vertices.size(); + vertex->copy = index; + vertices.push_back(vertex); +#ifdef DEBUG_CONVEX_HULL + printf("Vertex %d gets index *%d\n", vertex->point.index, index); +#endif + } + return index; +} + +btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp) +{ + if (count <= 0) + { + vertices.clear(); + edges.clear(); + faces.clear(); + return 0; + } + + btConvexHullInternal hull; + hull.compute(coords, doubleCoords, stride, count); + + btScalar shift = 0; + if ((shrink > 0) && ((shift = hull.shrink(shrink, shrinkClamp)) < 0)) + { + vertices.clear(); + edges.clear(); + faces.clear(); + return shift; + } + + vertices.resize(0); + edges.resize(0); + faces.resize(0); + + btAlignedObjectArray<btConvexHullInternal::Vertex*> oldVertices; + getVertexCopy(hull.vertexList, oldVertices); + int copied = 0; + while (copied < oldVertices.size()) + { + btConvexHullInternal::Vertex* v = oldVertices[copied]; + vertices.push_back(hull.getCoordinates(v)); + btConvexHullInternal::Edge* firstEdge = v->edges; + if (firstEdge) + { + int firstCopy = -1; + int prevCopy = -1; + btConvexHullInternal::Edge* e = firstEdge; + do + { + if (e->copy < 0) + { + int s = edges.size(); + edges.push_back(Edge()); + edges.push_back(Edge()); + Edge* c = &edges[s]; + Edge* r = &edges[s + 1]; + e->copy = s; + e->reverse->copy = s + 1; + c->reverse = 1; + r->reverse = -1; + c->targetVertex = getVertexCopy(e->target, oldVertices); + r->targetVertex = copied; +#ifdef DEBUG_CONVEX_HULL + printf(" CREATE: Vertex *%d has edge to *%d\n", copied, c->getTargetVertex()); +#endif + } + if (prevCopy >= 0) + { + edges[e->copy].next = prevCopy - e->copy; + } + else + { + firstCopy = e->copy; + } + prevCopy = e->copy; + e = e->next; + } while (e != firstEdge); + edges[firstCopy].next = prevCopy - firstCopy; + } + copied++; + } + + for (int i = 0; i < copied; i++) + { + btConvexHullInternal::Vertex* v = oldVertices[i]; + btConvexHullInternal::Edge* firstEdge = v->edges; + if (firstEdge) + { + btConvexHullInternal::Edge* e = firstEdge; + do + { + if (e->copy >= 0) + { +#ifdef DEBUG_CONVEX_HULL + printf("Vertex *%d has edge to *%d\n", i, edges[e->copy].getTargetVertex()); +#endif + faces.push_back(e->copy); + btConvexHullInternal::Edge* f = e; + do + { +#ifdef DEBUG_CONVEX_HULL + printf(" Face *%d\n", edges[f->copy].getTargetVertex()); +#endif + f->copy = -1; + f = f->reverse->prev; + } while (f != e); + } + e = e->next; + } while (e != firstEdge); + } + } + + return shift; +} + + + + + diff --git a/thirdparty/bullet/src/LinearMath/btConvexHullComputer.h b/thirdparty/bullet/src/LinearMath/btConvexHullComputer.h new file mode 100644 index 0000000000..7240ac4fb5 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btConvexHullComputer.h @@ -0,0 +1,103 @@ +/* +Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_CONVEX_HULL_COMPUTER_H +#define BT_CONVEX_HULL_COMPUTER_H + +#include "btVector3.h" +#include "btAlignedObjectArray.h" + +/// Convex hull implementation based on Preparata and Hong +/// See http://code.google.com/p/bullet/issues/detail?id=275 +/// Ole Kniemeyer, MAXON Computer GmbH +class btConvexHullComputer +{ + private: + btScalar compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp); + + public: + + class Edge + { + private: + int next; + int reverse; + int targetVertex; + + friend class btConvexHullComputer; + + public: + int getSourceVertex() const + { + return (this + reverse)->targetVertex; + } + + int getTargetVertex() const + { + return targetVertex; + } + + const Edge* getNextEdgeOfVertex() const // clockwise list of all edges of a vertex + { + return this + next; + } + + const Edge* getNextEdgeOfFace() const // counter-clockwise list of all edges of a face + { + return (this + reverse)->getNextEdgeOfVertex(); + } + + const Edge* getReverseEdge() const + { + return this + reverse; + } + }; + + + // Vertices of the output hull + btAlignedObjectArray<btVector3> vertices; + + // Edges of the output hull + btAlignedObjectArray<Edge> edges; + + // Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons + btAlignedObjectArray<int> faces; + + /* + Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes + between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken + by that amount (each face is moved by "shrink" length units towards the center along its normal). + If "shrinkClamp" is positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius" + is the minimum distance of a face to the center of the convex hull. + + The returned value is the amount by which the hull has been shrunken. If it is negative, the amount was so large + that the resulting convex hull is empty. + + The output convex hull can be found in the member variables "vertices", "edges", "faces". + */ + btScalar compute(const float* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp) + { + return compute(coords, false, stride, count, shrink, shrinkClamp); + } + + // same as above, but double precision + btScalar compute(const double* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp) + { + return compute(coords, true, stride, count, shrink, shrinkClamp); + } +}; + + +#endif //BT_CONVEX_HULL_COMPUTER_H + diff --git a/thirdparty/bullet/src/LinearMath/btCpuFeatureUtility.h b/thirdparty/bullet/src/LinearMath/btCpuFeatureUtility.h new file mode 100644 index 0000000000..d2cab52d48 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btCpuFeatureUtility.h @@ -0,0 +1,92 @@ + +#ifndef BT_CPU_UTILITY_H +#define BT_CPU_UTILITY_H + +#include "LinearMath/btScalar.h" + +#include <string.h>//memset +#ifdef USE_SIMD +#include <emmintrin.h> +#ifdef BT_ALLOW_SSE4 +#include <intrin.h> +#endif //BT_ALLOW_SSE4 +#endif //USE_SIMD + +#if defined BT_USE_NEON +#define ARM_NEON_GCC_COMPATIBILITY 1 +#include <arm_neon.h> +#include <sys/types.h> +#include <sys/sysctl.h> //for sysctlbyname +#endif //BT_USE_NEON + +///Rudimentary btCpuFeatureUtility for CPU features: only report the features that Bullet actually uses (SSE4/FMA3, NEON_HPFP) +///We assume SSE2 in case BT_USE_SSE2 is defined in LinearMath/btScalar.h +class btCpuFeatureUtility +{ +public: + enum btCpuFeature + { + CPU_FEATURE_FMA3=1, + CPU_FEATURE_SSE4_1=2, + CPU_FEATURE_NEON_HPFP=4 + }; + + static int getCpuFeatures() + { + + static int capabilities = 0; + static bool testedCapabilities = false; + if (0 != testedCapabilities) + { + return capabilities; + } + +#ifdef BT_USE_NEON + { + uint32_t hasFeature = 0; + size_t featureSize = sizeof(hasFeature); + int err = sysctlbyname("hw.optional.neon_hpfp", &hasFeature, &featureSize, NULL, 0); + if (0 == err && hasFeature) + capabilities |= CPU_FEATURE_NEON_HPFP; + } +#endif //BT_USE_NEON + +#ifdef BT_ALLOW_SSE4 + { + int cpuInfo[4]; + memset(cpuInfo, 0, sizeof(cpuInfo)); + unsigned long long sseExt = 0; + __cpuid(cpuInfo, 1); + + bool osUsesXSAVE_XRSTORE = cpuInfo[2] & (1 << 27) || false; + bool cpuAVXSuport = cpuInfo[2] & (1 << 28) || false; + + if (osUsesXSAVE_XRSTORE && cpuAVXSuport) + { + sseExt = _xgetbv(0); + } + const int OSXSAVEFlag = (1UL << 27); + const int AVXFlag = ((1UL << 28) | OSXSAVEFlag); + const int FMAFlag = ((1UL << 12) | AVXFlag | OSXSAVEFlag); + if ((cpuInfo[2] & FMAFlag) == FMAFlag && (sseExt & 6) == 6) + { + capabilities |= btCpuFeatureUtility::CPU_FEATURE_FMA3; + } + + const int SSE41Flag = (1 << 19); + if (cpuInfo[2] & SSE41Flag) + { + capabilities |= btCpuFeatureUtility::CPU_FEATURE_SSE4_1; + } + } +#endif//BT_ALLOW_SSE4 + + testedCapabilities = true; + return capabilities; + } + + +}; + + +#endif //BT_CPU_UTILITY_H diff --git a/thirdparty/bullet/src/LinearMath/btDefaultMotionState.h b/thirdparty/bullet/src/LinearMath/btDefaultMotionState.h new file mode 100644 index 0000000000..01c5f8d932 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btDefaultMotionState.h @@ -0,0 +1,42 @@ +#ifndef BT_DEFAULT_MOTION_STATE_H +#define BT_DEFAULT_MOTION_STATE_H + +#include "btMotionState.h" + +///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets. +ATTRIBUTE_ALIGNED16(struct) btDefaultMotionState : public btMotionState +{ + btTransform m_graphicsWorldTrans; + btTransform m_centerOfMassOffset; + btTransform m_startWorldTrans; + void* m_userPointer; + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity()) + : m_graphicsWorldTrans(startTrans), + m_centerOfMassOffset(centerOfMassOffset), + m_startWorldTrans(startTrans), + m_userPointer(0) + + { + } + + ///synchronizes world transform from user to physics + virtual void getWorldTransform(btTransform& centerOfMassWorldTrans ) const + { + centerOfMassWorldTrans = m_graphicsWorldTrans * m_centerOfMassOffset.inverse() ; + } + + ///synchronizes world transform from physics to user + ///Bullet only calls the update of worldtransform for active objects + virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans) + { + m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset; + } + + + +}; + +#endif //BT_DEFAULT_MOTION_STATE_H diff --git a/thirdparty/bullet/src/LinearMath/btGeometryUtil.cpp b/thirdparty/bullet/src/LinearMath/btGeometryUtil.cpp new file mode 100644 index 0000000000..5ac230f712 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btGeometryUtil.cpp @@ -0,0 +1,185 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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. +*/ + + + +#include "btGeometryUtil.h" + + +/* + Make sure this dummy function never changes so that it + can be used by probes that are checking whether the + library is actually installed. +*/ +extern "C" +{ + void btBulletMathProbe (); + + void btBulletMathProbe () {} +} + + +bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin) +{ + int numbrushes = planeEquations.size(); + for (int i=0;i<numbrushes;i++) + { + const btVector3& N1 = planeEquations[i]; + btScalar dist = btScalar(N1.dot(point))+btScalar(N1[3])-margin; + if (dist>btScalar(0.)) + { + return false; + } + } + return true; + +} + + +bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin) +{ + int numvertices = vertices.size(); + for (int i=0;i<numvertices;i++) + { + const btVector3& N1 = vertices[i]; + btScalar dist = btScalar(planeNormal.dot(N1))+btScalar(planeNormal[3])-margin; + if (dist>btScalar(0.)) + { + return false; + } + } + return true; +} + +bool notExist(const btVector3& planeEquation,const btAlignedObjectArray<btVector3>& planeEquations); + +bool notExist(const btVector3& planeEquation,const btAlignedObjectArray<btVector3>& planeEquations) +{ + int numbrushes = planeEquations.size(); + for (int i=0;i<numbrushes;i++) + { + const btVector3& N1 = planeEquations[i]; + if (planeEquation.dot(N1) > btScalar(0.999)) + { + return false; + } + } + return true; +} + +void btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut ) +{ + const int numvertices = vertices.size(); + // brute force: + for (int i=0;i<numvertices;i++) + { + const btVector3& N1 = vertices[i]; + + + for (int j=i+1;j<numvertices;j++) + { + const btVector3& N2 = vertices[j]; + + for (int k=j+1;k<numvertices;k++) + { + + const btVector3& N3 = vertices[k]; + + btVector3 planeEquation,edge0,edge1; + edge0 = N2-N1; + edge1 = N3-N1; + btScalar normalSign = btScalar(1.); + for (int ww=0;ww<2;ww++) + { + planeEquation = normalSign * edge0.cross(edge1); + if (planeEquation.length2() > btScalar(0.0001)) + { + planeEquation.normalize(); + if (notExist(planeEquation,planeEquationsOut)) + { + planeEquation[3] = -planeEquation.dot(N1); + + //check if inside, and replace supportingVertexOut if needed + if (areVerticesBehindPlane(planeEquation,vertices,btScalar(0.01))) + { + planeEquationsOut.push_back(planeEquation); + } + } + } + normalSign = btScalar(-1.); + } + + } + } + } + +} + +void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations , btAlignedObjectArray<btVector3>& verticesOut ) +{ + const int numbrushes = planeEquations.size(); + // brute force: + for (int i=0;i<numbrushes;i++) + { + const btVector3& N1 = planeEquations[i]; + + + for (int j=i+1;j<numbrushes;j++) + { + const btVector3& N2 = planeEquations[j]; + + for (int k=j+1;k<numbrushes;k++) + { + + const btVector3& N3 = planeEquations[k]; + + btVector3 n2n3; n2n3 = N2.cross(N3); + btVector3 n3n1; n3n1 = N3.cross(N1); + btVector3 n1n2; n1n2 = N1.cross(N2); + + if ( ( n2n3.length2() > btScalar(0.0001) ) && + ( n3n1.length2() > btScalar(0.0001) ) && + ( n1n2.length2() > btScalar(0.0001) ) ) + { + //point P out of 3 plane equations: + + // d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 ) + //P = ------------------------------------------------------------------------- + // N1 . ( N2 * N3 ) + + + btScalar quotient = (N1.dot(n2n3)); + if (btFabs(quotient) > btScalar(0.000001)) + { + quotient = btScalar(-1.) / quotient; + n2n3 *= N1[3]; + n3n1 *= N2[3]; + n1n2 *= N3[3]; + btVector3 potentialVertex = n2n3; + potentialVertex += n3n1; + potentialVertex += n1n2; + potentialVertex *= quotient; + + //check if inside, and replace supportingVertexOut if needed + if (isPointInsidePlanes(planeEquations,potentialVertex,btScalar(0.01))) + { + verticesOut.push_back(potentialVertex); + } + } + } + } + } + } +} + diff --git a/thirdparty/bullet/src/LinearMath/btGeometryUtil.h b/thirdparty/bullet/src/LinearMath/btGeometryUtil.h new file mode 100644 index 0000000000..a4b13b4560 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btGeometryUtil.h @@ -0,0 +1,42 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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 BT_GEOMETRY_UTIL_H +#define BT_GEOMETRY_UTIL_H + +#include "btVector3.h" +#include "btAlignedObjectArray.h" + +///The btGeometryUtil helper class provides a few methods to convert between plane equations and vertices. +class btGeometryUtil +{ + public: + + + static void getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut ); + + static void getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations , btAlignedObjectArray<btVector3>& verticesOut ); + + static bool isInside(const btAlignedObjectArray<btVector3>& vertices, const btVector3& planeNormal, btScalar margin); + + static bool isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin); + + static bool areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin); + +}; + + +#endif //BT_GEOMETRY_UTIL_H + diff --git a/thirdparty/bullet/src/LinearMath/btGrahamScan2dConvexHull.h b/thirdparty/bullet/src/LinearMath/btGrahamScan2dConvexHull.h new file mode 100644 index 0000000000..13a79aa585 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btGrahamScan2dConvexHull.h @@ -0,0 +1,130 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org + +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 GRAHAM_SCAN_2D_CONVEX_HULL_H +#define GRAHAM_SCAN_2D_CONVEX_HULL_H + + +#include "btVector3.h" +#include "btAlignedObjectArray.h" + +struct GrahamVector3 : public btVector3 +{ + GrahamVector3(const btVector3& org, int orgIndex) + :btVector3(org), + m_orgIndex(orgIndex) + { + } + btScalar m_angle; + int m_orgIndex; +}; + + +struct btAngleCompareFunc { + btVector3 m_anchor; + btAngleCompareFunc(const btVector3& anchor) + : m_anchor(anchor) + { + } + bool operator()(const GrahamVector3& a, const GrahamVector3& b) const { + if (a.m_angle != b.m_angle) + return a.m_angle < b.m_angle; + else + { + btScalar al = (a-m_anchor).length2(); + btScalar bl = (b-m_anchor).length2(); + if (al != bl) + return al < bl; + else + { + return a.m_orgIndex < b.m_orgIndex; + } + } + } +}; + +inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector3>& originalPoints, btAlignedObjectArray<GrahamVector3>& hull, const btVector3& normalAxis) +{ + btVector3 axis0,axis1; + btPlaneSpace1(normalAxis,axis0,axis1); + + + if (originalPoints.size()<=1) + { + for (int i=0;i<originalPoints.size();i++) + hull.push_back(originalPoints[0]); + return; + } + //step1 : find anchor point with smallest projection on axis0 and move it to first location + for (int i=0;i<originalPoints.size();i++) + { +// const btVector3& left = originalPoints[i]; +// const btVector3& right = originalPoints[0]; + btScalar projL = originalPoints[i].dot(axis0); + btScalar projR = originalPoints[0].dot(axis0); + if (projL < projR) + { + originalPoints.swap(0,i); + } + } + + //also precompute angles + originalPoints[0].m_angle = -1e30f; + for (int i=1;i<originalPoints.size();i++) + { + btVector3 ar = originalPoints[i]-originalPoints[0]; + btScalar ar1 = axis1.dot(ar); + btScalar ar0 = axis0.dot(ar); + if( ar1*ar1+ar0*ar0 < FLT_EPSILON ) + { + originalPoints[i].m_angle = 0.0f; + } + else + { + originalPoints[i].m_angle = btAtan2Fast(ar1, ar0); + } + } + + //step 2: sort all points, based on 'angle' with this anchor + btAngleCompareFunc comp(originalPoints[0]); + originalPoints.quickSortInternal(comp,1,originalPoints.size()-1); + + int i; + for (i = 0; i<2; i++) + hull.push_back(originalPoints[i]); + + //step 3: keep all 'convex' points and discard concave points (using back tracking) + for (; i != originalPoints.size(); i++) + { + bool isConvex = false; + while (!isConvex&& hull.size()>1) { + btVector3& a = hull[hull.size()-2]; + btVector3& b = hull[hull.size()-1]; + isConvex = btCross(a-b,a-originalPoints[i]).dot(normalAxis)> 0; + if (!isConvex) + hull.pop_back(); + else + hull.push_back(originalPoints[i]); + } + + if( hull.size() == 1 ) + { + hull.push_back( originalPoints[i] ); + } + } +} + +#endif //GRAHAM_SCAN_2D_CONVEX_HULL_H diff --git a/thirdparty/bullet/src/LinearMath/btHashMap.h b/thirdparty/bullet/src/LinearMath/btHashMap.h new file mode 100644 index 0000000000..5e9cdb6054 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btHashMap.h @@ -0,0 +1,482 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#ifndef BT_HASH_MAP_H +#define BT_HASH_MAP_H + +#include "btAlignedObjectArray.h" + +///very basic hashable string implementation, compatible with btHashMap +struct btHashString +{ + const char* m_string; + unsigned int m_hash; + + SIMD_FORCE_INLINE unsigned int getHash()const + { + return m_hash; + } + + btHashString(const char* name) + :m_string(name) + { + /* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */ + static const unsigned int InitialFNV = 2166136261u; + static const unsigned int FNVMultiple = 16777619u; + + /* Fowler / Noll / Vo (FNV) Hash */ + unsigned int hash = InitialFNV; + + for(int i = 0; m_string[i]; i++) + { + hash = hash ^ (m_string[i]); /* xor the low 8 bits */ + hash = hash * FNVMultiple; /* multiply by the magic number */ + } + m_hash = hash; + } + + int portableStringCompare(const char* src, const char* dst) const + { + int ret = 0 ; + + while( ! (ret = *(const unsigned char *)src - *(const unsigned char *)dst) && *dst) + ++src, ++dst; + + if ( ret < 0 ) + ret = -1 ; + else if ( ret > 0 ) + ret = 1 ; + + return( ret ); + } + + bool equals(const btHashString& other) const + { + return (m_string == other.m_string) || + (0==portableStringCompare(m_string,other.m_string)); + + } + +}; + +const int BT_HASH_NULL=0xffffffff; + + +class btHashInt +{ + int m_uid; +public: + + btHashInt() + { + } + + btHashInt(int uid) :m_uid(uid) + { + } + + int getUid1() const + { + return m_uid; + } + + void setUid1(int uid) + { + m_uid = uid; + } + + bool equals(const btHashInt& other) const + { + return getUid1() == other.getUid1(); + } + //to our success + SIMD_FORCE_INLINE unsigned int getHash()const + { + unsigned int key = m_uid; + // Thomas Wang's hash + key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); + + return key; + } +}; + + + +class btHashPtr +{ + + union + { + const void* m_pointer; + unsigned int m_hashValues[2]; + }; + +public: + + btHashPtr(const void* ptr) + :m_pointer(ptr) + { + } + + const void* getPointer() const + { + return m_pointer; + } + + bool equals(const btHashPtr& other) const + { + return getPointer() == other.getPointer(); + } + + //to our success + SIMD_FORCE_INLINE unsigned int getHash()const + { + const bool VOID_IS_8 = ((sizeof(void*)==8)); + + unsigned int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0]; + // Thomas Wang's hash + key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); + return key; + } + + +}; + + +template <class Value> +class btHashKeyPtr +{ + int m_uid; +public: + + btHashKeyPtr(int uid) :m_uid(uid) + { + } + + int getUid1() const + { + return m_uid; + } + + bool equals(const btHashKeyPtr<Value>& other) const + { + return getUid1() == other.getUid1(); + } + + //to our success + SIMD_FORCE_INLINE unsigned int getHash()const + { + unsigned int key = m_uid; + // Thomas Wang's hash + key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); + return key; + } + + +}; + + +template <class Value> +class btHashKey +{ + int m_uid; +public: + + btHashKey(int uid) :m_uid(uid) + { + } + + int getUid1() const + { + return m_uid; + } + + bool equals(const btHashKey<Value>& other) const + { + return getUid1() == other.getUid1(); + } + //to our success + SIMD_FORCE_INLINE unsigned int getHash()const + { + unsigned int key = m_uid; + // Thomas Wang's hash + key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); + return key; + } +}; + + +///The btHashMap template class implements a generic and lightweight hashmap. +///A basic sample of how to use btHashMap is located in Demos\BasicDemo\main.cpp +template <class Key, class Value> +class btHashMap +{ + +protected: + btAlignedObjectArray<int> m_hashTable; + btAlignedObjectArray<int> m_next; + + btAlignedObjectArray<Value> m_valueArray; + btAlignedObjectArray<Key> m_keyArray; + + void growTables(const Key& /*key*/) + { + int newCapacity = m_valueArray.capacity(); + + if (m_hashTable.size() < newCapacity) + { + //grow hashtable and next table + int curHashtableSize = m_hashTable.size(); + + m_hashTable.resize(newCapacity); + m_next.resize(newCapacity); + + int i; + + for (i= 0; i < newCapacity; ++i) + { + m_hashTable[i] = BT_HASH_NULL; + } + for (i = 0; i < newCapacity; ++i) + { + m_next[i] = BT_HASH_NULL; + } + + for(i=0;i<curHashtableSize;i++) + { + //const Value& value = m_valueArray[i]; + //const Key& key = m_keyArray[i]; + + int hashValue = m_keyArray[i].getHash() & (m_valueArray.capacity()-1); // New hash value with new mask + m_next[i] = m_hashTable[hashValue]; + m_hashTable[hashValue] = i; + } + + + } + } + + public: + + void insert(const Key& key, const Value& value) { + int hash = key.getHash() & (m_valueArray.capacity()-1); + + //replace value if the key is already there + int index = findIndex(key); + if (index != BT_HASH_NULL) + { + m_valueArray[index]=value; + return; + } + + int count = m_valueArray.size(); + int oldCapacity = m_valueArray.capacity(); + m_valueArray.push_back(value); + m_keyArray.push_back(key); + + int newCapacity = m_valueArray.capacity(); + if (oldCapacity < newCapacity) + { + growTables(key); + //hash with new capacity + hash = key.getHash() & (m_valueArray.capacity()-1); + } + m_next[count] = m_hashTable[hash]; + m_hashTable[hash] = count; + } + + void remove(const Key& key) { + + int hash = key.getHash() & (m_valueArray.capacity()-1); + + int pairIndex = findIndex(key); + + if (pairIndex ==BT_HASH_NULL) + { + return; + } + + // Remove the pair from the hash table. + int index = m_hashTable[hash]; + btAssert(index != BT_HASH_NULL); + + int previous = BT_HASH_NULL; + while (index != pairIndex) + { + previous = index; + index = m_next[index]; + } + + if (previous != BT_HASH_NULL) + { + btAssert(m_next[previous] == pairIndex); + m_next[previous] = m_next[pairIndex]; + } + else + { + m_hashTable[hash] = m_next[pairIndex]; + } + + // We now move the last pair into spot of the + // pair being removed. We need to fix the hash + // table indices to support the move. + + int lastPairIndex = m_valueArray.size() - 1; + + // If the removed pair is the last pair, we are done. + if (lastPairIndex == pairIndex) + { + m_valueArray.pop_back(); + m_keyArray.pop_back(); + return; + } + + // Remove the last pair from the hash table. + int lastHash = m_keyArray[lastPairIndex].getHash() & (m_valueArray.capacity()-1); + + index = m_hashTable[lastHash]; + btAssert(index != BT_HASH_NULL); + + previous = BT_HASH_NULL; + while (index != lastPairIndex) + { + previous = index; + index = m_next[index]; + } + + if (previous != BT_HASH_NULL) + { + btAssert(m_next[previous] == lastPairIndex); + m_next[previous] = m_next[lastPairIndex]; + } + else + { + m_hashTable[lastHash] = m_next[lastPairIndex]; + } + + // Copy the last pair into the remove pair's spot. + m_valueArray[pairIndex] = m_valueArray[lastPairIndex]; + m_keyArray[pairIndex] = m_keyArray[lastPairIndex]; + + // Insert the last pair into the hash table + m_next[pairIndex] = m_hashTable[lastHash]; + m_hashTable[lastHash] = pairIndex; + + m_valueArray.pop_back(); + m_keyArray.pop_back(); + + } + + + int size() const + { + return m_valueArray.size(); + } + + const Value* getAtIndex(int index) const + { + btAssert(index < m_valueArray.size()); + btAssert(index>=0); + if (index>=0 && index < m_valueArray.size()) + { + return &m_valueArray[index]; + } + return 0; + } + + Value* getAtIndex(int index) + { + btAssert(index < m_valueArray.size()); + btAssert(index>=0); + if (index>=0 && index < m_valueArray.size()) + { + return &m_valueArray[index]; + } + return 0; + } + + Key getKeyAtIndex(int index) + { + btAssert(index < m_keyArray.size()); + btAssert(index>=0); + return m_keyArray[index]; + } + + const Key getKeyAtIndex(int index) const + { + btAssert(index < m_keyArray.size()); + btAssert(index>=0); + return m_keyArray[index]; + } + + + Value* operator[](const Key& key) { + return find(key); + } + + const Value* operator[](const Key& key) const { + return find(key); + } + + const Value* find(const Key& key) const + { + int index = findIndex(key); + if (index == BT_HASH_NULL) + { + return NULL; + } + return &m_valueArray[index]; + } + + Value* find(const Key& key) + { + int index = findIndex(key); + if (index == BT_HASH_NULL) + { + return NULL; + } + return &m_valueArray[index]; + } + + + int findIndex(const Key& key) const + { + unsigned int hash = key.getHash() & (m_valueArray.capacity()-1); + + if (hash >= (unsigned int)m_hashTable.size()) + { + return BT_HASH_NULL; + } + + int index = m_hashTable[hash]; + while ((index != BT_HASH_NULL) && key.equals(m_keyArray[index]) == false) + { + index = m_next[index]; + } + return index; + } + + void clear() + { + m_hashTable.clear(); + m_next.clear(); + m_valueArray.clear(); + m_keyArray.clear(); + } + +}; + +#endif //BT_HASH_MAP_H diff --git a/thirdparty/bullet/src/LinearMath/btIDebugDraw.h b/thirdparty/bullet/src/LinearMath/btIDebugDraw.h new file mode 100644 index 0000000000..936aaa896b --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btIDebugDraw.h @@ -0,0 +1,483 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#ifndef BT_IDEBUG_DRAW__H +#define BT_IDEBUG_DRAW__H + +#include "btVector3.h" +#include "btTransform.h" + + + +///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations. +///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld. +///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum. +///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1] +class btIDebugDraw +{ + public: + + ATTRIBUTE_ALIGNED16(struct) DefaultColors + { + btVector3 m_activeObject; + btVector3 m_deactivatedObject; + btVector3 m_wantsDeactivationObject; + btVector3 m_disabledDeactivationObject; + btVector3 m_disabledSimulationObject; + btVector3 m_aabb; + btVector3 m_contactPoint; + + DefaultColors() + : m_activeObject(1,1,1), + m_deactivatedObject(0,1,0), + m_wantsDeactivationObject(0,1,1), + m_disabledDeactivationObject(1,0,0), + m_disabledSimulationObject(1,1,0), + m_aabb(1,0,0), + m_contactPoint(1,1,0) + { + } + }; + + + enum DebugDrawModes + { + DBG_NoDebug=0, + DBG_DrawWireframe = 1, + DBG_DrawAabb=2, + DBG_DrawFeaturesText=4, + DBG_DrawContactPoints=8, + DBG_NoDeactivation=16, + DBG_NoHelpText = 32, + DBG_DrawText=64, + DBG_ProfileTimings = 128, + DBG_EnableSatComparison = 256, + DBG_DisableBulletLCP = 512, + DBG_EnableCCD = 1024, + DBG_DrawConstraints = (1 << 11), + DBG_DrawConstraintLimits = (1 << 12), + DBG_FastWireframe = (1<<13), + DBG_DrawNormals = (1<<14), + DBG_DrawFrames = (1<<15), + DBG_MAX_DEBUG_DRAW_MODE + }; + + virtual ~btIDebugDraw() {}; + + + virtual DefaultColors getDefaultColors() const { DefaultColors colors; return colors; } + ///the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors. + virtual void setDefaultColors(const DefaultColors& /*colors*/) {} + + virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0; + + virtual void drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor) + { + (void) toColor; + drawLine (from, to, fromColor); + } + + virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color) + { + + btVector3 center = transform.getOrigin(); + btVector3 up = transform.getBasis().getColumn(1); + btVector3 axis = transform.getBasis().getColumn(0); + btScalar minTh = -SIMD_HALF_PI; + btScalar maxTh = SIMD_HALF_PI; + btScalar minPs = -SIMD_HALF_PI; + btScalar maxPs = SIMD_HALF_PI; + btScalar stepDegrees = 30.f; + drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees ,false); + drawSpherePatch(center, up, -axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees,false ); + } + + virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color) + { + btTransform tr; + tr.setIdentity(); + tr.setOrigin(p); + drawSphere(radius,tr,color); + } + + virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha) + { + drawTriangle(v0,v1,v2,color,alpha); + } + virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& color, btScalar /*alpha*/) + { + drawLine(v0,v1,color); + drawLine(v1,v2,color); + drawLine(v2,v0,color); + } + + virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)=0; + + virtual void reportErrorWarning(const char* warningString) = 0; + + virtual void draw3dText(const btVector3& location,const char* textString) = 0; + + virtual void setDebugMode(int debugMode) =0; + + virtual int getDebugMode() const = 0; + + virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color) + { + + btVector3 halfExtents = (to-from)* 0.5f; + btVector3 center = (to+from) *0.5f; + int i,j; + + btVector3 edgecoord(1.f,1.f,1.f),pa,pb; + for (i=0;i<4;i++) + { + for (j=0;j<3;j++) + { + pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], + edgecoord[2]*halfExtents[2]); + pa+=center; + + int othercoord = j%3; + edgecoord[othercoord]*=-1.f; + pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], + edgecoord[2]*halfExtents[2]); + pb+=center; + + drawLine(pa,pb,color); + } + edgecoord = btVector3(-1.f,-1.f,-1.f); + if (i<3) + edgecoord[i]*=-1.f; + } + } + virtual void drawTransform(const btTransform& transform, btScalar orthoLen) + { + btVector3 start = transform.getOrigin(); + drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(1.f,0.3,0.3)); + drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0.3,1.f, 0.3)); + drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0.3, 0.3,1.f)); + } + + virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, + const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f)) + { + const btVector3& vx = axis; + btVector3 vy = normal.cross(axis); + btScalar step = stepDegrees * SIMD_RADS_PER_DEG; + int nSteps = (int)btFabs((maxAngle - minAngle) / step); + if(!nSteps) nSteps = 1; + btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle); + if(drawSect) + { + drawLine(center, prev, color); + } + for(int i = 1; i <= nSteps; i++) + { + btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps); + btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle); + drawLine(prev, next, color); + prev = next; + } + if(drawSect) + { + drawLine(center, prev, color); + } + } + virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius, + btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f),bool drawCenter = true) + { + btVector3 vA[74]; + btVector3 vB[74]; + btVector3 *pvA = vA, *pvB = vB, *pT; + btVector3 npole = center + up * radius; + btVector3 spole = center - up * radius; + btVector3 arcStart; + btScalar step = stepDegrees * SIMD_RADS_PER_DEG; + const btVector3& kv = up; + const btVector3& iv = axis; + btVector3 jv = kv.cross(iv); + bool drawN = false; + bool drawS = false; + if(minTh <= -SIMD_HALF_PI) + { + minTh = -SIMD_HALF_PI + step; + drawN = true; + } + if(maxTh >= SIMD_HALF_PI) + { + maxTh = SIMD_HALF_PI - step; + drawS = true; + } + if(minTh > maxTh) + { + minTh = -SIMD_HALF_PI + step; + maxTh = SIMD_HALF_PI - step; + drawN = drawS = true; + } + int n_hor = (int)((maxTh - minTh) / step) + 1; + if(n_hor < 2) n_hor = 2; + btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1); + bool isClosed = false; + if(minPs > maxPs) + { + minPs = -SIMD_PI + step; + maxPs = SIMD_PI; + isClosed = true; + } + else if((maxPs - minPs) >= SIMD_PI * btScalar(2.f)) + { + isClosed = true; + } + else + { + isClosed = false; + } + int n_vert = (int)((maxPs - minPs) / step) + 1; + if(n_vert < 2) n_vert = 2; + btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1); + for(int i = 0; i < n_hor; i++) + { + btScalar th = minTh + btScalar(i) * step_h; + btScalar sth = radius * btSin(th); + btScalar cth = radius * btCos(th); + for(int j = 0; j < n_vert; j++) + { + btScalar psi = minPs + btScalar(j) * step_v; + btScalar sps = btSin(psi); + btScalar cps = btCos(psi); + pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv; + if(i) + { + drawLine(pvA[j], pvB[j], color); + } + else if(drawS) + { + drawLine(spole, pvB[j], color); + } + if(j) + { + drawLine(pvB[j-1], pvB[j], color); + } + else + { + arcStart = pvB[j]; + } + if((i == (n_hor - 1)) && drawN) + { + drawLine(npole, pvB[j], color); + } + + if (drawCenter) + { + if(isClosed) + { + if(j == (n_vert-1)) + { + drawLine(arcStart, pvB[j], color); + } + } + else + { + if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1)))) + { + drawLine(center, pvB[j], color); + } + } + } + } + pT = pvA; pvA = pvB; pvB = pT; + } + } + + + virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color) + { + drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color); + drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color); + drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMin[2]), color); + drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMin[2]), color); + drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color); + drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color); + drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color); + drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color); + drawLine(btVector3(bbMin[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color); + drawLine(btVector3(bbMax[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color); + drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color); + drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color); + } + virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color) + { + drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color); + } + + virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color) + { + int stepDegrees = 30; + + btVector3 capStart(0.f,0.f,0.f); + capStart[upAxis] = -halfHeight; + + btVector3 capEnd(0.f,0.f,0.f); + capEnd[upAxis] = halfHeight; + + // Draw the ends + { + + btTransform childTransform = transform; + childTransform.getOrigin() = transform * capStart; + { + btVector3 center = childTransform.getOrigin(); + btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3); + btVector3 axis = -childTransform.getBasis().getColumn(upAxis); + btScalar minTh = -SIMD_HALF_PI; + btScalar maxTh = SIMD_HALF_PI; + btScalar minPs = -SIMD_HALF_PI; + btScalar maxPs = SIMD_HALF_PI; + + drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false); + } + + + + } + + { + btTransform childTransform = transform; + childTransform.getOrigin() = transform * capEnd; + { + btVector3 center = childTransform.getOrigin(); + btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3); + btVector3 axis = childTransform.getBasis().getColumn(upAxis); + btScalar minTh = -SIMD_HALF_PI; + btScalar maxTh = SIMD_HALF_PI; + btScalar minPs = -SIMD_HALF_PI; + btScalar maxPs = SIMD_HALF_PI; + drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false); + } + } + + // Draw some additional lines + btVector3 start = transform.getOrigin(); + + for (int i=0;i<360;i+=stepDegrees) + { + capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color); + } + + } + + virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color) + { + btVector3 start = transform.getOrigin(); + btVector3 offsetHeight(0,0,0); + offsetHeight[upAxis] = halfHeight; + int stepDegrees=30; + btVector3 capStart(0.f,0.f,0.f); + capStart[upAxis] = -halfHeight; + btVector3 capEnd(0.f,0.f,0.f); + capEnd[upAxis] = halfHeight; + + for (int i=0;i<360;i+=stepDegrees) + { + capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color); + } + // Drawing top and bottom caps of the cylinder + btVector3 yaxis(0,0,0); + yaxis[upAxis] = btScalar(1.0); + btVector3 xaxis(0,0,0); + xaxis[(upAxis+1)%3] = btScalar(1.0); + drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0)); + drawArc(start+transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0)); + } + + virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color) + { + int stepDegrees = 30; + btVector3 start = transform.getOrigin(); + + btVector3 offsetHeight(0,0,0); + btScalar halfHeight = height * btScalar(0.5); + offsetHeight[upAxis] = halfHeight; + btVector3 offsetRadius(0,0,0); + offsetRadius[(upAxis+1)%3] = radius; + btVector3 offset2Radius(0,0,0); + offset2Radius[(upAxis+2)%3] = radius; + + + btVector3 capEnd(0.f,0.f,0.f); + capEnd[upAxis] = -halfHeight; + + for (int i=0;i<360;i+=stepDegrees) + { + capEnd[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + capEnd[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * capEnd, color); + } + + drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offsetRadius),color); + drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offsetRadius),color); + drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offset2Radius),color); + drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offset2Radius),color); + + // Drawing the base of the cone + btVector3 yaxis(0,0,0); + yaxis[upAxis] = btScalar(1.0); + btVector3 xaxis(0,0,0); + xaxis[(upAxis+1)%3] = btScalar(1.0); + drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,10.0); + } + + virtual void drawPlane(const btVector3& planeNormal, btScalar planeConst, const btTransform& transform, const btVector3& color) + { + btVector3 planeOrigin = planeNormal * planeConst; + btVector3 vec0,vec1; + btPlaneSpace1(planeNormal,vec0,vec1); + btScalar vecLen = 100.f; + btVector3 pt0 = planeOrigin + vec0*vecLen; + btVector3 pt1 = planeOrigin - vec0*vecLen; + btVector3 pt2 = planeOrigin + vec1*vecLen; + btVector3 pt3 = planeOrigin - vec1*vecLen; + drawLine(transform*pt0,transform*pt1,color); + drawLine(transform*pt2,transform*pt3,color); + } + + virtual void clearLines() + { + } + + virtual void flushLines() + { + } +}; + + +#endif //BT_IDEBUG_DRAW__H + diff --git a/thirdparty/bullet/src/LinearMath/btList.h b/thirdparty/bullet/src/LinearMath/btList.h new file mode 100644 index 0000000000..eec80a7064 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btList.h @@ -0,0 +1,73 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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 BT_GEN_LIST_H +#define BT_GEN_LIST_H + +class btGEN_Link { +public: + btGEN_Link() : m_next(0), m_prev(0) {} + btGEN_Link(btGEN_Link *next, btGEN_Link *prev) : m_next(next), m_prev(prev) {} + + btGEN_Link *getNext() const { return m_next; } + btGEN_Link *getPrev() const { return m_prev; } + + bool isHead() const { return m_prev == 0; } + bool isTail() const { return m_next == 0; } + + void insertBefore(btGEN_Link *link) { + m_next = link; + m_prev = link->m_prev; + m_next->m_prev = this; + m_prev->m_next = this; + } + + void insertAfter(btGEN_Link *link) { + m_next = link->m_next; + m_prev = link; + m_next->m_prev = this; + m_prev->m_next = this; + } + + void remove() { + m_next->m_prev = m_prev; + m_prev->m_next = m_next; + } + +private: + btGEN_Link *m_next; + btGEN_Link *m_prev; +}; + +class btGEN_List { +public: + btGEN_List() : m_head(&m_tail, 0), m_tail(0, &m_head) {} + + btGEN_Link *getHead() const { return m_head.getNext(); } + btGEN_Link *getTail() const { return m_tail.getPrev(); } + + void addHead(btGEN_Link *link) { link->insertAfter(&m_head); } + void addTail(btGEN_Link *link) { link->insertBefore(&m_tail); } + +private: + btGEN_Link m_head; + btGEN_Link m_tail; +}; + +#endif //BT_GEN_LIST_H + + + diff --git a/thirdparty/bullet/src/LinearMath/btMatrix3x3.h b/thirdparty/bullet/src/LinearMath/btMatrix3x3.h new file mode 100644 index 0000000000..9f642a1779 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btMatrix3x3.h @@ -0,0 +1,1348 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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 BT_MATRIX3x3_H +#define BT_MATRIX3x3_H + +#include "btVector3.h" +#include "btQuaternion.h" +#include <stdio.h> + +#ifdef BT_USE_SSE +//const __m128 ATTRIBUTE_ALIGNED16(v2220) = {2.0f, 2.0f, 2.0f, 0.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f}; +#define vMPPP (_mm_set_ps (+0.0f, +0.0f, +0.0f, -0.0f)) +#endif + +#if defined(BT_USE_SSE) +#define v1000 (_mm_set_ps(0.0f,0.0f,0.0f,1.0f)) +#define v0100 (_mm_set_ps(0.0f,0.0f,1.0f,0.0f)) +#define v0010 (_mm_set_ps(0.0f,1.0f,0.0f,0.0f)) +#elif defined(BT_USE_NEON) +const btSimdFloat4 ATTRIBUTE_ALIGNED16(v1000) = {1.0f, 0.0f, 0.0f, 0.0f}; +const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0100) = {0.0f, 1.0f, 0.0f, 0.0f}; +const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0010) = {0.0f, 0.0f, 1.0f, 0.0f}; +#endif + +#ifdef BT_USE_DOUBLE_PRECISION +#define btMatrix3x3Data btMatrix3x3DoubleData +#else +#define btMatrix3x3Data btMatrix3x3FloatData +#endif //BT_USE_DOUBLE_PRECISION + + +/**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3. +* Make sure to only include a pure orthogonal matrix without scaling. */ +ATTRIBUTE_ALIGNED16(class) btMatrix3x3 { + + ///Data storage for the matrix, each vector is a row of the matrix + btVector3 m_el[3]; + +public: + /** @brief No initializaion constructor */ + btMatrix3x3 () {} + + // explicit btMatrix3x3(const btScalar *m) { setFromOpenGLSubMatrix(m); } + + /**@brief Constructor from Quaternion */ + explicit btMatrix3x3(const btQuaternion& q) { setRotation(q); } + /* + template <typename btScalar> + Matrix3x3(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { + setEulerYPR(yaw, pitch, roll); + } + */ + /** @brief Constructor with row major formatting */ + btMatrix3x3(const btScalar& xx, const btScalar& xy, const btScalar& xz, + const btScalar& yx, const btScalar& yy, const btScalar& yz, + const btScalar& zx, const btScalar& zy, const btScalar& zz) + { + setValue(xx, xy, xz, + yx, yy, yz, + zx, zy, zz); + } + +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + SIMD_FORCE_INLINE btMatrix3x3 (const btSimdFloat4 v0, const btSimdFloat4 v1, const btSimdFloat4 v2 ) + { + m_el[0].mVec128 = v0; + m_el[1].mVec128 = v1; + m_el[2].mVec128 = v2; + } + + SIMD_FORCE_INLINE btMatrix3x3 (const btVector3& v0, const btVector3& v1, const btVector3& v2 ) + { + m_el[0] = v0; + m_el[1] = v1; + m_el[2] = v2; + } + + // Copy constructor + SIMD_FORCE_INLINE btMatrix3x3(const btMatrix3x3& rhs) + { + m_el[0].mVec128 = rhs.m_el[0].mVec128; + m_el[1].mVec128 = rhs.m_el[1].mVec128; + m_el[2].mVec128 = rhs.m_el[2].mVec128; + } + + // Assignment Operator + SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& m) + { + m_el[0].mVec128 = m.m_el[0].mVec128; + m_el[1].mVec128 = m.m_el[1].mVec128; + m_el[2].mVec128 = m.m_el[2].mVec128; + + return *this; + } + +#else + + /** @brief Copy constructor */ + SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other) + { + m_el[0] = other.m_el[0]; + m_el[1] = other.m_el[1]; + m_el[2] = other.m_el[2]; + } + + /** @brief Assignment Operator */ + SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other) + { + m_el[0] = other.m_el[0]; + m_el[1] = other.m_el[1]; + m_el[2] = other.m_el[2]; + return *this; + } + +#endif + + /** @brief Get a column of the matrix as a vector + * @param i Column number 0 indexed */ + SIMD_FORCE_INLINE btVector3 getColumn(int i) const + { + return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]); + } + + + /** @brief Get a row of the matrix as a vector + * @param i Row number 0 indexed */ + SIMD_FORCE_INLINE const btVector3& getRow(int i) const + { + btFullAssert(0 <= i && i < 3); + return m_el[i]; + } + + /** @brief Get a mutable reference to a row of the matrix as a vector + * @param i Row number 0 indexed */ + SIMD_FORCE_INLINE btVector3& operator[](int i) + { + btFullAssert(0 <= i && i < 3); + return m_el[i]; + } + + /** @brief Get a const reference to a row of the matrix as a vector + * @param i Row number 0 indexed */ + SIMD_FORCE_INLINE const btVector3& operator[](int i) const + { + btFullAssert(0 <= i && i < 3); + return m_el[i]; + } + + /** @brief Multiply by the target matrix on the right + * @param m Rotation matrix to be applied + * Equivilant to this = this * m */ + btMatrix3x3& operator*=(const btMatrix3x3& m); + + /** @brief Adds by the target matrix on the right + * @param m matrix to be applied + * Equivilant to this = this + m */ + btMatrix3x3& operator+=(const btMatrix3x3& m); + + /** @brief Substractss by the target matrix on the right + * @param m matrix to be applied + * Equivilant to this = this - m */ + btMatrix3x3& operator-=(const btMatrix3x3& m); + + /** @brief Set from the rotational part of a 4x4 OpenGL matrix + * @param m A pointer to the beginning of the array of scalars*/ + void setFromOpenGLSubMatrix(const btScalar *m) + { + m_el[0].setValue(m[0],m[4],m[8]); + m_el[1].setValue(m[1],m[5],m[9]); + m_el[2].setValue(m[2],m[6],m[10]); + + } + /** @brief Set the values of the matrix explicitly (row major) + * @param xx Top left + * @param xy Top Middle + * @param xz Top Right + * @param yx Middle Left + * @param yy Middle Middle + * @param yz Middle Right + * @param zx Bottom Left + * @param zy Bottom Middle + * @param zz Bottom Right*/ + void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz, + const btScalar& yx, const btScalar& yy, const btScalar& yz, + const btScalar& zx, const btScalar& zy, const btScalar& zz) + { + m_el[0].setValue(xx,xy,xz); + m_el[1].setValue(yx,yy,yz); + m_el[2].setValue(zx,zy,zz); + } + + /** @brief Set the matrix from a quaternion + * @param q The Quaternion to match */ + void setRotation(const btQuaternion& q) + { + btScalar d = q.length2(); + btFullAssert(d != btScalar(0.0)); + btScalar s = btScalar(2.0) / d; + + #if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vs, Q = q.get128(); + __m128i Qi = btCastfTo128i(Q); + __m128 Y, Z; + __m128 V1, V2, V3; + __m128 V11, V21, V31; + __m128 NQ = _mm_xor_ps(Q, btvMzeroMask); + __m128i NQi = btCastfTo128i(NQ); + + V1 = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,0,2,3))); // Y X Z W + V2 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(0,0,1,3)); // -X -X Y W + V3 = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(2,1,0,3))); // Z Y X W + V1 = _mm_xor_ps(V1, vMPPP); // change the sign of the first element + + V11 = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,1,0,3))); // Y Y X W + V21 = _mm_unpackhi_ps(Q, Q); // Z Z W W + V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(0,2,0,3)); // X Z -X -W + + V2 = V2 * V1; // + V1 = V1 * V11; // + V3 = V3 * V31; // + + V11 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(2,3,1,3)); // -Z -W Y W + V11 = V11 * V21; // + V21 = _mm_xor_ps(V21, vMPPP); // change the sign of the first element + V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(3,3,1,3)); // W W -Y -W + V31 = _mm_xor_ps(V31, vMPPP); // change the sign of the first element + Y = btCastiTo128f(_mm_shuffle_epi32 (NQi, BT_SHUFFLE(3,2,0,3))); // -W -Z -X -W + Z = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,0,1,3))); // Y X Y W + + vs = _mm_load_ss(&s); + V21 = V21 * Y; + V31 = V31 * Z; + + V1 = V1 + V11; + V2 = V2 + V21; + V3 = V3 + V31; + + vs = bt_splat3_ps(vs, 0); + // s ready + V1 = V1 * vs; + V2 = V2 * vs; + V3 = V3 * vs; + + V1 = V1 + v1000; + V2 = V2 + v0100; + V3 = V3 + v0010; + + m_el[0] = V1; + m_el[1] = V2; + m_el[2] = V3; + #else + btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s; + btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs; + btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs; + btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs; + setValue( + btScalar(1.0) - (yy + zz), xy - wz, xz + wy, + xy + wz, btScalar(1.0) - (xx + zz), yz - wx, + xz - wy, yz + wx, btScalar(1.0) - (xx + yy)); + #endif + } + + + /** @brief Set the matrix from euler angles using YPR around YXZ respectively + * @param yaw Yaw about Y axis + * @param pitch Pitch about X axis + * @param roll Roll about Z axis + */ + void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { + setEulerZYX(roll, pitch, yaw); + } + + /** @brief Set the matrix from euler angles YPR around ZYX axes + * @param eulerX Roll about X axis + * @param eulerY Pitch around Y axis + * @param eulerZ Yaw aboud Z axis + * + * These angles are used to produce a rotation matrix. The euler + * angles are applied in ZYX order. I.e a vector is first rotated + * about X then Y and then Z + **/ + void setEulerZYX(btScalar eulerX,btScalar eulerY,btScalar eulerZ) { + ///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code + btScalar ci ( btCos(eulerX)); + btScalar cj ( btCos(eulerY)); + btScalar ch ( btCos(eulerZ)); + btScalar si ( btSin(eulerX)); + btScalar sj ( btSin(eulerY)); + btScalar sh ( btSin(eulerZ)); + btScalar cc = ci * ch; + btScalar cs = ci * sh; + btScalar sc = si * ch; + btScalar ss = si * sh; + + setValue(cj * ch, sj * sc - cs, sj * cc + ss, + cj * sh, sj * ss + cc, sj * cs - sc, + -sj, cj * si, cj * ci); + } + + /**@brief Set the matrix to the identity */ + void setIdentity() + { +#if (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined(BT_USE_NEON) + m_el[0] = v1000; + m_el[1] = v0100; + m_el[2] = v0010; +#else + setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0), + btScalar(0.0), btScalar(1.0), btScalar(0.0), + btScalar(0.0), btScalar(0.0), btScalar(1.0)); +#endif + } + + static const btMatrix3x3& getIdentity() + { +#if (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined(BT_USE_NEON) + static const btMatrix3x3 + identityMatrix(v1000, v0100, v0010); +#else + static const btMatrix3x3 + identityMatrix( + btScalar(1.0), btScalar(0.0), btScalar(0.0), + btScalar(0.0), btScalar(1.0), btScalar(0.0), + btScalar(0.0), btScalar(0.0), btScalar(1.0)); +#endif + return identityMatrix; + } + + /**@brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective + * @param m The array to be filled */ + void getOpenGLSubMatrix(btScalar *m) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 v0 = m_el[0].mVec128; + __m128 v1 = m_el[1].mVec128; + __m128 v2 = m_el[2].mVec128; // x2 y2 z2 w2 + __m128 *vm = (__m128 *)m; + __m128 vT; + + v2 = _mm_and_ps(v2, btvFFF0fMask); // x2 y2 z2 0 + + vT = _mm_unpackhi_ps(v0, v1); // z0 z1 * * + v0 = _mm_unpacklo_ps(v0, v1); // x0 x1 y0 y1 + + v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3) ); // y0 y1 y2 0 + v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3) ); // x0 x1 x2 0 + v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT))); // z0 z1 z2 0 + + vm[0] = v0; + vm[1] = v1; + vm[2] = v2; +#elif defined(BT_USE_NEON) + // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions. + static const uint32x2_t zMask = (const uint32x2_t) {static_cast<uint32_t>(-1), 0 }; + float32x4_t *vm = (float32x4_t *)m; + float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 ); // {x0 x1 z0 z1}, {y0 y1 w0 w1} + float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) ); // {x2 0 }, {y2 0} + float32x4_t v0 = vcombine_f32( vget_low_f32(top.val[0]), bl.val[0] ); + float32x4_t v1 = vcombine_f32( vget_low_f32(top.val[1]), bl.val[1] ); + float32x2_t q = (float32x2_t) vand_u32( (uint32x2_t) vget_high_f32( m_el[2].mVec128), zMask ); + float32x4_t v2 = vcombine_f32( vget_high_f32(top.val[0]), q ); // z0 z1 z2 0 + + vm[0] = v0; + vm[1] = v1; + vm[2] = v2; +#else + m[0] = btScalar(m_el[0].x()); + m[1] = btScalar(m_el[1].x()); + m[2] = btScalar(m_el[2].x()); + m[3] = btScalar(0.0); + m[4] = btScalar(m_el[0].y()); + m[5] = btScalar(m_el[1].y()); + m[6] = btScalar(m_el[2].y()); + m[7] = btScalar(0.0); + m[8] = btScalar(m_el[0].z()); + m[9] = btScalar(m_el[1].z()); + m[10] = btScalar(m_el[2].z()); + m[11] = btScalar(0.0); +#endif + } + + /**@brief Get the matrix represented as a quaternion + * @param q The quaternion which will be set */ + void getRotation(btQuaternion& q) const + { +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z(); + btScalar s, x; + + union { + btSimdFloat4 vec; + btScalar f[4]; + } temp; + + if (trace > btScalar(0.0)) + { + x = trace + btScalar(1.0); + + temp.f[0]=m_el[2].y() - m_el[1].z(); + temp.f[1]=m_el[0].z() - m_el[2].x(); + temp.f[2]=m_el[1].x() - m_el[0].y(); + temp.f[3]=x; + //temp.f[3]= s * btScalar(0.5); + } + else + { + int i, j, k; + if(m_el[0].x() < m_el[1].y()) + { + if( m_el[1].y() < m_el[2].z() ) + { i = 2; j = 0; k = 1; } + else + { i = 1; j = 2; k = 0; } + } + else + { + if( m_el[0].x() < m_el[2].z()) + { i = 2; j = 0; k = 1; } + else + { i = 0; j = 1; k = 2; } + } + + x = m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0); + + temp.f[3] = (m_el[k][j] - m_el[j][k]); + temp.f[j] = (m_el[j][i] + m_el[i][j]); + temp.f[k] = (m_el[k][i] + m_el[i][k]); + temp.f[i] = x; + //temp.f[i] = s * btScalar(0.5); + } + + s = btSqrt(x); + q.set128(temp.vec); + s = btScalar(0.5) / s; + + q *= s; +#else + btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z(); + + btScalar temp[4]; + + if (trace > btScalar(0.0)) + { + btScalar s = btSqrt(trace + btScalar(1.0)); + temp[3]=(s * btScalar(0.5)); + s = btScalar(0.5) / s; + + temp[0]=((m_el[2].y() - m_el[1].z()) * s); + temp[1]=((m_el[0].z() - m_el[2].x()) * s); + temp[2]=((m_el[1].x() - m_el[0].y()) * s); + } + else + { + int i = m_el[0].x() < m_el[1].y() ? + (m_el[1].y() < m_el[2].z() ? 2 : 1) : + (m_el[0].x() < m_el[2].z() ? 2 : 0); + int j = (i + 1) % 3; + int k = (i + 2) % 3; + + btScalar s = btSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0)); + temp[i] = s * btScalar(0.5); + s = btScalar(0.5) / s; + + temp[3] = (m_el[k][j] - m_el[j][k]) * s; + temp[j] = (m_el[j][i] + m_el[i][j]) * s; + temp[k] = (m_el[k][i] + m_el[i][k]) * s; + } + q.setValue(temp[0],temp[1],temp[2],temp[3]); +#endif + } + + /**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR + * @param yaw Yaw around Y axis + * @param pitch Pitch around X axis + * @param roll around Z axis */ + void getEulerYPR(btScalar& yaw, btScalar& pitch, btScalar& roll) const + { + + // first use the normal calculus + yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x())); + pitch = btScalar(btAsin(-m_el[2].x())); + roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z())); + + // on pitch = +/-HalfPI + if (btFabs(pitch)==SIMD_HALF_PI) + { + if (yaw>0) + yaw-=SIMD_PI; + else + yaw+=SIMD_PI; + + if (roll>0) + roll-=SIMD_PI; + else + roll+=SIMD_PI; + } + }; + + + /**@brief Get the matrix represented as euler angles around ZYX + * @param yaw Yaw around X axis + * @param pitch Pitch around Y axis + * @param roll around X axis + * @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/ + void getEulerZYX(btScalar& yaw, btScalar& pitch, btScalar& roll, unsigned int solution_number = 1) const + { + struct Euler + { + btScalar yaw; + btScalar pitch; + btScalar roll; + }; + + Euler euler_out; + Euler euler_out2; //second solution + //get the pointer to the raw data + + // Check that pitch is not at a singularity + if (btFabs(m_el[2].x()) >= 1) + { + euler_out.yaw = 0; + euler_out2.yaw = 0; + + // From difference of angles formula + btScalar delta = btAtan2(m_el[0].x(),m_el[0].z()); + if (m_el[2].x() > 0) //gimbal locked up + { + euler_out.pitch = SIMD_PI / btScalar(2.0); + euler_out2.pitch = SIMD_PI / btScalar(2.0); + euler_out.roll = euler_out.pitch + delta; + euler_out2.roll = euler_out.pitch + delta; + } + else // gimbal locked down + { + euler_out.pitch = -SIMD_PI / btScalar(2.0); + euler_out2.pitch = -SIMD_PI / btScalar(2.0); + euler_out.roll = -euler_out.pitch + delta; + euler_out2.roll = -euler_out.pitch + delta; + } + } + else + { + euler_out.pitch = - btAsin(m_el[2].x()); + euler_out2.pitch = SIMD_PI - euler_out.pitch; + + euler_out.roll = btAtan2(m_el[2].y()/btCos(euler_out.pitch), + m_el[2].z()/btCos(euler_out.pitch)); + euler_out2.roll = btAtan2(m_el[2].y()/btCos(euler_out2.pitch), + m_el[2].z()/btCos(euler_out2.pitch)); + + euler_out.yaw = btAtan2(m_el[1].x()/btCos(euler_out.pitch), + m_el[0].x()/btCos(euler_out.pitch)); + euler_out2.yaw = btAtan2(m_el[1].x()/btCos(euler_out2.pitch), + m_el[0].x()/btCos(euler_out2.pitch)); + } + + if (solution_number == 1) + { + yaw = euler_out.yaw; + pitch = euler_out.pitch; + roll = euler_out.roll; + } + else + { + yaw = euler_out2.yaw; + pitch = euler_out2.pitch; + roll = euler_out2.roll; + } + } + + /**@brief Create a scaled copy of the matrix + * @param s Scaling vector The elements of the vector will scale each column */ + + btMatrix3x3 scaled(const btVector3& s) const + { +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + return btMatrix3x3(m_el[0] * s, m_el[1] * s, m_el[2] * s); +#else + return btMatrix3x3( + m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(), + m_el[1].x() * s.x(), m_el[1].y() * s.y(), m_el[1].z() * s.z(), + m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z()); +#endif + } + + /**@brief Return the determinant of the matrix */ + btScalar determinant() const; + /**@brief Return the adjoint of the matrix */ + btMatrix3x3 adjoint() const; + /**@brief Return the matrix with all values non negative */ + btMatrix3x3 absolute() const; + /**@brief Return the transpose of the matrix */ + btMatrix3x3 transpose() const; + /**@brief Return the inverse of the matrix */ + btMatrix3x3 inverse() const; + + /// Solve A * x = b, where b is a column vector. This is more efficient + /// than computing the inverse in one-shot cases. + ///Solve33 is from Box2d, thanks to Erin Catto, + btVector3 solve33(const btVector3& b) const + { + btVector3 col1 = getColumn(0); + btVector3 col2 = getColumn(1); + btVector3 col3 = getColumn(2); + + btScalar det = btDot(col1, btCross(col2, col3)); + if (btFabs(det)>SIMD_EPSILON) + { + det = 1.0f / det; + } + btVector3 x; + x[0] = det * btDot(b, btCross(col2, col3)); + x[1] = det * btDot(col1, btCross(b, col3)); + x[2] = det * btDot(col1, btCross(col2, b)); + return x; + } + + btMatrix3x3 transposeTimes(const btMatrix3x3& m) const; + btMatrix3x3 timesTranspose(const btMatrix3x3& m) const; + + SIMD_FORCE_INLINE btScalar tdotx(const btVector3& v) const + { + return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z(); + } + SIMD_FORCE_INLINE btScalar tdoty(const btVector3& v) const + { + return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z(); + } + SIMD_FORCE_INLINE btScalar tdotz(const btVector3& v) const + { + return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z(); + } + + ///extractRotation is from "A robust method to extract the rotational part of deformations" + ///See http://dl.acm.org/citation.cfm?doid=2994258.2994269 + SIMD_FORCE_INLINE void extractRotation(btQuaternion &q,btScalar tolerance = 1.0e-9, int maxIter=100) + { + int iter =0; + btScalar w; + const btMatrix3x3& A=*this; + for(iter = 0; iter < maxIter; iter++) + { + btMatrix3x3 R(q); + btVector3 omega = (R.getColumn(0).cross(A.getColumn(0)) + R.getColumn(1).cross(A.getColumn(1)) + + R.getColumn(2).cross(A.getColumn(2)) + ) * (btScalar(1.0) / btFabs(R.getColumn(0).dot(A.getColumn(0)) + R.getColumn + (1).dot(A.getColumn(1)) + R.getColumn(2).dot(A.getColumn(2))) + + tolerance); + w = omega.norm(); + if(w < tolerance) + break; + q = btQuaternion(btVector3((btScalar(1.0) / w) * omega),w) * + q; + q.normalize(); + } + } + + + + /**@brief diagonalizes this matrix + * @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original + * coordinate system, i.e., old_this = rot * new_this * rot^T. + * @param threshold See iteration + * @param maxIter The iteration stops when we hit the given tolerance or when maxIter have been executed. + */ + void diagonalize(btMatrix3x3& rot, btScalar tolerance = 1.0e-9, int maxIter=100) + { + btQuaternion r; + r = btQuaternion::getIdentity(); + extractRotation(r,tolerance,maxIter); + rot.setRotation(r); + btMatrix3x3 rotInv = btMatrix3x3(r.inverse()); + btMatrix3x3 old = *this; + setValue(old.tdotx( rotInv[0]), old.tdoty( rotInv[0]), old.tdotz( rotInv[0]), + old.tdotx( rotInv[1]), old.tdoty( rotInv[1]), old.tdotz( rotInv[1]), + old.tdotx( rotInv[2]), old.tdoty( rotInv[2]), old.tdotz( rotInv[2])); + } + + + + + /**@brief Calculate the matrix cofactor + * @param r1 The first row to use for calculating the cofactor + * @param c1 The first column to use for calculating the cofactor + * @param r1 The second row to use for calculating the cofactor + * @param c1 The second column to use for calculating the cofactor + * See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details + */ + btScalar cofac(int r1, int c1, int r2, int c2) const + { + return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1]; + } + + void serialize(struct btMatrix3x3Data& dataOut) const; + + void serializeFloat(struct btMatrix3x3FloatData& dataOut) const; + + void deSerialize(const struct btMatrix3x3Data& dataIn); + + void deSerializeFloat(const struct btMatrix3x3FloatData& dataIn); + + void deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn); + +}; + + +SIMD_FORCE_INLINE btMatrix3x3& +btMatrix3x3::operator*=(const btMatrix3x3& m) +{ +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 rv00, rv01, rv02; + __m128 rv10, rv11, rv12; + __m128 rv20, rv21, rv22; + __m128 mv0, mv1, mv2; + + rv02 = m_el[0].mVec128; + rv12 = m_el[1].mVec128; + rv22 = m_el[2].mVec128; + + mv0 = _mm_and_ps(m[0].mVec128, btvFFF0fMask); + mv1 = _mm_and_ps(m[1].mVec128, btvFFF0fMask); + mv2 = _mm_and_ps(m[2].mVec128, btvFFF0fMask); + + // rv0 + rv00 = bt_splat_ps(rv02, 0); + rv01 = bt_splat_ps(rv02, 1); + rv02 = bt_splat_ps(rv02, 2); + + rv00 = _mm_mul_ps(rv00, mv0); + rv01 = _mm_mul_ps(rv01, mv1); + rv02 = _mm_mul_ps(rv02, mv2); + + // rv1 + rv10 = bt_splat_ps(rv12, 0); + rv11 = bt_splat_ps(rv12, 1); + rv12 = bt_splat_ps(rv12, 2); + + rv10 = _mm_mul_ps(rv10, mv0); + rv11 = _mm_mul_ps(rv11, mv1); + rv12 = _mm_mul_ps(rv12, mv2); + + // rv2 + rv20 = bt_splat_ps(rv22, 0); + rv21 = bt_splat_ps(rv22, 1); + rv22 = bt_splat_ps(rv22, 2); + + rv20 = _mm_mul_ps(rv20, mv0); + rv21 = _mm_mul_ps(rv21, mv1); + rv22 = _mm_mul_ps(rv22, mv2); + + rv00 = _mm_add_ps(rv00, rv01); + rv10 = _mm_add_ps(rv10, rv11); + rv20 = _mm_add_ps(rv20, rv21); + + m_el[0].mVec128 = _mm_add_ps(rv00, rv02); + m_el[1].mVec128 = _mm_add_ps(rv10, rv12); + m_el[2].mVec128 = _mm_add_ps(rv20, rv22); + +#elif defined(BT_USE_NEON) + + float32x4_t rv0, rv1, rv2; + float32x4_t v0, v1, v2; + float32x4_t mv0, mv1, mv2; + + v0 = m_el[0].mVec128; + v1 = m_el[1].mVec128; + v2 = m_el[2].mVec128; + + mv0 = (float32x4_t) vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask); + mv1 = (float32x4_t) vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask); + mv2 = (float32x4_t) vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask); + + rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0); + rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0); + rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0); + + rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1); + rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1); + rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1); + + rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0); + rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0); + rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0); + + m_el[0].mVec128 = rv0; + m_el[1].mVec128 = rv1; + m_el[2].mVec128 = rv2; +#else + setValue( + m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]), + m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]), + m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2])); +#endif + return *this; +} + +SIMD_FORCE_INLINE btMatrix3x3& +btMatrix3x3::operator+=(const btMatrix3x3& m) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + m_el[0].mVec128 = m_el[0].mVec128 + m.m_el[0].mVec128; + m_el[1].mVec128 = m_el[1].mVec128 + m.m_el[1].mVec128; + m_el[2].mVec128 = m_el[2].mVec128 + m.m_el[2].mVec128; +#else + setValue( + m_el[0][0]+m.m_el[0][0], + m_el[0][1]+m.m_el[0][1], + m_el[0][2]+m.m_el[0][2], + m_el[1][0]+m.m_el[1][0], + m_el[1][1]+m.m_el[1][1], + m_el[1][2]+m.m_el[1][2], + m_el[2][0]+m.m_el[2][0], + m_el[2][1]+m.m_el[2][1], + m_el[2][2]+m.m_el[2][2]); +#endif + return *this; +} + +SIMD_FORCE_INLINE btMatrix3x3 +operator*(const btMatrix3x3& m, const btScalar & k) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + __m128 vk = bt_splat_ps(_mm_load_ss((float *)&k), 0x80); + return btMatrix3x3( + _mm_mul_ps(m[0].mVec128, vk), + _mm_mul_ps(m[1].mVec128, vk), + _mm_mul_ps(m[2].mVec128, vk)); +#elif defined(BT_USE_NEON) + return btMatrix3x3( + vmulq_n_f32(m[0].mVec128, k), + vmulq_n_f32(m[1].mVec128, k), + vmulq_n_f32(m[2].mVec128, k)); +#else + return btMatrix3x3( + m[0].x()*k,m[0].y()*k,m[0].z()*k, + m[1].x()*k,m[1].y()*k,m[1].z()*k, + m[2].x()*k,m[2].y()*k,m[2].z()*k); +#endif +} + +SIMD_FORCE_INLINE btMatrix3x3 +operator+(const btMatrix3x3& m1, const btMatrix3x3& m2) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + return btMatrix3x3( + m1[0].mVec128 + m2[0].mVec128, + m1[1].mVec128 + m2[1].mVec128, + m1[2].mVec128 + m2[2].mVec128); +#else + return btMatrix3x3( + m1[0][0]+m2[0][0], + m1[0][1]+m2[0][1], + m1[0][2]+m2[0][2], + + m1[1][0]+m2[1][0], + m1[1][1]+m2[1][1], + m1[1][2]+m2[1][2], + + m1[2][0]+m2[2][0], + m1[2][1]+m2[2][1], + m1[2][2]+m2[2][2]); +#endif +} + +SIMD_FORCE_INLINE btMatrix3x3 +operator-(const btMatrix3x3& m1, const btMatrix3x3& m2) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + return btMatrix3x3( + m1[0].mVec128 - m2[0].mVec128, + m1[1].mVec128 - m2[1].mVec128, + m1[2].mVec128 - m2[2].mVec128); +#else + return btMatrix3x3( + m1[0][0]-m2[0][0], + m1[0][1]-m2[0][1], + m1[0][2]-m2[0][2], + + m1[1][0]-m2[1][0], + m1[1][1]-m2[1][1], + m1[1][2]-m2[1][2], + + m1[2][0]-m2[2][0], + m1[2][1]-m2[2][1], + m1[2][2]-m2[2][2]); +#endif +} + + +SIMD_FORCE_INLINE btMatrix3x3& +btMatrix3x3::operator-=(const btMatrix3x3& m) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + m_el[0].mVec128 = m_el[0].mVec128 - m.m_el[0].mVec128; + m_el[1].mVec128 = m_el[1].mVec128 - m.m_el[1].mVec128; + m_el[2].mVec128 = m_el[2].mVec128 - m.m_el[2].mVec128; +#else + setValue( + m_el[0][0]-m.m_el[0][0], + m_el[0][1]-m.m_el[0][1], + m_el[0][2]-m.m_el[0][2], + m_el[1][0]-m.m_el[1][0], + m_el[1][1]-m.m_el[1][1], + m_el[1][2]-m.m_el[1][2], + m_el[2][0]-m.m_el[2][0], + m_el[2][1]-m.m_el[2][1], + m_el[2][2]-m.m_el[2][2]); +#endif + return *this; +} + + +SIMD_FORCE_INLINE btScalar +btMatrix3x3::determinant() const +{ + return btTriple((*this)[0], (*this)[1], (*this)[2]); +} + + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::absolute() const +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + return btMatrix3x3( + _mm_and_ps(m_el[0].mVec128, btvAbsfMask), + _mm_and_ps(m_el[1].mVec128, btvAbsfMask), + _mm_and_ps(m_el[2].mVec128, btvAbsfMask)); +#elif defined(BT_USE_NEON) + return btMatrix3x3( + (float32x4_t)vandq_s32((int32x4_t)m_el[0].mVec128, btv3AbsMask), + (float32x4_t)vandq_s32((int32x4_t)m_el[1].mVec128, btv3AbsMask), + (float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, btv3AbsMask)); +#else + return btMatrix3x3( + btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()), + btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()), + btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z())); +#endif +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::transpose() const +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + __m128 v0 = m_el[0].mVec128; + __m128 v1 = m_el[1].mVec128; + __m128 v2 = m_el[2].mVec128; // x2 y2 z2 w2 + __m128 vT; + + v2 = _mm_and_ps(v2, btvFFF0fMask); // x2 y2 z2 0 + + vT = _mm_unpackhi_ps(v0, v1); // z0 z1 * * + v0 = _mm_unpacklo_ps(v0, v1); // x0 x1 y0 y1 + + v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3) ); // y0 y1 y2 0 + v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3) ); // x0 x1 x2 0 + v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT))); // z0 z1 z2 0 + + + return btMatrix3x3( v0, v1, v2 ); +#elif defined(BT_USE_NEON) + // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions. + static const uint32x2_t zMask = (const uint32x2_t) {static_cast<uint32_t>(-1), 0 }; + float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 ); // {x0 x1 z0 z1}, {y0 y1 w0 w1} + float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) ); // {x2 0 }, {y2 0} + float32x4_t v0 = vcombine_f32( vget_low_f32(top.val[0]), bl.val[0] ); + float32x4_t v1 = vcombine_f32( vget_low_f32(top.val[1]), bl.val[1] ); + float32x2_t q = (float32x2_t) vand_u32( (uint32x2_t) vget_high_f32( m_el[2].mVec128), zMask ); + float32x4_t v2 = vcombine_f32( vget_high_f32(top.val[0]), q ); // z0 z1 z2 0 + return btMatrix3x3( v0, v1, v2 ); +#else + return btMatrix3x3( m_el[0].x(), m_el[1].x(), m_el[2].x(), + m_el[0].y(), m_el[1].y(), m_el[2].y(), + m_el[0].z(), m_el[1].z(), m_el[2].z()); +#endif +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::adjoint() const +{ + return btMatrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2), + cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0), + cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1)); +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::inverse() const +{ + btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1)); + btScalar det = (*this)[0].dot(co); + //btFullAssert(det != btScalar(0.0)); + btAssert(det != btScalar(0.0)); + btScalar s = btScalar(1.0) / det; + return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s, + co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s, + co.z() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s); +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::transposeTimes(const btMatrix3x3& m) const +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + // zeros w +// static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL }; + __m128 row = m_el[0].mVec128; + __m128 m0 = _mm_and_ps( m.getRow(0).mVec128, btvFFF0fMask ); + __m128 m1 = _mm_and_ps( m.getRow(1).mVec128, btvFFF0fMask); + __m128 m2 = _mm_and_ps( m.getRow(2).mVec128, btvFFF0fMask ); + __m128 r0 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0)); + __m128 r1 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0x55)); + __m128 r2 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0xaa)); + row = m_el[1].mVec128; + r0 = _mm_add_ps( r0, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0))); + r1 = _mm_add_ps( r1, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0x55))); + r2 = _mm_add_ps( r2, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0xaa))); + row = m_el[2].mVec128; + r0 = _mm_add_ps( r0, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0))); + r1 = _mm_add_ps( r1, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0x55))); + r2 = _mm_add_ps( r2, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0xaa))); + return btMatrix3x3( r0, r1, r2 ); + +#elif defined BT_USE_NEON + // zeros w + static const uint32x4_t xyzMask = (const uint32x4_t){ static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0 }; + float32x4_t m0 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(0).mVec128, xyzMask ); + float32x4_t m1 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(1).mVec128, xyzMask ); + float32x4_t m2 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(2).mVec128, xyzMask ); + float32x4_t row = m_el[0].mVec128; + float32x4_t r0 = vmulq_lane_f32( m0, vget_low_f32(row), 0); + float32x4_t r1 = vmulq_lane_f32( m0, vget_low_f32(row), 1); + float32x4_t r2 = vmulq_lane_f32( m0, vget_high_f32(row), 0); + row = m_el[1].mVec128; + r0 = vmlaq_lane_f32( r0, m1, vget_low_f32(row), 0); + r1 = vmlaq_lane_f32( r1, m1, vget_low_f32(row), 1); + r2 = vmlaq_lane_f32( r2, m1, vget_high_f32(row), 0); + row = m_el[2].mVec128; + r0 = vmlaq_lane_f32( r0, m2, vget_low_f32(row), 0); + r1 = vmlaq_lane_f32( r1, m2, vget_low_f32(row), 1); + r2 = vmlaq_lane_f32( r2, m2, vget_high_f32(row), 0); + return btMatrix3x3( r0, r1, r2 ); +#else + return btMatrix3x3( + m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(), + m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(), + m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(), + m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(), + m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(), + m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(), + m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(), + m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(), + m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z()); +#endif +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::timesTranspose(const btMatrix3x3& m) const +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + __m128 a0 = m_el[0].mVec128; + __m128 a1 = m_el[1].mVec128; + __m128 a2 = m_el[2].mVec128; + + btMatrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here + __m128 mx = mT[0].mVec128; + __m128 my = mT[1].mVec128; + __m128 mz = mT[2].mVec128; + + __m128 r0 = _mm_mul_ps(mx, _mm_shuffle_ps(a0, a0, 0x00)); + __m128 r1 = _mm_mul_ps(mx, _mm_shuffle_ps(a1, a1, 0x00)); + __m128 r2 = _mm_mul_ps(mx, _mm_shuffle_ps(a2, a2, 0x00)); + r0 = _mm_add_ps(r0, _mm_mul_ps(my, _mm_shuffle_ps(a0, a0, 0x55))); + r1 = _mm_add_ps(r1, _mm_mul_ps(my, _mm_shuffle_ps(a1, a1, 0x55))); + r2 = _mm_add_ps(r2, _mm_mul_ps(my, _mm_shuffle_ps(a2, a2, 0x55))); + r0 = _mm_add_ps(r0, _mm_mul_ps(mz, _mm_shuffle_ps(a0, a0, 0xaa))); + r1 = _mm_add_ps(r1, _mm_mul_ps(mz, _mm_shuffle_ps(a1, a1, 0xaa))); + r2 = _mm_add_ps(r2, _mm_mul_ps(mz, _mm_shuffle_ps(a2, a2, 0xaa))); + return btMatrix3x3( r0, r1, r2); + +#elif defined BT_USE_NEON + float32x4_t a0 = m_el[0].mVec128; + float32x4_t a1 = m_el[1].mVec128; + float32x4_t a2 = m_el[2].mVec128; + + btMatrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here + float32x4_t mx = mT[0].mVec128; + float32x4_t my = mT[1].mVec128; + float32x4_t mz = mT[2].mVec128; + + float32x4_t r0 = vmulq_lane_f32( mx, vget_low_f32(a0), 0); + float32x4_t r1 = vmulq_lane_f32( mx, vget_low_f32(a1), 0); + float32x4_t r2 = vmulq_lane_f32( mx, vget_low_f32(a2), 0); + r0 = vmlaq_lane_f32( r0, my, vget_low_f32(a0), 1); + r1 = vmlaq_lane_f32( r1, my, vget_low_f32(a1), 1); + r2 = vmlaq_lane_f32( r2, my, vget_low_f32(a2), 1); + r0 = vmlaq_lane_f32( r0, mz, vget_high_f32(a0), 0); + r1 = vmlaq_lane_f32( r1, mz, vget_high_f32(a1), 0); + r2 = vmlaq_lane_f32( r2, mz, vget_high_f32(a2), 0); + return btMatrix3x3( r0, r1, r2 ); + +#else + return btMatrix3x3( + m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]), + m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]), + m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2])); +#endif +} + +SIMD_FORCE_INLINE btVector3 +operator*(const btMatrix3x3& m, const btVector3& v) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + return v.dot3(m[0], m[1], m[2]); +#else + return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v)); +#endif +} + + +SIMD_FORCE_INLINE btVector3 +operator*(const btVector3& v, const btMatrix3x3& m) +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + + const __m128 vv = v.mVec128; + + __m128 c0 = bt_splat_ps( vv, 0); + __m128 c1 = bt_splat_ps( vv, 1); + __m128 c2 = bt_splat_ps( vv, 2); + + c0 = _mm_mul_ps(c0, _mm_and_ps(m[0].mVec128, btvFFF0fMask) ); + c1 = _mm_mul_ps(c1, _mm_and_ps(m[1].mVec128, btvFFF0fMask) ); + c0 = _mm_add_ps(c0, c1); + c2 = _mm_mul_ps(c2, _mm_and_ps(m[2].mVec128, btvFFF0fMask) ); + + return btVector3(_mm_add_ps(c0, c2)); +#elif defined(BT_USE_NEON) + const float32x4_t vv = v.mVec128; + const float32x2_t vlo = vget_low_f32(vv); + const float32x2_t vhi = vget_high_f32(vv); + + float32x4_t c0, c1, c2; + + c0 = (float32x4_t) vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask); + c1 = (float32x4_t) vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask); + c2 = (float32x4_t) vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask); + + c0 = vmulq_lane_f32(c0, vlo, 0); + c1 = vmulq_lane_f32(c1, vlo, 1); + c2 = vmulq_lane_f32(c2, vhi, 0); + c0 = vaddq_f32(c0, c1); + c0 = vaddq_f32(c0, c2); + + return btVector3(c0); +#else + return btVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v)); +#endif +} + +SIMD_FORCE_INLINE btMatrix3x3 +operator*(const btMatrix3x3& m1, const btMatrix3x3& m2) +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + + __m128 m10 = m1[0].mVec128; + __m128 m11 = m1[1].mVec128; + __m128 m12 = m1[2].mVec128; + + __m128 m2v = _mm_and_ps(m2[0].mVec128, btvFFF0fMask); + + __m128 c0 = bt_splat_ps( m10, 0); + __m128 c1 = bt_splat_ps( m11, 0); + __m128 c2 = bt_splat_ps( m12, 0); + + c0 = _mm_mul_ps(c0, m2v); + c1 = _mm_mul_ps(c1, m2v); + c2 = _mm_mul_ps(c2, m2v); + + m2v = _mm_and_ps(m2[1].mVec128, btvFFF0fMask); + + __m128 c0_1 = bt_splat_ps( m10, 1); + __m128 c1_1 = bt_splat_ps( m11, 1); + __m128 c2_1 = bt_splat_ps( m12, 1); + + c0_1 = _mm_mul_ps(c0_1, m2v); + c1_1 = _mm_mul_ps(c1_1, m2v); + c2_1 = _mm_mul_ps(c2_1, m2v); + + m2v = _mm_and_ps(m2[2].mVec128, btvFFF0fMask); + + c0 = _mm_add_ps(c0, c0_1); + c1 = _mm_add_ps(c1, c1_1); + c2 = _mm_add_ps(c2, c2_1); + + m10 = bt_splat_ps( m10, 2); + m11 = bt_splat_ps( m11, 2); + m12 = bt_splat_ps( m12, 2); + + m10 = _mm_mul_ps(m10, m2v); + m11 = _mm_mul_ps(m11, m2v); + m12 = _mm_mul_ps(m12, m2v); + + c0 = _mm_add_ps(c0, m10); + c1 = _mm_add_ps(c1, m11); + c2 = _mm_add_ps(c2, m12); + + return btMatrix3x3(c0, c1, c2); + +#elif defined(BT_USE_NEON) + + float32x4_t rv0, rv1, rv2; + float32x4_t v0, v1, v2; + float32x4_t mv0, mv1, mv2; + + v0 = m1[0].mVec128; + v1 = m1[1].mVec128; + v2 = m1[2].mVec128; + + mv0 = (float32x4_t) vandq_s32((int32x4_t)m2[0].mVec128, btvFFF0Mask); + mv1 = (float32x4_t) vandq_s32((int32x4_t)m2[1].mVec128, btvFFF0Mask); + mv2 = (float32x4_t) vandq_s32((int32x4_t)m2[2].mVec128, btvFFF0Mask); + + rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0); + rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0); + rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0); + + rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1); + rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1); + rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1); + + rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0); + rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0); + rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0); + + return btMatrix3x3(rv0, rv1, rv2); + +#else + return btMatrix3x3( + m2.tdotx( m1[0]), m2.tdoty( m1[0]), m2.tdotz( m1[0]), + m2.tdotx( m1[1]), m2.tdoty( m1[1]), m2.tdotz( m1[1]), + m2.tdotx( m1[2]), m2.tdoty( m1[2]), m2.tdotz( m1[2])); +#endif +} + +/* +SIMD_FORCE_INLINE btMatrix3x3 btMultTransposeLeft(const btMatrix3x3& m1, const btMatrix3x3& m2) { +return btMatrix3x3( +m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0], +m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1], +m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2], +m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0], +m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1], +m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2], +m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0], +m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1], +m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]); +} +*/ + +/**@brief Equality operator between two matrices +* It will test all elements are equal. */ +SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + + __m128 c0, c1, c2; + + c0 = _mm_cmpeq_ps(m1[0].mVec128, m2[0].mVec128); + c1 = _mm_cmpeq_ps(m1[1].mVec128, m2[1].mVec128); + c2 = _mm_cmpeq_ps(m1[2].mVec128, m2[2].mVec128); + + c0 = _mm_and_ps(c0, c1); + c0 = _mm_and_ps(c0, c2); + + int m = _mm_movemask_ps((__m128)c0); + return (0x7 == (m & 0x7)); + +#else + return + ( m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] && + m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] && + m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2] ); +#endif +} + +///for serialization +struct btMatrix3x3FloatData +{ + btVector3FloatData m_el[3]; +}; + +///for serialization +struct btMatrix3x3DoubleData +{ + btVector3DoubleData m_el[3]; +}; + + + + +SIMD_FORCE_INLINE void btMatrix3x3::serialize(struct btMatrix3x3Data& dataOut) const +{ + for (int i=0;i<3;i++) + m_el[i].serialize(dataOut.m_el[i]); +} + +SIMD_FORCE_INLINE void btMatrix3x3::serializeFloat(struct btMatrix3x3FloatData& dataOut) const +{ + for (int i=0;i<3;i++) + m_el[i].serializeFloat(dataOut.m_el[i]); +} + + +SIMD_FORCE_INLINE void btMatrix3x3::deSerialize(const struct btMatrix3x3Data& dataIn) +{ + for (int i=0;i<3;i++) + m_el[i].deSerialize(dataIn.m_el[i]); +} + +SIMD_FORCE_INLINE void btMatrix3x3::deSerializeFloat(const struct btMatrix3x3FloatData& dataIn) +{ + for (int i=0;i<3;i++) + m_el[i].deSerializeFloat(dataIn.m_el[i]); +} + +SIMD_FORCE_INLINE void btMatrix3x3::deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn) +{ + for (int i=0;i<3;i++) + m_el[i].deSerializeDouble(dataIn.m_el[i]); +} + +#endif //BT_MATRIX3x3_H + diff --git a/thirdparty/bullet/src/LinearMath/btMatrixX.h b/thirdparty/bullet/src/LinearMath/btMatrixX.h new file mode 100644 index 0000000000..42caed42ef --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btMatrixX.h @@ -0,0 +1,554 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org + +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. +*/ +///original version written by Erwin Coumans, October 2013 + +#ifndef BT_MATRIX_X_H +#define BT_MATRIX_X_H + +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btAlignedObjectArray.h" +#include <stdio.h> + +//#define BT_DEBUG_OSTREAM +#ifdef BT_DEBUG_OSTREAM +#include <iostream> +#include <iomanip> // std::setw +#endif //BT_DEBUG_OSTREAM + +class btIntSortPredicate +{ + public: + bool operator() ( const int& a, const int& b ) const + { + return a < b; + } +}; + + +template <typename T> +struct btVectorX +{ + btAlignedObjectArray<T> m_storage; + + btVectorX() + { + } + btVectorX(int numRows) + { + m_storage.resize(numRows); + } + + void resize(int rows) + { + m_storage.resize(rows); + } + int cols() const + { + return 1; + } + int rows() const + { + return m_storage.size(); + } + int size() const + { + return rows(); + } + + T nrm2() const + { + T norm = T(0); + + int nn = rows(); + + { + if (nn == 1) + { + norm = btFabs((*this)[0]); + } + else + { + T scale = 0.0; + T ssq = 1.0; + + /* The following loop is equivalent to this call to the LAPACK + auxiliary routine: CALL SLASSQ( N, X, INCX, SCALE, SSQ ) */ + + for (int ix=0;ix<nn;ix++) + { + if ((*this)[ix] != 0.0) + { + T absxi = btFabs((*this)[ix]); + if (scale < absxi) + { + T temp; + temp = scale / absxi; + ssq = ssq * (temp * temp) + BT_ONE; + scale = absxi; + } + else + { + T temp; + temp = absxi / scale; + ssq += temp * temp; + } + } + } + norm = scale * sqrt(ssq); + } + } + return norm; + + } + void setZero() + { + if (m_storage.size()) + { + // for (int i=0;i<m_storage.size();i++) + // m_storage[i]=0; + //memset(&m_storage[0],0,sizeof(T)*m_storage.size()); + btSetZero(&m_storage[0],m_storage.size()); + } + } + const T& operator[] (int index) const + { + return m_storage[index]; + } + + T& operator[] (int index) + { + return m_storage[index]; + } + + T* getBufferPointerWritable() + { + return m_storage.size() ? &m_storage[0] : 0; + } + + const T* getBufferPointer() const + { + return m_storage.size() ? &m_storage[0] : 0; + } + +}; +/* + template <typename T> + void setElem(btMatrixX<T>& mat, int row, int col, T val) + { + mat.setElem(row,col,val); + } + */ + + +template <typename T> +struct btMatrixX +{ + int m_rows; + int m_cols; + int m_operations; + int m_resizeOperations; + int m_setElemOperations; + + btAlignedObjectArray<T> m_storage; + mutable btAlignedObjectArray< btAlignedObjectArray<int> > m_rowNonZeroElements1; + + T* getBufferPointerWritable() + { + return m_storage.size() ? &m_storage[0] : 0; + } + + const T* getBufferPointer() const + { + return m_storage.size() ? &m_storage[0] : 0; + } + btMatrixX() + :m_rows(0), + m_cols(0), + m_operations(0), + m_resizeOperations(0), + m_setElemOperations(0) + { + } + btMatrixX(int rows,int cols) + :m_rows(rows), + m_cols(cols), + m_operations(0), + m_resizeOperations(0), + m_setElemOperations(0) + { + resize(rows,cols); + } + void resize(int rows, int cols) + { + m_resizeOperations++; + m_rows = rows; + m_cols = cols; + { + BT_PROFILE("m_storage.resize"); + m_storage.resize(rows*cols); + } + } + int cols() const + { + return m_cols; + } + int rows() const + { + return m_rows; + } + ///we don't want this read/write operator(), because we cannot keep track of non-zero elements, use setElem instead + /*T& operator() (int row,int col) + { + return m_storage[col*m_rows+row]; + } + */ + + void addElem(int row,int col, T val) + { + if (val) + { + if (m_storage[col+row*m_cols]==0.f) + { + setElem(row,col,val); + } else + { + m_storage[row*m_cols+col] += val; + } + } + } + + + void setElem(int row,int col, T val) + { + m_setElemOperations++; + m_storage[row*m_cols+col] = val; + } + + void mulElem(int row,int col, T val) + { + m_setElemOperations++; + //mul doesn't change sparsity info + + m_storage[row*m_cols+col] *= val; + } + + + + + void copyLowerToUpperTriangle() + { + int count=0; + for (int row=0;row<rows();row++) + { + for (int col=0;col<row;col++) + { + setElem(col,row, (*this)(row,col)); + count++; + + } + } + //printf("copyLowerToUpperTriangle copied %d elements out of %dx%d=%d\n", count,rows(),cols(),cols()*rows()); + } + + const T& operator() (int row,int col) const + { + return m_storage[col+row*m_cols]; + } + + + void setZero() + { + { + BT_PROFILE("storage=0"); + btSetZero(&m_storage[0],m_storage.size()); + //memset(&m_storage[0],0,sizeof(T)*m_storage.size()); + //for (int i=0;i<m_storage.size();i++) + // m_storage[i]=0; + } + } + + void setIdentity() + { + btAssert(rows() == cols()); + + setZero(); + for (int row=0;row<rows();row++) + { + setElem(row,row,1); + } + } + + + + void printMatrix(const char* msg) + { + printf("%s ---------------------\n",msg); + for (int i=0;i<rows();i++) + { + printf("\n"); + for (int j=0;j<cols();j++) + { + printf("%2.1f\t",(*this)(i,j)); + } + } + printf("\n---------------------\n"); + + } + + + void rowComputeNonZeroElements() const + { + m_rowNonZeroElements1.resize(rows()); + for (int i=0;i<rows();i++) + { + m_rowNonZeroElements1[i].resize(0); + for (int j=0;j<cols();j++) + { + if ((*this)(i,j)!=0.f) + { + m_rowNonZeroElements1[i].push_back(j); + } + } + } + } + btMatrixX transpose() const + { + //transpose is optimized for sparse matrices + btMatrixX tr(m_cols,m_rows); + tr.setZero(); + for (int i=0;i<m_cols;i++) + for (int j=0;j<m_rows;j++) + { + T v = (*this)(j,i); + if (v) + { + tr.setElem(i,j,v); + } + } + return tr; + } + + + btMatrixX operator*(const btMatrixX& other) + { + //btMatrixX*btMatrixX implementation, brute force + btAssert(cols() == other.rows()); + + btMatrixX res(rows(),other.cols()); + res.setZero(); +// BT_PROFILE("btMatrixX mul"); + for (int j=0; j < res.cols(); ++j) + { + { + for (int i=0; i < res.rows(); ++i) + { + T dotProd=0; +// T dotProd2=0; + //int waste=0,waste2=0; + + { +// bool useOtherCol = true; + { + for (int v=0;v<rows();v++) + { + T w = (*this)(i,v); + if (other(v,j)!=0.f) + { + dotProd+=w*other(v,j); + } + + } + } + } + if (dotProd) + res.setElem(i,j,dotProd); + } + } + } + return res; + } + + // this assumes the 4th and 8th rows of B and C are zero. + void multiplyAdd2_p8r (const btScalar *B, const btScalar *C, int numRows, int numRowsOther ,int row, int col) + { + const btScalar *bb = B; + for ( int i = 0;i<numRows;i++) + { + const btScalar *cc = C; + for ( int j = 0;j<numRowsOther;j++) + { + btScalar sum; + sum = bb[0]*cc[0]; + sum += bb[1]*cc[1]; + sum += bb[2]*cc[2]; + sum += bb[4]*cc[4]; + sum += bb[5]*cc[5]; + sum += bb[6]*cc[6]; + addElem(row+i,col+j,sum); + cc += 8; + } + bb += 8; + } + } + + void multiply2_p8r (const btScalar *B, const btScalar *C, int numRows, int numRowsOther, int row, int col) + { + btAssert (numRows>0 && numRowsOther>0 && B && C); + const btScalar *bb = B; + for ( int i = 0;i<numRows;i++) + { + const btScalar *cc = C; + for ( int j = 0;j<numRowsOther;j++) + { + btScalar sum; + sum = bb[0]*cc[0]; + sum += bb[1]*cc[1]; + sum += bb[2]*cc[2]; + sum += bb[4]*cc[4]; + sum += bb[5]*cc[5]; + sum += bb[6]*cc[6]; + setElem(row+i,col+j,sum); + cc += 8; + } + bb += 8; + } + } + + void setSubMatrix(int rowstart,int colstart,int rowend,int colend,const T value) + { + int numRows = rowend+1-rowstart; + int numCols = colend+1-colstart; + + for (int row=0;row<numRows;row++) + { + for (int col=0;col<numCols;col++) + { + setElem(rowstart+row,colstart+col,value); + } + } + } + + void setSubMatrix(int rowstart,int colstart,int rowend,int colend,const btMatrixX& block) + { + btAssert(rowend+1-rowstart == block.rows()); + btAssert(colend+1-colstart == block.cols()); + for (int row=0;row<block.rows();row++) + { + for (int col=0;col<block.cols();col++) + { + setElem(rowstart+row,colstart+col,block(row,col)); + } + } + } + void setSubMatrix(int rowstart,int colstart,int rowend,int colend,const btVectorX<T>& block) + { + btAssert(rowend+1-rowstart == block.rows()); + btAssert(colend+1-colstart == block.cols()); + for (int row=0;row<block.rows();row++) + { + for (int col=0;col<block.cols();col++) + { + setElem(rowstart+row,colstart+col,block[row]); + } + } + } + + + btMatrixX negative() + { + btMatrixX neg(rows(),cols()); + for (int i=0;i<rows();i++) + for (int j=0;j<cols();j++) + { + T v = (*this)(i,j); + neg.setElem(i,j,-v); + } + return neg; + } + +}; + + + +typedef btMatrixX<float> btMatrixXf; +typedef btVectorX<float> btVectorXf; + +typedef btMatrixX<double> btMatrixXd; +typedef btVectorX<double> btVectorXd; + + +#ifdef BT_DEBUG_OSTREAM +template <typename T> +std::ostream& operator<< (std::ostream& os, const btMatrixX<T>& mat) + { + + os << " ["; + //printf("%s ---------------------\n",msg); + for (int i=0;i<mat.rows();i++) + { + for (int j=0;j<mat.cols();j++) + { + os << std::setw(12) << mat(i,j); + } + if (i!=mat.rows()-1) + os << std::endl << " "; + } + os << " ]"; + //printf("\n---------------------\n"); + + return os; + } +template <typename T> +std::ostream& operator<< (std::ostream& os, const btVectorX<T>& mat) + { + + os << " ["; + //printf("%s ---------------------\n",msg); + for (int i=0;i<mat.rows();i++) + { + os << std::setw(12) << mat[i]; + if (i!=mat.rows()-1) + os << std::endl << " "; + } + os << " ]"; + //printf("\n---------------------\n"); + + return os; + } + +#endif //BT_DEBUG_OSTREAM + + +inline void setElem(btMatrixXd& mat, int row, int col, double val) +{ + mat.setElem(row,col,val); +} + +inline void setElem(btMatrixXf& mat, int row, int col, float val) +{ + mat.setElem(row,col,val); +} + +#ifdef BT_USE_DOUBLE_PRECISION + #define btVectorXu btVectorXd + #define btMatrixXu btMatrixXd +#else + #define btVectorXu btVectorXf + #define btMatrixXu btMatrixXf +#endif //BT_USE_DOUBLE_PRECISION + + + +#endif//BT_MATRIX_H_H diff --git a/thirdparty/bullet/src/LinearMath/btMinMax.h b/thirdparty/bullet/src/LinearMath/btMinMax.h new file mode 100644 index 0000000000..5b436e9ba4 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btMinMax.h @@ -0,0 +1,71 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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 BT_GEN_MINMAX_H +#define BT_GEN_MINMAX_H + +#include "btScalar.h" + +template <class T> +SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b) +{ + return a < b ? a : b ; +} + +template <class T> +SIMD_FORCE_INLINE const T& btMax(const T& a, const T& b) +{ + return a > b ? a : b; +} + +template <class T> +SIMD_FORCE_INLINE const T& btClamped(const T& a, const T& lb, const T& ub) +{ + return a < lb ? lb : (ub < a ? ub : a); +} + +template <class T> +SIMD_FORCE_INLINE void btSetMin(T& a, const T& b) +{ + if (b < a) + { + a = b; + } +} + +template <class T> +SIMD_FORCE_INLINE void btSetMax(T& a, const T& b) +{ + if (a < b) + { + a = b; + } +} + +template <class T> +SIMD_FORCE_INLINE void btClamp(T& a, const T& lb, const T& ub) +{ + if (a < lb) + { + a = lb; + } + else if (ub < a) + { + a = ub; + } +} + +#endif //BT_GEN_MINMAX_H diff --git a/thirdparty/bullet/src/LinearMath/btMotionState.h b/thirdparty/bullet/src/LinearMath/btMotionState.h new file mode 100644 index 0000000000..9431814090 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btMotionState.h @@ -0,0 +1,40 @@ +/* +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 BT_MOTIONSTATE_H +#define BT_MOTIONSTATE_H + +#include "btTransform.h" + +///The btMotionState interface class allows the dynamics world to synchronize and interpolate the updated world transforms with graphics +///For optimizations, potentially only moving objects get synchronized (using setWorldPosition/setWorldOrientation) +class btMotionState +{ + public: + + virtual ~btMotionState() + { + + } + + virtual void getWorldTransform(btTransform& worldTrans ) const =0; + + //Bullet only calls the update of worldtransform for active objects + virtual void setWorldTransform(const btTransform& worldTrans)=0; + + +}; + +#endif //BT_MOTIONSTATE_H diff --git a/thirdparty/bullet/src/LinearMath/btPolarDecomposition.cpp b/thirdparty/bullet/src/LinearMath/btPolarDecomposition.cpp new file mode 100644 index 0000000000..b3664faa4e --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btPolarDecomposition.cpp @@ -0,0 +1,98 @@ +#include "btPolarDecomposition.h" +#include "btMinMax.h" + +namespace +{ + btScalar abs_column_sum(const btMatrix3x3& a, int i) + { + return btFabs(a[0][i]) + btFabs(a[1][i]) + btFabs(a[2][i]); + } + + btScalar abs_row_sum(const btMatrix3x3& a, int i) + { + return btFabs(a[i][0]) + btFabs(a[i][1]) + btFabs(a[i][2]); + } + + btScalar p1_norm(const btMatrix3x3& a) + { + const btScalar sum0 = abs_column_sum(a,0); + const btScalar sum1 = abs_column_sum(a,1); + const btScalar sum2 = abs_column_sum(a,2); + return btMax(btMax(sum0, sum1), sum2); + } + + btScalar pinf_norm(const btMatrix3x3& a) + { + const btScalar sum0 = abs_row_sum(a,0); + const btScalar sum1 = abs_row_sum(a,1); + const btScalar sum2 = abs_row_sum(a,2); + return btMax(btMax(sum0, sum1), sum2); + } +} + + + +btPolarDecomposition::btPolarDecomposition(btScalar tolerance, unsigned int maxIterations) +: m_tolerance(tolerance) +, m_maxIterations(maxIterations) +{ +} + +unsigned int btPolarDecomposition::decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const +{ + // Use the 'u' and 'h' matrices for intermediate calculations + u = a; + h = a.inverse(); + + for (unsigned int i = 0; i < m_maxIterations; ++i) + { + const btScalar h_1 = p1_norm(h); + const btScalar h_inf = pinf_norm(h); + const btScalar u_1 = p1_norm(u); + const btScalar u_inf = pinf_norm(u); + + const btScalar h_norm = h_1 * h_inf; + const btScalar u_norm = u_1 * u_inf; + + // The matrix is effectively singular so we cannot invert it + if (btFuzzyZero(h_norm) || btFuzzyZero(u_norm)) + break; + + const btScalar gamma = btPow(h_norm / u_norm, 0.25f); + const btScalar inv_gamma = btScalar(1.0) / gamma; + + // Determine the delta to 'u' + const btMatrix3x3 delta = (u * (gamma - btScalar(2.0)) + h.transpose() * inv_gamma) * btScalar(0.5); + + // Update the matrices + u += delta; + h = u.inverse(); + + // Check for convergence + if (p1_norm(delta) <= m_tolerance * u_1) + { + h = u.transpose() * a; + h = (h + h.transpose()) * 0.5; + return i; + } + } + + // The algorithm has failed to converge to the specified tolerance, but we + // want to make sure that the matrices returned are in the right form. + h = u.transpose() * a; + h = (h + h.transpose()) * 0.5; + + return m_maxIterations; +} + +unsigned int btPolarDecomposition::maxIterations() const +{ + return m_maxIterations; +} + +unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) +{ + static btPolarDecomposition polar; + return polar.decompose(a, u, h); +} + diff --git a/thirdparty/bullet/src/LinearMath/btPolarDecomposition.h b/thirdparty/bullet/src/LinearMath/btPolarDecomposition.h new file mode 100644 index 0000000000..1feea0f78e --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btPolarDecomposition.h @@ -0,0 +1,72 @@ +#ifndef POLARDECOMPOSITION_H +#define POLARDECOMPOSITION_H + +#include "btMatrix3x3.h" + +/** + * This class is used to compute the polar decomposition of a matrix. In + * general, the polar decomposition factorizes a matrix, A, into two parts: a + * unitary matrix (U) and a positive, semi-definite Hermitian matrix (H). + * However, in this particular implementation the original matrix, A, is + * required to be a square 3x3 matrix with real elements. This means that U will + * be an orthogonal matrix and H with be a positive-definite, symmetric matrix. + */ +class btPolarDecomposition +{ + public: + + + /** + * Creates an instance with optional parameters. + * + * @param tolerance - the tolerance used to determine convergence of the + * algorithm + * @param maxIterations - the maximum number of iterations used to achieve + * convergence + */ + btPolarDecomposition(btScalar tolerance = btScalar(0.0001), + unsigned int maxIterations = 16); + + /** + * Decomposes a matrix into orthogonal and symmetric, positive-definite + * parts. If the number of iterations returned by this function is equal to + * the maximum number of iterations, the algorithm has failed to converge. + * + * @param a - the original matrix + * @param u - the resulting orthogonal matrix + * @param h - the resulting symmetric matrix + * + * @return the number of iterations performed by the algorithm. + */ + unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const; + + /** + * Returns the maximum number of iterations that this algorithm will perform + * to achieve convergence. + * + * @return maximum number of iterations + */ + unsigned int maxIterations() const; + + private: + btScalar m_tolerance; + unsigned int m_maxIterations; +}; + +/** + * This functions decomposes the matrix 'a' into two parts: an orthogonal matrix + * 'u' and a symmetric, positive-definite matrix 'h'. If the number of + * iterations returned by this function is equal to + * btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to + * converge. + * + * @param a - the original matrix + * @param u - the resulting orthogonal matrix + * @param h - the resulting symmetric matrix + * + * @return the number of iterations performed by the algorithm. + */ +unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h); + +#endif // POLARDECOMPOSITION_H + diff --git a/thirdparty/bullet/src/LinearMath/btPoolAllocator.h b/thirdparty/bullet/src/LinearMath/btPoolAllocator.h new file mode 100644 index 0000000000..efdeda8ffc --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btPoolAllocator.h @@ -0,0 +1,130 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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 _BT_POOL_ALLOCATOR_H +#define _BT_POOL_ALLOCATOR_H + +#include "btScalar.h" +#include "btAlignedAllocator.h" +#include "btThreads.h" + +///The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamically allocating them separately. +class btPoolAllocator +{ + int m_elemSize; + int m_maxElements; + int m_freeCount; + void* m_firstFree; + unsigned char* m_pool; + btSpinMutex m_mutex; // only used if BT_THREADSAFE + +public: + + btPoolAllocator(int elemSize, int maxElements) + :m_elemSize(elemSize), + m_maxElements(maxElements) + { + m_pool = (unsigned char*) btAlignedAlloc( static_cast<unsigned int>(m_elemSize*m_maxElements),16); + + unsigned char* p = m_pool; + m_firstFree = p; + m_freeCount = m_maxElements; + int count = m_maxElements; + while (--count) { + *(void**)p = (p + m_elemSize); + p += m_elemSize; + } + *(void**)p = 0; + } + + ~btPoolAllocator() + { + btAlignedFree( m_pool); + } + + int getFreeCount() const + { + return m_freeCount; + } + + int getUsedCount() const + { + return m_maxElements - m_freeCount; + } + + int getMaxCount() const + { + return m_maxElements; + } + + void* allocate(int size) + { + // release mode fix + (void)size; + btMutexLock(&m_mutex); + btAssert(!size || size<=m_elemSize); + //btAssert(m_freeCount>0); // should return null if all full + void* result = m_firstFree; + if (NULL != m_firstFree) + { + m_firstFree = *(void**)m_firstFree; + --m_freeCount; + } + btMutexUnlock(&m_mutex); + return result; + } + + bool validPtr(void* ptr) + { + if (ptr) { + if (((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize)) + { + return true; + } + } + return false; + } + + void freeMemory(void* ptr) + { + if (ptr) { + btAssert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize); + + btMutexLock(&m_mutex); + *(void**)ptr = m_firstFree; + m_firstFree = ptr; + ++m_freeCount; + btMutexUnlock(&m_mutex); + } + } + + int getElementSize() const + { + return m_elemSize; + } + + unsigned char* getPoolAddress() + { + return m_pool; + } + + const unsigned char* getPoolAddress() const + { + return m_pool; + } + +}; + +#endif //_BT_POOL_ALLOCATOR_H diff --git a/thirdparty/bullet/src/LinearMath/btQuadWord.h b/thirdparty/bullet/src/LinearMath/btQuadWord.h new file mode 100644 index 0000000000..fcfb3be444 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btQuadWord.h @@ -0,0 +1,244 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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 BT_SIMD_QUADWORD_H +#define BT_SIMD_QUADWORD_H + +#include "btScalar.h" +#include "btMinMax.h" + + + + + +#if defined (__CELLOS_LV2) && defined (__SPU__) +#include <altivec.h> +#endif + +/**@brief The btQuadWord class is base class for btVector3 and btQuaternion. + * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword. + */ +#ifndef USE_LIBSPE2 +ATTRIBUTE_ALIGNED16(class) btQuadWord +#else +class btQuadWord +#endif +{ +protected: + +#if defined (__SPU__) && defined (__CELLOS_LV2__) + union { + vec_float4 mVec128; + btScalar m_floats[4]; + }; +public: + vec_float4 get128() const + { + return mVec128; + } +protected: +#else //__CELLOS_LV2__ __SPU__ + +#if defined(BT_USE_SSE) || defined(BT_USE_NEON) + union { + btSimdFloat4 mVec128; + btScalar m_floats[4]; + }; +public: + SIMD_FORCE_INLINE btSimdFloat4 get128() const + { + return mVec128; + } + SIMD_FORCE_INLINE void set128(btSimdFloat4 v128) + { + mVec128 = v128; + } +#else + btScalar m_floats[4]; +#endif // BT_USE_SSE + +#endif //__CELLOS_LV2__ __SPU__ + + public: + +#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON) + + // Set Vector + SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec) + { + mVec128 = vec; + } + + // Copy constructor + SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs) + { + mVec128 = rhs.mVec128; + } + + // Assignment Operator + SIMD_FORCE_INLINE btQuadWord& + operator=(const btQuadWord& v) + { + mVec128 = v.mVec128; + + return *this; + } + +#endif + + /**@brief Return the x value */ + SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; } + /**@brief Return the y value */ + SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; } + /**@brief Return the z value */ + SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; } + /**@brief Set the x value */ + SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x;}; + /**@brief Set the y value */ + SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y;}; + /**@brief Set the z value */ + SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z;}; + /**@brief Set the w value */ + SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w;}; + /**@brief Return the x value */ + SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; } + /**@brief Return the y value */ + SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; } + /**@brief Return the z value */ + SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; } + /**@brief Return the w value */ + SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; } + + //SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; } + //SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; } + ///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons. + SIMD_FORCE_INLINE operator btScalar *() { return &m_floats[0]; } + SIMD_FORCE_INLINE operator const btScalar *() const { return &m_floats[0]; } + + SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const + { +#ifdef BT_USE_SSE + return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128))); +#else + return ((m_floats[3]==other.m_floats[3]) && + (m_floats[2]==other.m_floats[2]) && + (m_floats[1]==other.m_floats[1]) && + (m_floats[0]==other.m_floats[0])); +#endif + } + + SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const + { + return !(*this == other); + } + + /**@brief Set x,y,z and zero w + * @param x Value of x + * @param y Value of y + * @param z Value of z + */ + SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z) + { + m_floats[0]=_x; + m_floats[1]=_y; + m_floats[2]=_z; + m_floats[3] = 0.f; + } + +/* void getValue(btScalar *m) const + { + m[0] = m_floats[0]; + m[1] = m_floats[1]; + m[2] = m_floats[2]; + } +*/ +/**@brief Set the values + * @param x Value of x + * @param y Value of y + * @param z Value of z + * @param w Value of w + */ + SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) + { + m_floats[0]=_x; + m_floats[1]=_y; + m_floats[2]=_z; + m_floats[3]=_w; + } + /**@brief No initialization constructor */ + SIMD_FORCE_INLINE btQuadWord() + // :m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.)) + { + } + + /**@brief Three argument constructor (zeros w) + * @param x Value of x + * @param y Value of y + * @param z Value of z + */ + SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z) + { + m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f; + } + +/**@brief Initializing constructor + * @param x Value of x + * @param y Value of y + * @param z Value of z + * @param w Value of w + */ + SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) + { + m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w; + } + + /**@brief Set each element to the max of the current values and the values of another btQuadWord + * @param other The other btQuadWord to compare with + */ + SIMD_FORCE_INLINE void setMax(const btQuadWord& other) + { + #ifdef BT_USE_SSE + mVec128 = _mm_max_ps(mVec128, other.mVec128); + #elif defined(BT_USE_NEON) + mVec128 = vmaxq_f32(mVec128, other.mVec128); + #else + btSetMax(m_floats[0], other.m_floats[0]); + btSetMax(m_floats[1], other.m_floats[1]); + btSetMax(m_floats[2], other.m_floats[2]); + btSetMax(m_floats[3], other.m_floats[3]); + #endif + } + /**@brief Set each element to the min of the current values and the values of another btQuadWord + * @param other The other btQuadWord to compare with + */ + SIMD_FORCE_INLINE void setMin(const btQuadWord& other) + { + #ifdef BT_USE_SSE + mVec128 = _mm_min_ps(mVec128, other.mVec128); + #elif defined(BT_USE_NEON) + mVec128 = vminq_f32(mVec128, other.mVec128); + #else + btSetMin(m_floats[0], other.m_floats[0]); + btSetMin(m_floats[1], other.m_floats[1]); + btSetMin(m_floats[2], other.m_floats[2]); + btSetMin(m_floats[3], other.m_floats[3]); + #endif + } + + + +}; + +#endif //BT_SIMD_QUADWORD_H diff --git a/thirdparty/bullet/src/LinearMath/btQuaternion.h b/thirdparty/bullet/src/LinearMath/btQuaternion.h new file mode 100644 index 0000000000..7bd39e6a33 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btQuaternion.h @@ -0,0 +1,1016 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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 BT_SIMD__QUATERNION_H_ +#define BT_SIMD__QUATERNION_H_ + + +#include "btVector3.h" +#include "btQuadWord.h" + + +#ifdef BT_USE_DOUBLE_PRECISION +#define btQuaternionData btQuaternionDoubleData +#define btQuaternionDataName "btQuaternionDoubleData" +#else +#define btQuaternionData btQuaternionFloatData +#define btQuaternionDataName "btQuaternionFloatData" +#endif //BT_USE_DOUBLE_PRECISION + + + +#ifdef BT_USE_SSE + +//const __m128 ATTRIBUTE_ALIGNED16(vOnes) = {1.0f, 1.0f, 1.0f, 1.0f}; +#define vOnes (_mm_set_ps(1.0f, 1.0f, 1.0f, 1.0f)) + +#endif + +#if defined(BT_USE_SSE) + +#define vQInv (_mm_set_ps(+0.0f, -0.0f, -0.0f, -0.0f)) +#define vPPPM (_mm_set_ps(-0.0f, +0.0f, +0.0f, +0.0f)) + +#elif defined(BT_USE_NEON) + +const btSimdFloat4 ATTRIBUTE_ALIGNED16(vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f}; +const btSimdFloat4 ATTRIBUTE_ALIGNED16(vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f}; + +#endif + +/**@brief The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. */ +class btQuaternion : public btQuadWord { +public: + /**@brief No initialization constructor */ + btQuaternion() {} + +#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))|| defined(BT_USE_NEON) + // Set Vector + SIMD_FORCE_INLINE btQuaternion(const btSimdFloat4 vec) + { + mVec128 = vec; + } + + // Copy constructor + SIMD_FORCE_INLINE btQuaternion(const btQuaternion& rhs) + { + mVec128 = rhs.mVec128; + } + + // Assignment Operator + SIMD_FORCE_INLINE btQuaternion& + operator=(const btQuaternion& v) + { + mVec128 = v.mVec128; + + return *this; + } + +#endif + + // template <typename btScalar> + // explicit Quaternion(const btScalar *v) : Tuple4<btScalar>(v) {} + /**@brief Constructor from scalars */ + btQuaternion(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w) + : btQuadWord(_x, _y, _z, _w) + {} + /**@brief Axis angle Constructor + * @param axis The axis which the rotation is around + * @param angle The magnitude of the rotation around the angle (Radians) */ + btQuaternion(const btVector3& _axis, const btScalar& _angle) + { + setRotation(_axis, _angle); + } + /**@brief Constructor from Euler angles + * @param yaw Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z + * @param pitch Angle around X unless BT_EULER_DEFAULT_ZYX defined then Y + * @param roll Angle around Z unless BT_EULER_DEFAULT_ZYX defined then X */ + btQuaternion(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { +#ifndef BT_EULER_DEFAULT_ZYX + setEuler(yaw, pitch, roll); +#else + setEulerZYX(yaw, pitch, roll); +#endif + } + /**@brief Set the rotation using axis angle notation + * @param axis The axis around which to rotate + * @param angle The magnitude of the rotation in Radians */ + void setRotation(const btVector3& axis, const btScalar& _angle) + { + btScalar d = axis.length(); + btAssert(d != btScalar(0.0)); + btScalar s = btSin(_angle * btScalar(0.5)) / d; + setValue(axis.x() * s, axis.y() * s, axis.z() * s, + btCos(_angle * btScalar(0.5))); + } + /**@brief Set the quaternion using Euler angles + * @param yaw Angle around Y + * @param pitch Angle around X + * @param roll Angle around Z */ + void setEuler(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { + btScalar halfYaw = btScalar(yaw) * btScalar(0.5); + btScalar halfPitch = btScalar(pitch) * btScalar(0.5); + btScalar halfRoll = btScalar(roll) * btScalar(0.5); + btScalar cosYaw = btCos(halfYaw); + btScalar sinYaw = btSin(halfYaw); + btScalar cosPitch = btCos(halfPitch); + btScalar sinPitch = btSin(halfPitch); + btScalar cosRoll = btCos(halfRoll); + btScalar sinRoll = btSin(halfRoll); + setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, + cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, + sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, + cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); + } + /**@brief Set the quaternion using euler angles + * @param yaw Angle around Z + * @param pitch Angle around Y + * @param roll Angle around X */ + void setEulerZYX(const btScalar& yawZ, const btScalar& pitchY, const btScalar& rollX) + { + btScalar halfYaw = btScalar(yawZ) * btScalar(0.5); + btScalar halfPitch = btScalar(pitchY) * btScalar(0.5); + btScalar halfRoll = btScalar(rollX) * btScalar(0.5); + btScalar cosYaw = btCos(halfYaw); + btScalar sinYaw = btSin(halfYaw); + btScalar cosPitch = btCos(halfPitch); + btScalar sinPitch = btSin(halfPitch); + btScalar cosRoll = btCos(halfRoll); + btScalar sinRoll = btSin(halfRoll); + setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, //x + cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, //y + cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, //z + cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); //formerly yzx + } + + /**@brief Get the euler angles from this quaternion + * @param yaw Angle around Z + * @param pitch Angle around Y + * @param roll Angle around X */ + void getEulerZYX(btScalar& yawZ, btScalar& pitchY, btScalar& rollX) const + { + btScalar squ; + btScalar sqx; + btScalar sqy; + btScalar sqz; + btScalar sarg; + sqx = m_floats[0] * m_floats[0]; + sqy = m_floats[1] * m_floats[1]; + sqz = m_floats[2] * m_floats[2]; + squ = m_floats[3] * m_floats[3]; + rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz); + sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]); + pitchY = sarg <= btScalar(-1.0) ? btScalar(-0.5) * SIMD_PI: (sarg >= btScalar(1.0) ? btScalar(0.5) * SIMD_PI : btAsin(sarg)); + yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz); + } + + /**@brief Add two quaternions + * @param q The quaternion to add to this one */ + SIMD_FORCE_INLINE btQuaternion& operator+=(const btQuaternion& q) + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_add_ps(mVec128, q.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vaddq_f32(mVec128, q.mVec128); +#else + m_floats[0] += q.x(); + m_floats[1] += q.y(); + m_floats[2] += q.z(); + m_floats[3] += q.m_floats[3]; +#endif + return *this; + } + + /**@brief Subtract out a quaternion + * @param q The quaternion to subtract from this one */ + btQuaternion& operator-=(const btQuaternion& q) + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_sub_ps(mVec128, q.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vsubq_f32(mVec128, q.mVec128); +#else + m_floats[0] -= q.x(); + m_floats[1] -= q.y(); + m_floats[2] -= q.z(); + m_floats[3] -= q.m_floats[3]; +#endif + return *this; + } + + /**@brief Scale this quaternion + * @param s The scalar to scale by */ + btQuaternion& operator*=(const btScalar& s) + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vs = _mm_load_ss(&s); // (S 0 0 0) + vs = bt_pshufd_ps(vs, 0); // (S S S S) + mVec128 = _mm_mul_ps(mVec128, vs); +#elif defined(BT_USE_NEON) + mVec128 = vmulq_n_f32(mVec128, s); +#else + m_floats[0] *= s; + m_floats[1] *= s; + m_floats[2] *= s; + m_floats[3] *= s; +#endif + return *this; + } + + /**@brief Multiply this quaternion by q on the right + * @param q The other quaternion + * Equivilant to this = this * q */ + btQuaternion& operator*=(const btQuaternion& q) + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vQ2 = q.get128(); + + __m128 A1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(0,1,2,0)); + __m128 B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0)); + + A1 = A1 * B1; + + __m128 A2 = bt_pshufd_ps(mVec128, BT_SHUFFLE(1,2,0,1)); + __m128 B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1)); + + A2 = A2 * B2; + + B1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(2,0,1,2)); + B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2)); + + B1 = B1 * B2; // A3 *= B3 + + mVec128 = bt_splat_ps(mVec128, 3); // A0 + mVec128 = mVec128 * vQ2; // A0 * B0 + + A1 = A1 + A2; // AB12 + mVec128 = mVec128 - B1; // AB03 = AB0 - AB3 + A1 = _mm_xor_ps(A1, vPPPM); // change sign of the last element + mVec128 = mVec128+ A1; // AB03 + AB12 + +#elif defined(BT_USE_NEON) + + float32x4_t vQ1 = mVec128; + float32x4_t vQ2 = q.get128(); + float32x4_t A0, A1, B1, A2, B2, A3, B3; + float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz; + + { + float32x2x2_t tmp; + tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) ); // {z x}, {w y} + vQ1zx = tmp.val[0]; + + tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) ); // {z x}, {w y} + vQ2zx = tmp.val[0]; + } + vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); + + vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1); + + vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1); + vQ2xz = vext_f32(vQ2zx, vQ2zx, 1); + + A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx); // X Y z x + B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W W X + + A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1)); + B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1)); + + A3 = vcombine_f32(vQ1zx, vQ1yz); // Z X Y Z + B3 = vcombine_f32(vQ2yz, vQ2xz); // Y Z x z + + A1 = vmulq_f32(A1, B1); + A2 = vmulq_f32(A2, B2); + A3 = vmulq_f32(A3, B3); // A3 *= B3 + A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); // A0 * B0 + + A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2 + A0 = vsubq_f32(A0, A3); // AB03 = AB0 - AB3 + + // change the sign of the last element + A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM); + A0 = vaddq_f32(A0, A1); // AB03 + AB12 + + mVec128 = A0; +#else + setValue( + m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(), + m_floats[3] * q.y() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.x() - m_floats[0] * q.z(), + m_floats[3] * q.z() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.y() - m_floats[1] * q.x(), + m_floats[3] * q.m_floats[3] - m_floats[0] * q.x() - m_floats[1] * q.y() - m_floats[2] * q.z()); +#endif + return *this; + } + /**@brief Return the dot product between this quaternion and another + * @param q The other quaternion */ + btScalar dot(const btQuaternion& q) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vd; + + vd = _mm_mul_ps(mVec128, q.mVec128); + + __m128 t = _mm_movehl_ps(vd, vd); + vd = _mm_add_ps(vd, t); + t = _mm_shuffle_ps(vd, vd, 0x55); + vd = _mm_add_ss(vd, t); + + return _mm_cvtss_f32(vd); +#elif defined(BT_USE_NEON) + float32x4_t vd = vmulq_f32(mVec128, q.mVec128); + float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_high_f32(vd)); + x = vpadd_f32(x, x); + return vget_lane_f32(x, 0); +#else + return m_floats[0] * q.x() + + m_floats[1] * q.y() + + m_floats[2] * q.z() + + m_floats[3] * q.m_floats[3]; +#endif + } + + /**@brief Return the length squared of the quaternion */ + btScalar length2() const + { + return dot(*this); + } + + /**@brief Return the length of the quaternion */ + btScalar length() const + { + return btSqrt(length2()); + } + btQuaternion& safeNormalize() + { + btScalar l2 = length2(); + if (l2>SIMD_EPSILON) + { + normalize(); + } + return *this; + } + /**@brief Normalize the quaternion + * Such that x^2 + y^2 + z^2 +w^2 = 1 */ + btQuaternion& normalize() + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vd; + + vd = _mm_mul_ps(mVec128, mVec128); + + __m128 t = _mm_movehl_ps(vd, vd); + vd = _mm_add_ps(vd, t); + t = _mm_shuffle_ps(vd, vd, 0x55); + vd = _mm_add_ss(vd, t); + + vd = _mm_sqrt_ss(vd); + vd = _mm_div_ss(vOnes, vd); + vd = bt_pshufd_ps(vd, 0); // splat + mVec128 = _mm_mul_ps(mVec128, vd); + + return *this; +#else + return *this /= length(); +#endif + } + + /**@brief Return a scaled version of this quaternion + * @param s The scale factor */ + SIMD_FORCE_INLINE btQuaternion + operator*(const btScalar& s) const + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vs = _mm_load_ss(&s); // (S 0 0 0) + vs = bt_pshufd_ps(vs, 0x00); // (S S S S) + + return btQuaternion(_mm_mul_ps(mVec128, vs)); +#elif defined(BT_USE_NEON) + return btQuaternion(vmulq_n_f32(mVec128, s)); +#else + return btQuaternion(x() * s, y() * s, z() * s, m_floats[3] * s); +#endif + } + + /**@brief Return an inversely scaled versionof this quaternion + * @param s The inverse scale factor */ + btQuaternion operator/(const btScalar& s) const + { + btAssert(s != btScalar(0.0)); + return *this * (btScalar(1.0) / s); + } + + /**@brief Inversely scale this quaternion + * @param s The scale factor */ + btQuaternion& operator/=(const btScalar& s) + { + btAssert(s != btScalar(0.0)); + return *this *= btScalar(1.0) / s; + } + + /**@brief Return a normalized version of this quaternion */ + btQuaternion normalized() const + { + return *this / length(); + } + /**@brief Return the ***half*** angle between this quaternion and the other + * @param q The other quaternion */ + btScalar angle(const btQuaternion& q) const + { + btScalar s = btSqrt(length2() * q.length2()); + btAssert(s != btScalar(0.0)); + return btAcos(dot(q) / s); + } + + /**@brief Return the angle between this quaternion and the other along the shortest path + * @param q The other quaternion */ + btScalar angleShortestPath(const btQuaternion& q) const + { + btScalar s = btSqrt(length2() * q.length2()); + btAssert(s != btScalar(0.0)); + if (dot(q) < 0) // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp + return btAcos(dot(-q) / s) * btScalar(2.0); + else + return btAcos(dot(q) / s) * btScalar(2.0); + } + + /**@brief Return the angle [0, 2Pi] of rotation represented by this quaternion */ + btScalar getAngle() const + { + btScalar s = btScalar(2.) * btAcos(m_floats[3]); + return s; + } + + /**@brief Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path */ + btScalar getAngleShortestPath() const + { + btScalar s; + if (m_floats[3] >= 0) + s = btScalar(2.) * btAcos(m_floats[3]); + else + s = btScalar(2.) * btAcos(-m_floats[3]); + return s; + } + + + /**@brief Return the axis of the rotation represented by this quaternion */ + btVector3 getAxis() const + { + btScalar s_squared = 1.f-m_floats[3]*m_floats[3]; + + if (s_squared < btScalar(10.) * SIMD_EPSILON) //Check for divide by zero + return btVector3(1.0, 0.0, 0.0); // Arbitrary + btScalar s = 1.f/btSqrt(s_squared); + return btVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s); + } + + /**@brief Return the inverse of this quaternion */ + btQuaternion inverse() const + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btQuaternion(_mm_xor_ps(mVec128, vQInv)); +#elif defined(BT_USE_NEON) + return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)vQInv)); +#else + return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]); +#endif + } + + /**@brief Return the sum of this quaternion and the other + * @param q2 The other quaternion */ + SIMD_FORCE_INLINE btQuaternion + operator+(const btQuaternion& q2) const + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btQuaternion(_mm_add_ps(mVec128, q2.mVec128)); +#elif defined(BT_USE_NEON) + return btQuaternion(vaddq_f32(mVec128, q2.mVec128)); +#else + const btQuaternion& q1 = *this; + return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_floats[3] + q2.m_floats[3]); +#endif + } + + /**@brief Return the difference between this quaternion and the other + * @param q2 The other quaternion */ + SIMD_FORCE_INLINE btQuaternion + operator-(const btQuaternion& q2) const + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btQuaternion(_mm_sub_ps(mVec128, q2.mVec128)); +#elif defined(BT_USE_NEON) + return btQuaternion(vsubq_f32(mVec128, q2.mVec128)); +#else + const btQuaternion& q1 = *this; + return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_floats[3] - q2.m_floats[3]); +#endif + } + + /**@brief Return the negative of this quaternion + * This simply negates each element */ + SIMD_FORCE_INLINE btQuaternion operator-() const + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btQuaternion(_mm_xor_ps(mVec128, btvMzeroMask)); +#elif defined(BT_USE_NEON) + return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)btvMzeroMask) ); +#else + const btQuaternion& q2 = *this; + return btQuaternion( - q2.x(), - q2.y(), - q2.z(), - q2.m_floats[3]); +#endif + } + /**@todo document this and it's use */ + SIMD_FORCE_INLINE btQuaternion farthest( const btQuaternion& qd) const + { + btQuaternion diff,sum; + diff = *this - qd; + sum = *this + qd; + if( diff.dot(diff) > sum.dot(sum) ) + return qd; + return (-qd); + } + + /**@todo document this and it's use */ + SIMD_FORCE_INLINE btQuaternion nearest( const btQuaternion& qd) const + { + btQuaternion diff,sum; + diff = *this - qd; + sum = *this + qd; + if( diff.dot(diff) < sum.dot(sum) ) + return qd; + return (-qd); + } + + + /**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion + * @param q The other quaternion to interpolate with + * @param t The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q. + * Slerp interpolates assuming constant velocity. */ + btQuaternion slerp(const btQuaternion& q, const btScalar& t) const + { + + const btScalar magnitude = btSqrt(length2() * q.length2()); + btAssert(magnitude > btScalar(0)); + + const btScalar product = dot(q) / magnitude; + const btScalar absproduct = btFabs(product); + + if(absproduct < btScalar(1.0 - SIMD_EPSILON)) + { + // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp + const btScalar theta = btAcos(absproduct); + const btScalar d = btSin(theta); + btAssert(d > btScalar(0)); + + const btScalar sign = (product < 0) ? btScalar(-1) : btScalar(1); + const btScalar s0 = btSin((btScalar(1.0) - t) * theta) / d; + const btScalar s1 = btSin(sign * t * theta) / d; + + return btQuaternion( + (m_floats[0] * s0 + q.x() * s1), + (m_floats[1] * s0 + q.y() * s1), + (m_floats[2] * s0 + q.z() * s1), + (m_floats[3] * s0 + q.w() * s1)); + } + else + { + return *this; + } + } + + static const btQuaternion& getIdentity() + { + static const btQuaternion identityQuat(btScalar(0.),btScalar(0.),btScalar(0.),btScalar(1.)); + return identityQuat; + } + + SIMD_FORCE_INLINE const btScalar& getW() const { return m_floats[3]; } + + SIMD_FORCE_INLINE void serialize(struct btQuaternionData& dataOut) const; + + SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionData& dataIn); + + SIMD_FORCE_INLINE void serializeFloat(struct btQuaternionFloatData& dataOut) const; + + SIMD_FORCE_INLINE void deSerializeFloat(const struct btQuaternionFloatData& dataIn); + + SIMD_FORCE_INLINE void serializeDouble(struct btQuaternionDoubleData& dataOut) const; + + SIMD_FORCE_INLINE void deSerializeDouble(const struct btQuaternionDoubleData& dataIn); + +}; + + + + + +/**@brief Return the product of two quaternions */ +SIMD_FORCE_INLINE btQuaternion +operator*(const btQuaternion& q1, const btQuaternion& q2) +{ +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vQ1 = q1.get128(); + __m128 vQ2 = q2.get128(); + __m128 A0, A1, B1, A2, B2; + + A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0,1,2,0)); // X Y z x // vtrn + B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0)); // W W W X // vdup vext + + A1 = A1 * B1; + + A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1)); // Y Z X Y // vext + B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1)); // z x Y Y // vtrn vdup + + A2 = A2 * B2; + + B1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2)); // z x Y Z // vtrn vext + B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2)); // Y Z x z // vext vtrn + + B1 = B1 * B2; // A3 *= B3 + + A0 = bt_splat_ps(vQ1, 3); // A0 + A0 = A0 * vQ2; // A0 * B0 + + A1 = A1 + A2; // AB12 + A0 = A0 - B1; // AB03 = AB0 - AB3 + + A1 = _mm_xor_ps(A1, vPPPM); // change sign of the last element + A0 = A0 + A1; // AB03 + AB12 + + return btQuaternion(A0); + +#elif defined(BT_USE_NEON) + + float32x4_t vQ1 = q1.get128(); + float32x4_t vQ2 = q2.get128(); + float32x4_t A0, A1, B1, A2, B2, A3, B3; + float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz; + + { + float32x2x2_t tmp; + tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) ); // {z x}, {w y} + vQ1zx = tmp.val[0]; + + tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) ); // {z x}, {w y} + vQ2zx = tmp.val[0]; + } + vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); + + vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1); + + vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1); + vQ2xz = vext_f32(vQ2zx, vQ2zx, 1); + + A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx); // X Y z x + B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W W X + + A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1)); + B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1)); + + A3 = vcombine_f32(vQ1zx, vQ1yz); // Z X Y Z + B3 = vcombine_f32(vQ2yz, vQ2xz); // Y Z x z + + A1 = vmulq_f32(A1, B1); + A2 = vmulq_f32(A2, B2); + A3 = vmulq_f32(A3, B3); // A3 *= B3 + A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); // A0 * B0 + + A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2 + A0 = vsubq_f32(A0, A3); // AB03 = AB0 - AB3 + + // change the sign of the last element + A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM); + A0 = vaddq_f32(A0, A1); // AB03 + AB12 + + return btQuaternion(A0); + +#else + return btQuaternion( + q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(), + q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(), + q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(), + q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z()); +#endif +} + +SIMD_FORCE_INLINE btQuaternion +operator*(const btQuaternion& q, const btVector3& w) +{ +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vQ1 = q.get128(); + __m128 vQ2 = w.get128(); + __m128 A1, B1, A2, B2, A3, B3; + + A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(3,3,3,0)); + B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(0,1,2,0)); + + A1 = A1 * B1; + + A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1)); + B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1)); + + A2 = A2 * B2; + + A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2)); + B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2)); + + A3 = A3 * B3; // A3 *= B3 + + A1 = A1 + A2; // AB12 + A1 = _mm_xor_ps(A1, vPPPM); // change sign of the last element + A1 = A1 - A3; // AB123 = AB12 - AB3 + + return btQuaternion(A1); + +#elif defined(BT_USE_NEON) + + float32x4_t vQ1 = q.get128(); + float32x4_t vQ2 = w.get128(); + float32x4_t A1, B1, A2, B2, A3, B3; + float32x2_t vQ1wx, vQ2zx, vQ1yz, vQ2yz, vQ1zx, vQ2xz; + + vQ1wx = vext_f32(vget_high_f32(vQ1), vget_low_f32(vQ1), 1); + { + float32x2x2_t tmp; + + tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) ); // {z x}, {w y} + vQ2zx = tmp.val[0]; + + tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) ); // {z x}, {w y} + vQ1zx = tmp.val[0]; + } + + vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1); + + vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1); + vQ2xz = vext_f32(vQ2zx, vQ2zx, 1); + + A1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ1), 1), vQ1wx); // W W W X + B1 = vcombine_f32(vget_low_f32(vQ2), vQ2zx); // X Y z x + + A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1)); + B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1)); + + A3 = vcombine_f32(vQ1zx, vQ1yz); // Z X Y Z + B3 = vcombine_f32(vQ2yz, vQ2xz); // Y Z x z + + A1 = vmulq_f32(A1, B1); + A2 = vmulq_f32(A2, B2); + A3 = vmulq_f32(A3, B3); // A3 *= B3 + + A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2 + + // change the sign of the last element + A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM); + + A1 = vsubq_f32(A1, A3); // AB123 = AB12 - AB3 + + return btQuaternion(A1); + +#else + return btQuaternion( + q.w() * w.x() + q.y() * w.z() - q.z() * w.y(), + q.w() * w.y() + q.z() * w.x() - q.x() * w.z(), + q.w() * w.z() + q.x() * w.y() - q.y() * w.x(), + -q.x() * w.x() - q.y() * w.y() - q.z() * w.z()); +#endif +} + +SIMD_FORCE_INLINE btQuaternion +operator*(const btVector3& w, const btQuaternion& q) +{ +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vQ1 = w.get128(); + __m128 vQ2 = q.get128(); + __m128 A1, B1, A2, B2, A3, B3; + + A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0,1,2,0)); // X Y z x + B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0)); // W W W X + + A1 = A1 * B1; + + A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1)); + B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1)); + + A2 = A2 *B2; + + A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2)); + B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2)); + + A3 = A3 * B3; // A3 *= B3 + + A1 = A1 + A2; // AB12 + A1 = _mm_xor_ps(A1, vPPPM); // change sign of the last element + A1 = A1 - A3; // AB123 = AB12 - AB3 + + return btQuaternion(A1); + +#elif defined(BT_USE_NEON) + + float32x4_t vQ1 = w.get128(); + float32x4_t vQ2 = q.get128(); + float32x4_t A1, B1, A2, B2, A3, B3; + float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz; + + { + float32x2x2_t tmp; + + tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) ); // {z x}, {w y} + vQ1zx = tmp.val[0]; + + tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) ); // {z x}, {w y} + vQ2zx = tmp.val[0]; + } + vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); + + vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1); + + vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1); + vQ2xz = vext_f32(vQ2zx, vQ2zx, 1); + + A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx); // X Y z x + B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W W X + + A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1)); + B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1)); + + A3 = vcombine_f32(vQ1zx, vQ1yz); // Z X Y Z + B3 = vcombine_f32(vQ2yz, vQ2xz); // Y Z x z + + A1 = vmulq_f32(A1, B1); + A2 = vmulq_f32(A2, B2); + A3 = vmulq_f32(A3, B3); // A3 *= B3 + + A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2 + + // change the sign of the last element + A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM); + + A1 = vsubq_f32(A1, A3); // AB123 = AB12 - AB3 + + return btQuaternion(A1); + +#else + return btQuaternion( + +w.x() * q.w() + w.y() * q.z() - w.z() * q.y(), + +w.y() * q.w() + w.z() * q.x() - w.x() * q.z(), + +w.z() * q.w() + w.x() * q.y() - w.y() * q.x(), + -w.x() * q.x() - w.y() * q.y() - w.z() * q.z()); +#endif +} + +/**@brief Calculate the dot product between two quaternions */ +SIMD_FORCE_INLINE btScalar +dot(const btQuaternion& q1, const btQuaternion& q2) +{ + return q1.dot(q2); +} + + +/**@brief Return the length of a quaternion */ +SIMD_FORCE_INLINE btScalar +length(const btQuaternion& q) +{ + return q.length(); +} + +/**@brief Return the angle between two quaternions*/ +SIMD_FORCE_INLINE btScalar +btAngle(const btQuaternion& q1, const btQuaternion& q2) +{ + return q1.angle(q2); +} + +/**@brief Return the inverse of a quaternion*/ +SIMD_FORCE_INLINE btQuaternion +inverse(const btQuaternion& q) +{ + return q.inverse(); +} + +/**@brief Return the result of spherical linear interpolation betwen two quaternions + * @param q1 The first quaternion + * @param q2 The second quaternion + * @param t The ration between q1 and q2. t = 0 return q1, t=1 returns q2 + * Slerp assumes constant velocity between positions. */ +SIMD_FORCE_INLINE btQuaternion +slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t) +{ + return q1.slerp(q2, t); +} + +SIMD_FORCE_INLINE btVector3 +quatRotate(const btQuaternion& rotation, const btVector3& v) +{ + btQuaternion q = rotation * v; + q *= rotation.inverse(); +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector3(_mm_and_ps(q.get128(), btvFFF0fMask)); +#elif defined(BT_USE_NEON) + return btVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), btvFFF0Mask)); +#else + return btVector3(q.getX(),q.getY(),q.getZ()); +#endif +} + +SIMD_FORCE_INLINE btQuaternion +shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized +{ + btVector3 c = v0.cross(v1); + btScalar d = v0.dot(v1); + + if (d < -1.0 + SIMD_EPSILON) + { + btVector3 n,unused; + btPlaneSpace1(v0,n,unused); + return btQuaternion(n.x(),n.y(),n.z(),0.0f); // just pick any vector that is orthogonal to v0 + } + + btScalar s = btSqrt((1.0f + d) * 2.0f); + btScalar rs = 1.0f / s; + + return btQuaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f); +} + +SIMD_FORCE_INLINE btQuaternion +shortestArcQuatNormalize2(btVector3& v0,btVector3& v1) +{ + v0.normalize(); + v1.normalize(); + return shortestArcQuat(v0,v1); +} + + + + +struct btQuaternionFloatData +{ + float m_floats[4]; +}; + +struct btQuaternionDoubleData +{ + double m_floats[4]; + +}; + +SIMD_FORCE_INLINE void btQuaternion::serializeFloat(struct btQuaternionFloatData& dataOut) const +{ + ///could also do a memcpy, check if it is worth it + for (int i=0;i<4;i++) + dataOut.m_floats[i] = float(m_floats[i]); +} + +SIMD_FORCE_INLINE void btQuaternion::deSerializeFloat(const struct btQuaternionFloatData& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = btScalar(dataIn.m_floats[i]); +} + + +SIMD_FORCE_INLINE void btQuaternion::serializeDouble(struct btQuaternionDoubleData& dataOut) const +{ + ///could also do a memcpy, check if it is worth it + for (int i=0;i<4;i++) + dataOut.m_floats[i] = double(m_floats[i]); +} + +SIMD_FORCE_INLINE void btQuaternion::deSerializeDouble(const struct btQuaternionDoubleData& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = btScalar(dataIn.m_floats[i]); +} + + +SIMD_FORCE_INLINE void btQuaternion::serialize(struct btQuaternionData& dataOut) const +{ + ///could also do a memcpy, check if it is worth it + for (int i=0;i<4;i++) + dataOut.m_floats[i] = m_floats[i]; +} + +SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionData& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = dataIn.m_floats[i]; +} + + +#endif //BT_SIMD__QUATERNION_H_ + + + diff --git a/thirdparty/bullet/src/LinearMath/btQuickprof.cpp b/thirdparty/bullet/src/LinearMath/btQuickprof.cpp new file mode 100644 index 0000000000..aed3104a6e --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btQuickprof.cpp @@ -0,0 +1,789 @@ +/* + +*************************************************************************************************** +** +** profile.cpp +** +** Real-Time Hierarchical Profiling for Game Programming Gems 3 +** +** by Greg Hjelstrom & Byon Garrabrant +** +***************************************************************************************************/ + +// Credits: The Clock class was inspired by the Timer classes in +// Ogre (www.ogre3d.org). + +#include "btQuickprof.h" +#include "btThreads.h" + + + + +#ifdef __CELLOS_LV2__ +#include <sys/sys_time.h> +#include <sys/time_util.h> +#include <stdio.h> +#endif + +#if defined (SUNOS) || defined (__SUNOS__) +#include <stdio.h> +#endif +#ifdef __APPLE__ +#include <mach/mach_time.h> +#include <TargetConditionals.h> +#endif + +#if defined(WIN32) || defined(_WIN32) + +#define BT_USE_WINDOWS_TIMERS +#define WIN32_LEAN_AND_MEAN +#define NOWINRES +#define NOMCX +#define NOIME + +#ifdef _XBOX + #include <Xtl.h> +#else //_XBOX + #include <windows.h> + +#if WINVER <0x0602 +#define GetTickCount64 GetTickCount +#endif + +#endif //_XBOX + +#include <time.h> + + +#else //_WIN32 +#include <sys/time.h> + +#ifdef BT_LINUX_REALTIME +//required linking against rt (librt) +#include <time.h> +#endif //BT_LINUX_REALTIME + +#endif //_WIN32 + +#define mymin(a,b) (a > b ? a : b) + +struct btClockData +{ + +#ifdef BT_USE_WINDOWS_TIMERS + LARGE_INTEGER mClockFrequency; + LONGLONG mStartTick; + LARGE_INTEGER mStartTime; +#else +#ifdef __CELLOS_LV2__ + uint64_t mStartTime; +#else +#ifdef __APPLE__ + uint64_t mStartTimeNano; +#endif + struct timeval mStartTime; +#endif +#endif //__CELLOS_LV2__ + +}; + +///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling. +btClock::btClock() +{ + m_data = new btClockData; +#ifdef BT_USE_WINDOWS_TIMERS + QueryPerformanceFrequency(&m_data->mClockFrequency); +#endif + reset(); +} + +btClock::~btClock() +{ + delete m_data; +} + +btClock::btClock(const btClock& other) +{ + m_data = new btClockData; + *m_data = *other.m_data; +} + +btClock& btClock::operator=(const btClock& other) +{ + *m_data = *other.m_data; + return *this; +} + + + /// Resets the initial reference time. +void btClock::reset() +{ +#ifdef BT_USE_WINDOWS_TIMERS + QueryPerformanceCounter(&m_data->mStartTime); + m_data->mStartTick = GetTickCount64(); +#else +#ifdef __CELLOS_LV2__ + + typedef uint64_t ClockSize; + ClockSize newTime; + //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); + SYS_TIMEBASE_GET( newTime ); + m_data->mStartTime = newTime; +#else +#ifdef __APPLE__ + m_data->mStartTimeNano = mach_absolute_time(); +#endif + gettimeofday(&m_data->mStartTime, 0); +#endif +#endif +} + +/// Returns the time in ms since the last call to reset or since +/// the btClock was created. +unsigned long long int btClock::getTimeMilliseconds() +{ +#ifdef BT_USE_WINDOWS_TIMERS + LARGE_INTEGER currentTime; + QueryPerformanceCounter(¤tTime); + LONGLONG elapsedTime = currentTime.QuadPart - + m_data->mStartTime.QuadPart; + // Compute the number of millisecond ticks elapsed. + unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / + m_data->mClockFrequency.QuadPart); + + return msecTicks; +#else + +#ifdef __CELLOS_LV2__ + uint64_t freq=sys_time_get_timebase_frequency(); + double dFreq=((double) freq) / 1000.0; + typedef uint64_t ClockSize; + ClockSize newTime; + SYS_TIMEBASE_GET( newTime ); + //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); + + return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq); +#else + + struct timeval currentTime; + gettimeofday(¤tTime, 0); + return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000 + + (currentTime.tv_usec - m_data->mStartTime.tv_usec) / 1000; +#endif //__CELLOS_LV2__ +#endif +} + + /// Returns the time in us since the last call to reset or since + /// the Clock was created. +unsigned long long int btClock::getTimeMicroseconds() +{ +#ifdef BT_USE_WINDOWS_TIMERS + //see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx + LARGE_INTEGER currentTime, elapsedTime; + + QueryPerformanceCounter(¤tTime); + elapsedTime.QuadPart = currentTime.QuadPart - + m_data->mStartTime.QuadPart; + elapsedTime.QuadPart *= 1000000; + elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart; + + return (unsigned long long) elapsedTime.QuadPart; +#else + +#ifdef __CELLOS_LV2__ + uint64_t freq=sys_time_get_timebase_frequency(); + double dFreq=((double) freq)/ 1000000.0; + typedef uint64_t ClockSize; + ClockSize newTime; + //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); + SYS_TIMEBASE_GET( newTime ); + + return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq); +#else + + struct timeval currentTime; + gettimeofday(¤tTime, 0); + return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000000 + + (currentTime.tv_usec - m_data->mStartTime.tv_usec); +#endif//__CELLOS_LV2__ +#endif +} + +unsigned long long int btClock::getTimeNanoseconds() +{ +#ifdef BT_USE_WINDOWS_TIMERS + //see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx + LARGE_INTEGER currentTime, elapsedTime; + + QueryPerformanceCounter(¤tTime); + elapsedTime.QuadPart = currentTime.QuadPart - + m_data->mStartTime.QuadPart; + elapsedTime.QuadPart *= 1000000000; + elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart; + + return (unsigned long long) elapsedTime.QuadPart; +#else + +#ifdef __CELLOS_LV2__ + uint64_t freq=sys_time_get_timebase_frequency(); + double dFreq=((double) freq)/ 1e9; + typedef uint64_t ClockSize; + ClockSize newTime; + //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); + SYS_TIMEBASE_GET( newTime ); + + return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq); +#else +#ifdef __APPLE__ + uint64_t ticks = mach_absolute_time() - m_data->mStartTimeNano; + static long double conversion = 0.0L; + if( 0.0L == conversion ) + { + // attempt to get conversion to nanoseconds + mach_timebase_info_data_t info; + int err = mach_timebase_info( &info ); + if( err ) + { + btAssert(0); + conversion = 1.; + } + conversion = info.numer / info.denom; + } + return (ticks * conversion); + + +#else//__APPLE__ + +#ifdef BT_LINUX_REALTIME + timespec ts; + clock_gettime(CLOCK_REALTIME,&ts); + return 1000000000*ts.tv_sec + ts.tv_nsec; +#else + struct timeval currentTime; + gettimeofday(¤tTime, 0); + return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1e9 + + (currentTime.tv_usec - m_data->mStartTime.tv_usec)*1000; +#endif //BT_LINUX_REALTIME + +#endif//__APPLE__ +#endif//__CELLOS_LV2__ +#endif +} + + +/// Returns the time in s since the last call to reset or since +/// the Clock was created. +btScalar btClock::getTimeSeconds() +{ + static const btScalar microseconds_to_seconds = btScalar(0.000001); + return btScalar(getTimeMicroseconds()) * microseconds_to_seconds; +} + +#ifndef BT_NO_PROFILE + + +static btClock gProfileClock; + + +inline void Profile_Get_Ticks(unsigned long int * ticks) +{ + *ticks = (unsigned long int)gProfileClock.getTimeMicroseconds(); +} + +inline float Profile_Get_Tick_Rate(void) +{ +// return 1000000.f; + return 1000.f; + +} + + +/*************************************************************************************************** +** +** CProfileNode +** +***************************************************************************************************/ + +/*********************************************************************************************** + * INPUT: * + * name - pointer to a static string which is the name of this profile node * + * parent - parent pointer * + * * + * WARNINGS: * + * The name is assumed to be a static pointer, only the pointer is stored and compared for * + * efficiency reasons. * + *=============================================================================================*/ +CProfileNode::CProfileNode( const char * name, CProfileNode * parent ) : + Name( name ), + TotalCalls( 0 ), + TotalTime( 0 ), + StartTime( 0 ), + RecursionCounter( 0 ), + Parent( parent ), + Child( NULL ), + Sibling( NULL ), + m_userPtr(0) +{ + Reset(); +} + + +void CProfileNode::CleanupMemory() +{ + delete ( Child); + Child = NULL; + delete ( Sibling); + Sibling = NULL; +} + +CProfileNode::~CProfileNode( void ) +{ + CleanupMemory(); +} + + +/*********************************************************************************************** + * INPUT: * + * name - static string pointer to the name of the node we are searching for * + * * + * WARNINGS: * + * All profile names are assumed to be static strings so this function uses pointer compares * + * to find the named node. * + *=============================================================================================*/ +CProfileNode * CProfileNode::Get_Sub_Node( const char * name ) +{ + // Try to find this sub node + CProfileNode * child = Child; + while ( child ) { + if ( child->Name == name ) { + return child; + } + child = child->Sibling; + } + + // We didn't find it, so add it + + CProfileNode * node = new CProfileNode( name, this ); + node->Sibling = Child; + Child = node; + return node; +} + + +void CProfileNode::Reset( void ) +{ + TotalCalls = 0; + TotalTime = 0.0f; + + + if ( Child ) { + Child->Reset(); + } + if ( Sibling ) { + Sibling->Reset(); + } +} + + +void CProfileNode::Call( void ) +{ + TotalCalls++; + if (RecursionCounter++ == 0) { + Profile_Get_Ticks(&StartTime); + } +} + + +bool CProfileNode::Return( void ) +{ + if ( --RecursionCounter == 0 && TotalCalls != 0 ) { + unsigned long int time; + Profile_Get_Ticks(&time); + + time-=StartTime; + TotalTime += (float)time / Profile_Get_Tick_Rate(); + } + return ( RecursionCounter == 0 ); +} + + +/*************************************************************************************************** +** +** CProfileIterator +** +***************************************************************************************************/ +CProfileIterator::CProfileIterator( CProfileNode * start ) +{ + CurrentParent = start; + CurrentChild = CurrentParent->Get_Child(); +} + + +void CProfileIterator::First(void) +{ + CurrentChild = CurrentParent->Get_Child(); +} + + +void CProfileIterator::Next(void) +{ + CurrentChild = CurrentChild->Get_Sibling(); +} + + +bool CProfileIterator::Is_Done(void) +{ + return CurrentChild == NULL; +} + + +void CProfileIterator::Enter_Child( int index ) +{ + CurrentChild = CurrentParent->Get_Child(); + while ( (CurrentChild != NULL) && (index != 0) ) { + index--; + CurrentChild = CurrentChild->Get_Sibling(); + } + + if ( CurrentChild != NULL ) { + CurrentParent = CurrentChild; + CurrentChild = CurrentParent->Get_Child(); + } +} + + +void CProfileIterator::Enter_Parent( void ) +{ + if ( CurrentParent->Get_Parent() != NULL ) { + CurrentParent = CurrentParent->Get_Parent(); + } + CurrentChild = CurrentParent->Get_Child(); +} + + +/*************************************************************************************************** +** +** CProfileManager +** +***************************************************************************************************/ + + + + +CProfileNode gRoots[BT_QUICKPROF_MAX_THREAD_COUNT]={ + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL) +}; + + +CProfileNode* gCurrentNodes[BT_QUICKPROF_MAX_THREAD_COUNT]= +{ + &gRoots[ 0], &gRoots[ 1], &gRoots[ 2], &gRoots[ 3], + &gRoots[ 4], &gRoots[ 5], &gRoots[ 6], &gRoots[ 7], + &gRoots[ 8], &gRoots[ 9], &gRoots[10], &gRoots[11], + &gRoots[12], &gRoots[13], &gRoots[14], &gRoots[15], + &gRoots[16], &gRoots[17], &gRoots[18], &gRoots[19], + &gRoots[20], &gRoots[21], &gRoots[22], &gRoots[23], + &gRoots[24], &gRoots[25], &gRoots[26], &gRoots[27], + &gRoots[28], &gRoots[29], &gRoots[30], &gRoots[31], + &gRoots[32], &gRoots[33], &gRoots[34], &gRoots[35], + &gRoots[36], &gRoots[37], &gRoots[38], &gRoots[39], + &gRoots[40], &gRoots[41], &gRoots[42], &gRoots[43], + &gRoots[44], &gRoots[45], &gRoots[46], &gRoots[47], + &gRoots[48], &gRoots[49], &gRoots[50], &gRoots[51], + &gRoots[52], &gRoots[53], &gRoots[54], &gRoots[55], + &gRoots[56], &gRoots[57], &gRoots[58], &gRoots[59], + &gRoots[60], &gRoots[61], &gRoots[62], &gRoots[63], +}; + + +int CProfileManager::FrameCounter = 0; +unsigned long int CProfileManager::ResetTime = 0; + +CProfileIterator * CProfileManager::Get_Iterator( void ) +{ + + int threadIndex = btQuickprofGetCurrentThreadIndex2(); + if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT) + return 0; + + return new CProfileIterator( &gRoots[threadIndex]); +} + +void CProfileManager::CleanupMemory(void) +{ + for (int i=0;i<BT_QUICKPROF_MAX_THREAD_COUNT;i++) + { + gRoots[i].CleanupMemory(); + } +} + + +/*********************************************************************************************** + * CProfileManager::Start_Profile -- Begin a named profile * + * * + * Steps one level deeper into the tree, if a child already exists with the specified name * + * then it accumulates the profiling; otherwise a new child node is added to the profile tree. * + * * + * INPUT: * + * name - name of this profiling record * + * * + * WARNINGS: * + * The string used is assumed to be a static string; pointer compares are used throughout * + * the profiling code for efficiency. * + *=============================================================================================*/ +void CProfileManager::Start_Profile( const char * name ) +{ + int threadIndex = btQuickprofGetCurrentThreadIndex2(); + if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT) + return; + + if (name != gCurrentNodes[threadIndex]->Get_Name()) { + gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Sub_Node( name ); + } + + gCurrentNodes[threadIndex]->Call(); +} + + +/*********************************************************************************************** + * CProfileManager::Stop_Profile -- Stop timing and record the results. * + *=============================================================================================*/ +void CProfileManager::Stop_Profile( void ) +{ + int threadIndex = btQuickprofGetCurrentThreadIndex2(); + if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT) + return; + + // Return will indicate whether we should back up to our parent (we may + // be profiling a recursive function) + if (gCurrentNodes[threadIndex]->Return()) { + gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Parent(); + } +} + + + + + + +/*********************************************************************************************** + * CProfileManager::Reset -- Reset the contents of the profiling system * + * * + * This resets everything except for the tree structure. All of the timing data is reset. * + *=============================================================================================*/ +void CProfileManager::Reset( void ) +{ + gProfileClock.reset(); + int threadIndex = btQuickprofGetCurrentThreadIndex2(); + if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT) + return; + gRoots[threadIndex].Reset(); + gRoots[threadIndex].Call(); + FrameCounter = 0; + Profile_Get_Ticks(&ResetTime); +} + + +/*********************************************************************************************** + * CProfileManager::Increment_Frame_Counter -- Increment the frame counter * + *=============================================================================================*/ +void CProfileManager::Increment_Frame_Counter( void ) +{ + FrameCounter++; +} + + +/*********************************************************************************************** + * CProfileManager::Get_Time_Since_Reset -- returns the elapsed time since last reset * + *=============================================================================================*/ +float CProfileManager::Get_Time_Since_Reset( void ) +{ + unsigned long int time; + Profile_Get_Ticks(&time); + time -= ResetTime; + return (float)time / Profile_Get_Tick_Rate(); +} + +#include <stdio.h> + +void CProfileManager::dumpRecursive(CProfileIterator* profileIterator, int spacing) +{ + profileIterator->First(); + if (profileIterator->Is_Done()) + return; + + float accumulated_time=0,parent_time = profileIterator->Is_Root() ? CProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time(); + int i; + int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset(); + for (i=0;i<spacing;i++) printf("."); + printf("----------------------------------\n"); + for (i=0;i<spacing;i++) printf("."); + printf("Profiling: %s (total running time: %.3f ms) ---\n", profileIterator->Get_Current_Parent_Name(), parent_time ); + float totalTime = 0.f; + + + int numChildren = 0; + + for (i = 0; !profileIterator->Is_Done(); i++,profileIterator->Next()) + { + numChildren++; + float current_total_time = profileIterator->Get_Current_Total_Time(); + accumulated_time += current_total_time; + float fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f; + { + int i; for (i=0;i<spacing;i++) printf("."); + } + printf("%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)\n",i, profileIterator->Get_Current_Name(), fraction,(current_total_time / (double)frames_since_reset),profileIterator->Get_Current_Total_Calls()); + totalTime += current_total_time; + //recurse into children + } + + if (parent_time < accumulated_time) + { + //printf("what's wrong\n"); + } + for (i=0;i<spacing;i++) printf("."); + printf("%s (%.3f %%) :: %.3f ms\n", "Unaccounted:",parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time); + + for (i=0;i<numChildren;i++) + { + profileIterator->Enter_Child(i); + dumpRecursive(profileIterator,spacing+3); + profileIterator->Enter_Parent(); + } +} + + + +void CProfileManager::dumpAll() +{ + CProfileIterator* profileIterator = 0; + profileIterator = CProfileManager::Get_Iterator(); + + dumpRecursive(profileIterator,0); + + CProfileManager::Release_Iterator(profileIterator); +} + + + + +unsigned int btQuickprofGetCurrentThreadIndex2() +{ +#if BT_THREADSAFE + return btGetCurrentThreadIndex(); +#else // #if BT_THREADSAFE + const unsigned int kNullIndex = ~0U; +#ifdef _WIN32 + #if defined(__MINGW32__) || defined(__MINGW64__) + static __thread unsigned int sThreadIndex = kNullIndex; + #else + __declspec( thread ) static unsigned int sThreadIndex = kNullIndex; + #endif +#else +#ifdef __APPLE__ + #if TARGET_OS_IPHONE + unsigned int sThreadIndex = 0; + return -1; + #else + static __thread unsigned int sThreadIndex = kNullIndex; + #endif +#else//__APPLE__ +#if __linux__ + static __thread unsigned int sThreadIndex = kNullIndex; +#else + unsigned int sThreadIndex = 0; + return -1; +#endif +#endif//__APPLE__ + +#endif + static int gThreadCounter=0; + + if ( sThreadIndex == kNullIndex ) + { + sThreadIndex = gThreadCounter++; + } + return sThreadIndex; +#endif // #else // #if BT_THREADSAFE +} + +void btEnterProfileZoneDefault(const char* name) +{ + CProfileManager::Start_Profile( name ); +} +void btLeaveProfileZoneDefault() +{ + CProfileManager::Stop_Profile(); +} + + +#else +void btEnterProfileZoneDefault(const char* name) +{ +} +void btLeaveProfileZoneDefault() +{ +} +#endif //BT_NO_PROFILE + + + + + +static btEnterProfileZoneFunc* bts_enterFunc = btEnterProfileZoneDefault; +static btLeaveProfileZoneFunc* bts_leaveFunc = btLeaveProfileZoneDefault; + +void btEnterProfileZone(const char* name) +{ + (bts_enterFunc)(name); +} +void btLeaveProfileZone() +{ + (bts_leaveFunc)(); +} + +btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc() +{ + return bts_enterFunc ; +} +btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc() +{ + return bts_leaveFunc; +} + + +void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc) +{ + bts_enterFunc = enterFunc; +} +void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc) +{ + bts_leaveFunc = leaveFunc; +} + +CProfileSample::CProfileSample( const char * name ) +{ + btEnterProfileZone(name); +} + +CProfileSample::~CProfileSample( void ) +{ + btLeaveProfileZone(); +} + diff --git a/thirdparty/bullet/src/LinearMath/btQuickprof.h b/thirdparty/bullet/src/LinearMath/btQuickprof.h new file mode 100644 index 0000000000..7b38d71b90 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btQuickprof.h @@ -0,0 +1,221 @@ + +/*************************************************************************************************** +** +** Real-Time Hierarchical Profiling for Game Programming Gems 3 +** +** by Greg Hjelstrom & Byon Garrabrant +** +***************************************************************************************************/ + +// Credits: The Clock class was inspired by the Timer classes in +// Ogre (www.ogre3d.org). + + + +#ifndef BT_QUICK_PROF_H +#define BT_QUICK_PROF_H + +#include "btScalar.h" +#define USE_BT_CLOCK 1 + +#ifdef USE_BT_CLOCK + +///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling. +class btClock +{ +public: + btClock(); + + btClock(const btClock& other); + btClock& operator=(const btClock& other); + + ~btClock(); + + /// Resets the initial reference time. + void reset(); + + /// Returns the time in ms since the last call to reset or since + /// the btClock was created. + unsigned long long int getTimeMilliseconds(); + + /// Returns the time in us since the last call to reset or since + /// the Clock was created. + unsigned long long int getTimeMicroseconds(); + + unsigned long long int getTimeNanoseconds(); + + /// Returns the time in s since the last call to reset or since + /// the Clock was created. + btScalar getTimeSeconds(); + +private: + struct btClockData* m_data; +}; + +#endif //USE_BT_CLOCK + +typedef void (btEnterProfileZoneFunc)(const char* msg); +typedef void (btLeaveProfileZoneFunc)(); + +btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc(); +btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc(); + + + +void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc); +void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc); + +#ifndef BT_NO_PROFILE // FIX redefinition +//To disable built-in profiling, please comment out next line +//#define BT_NO_PROFILE 1 +#endif //BT_NO_PROFILE + +#ifndef BT_NO_PROFILE +//btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined, +//otherwise returns thread index in range [0..maxThreads] +unsigned int btQuickprofGetCurrentThreadIndex2(); +const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64; + +#include <stdio.h>//@todo remove this, backwards compatibility + +#include "btAlignedAllocator.h" +#include <new> + + + + + + + + + +///A node in the Profile Hierarchy Tree +class CProfileNode { + +public: + CProfileNode( const char * name, CProfileNode * parent ); + ~CProfileNode( void ); + + CProfileNode * Get_Sub_Node( const char * name ); + + CProfileNode * Get_Parent( void ) { return Parent; } + CProfileNode * Get_Sibling( void ) { return Sibling; } + CProfileNode * Get_Child( void ) { return Child; } + + void CleanupMemory(); + void Reset( void ); + void Call( void ); + bool Return( void ); + + const char * Get_Name( void ) { return Name; } + int Get_Total_Calls( void ) { return TotalCalls; } + float Get_Total_Time( void ) { return TotalTime; } + void* GetUserPointer() const {return m_userPtr;} + void SetUserPointer(void* ptr) { m_userPtr = ptr;} +protected: + + const char * Name; + int TotalCalls; + float TotalTime; + unsigned long int StartTime; + int RecursionCounter; + + CProfileNode * Parent; + CProfileNode * Child; + CProfileNode * Sibling; + void* m_userPtr; +}; + +///An iterator to navigate through the tree +class CProfileIterator +{ +public: + // Access all the children of the current parent + void First(void); + void Next(void); + bool Is_Done(void); + bool Is_Root(void) { return (CurrentParent->Get_Parent() == 0); } + + void Enter_Child( int index ); // Make the given child the new parent + void Enter_Largest_Child( void ); // Make the largest child the new parent + void Enter_Parent( void ); // Make the current parent's parent the new parent + + // Access the current child + const char * Get_Current_Name( void ) { return CurrentChild->Get_Name(); } + int Get_Current_Total_Calls( void ) { return CurrentChild->Get_Total_Calls(); } + float Get_Current_Total_Time( void ) { return CurrentChild->Get_Total_Time(); } + + void* Get_Current_UserPointer( void ) { return CurrentChild->GetUserPointer(); } + void Set_Current_UserPointer(void* ptr) {CurrentChild->SetUserPointer(ptr);} + // Access the current parent + const char * Get_Current_Parent_Name( void ) { return CurrentParent->Get_Name(); } + int Get_Current_Parent_Total_Calls( void ) { return CurrentParent->Get_Total_Calls(); } + float Get_Current_Parent_Total_Time( void ) { return CurrentParent->Get_Total_Time(); } + + + +protected: + + CProfileNode * CurrentParent; + CProfileNode * CurrentChild; + + + CProfileIterator( CProfileNode * start ); + friend class CProfileManager; +}; + + +///The Manager for the Profile system +class CProfileManager { +public: + static void Start_Profile( const char * name ); + static void Stop_Profile( void ); + + static void CleanupMemory(void); +// { +// Root.CleanupMemory(); +// } + + static void Reset( void ); + static void Increment_Frame_Counter( void ); + static int Get_Frame_Count_Since_Reset( void ) { return FrameCounter; } + static float Get_Time_Since_Reset( void ); + + static CProfileIterator * Get_Iterator( void ); +// { +// +// return new CProfileIterator( &Root ); +// } + static void Release_Iterator( CProfileIterator * iterator ) { delete ( iterator); } + + static void dumpRecursive(CProfileIterator* profileIterator, int spacing); + + static void dumpAll(); + +private: + + static int FrameCounter; + static unsigned long int ResetTime; +}; + + + + +#endif //#ifndef BT_NO_PROFILE + +///ProfileSampleClass is a simple way to profile a function's scope +///Use the BT_PROFILE macro at the start of scope to time +class CProfileSample { +public: + CProfileSample( const char * name ); + + ~CProfileSample( void ); +}; + +#define BT_PROFILE( name ) CProfileSample __profile( name ) + + + +#endif //BT_QUICK_PROF_H + + diff --git a/thirdparty/bullet/src/LinearMath/btRandom.h b/thirdparty/bullet/src/LinearMath/btRandom.h new file mode 100644 index 0000000000..4cbfc6bfe9 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btRandom.h @@ -0,0 +1,42 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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 BT_GEN_RANDOM_H +#define BT_GEN_RANDOM_H + +#ifdef MT19937 + +#include <limits.h> +#include <mt19937.h> + +#define GEN_RAND_MAX UINT_MAX + +SIMD_FORCE_INLINE void GEN_srand(unsigned int seed) { init_genrand(seed); } +SIMD_FORCE_INLINE unsigned int GEN_rand() { return genrand_int32(); } + +#else + +#include <stdlib.h> + +#define GEN_RAND_MAX RAND_MAX + +SIMD_FORCE_INLINE void GEN_srand(unsigned int seed) { srand(seed); } +SIMD_FORCE_INLINE unsigned int GEN_rand() { return rand(); } + +#endif + +#endif //BT_GEN_RANDOM_H + diff --git a/thirdparty/bullet/src/LinearMath/btScalar.h b/thirdparty/bullet/src/LinearMath/btScalar.h new file mode 100644 index 0000000000..bffb2ce274 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btScalar.h @@ -0,0 +1,810 @@ +/* +Copyright (c) 2003-2009 Erwin Coumans http://bullet.googlecode.com + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_SCALAR_H +#define BT_SCALAR_H + +#ifdef BT_MANAGED_CODE +//Aligned data types not supported in managed code +#pragma unmanaged +#endif + +#include <math.h> +#include <stdlib.h> //size_t for MSVC 6.0 +#include <float.h> + +/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ +#define BT_BULLET_VERSION 287 + +inline int btGetVersion() +{ + return BT_BULLET_VERSION; +} + + +// The following macro "BT_NOT_EMPTY_FILE" can be put into a file +// in order suppress the MS Visual C++ Linker warning 4221 +// +// warning LNK4221: no public symbols found; archive member will be inaccessible +// +// This warning occurs on PC and XBOX when a file compiles out completely +// has no externally visible symbols which may be dependant on configuration +// #defines and options. +// +// see more https://stackoverflow.com/questions/1822887/what-is-the-best-way-to-eliminate-ms-visual-c-linker-warning-warning-lnk422 + +#if defined (_MSC_VER) + #define BT_NOT_EMPTY_FILE_CAT_II(p, res) res + #define BT_NOT_EMPTY_FILE_CAT_I(a, b) BT_NOT_EMPTY_FILE_CAT_II(~, a ## b) + #define BT_NOT_EMPTY_FILE_CAT(a, b) BT_NOT_EMPTY_FILE_CAT_I(a, b) + #define BT_NOT_EMPTY_FILE namespace { char BT_NOT_EMPTY_FILE_CAT(NoEmptyFileDummy, __COUNTER__); } +#else + #define BT_NOT_EMPTY_FILE +#endif + + +// clang and most formatting tools don't support indentation of preprocessor guards, so turn it off +// clang-format off +#if defined(DEBUG) || defined (_DEBUG) + #define BT_DEBUG +#endif + +#ifdef _WIN32 + #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) + #define SIMD_FORCE_INLINE inline + #define ATTRIBUTE_ALIGNED16(a) a + #define ATTRIBUTE_ALIGNED64(a) a + #define ATTRIBUTE_ALIGNED128(a) a + #elif defined(_M_ARM) + #define SIMD_FORCE_INLINE __forceinline + #define ATTRIBUTE_ALIGNED16(a) __declspec() a + #define ATTRIBUTE_ALIGNED64(a) __declspec() a + #define ATTRIBUTE_ALIGNED128(a) __declspec () a + #else//__MINGW32__ + //#define BT_HAS_ALIGNED_ALLOCATOR + #pragma warning(disable : 4324) // disable padding warning +// #pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning. + #pragma warning(disable:4996) //Turn off warnings about deprecated C routines +// #pragma warning(disable:4786) // Disable the "debug name too long" warning + + #define SIMD_FORCE_INLINE __forceinline + #define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a + #define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a + #define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a + #ifdef _XBOX + #define BT_USE_VMX128 + + #include <ppcintrinsics.h> + #define BT_HAVE_NATIVE_FSEL + #define btFsel(a,b,c) __fsel((a),(b),(c)) + #else + +#if defined (_M_ARM) + //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however) +#elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) + #if _MSC_VER>1400 + #define BT_USE_SIMD_VECTOR3 + #endif + + #define BT_USE_SSE + #ifdef BT_USE_SSE + +#if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default) + #define BT_ALLOW_SSE4 +#endif //(_MSC_FULL_VER >= 160040219) + + //BT_USE_SSE_IN_API is disabled under Windows by default, because + //it makes it harder to integrate Bullet into your application under Windows + //(structured embedding Bullet structs/classes need to be 16-byte aligned) + //with relatively little performance gain + //If you are not embedded Bullet data in your classes, or make sure that you align those classes on 16-byte boundaries + //you can manually enable this line or set it in the build system for a bit of performance gain (a few percent, dependent on usage) + //#define BT_USE_SSE_IN_API + #endif //BT_USE_SSE + #include <emmintrin.h> +#endif + + #endif//_XBOX + + #endif //__MINGW32__ + + #ifdef BT_DEBUG + #ifdef _MSC_VER + #include <stdio.h> + #define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} + #else//_MSC_VER + #include <assert.h> + #define btAssert assert + #endif//_MSC_VER + #else + #define btAssert(x) + #endif + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + + #define btLikely(_c) _c + #define btUnlikely(_c) _c + +#else//_WIN32 + + #if defined (__CELLOS_LV2__) + #define SIMD_FORCE_INLINE inline __attribute__((always_inline)) + #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include <assert.h> + #endif + #ifdef BT_DEBUG + #ifdef __SPU__ + #include <spu_printf.h> + #define printf spu_printf + #define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}} + #else + #define btAssert assert + #endif + + #else//BT_DEBUG + #define btAssert(x) + #endif//BT_DEBUG + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + + #define btLikely(_c) _c + #define btUnlikely(_c) _c + + #else//defined (__CELLOS_LV2__) + + #ifdef USE_LIBSPE2 + + #define SIMD_FORCE_INLINE __inline + #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include <assert.h> + #endif + #ifdef BT_DEBUG + #define btAssert assert + #else + #define btAssert(x) + #endif + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + + + #define btLikely(_c) __builtin_expect((_c), 1) + #define btUnlikely(_c) __builtin_expect((_c), 0) + + + #else//USE_LIBSPE2 + //non-windows systems + + #if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION))) + #if defined (__i386__) || defined (__x86_64__) + #define BT_USE_SIMD_VECTOR3 + #define BT_USE_SSE + //BT_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries + //if apps run into issues, we will disable the next line + #define BT_USE_SSE_IN_API + #ifdef BT_USE_SSE + // include appropriate SSE level + #if defined (__SSE4_1__) + #include <smmintrin.h> + #elif defined (__SSSE3__) + #include <tmmintrin.h> + #elif defined (__SSE3__) + #include <pmmintrin.h> + #else + #include <emmintrin.h> + #endif + #endif //BT_USE_SSE + #elif defined( __ARM_NEON__ ) + #ifdef __clang__ + #define BT_USE_NEON 1 + #define BT_USE_SIMD_VECTOR3 + + #if defined BT_USE_NEON && defined (__clang__) + #include <arm_neon.h> + #endif//BT_USE_NEON + #endif //__clang__ + #endif//__arm__ + + #define SIMD_FORCE_INLINE inline __attribute__ ((always_inline)) + ///@todo: check out alignment methods for other platforms/compilers + #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include <assert.h> + #endif + + #if defined(DEBUG) || defined (_DEBUG) + #if defined (__i386__) || defined (__x86_64__) + #include <stdio.h> + #define btAssert(x)\ + {\ + if(!(x))\ + {\ + printf("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\ + asm volatile ("int3");\ + }\ + } + #else//defined (__i386__) || defined (__x86_64__) + #define btAssert assert + #endif//defined (__i386__) || defined (__x86_64__) + #else//defined(DEBUG) || defined (_DEBUG) + #define btAssert(x) + #endif//defined(DEBUG) || defined (_DEBUG) + + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + #define btLikely(_c) _c + #define btUnlikely(_c) _c + + #else//__APPLE__ + + #define SIMD_FORCE_INLINE inline + ///@todo: check out alignment methods for other platforms/compilers + ///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + ///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + ///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #define ATTRIBUTE_ALIGNED16(a) a + #define ATTRIBUTE_ALIGNED64(a) a + #define ATTRIBUTE_ALIGNED128(a) a + #ifndef assert + #include <assert.h> + #endif + + #if defined(DEBUG) || defined (_DEBUG) + #define btAssert assert + #else + #define btAssert(x) + #endif + + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + #define btLikely(_c) _c + #define btUnlikely(_c) _c + #endif //__APPLE__ + #endif // LIBSPE2 + #endif //__CELLOS_LV2__ +#endif//_WIN32 + + +///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision. +#if defined(BT_USE_DOUBLE_PRECISION) + typedef double btScalar; + //this number could be bigger in double precision + #define BT_LARGE_FLOAT 1e30 +#else + typedef float btScalar; + //keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX + #define BT_LARGE_FLOAT 1e18f +#endif + +#ifdef BT_USE_SSE + typedef __m128 btSimdFloat4; +#endif //BT_USE_SSE + +#if defined(BT_USE_SSE) + //#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE) + #ifdef _WIN32 + + #ifndef BT_NAN + static int btNanMask = 0x7F800001; + #define BT_NAN (*(float *)&btNanMask) + #endif + + #ifndef BT_INFINITY + static int btInfinityMask = 0x7F800000; + #define BT_INFINITY (*(float *)&btInfinityMask) + inline int btGetInfinityMask() //suppress stupid compiler warning + { + return btInfinityMask; + } + #endif + + + + //use this, in case there are clashes (such as xnamath.h) + #ifndef BT_NO_SIMD_OPERATOR_OVERLOADS + inline __m128 operator+(const __m128 A, const __m128 B) + { + return _mm_add_ps(A, B); + } + + inline __m128 operator-(const __m128 A, const __m128 B) + { + return _mm_sub_ps(A, B); + } + + inline __m128 operator*(const __m128 A, const __m128 B) + { + return _mm_mul_ps(A, B); + } + #endif //BT_NO_SIMD_OPERATOR_OVERLOADS + + #define btCastfTo128i(a) (_mm_castps_si128(a)) + #define btCastfTo128d(a) (_mm_castps_pd(a)) + #define btCastiTo128f(a) (_mm_castsi128_ps(a)) + #define btCastdTo128f(a) (_mm_castpd_ps(a)) + #define btCastdTo128i(a) (_mm_castpd_si128(a)) + #define btAssign128(r0, r1, r2, r3) _mm_setr_ps(r0, r1, r2, r3) + + #else //_WIN32 + + #define btCastfTo128i(a) ((__m128i)(a)) + #define btCastfTo128d(a) ((__m128d)(a)) + #define btCastiTo128f(a) ((__m128)(a)) + #define btCastdTo128f(a) ((__m128)(a)) + #define btCastdTo128i(a) ((__m128i)(a)) + #define btAssign128(r0, r1, r2, r3) \ + (__m128) { r0, r1, r2, r3 } + #define BT_INFINITY INFINITY + #define BT_NAN NAN + #endif //_WIN32 +#else//BT_USE_SSE + + #ifdef BT_USE_NEON + #include <arm_neon.h> + + typedef float32x4_t btSimdFloat4; + #define BT_INFINITY INFINITY + #define BT_NAN NAN + #define btAssign128(r0, r1, r2, r3) \ + (float32x4_t) { r0, r1, r2, r3 } + #else //BT_USE_NEON + + #ifndef BT_INFINITY + struct btInfMaskConverter + { + union { + float mask; + int intmask; + }; + btInfMaskConverter(int _mask = 0x7F800000) + : intmask(_mask) + { + } + }; + static btInfMaskConverter btInfinityMask = 0x7F800000; + #define BT_INFINITY (btInfinityMask.mask) + inline int btGetInfinityMask() //suppress stupid compiler warning + { + return btInfinityMask.intmask; + } + #endif + #endif //BT_USE_NEON + +#endif //BT_USE_SSE + +#ifdef BT_USE_NEON + #include <arm_neon.h> + + typedef float32x4_t btSimdFloat4; + #define BT_INFINITY INFINITY + #define BT_NAN NAN + #define btAssign128(r0, r1, r2, r3) \ + (float32x4_t) { r0, r1, r2, r3 } +#endif//BT_USE_NEON + +#define BT_DECLARE_ALIGNED_ALLOCATOR() \ + SIMD_FORCE_INLINE void *operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \ + SIMD_FORCE_INLINE void operator delete(void *ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void *operator new(size_t, void *ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete(void *, void *) {} \ + SIMD_FORCE_INLINE void *operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \ + SIMD_FORCE_INLINE void operator delete[](void *ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void *operator new[](size_t, void *ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete[](void *, void *) {} + +#if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS) + + SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) + { + return sqrt(x); + } + SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); } + SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); } + SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); } + SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); } + SIMD_FORCE_INLINE btScalar btAcos(btScalar x) + { + if (x < btScalar(-1)) x = btScalar(-1); + if (x > btScalar(1)) x = btScalar(1); + return acos(x); + } + SIMD_FORCE_INLINE btScalar btAsin(btScalar x) + { + if (x < btScalar(-1)) x = btScalar(-1); + if (x > btScalar(1)) x = btScalar(1); + return asin(x); + } + SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); } + SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); } + SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); } + SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); } + SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return pow(x, y); } + SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmod(x, y); } + +#else//BT_USE_DOUBLE_PRECISION + + SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) + { + #ifdef USE_APPROXIMATION + #ifdef __LP64__ + float xhalf = 0.5f * y; + int i = *(int *)&y; + i = 0x5f375a86 - (i >> 1); + y = *(float *)&i; + y = y * (1.5f - xhalf * y * y); + y = y * (1.5f - xhalf * y * y); + y = y * (1.5f - xhalf * y * y); + y = 1 / y; + return y; + #else + double x, z, tempf; + unsigned long *tfptr = ((unsigned long *)&tempf) + 1; + tempf = y; + *tfptr = (0xbfcdd90a - *tfptr) >> 1; /* estimate of 1/sqrt(y) */ + x = tempf; + z = y * btScalar(0.5); + x = (btScalar(1.5) * x) - (x * x) * (x * z); /* iteration formula */ + x = (btScalar(1.5) * x) - (x * x) * (x * z); + x = (btScalar(1.5) * x) - (x * x) * (x * z); + x = (btScalar(1.5) * x) - (x * x) * (x * z); + x = (btScalar(1.5) * x) - (x * x) * (x * z); + return x * y; + #endif + #else + return sqrtf(y); + #endif + } + SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); } + SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); } + SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); } + SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); } + SIMD_FORCE_INLINE btScalar btAcos(btScalar x) + { + if (x < btScalar(-1)) + x = btScalar(-1); + if (x > btScalar(1)) + x = btScalar(1); + return acosf(x); + } + SIMD_FORCE_INLINE btScalar btAsin(btScalar x) + { + if (x < btScalar(-1)) + x = btScalar(-1); + if (x > btScalar(1)) + x = btScalar(1); + return asinf(x); + } + SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); } + SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); } + SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); } + SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); } + SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return powf(x, y); } + SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmodf(x, y); } + +#endif//BT_USE_DOUBLE_PRECISION + +#define SIMD_PI btScalar(3.1415926535897932384626433832795029) +#define SIMD_2_PI (btScalar(2.0) * SIMD_PI) +#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5)) +#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0)) +#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI) +#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490) +#define btRecipSqrt(x) ((btScalar)(btScalar(1.0) / btSqrt(btScalar(x)))) /* reciprocal square root */ +#define btRecip(x) (btScalar(1.0) / btScalar(x)) + +#ifdef BT_USE_DOUBLE_PRECISION + #define SIMD_EPSILON DBL_EPSILON + #define SIMD_INFINITY DBL_MAX + #define BT_ONE 1.0 + #define BT_ZERO 0.0 + #define BT_TWO 2.0 + #define BT_HALF 0.5 +#else + #define SIMD_EPSILON FLT_EPSILON + #define SIMD_INFINITY FLT_MAX + #define BT_ONE 1.0f + #define BT_ZERO 0.0f + #define BT_TWO 2.0f + #define BT_HALF 0.5f +#endif + +// clang-format on + +SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) +{ + btScalar coeff_1 = SIMD_PI / 4.0f; + btScalar coeff_2 = 3.0f * coeff_1; + btScalar abs_y = btFabs(y); + btScalar angle; + if (x >= 0.0f) + { + btScalar r = (x - abs_y) / (x + abs_y); + angle = coeff_1 - coeff_1 * r; + } + else + { + btScalar r = (x + abs_y) / (abs_y - x); + angle = coeff_2 - coeff_1 * r; + } + return (y < 0.0f) ? -angle : angle; +} + +SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; } + +SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) +{ + return (((a) <= eps) && !((a) < -eps)); +} +SIMD_FORCE_INLINE bool btGreaterEqual(btScalar a, btScalar eps) +{ + return (!((a) <= eps)); +} + +SIMD_FORCE_INLINE int btIsNegative(btScalar x) +{ + return x < btScalar(0.0) ? 1 : 0; +} + +SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; } +SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; } + +#define BT_DECLARE_HANDLE(name) \ + typedef struct name##__ \ + { \ + int unused; \ + } * name + +#ifndef btFsel +SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c) +{ + return a >= 0 ? b : c; +} +#endif +#define btFsels(a, b, c) (btScalar) btFsel(a, b, c) + +SIMD_FORCE_INLINE bool btMachineIsLittleEndian() +{ + long int i = 1; + const char *p = (const char *)&i; + if (p[0] == 1) // Lowest address contains the least significant byte + return true; + else + return false; +} + +///btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360 +///Thanks Phil Knight. See also http://www.cellperformance.com/articles/2006/04/more_techniques_for_eliminatin_1.html +SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero) +{ + // Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero + // Rely on positive value or'ed with its negative having sign bit on + // and zero value or'ed with its negative (which is still zero) having sign bit off + // Use arithmetic shift right, shifting the sign bit through all 32 bits + unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); + unsigned testEqz = ~testNz; + return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); +} +SIMD_FORCE_INLINE int btSelect(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero) +{ + unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); + unsigned testEqz = ~testNz; + return static_cast<int>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); +} +SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero) +{ +#ifdef BT_HAVE_NATIVE_FSEL + return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero); +#else + return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero; +#endif +} + +template <typename T> +SIMD_FORCE_INLINE void btSwap(T &a, T &b) +{ + T tmp = a; + a = b; + b = tmp; +} + +//PCK: endian swapping functions +SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val) +{ + return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24)); +} + +SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val) +{ + return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8)); +} + +SIMD_FORCE_INLINE unsigned btSwapEndian(int val) +{ + return btSwapEndian((unsigned)val); +} + +SIMD_FORCE_INLINE unsigned short btSwapEndian(short val) +{ + return btSwapEndian((unsigned short)val); +} + +///btSwapFloat uses using char pointers to swap the endianness +////btSwapFloat/btSwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values +///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754. +///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception. +///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you. +///so instead of returning a float/double, we return integer/long long integer +SIMD_FORCE_INLINE unsigned int btSwapEndianFloat(float d) +{ + unsigned int a = 0; + unsigned char *dst = (unsigned char *)&a; + unsigned char *src = (unsigned char *)&d; + + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; + return a; +} + +// unswap using char pointers +SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a) +{ + float d = 0.0f; + unsigned char *src = (unsigned char *)&a; + unsigned char *dst = (unsigned char *)&d; + + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; + + return d; +} + +// swap using char pointers +SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char *dst) +{ + unsigned char *src = (unsigned char *)&d; + + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; +} + +// unswap using char pointers +SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src) +{ + double d = 0.0; + unsigned char *dst = (unsigned char *)&d; + + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; + + return d; +} + +template <typename T> +SIMD_FORCE_INLINE void btSetZero(T *a, int n) +{ + T *acurr = a; + size_t ncurr = n; + while (ncurr > 0) + { + *(acurr++) = 0; + --ncurr; + } +} + +SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int n) +{ + btScalar p0, q0, m0, p1, q1, m1, sum; + sum = 0; + n -= 2; + while (n >= 0) + { + p0 = a[0]; + q0 = b[0]; + m0 = p0 * q0; + p1 = a[1]; + q1 = b[1]; + m1 = p1 * q1; + sum += m0; + sum += m1; + a += 2; + b += 2; + n -= 2; + } + n += 2; + while (n > 0) + { + sum += (*a) * (*b); + a++; + b++; + n--; + } + return sum; +} + +// returns normalized value in range [-SIMD_PI, SIMD_PI] +SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) +{ + angleInRadians = btFmod(angleInRadians, SIMD_2_PI); + if (angleInRadians < -SIMD_PI) + { + return angleInRadians + SIMD_2_PI; + } + else if (angleInRadians > SIMD_PI) + { + return angleInRadians - SIMD_2_PI; + } + else + { + return angleInRadians; + } +} + +///rudimentary class to provide type info +struct btTypedObject +{ + btTypedObject(int objectType) + : m_objectType(objectType) + { + } + int m_objectType; + inline int getObjectType() const + { + return m_objectType; + } +}; + +///align a pointer to the provided alignment, upwards +template <typename T> +T *btAlignPointer(T *unalignedPtr, size_t alignment) +{ + struct btConvertPointerSizeT + { + union { + T *ptr; + size_t integer; + }; + }; + btConvertPointerSizeT converter; + + const size_t bit_mask = ~(alignment - 1); + converter.ptr = unalignedPtr; + converter.integer += alignment - 1; + converter.integer &= bit_mask; + return converter.ptr; +} + +#endif //BT_SCALAR_H diff --git a/thirdparty/bullet/src/LinearMath/btSerializer.cpp b/thirdparty/bullet/src/LinearMath/btSerializer.cpp new file mode 100644 index 0000000000..fcd2255ad5 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btSerializer.cpp @@ -0,0 +1,599 @@ +char sBulletDNAstr[]= { 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+char(4),char(0),char(86),char(1),char(4),char(0),char(112),char(1),char(4),char(0),char(113),char(1),char(8),char(0),char(114),char(1),char(8),char(0),char(115),char(1), +char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1),char(8),char(0),char(118),char(1),char(8),char(0),char(119),char(1),char(8),char(0),char(120),char(1), +char(8),char(0),char(121),char(1),char(8),char(0),char(122),char(1),char(0),char(0),char(123),char(1),char(0),char(0),char(124),char(1),char(49),char(0),char(125),char(1), +char(0),char(0),char(126),char(1),char(92),char(0),char(24),char(0),char(15),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1), +char(13),char(0),char(107),char(1),char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1), +char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1), +char(4),char(0),char(113),char(1),char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),char(7),char(0),char(119),char(1),char(7),char(0),char(120),char(1), +char(7),char(0),char(121),char(1),char(7),char(0),char(122),char(1),char(0),char(0),char(123),char(1),char(0),char(0),char(124),char(1),char(50),char(0),char(125),char(1), +char(0),char(0),char(126),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(127),char(1),char(14),char(0),char(-128),char(1),char(8),char(0),char(-127),char(1), +char(0),char(0),char(-126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(-125),char(1),char(0),char(0),char(126),char(1),char(4),char(0),char(97),char(1), +char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(-126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(-125),char(1), +char(19),char(0),char(127),char(1),char(13),char(0),char(-128),char(1),char(7),char(0),char(-127),char(1),char(4),char(0),char(97),char(1),}; +int sBulletDNAlen= sizeof(sBulletDNAstr); diff --git a/thirdparty/bullet/src/LinearMath/btSerializer.h b/thirdparty/bullet/src/LinearMath/btSerializer.h new file mode 100644 index 0000000000..89b4d74683 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btSerializer.h @@ -0,0 +1,908 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_SERIALIZER_H +#define BT_SERIALIZER_H + +#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE +#include "btHashMap.h" + +#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__) +#include <memory.h> +#endif +#include <string.h> + + + + +extern char sBulletDNAstr[]; +extern int sBulletDNAlen; +extern char sBulletDNAstr64[]; +extern int sBulletDNAlen64; + +SIMD_FORCE_INLINE int btStrLen(const char* str) +{ + if (!str) + return(0); + int len = 0; + + while (*str != 0) + { + str++; + len++; + } + + return len; +} + + +class btChunk +{ +public: + int m_chunkCode; + int m_length; + void *m_oldPtr; + int m_dna_nr; + int m_number; +}; + +enum btSerializationFlags +{ + BT_SERIALIZE_NO_BVH = 1, + BT_SERIALIZE_NO_TRIANGLEINFOMAP = 2, + BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4 +}; + +class btSerializer +{ + +public: + + virtual ~btSerializer() {} + + virtual const unsigned char* getBufferPointer() const = 0; + + virtual int getCurrentBufferSize() const = 0; + + virtual btChunk* allocate(size_t size, int numElements) = 0; + + virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)= 0; + + virtual void* findPointer(void* oldPtr) = 0; + + virtual void* getUniquePointer(void*oldPtr) = 0; + + virtual void startSerialization() = 0; + + virtual void finishSerialization() = 0; + + virtual const char* findNameForPointer(const void* ptr) const = 0; + + virtual void registerNameForPointer(const void* ptr, const char* name) = 0; + + virtual void serializeName(const char* ptr) = 0; + + virtual int getSerializationFlags() const = 0; + + virtual void setSerializationFlags(int flags) = 0; + + virtual int getNumChunks() const = 0; + + virtual const btChunk* getChunk(int chunkIndex) const = 0; + +}; + + + +#define BT_HEADER_LENGTH 12 +#if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__) +# define BT_MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) ) +#else +# define BT_MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) ) +#endif + + +#define BT_MULTIBODY_CODE BT_MAKE_ID('M','B','D','Y') +#define BT_SOFTBODY_CODE BT_MAKE_ID('S','B','D','Y') +#define BT_COLLISIONOBJECT_CODE BT_MAKE_ID('C','O','B','J') +#define BT_RIGIDBODY_CODE BT_MAKE_ID('R','B','D','Y') +#define BT_CONSTRAINT_CODE BT_MAKE_ID('C','O','N','S') +#define BT_BOXSHAPE_CODE BT_MAKE_ID('B','O','X','S') +#define BT_QUANTIZED_BVH_CODE BT_MAKE_ID('Q','B','V','H') +#define BT_TRIANLGE_INFO_MAP BT_MAKE_ID('T','M','A','P') +#define BT_SHAPE_CODE BT_MAKE_ID('S','H','A','P') +#define BT_ARRAY_CODE BT_MAKE_ID('A','R','A','Y') +#define BT_SBMATERIAL_CODE BT_MAKE_ID('S','B','M','T') +#define BT_SBNODE_CODE BT_MAKE_ID('S','B','N','D') +#define BT_DYNAMICSWORLD_CODE BT_MAKE_ID('D','W','L','D') +#define BT_DNA_CODE BT_MAKE_ID('D','N','A','1') + + +struct btPointerUid +{ + union + { + void* m_ptr; + int m_uniqueIds[2]; + }; +}; + +struct btBulletSerializedArrays +{ + btBulletSerializedArrays() + { + } + btAlignedObjectArray<struct btQuantizedBvhDoubleData*> m_bvhsDouble; + btAlignedObjectArray<struct btQuantizedBvhFloatData*> m_bvhsFloat; + btAlignedObjectArray<struct btCollisionShapeData*> m_colShapeData; + btAlignedObjectArray<struct btDynamicsWorldDoubleData*> m_dynamicWorldInfoDataDouble; + btAlignedObjectArray<struct btDynamicsWorldFloatData*> m_dynamicWorldInfoDataFloat; + btAlignedObjectArray<struct btRigidBodyDoubleData*> m_rigidBodyDataDouble; + btAlignedObjectArray<struct btRigidBodyFloatData*> m_rigidBodyDataFloat; + btAlignedObjectArray<struct btCollisionObjectDoubleData*> m_collisionObjectDataDouble; + btAlignedObjectArray<struct btCollisionObjectFloatData*> m_collisionObjectDataFloat; + btAlignedObjectArray<struct btTypedConstraintFloatData*> m_constraintDataFloat; + btAlignedObjectArray<struct btTypedConstraintDoubleData*> m_constraintDataDouble; + btAlignedObjectArray<struct btTypedConstraintData*> m_constraintData;//for backwards compatibility + btAlignedObjectArray<struct btSoftBodyFloatData*> m_softBodyFloatData; + btAlignedObjectArray<struct btSoftBodyDoubleData*> m_softBodyDoubleData; + +}; + + +///The btDefaultSerializer is the main Bullet serialization class. +///The constructor takes an optional argument for backwards compatibility, it is recommended to leave this empty/zero. +class btDefaultSerializer : public btSerializer +{ + +protected: + + btAlignedObjectArray<char*> mTypes; + btAlignedObjectArray<short*> mStructs; + btAlignedObjectArray<short> mTlens; + btHashMap<btHashInt, int> mStructReverse; + btHashMap<btHashString,int> mTypeLookup; + + + + btHashMap<btHashPtr,void*> m_chunkP; + + btHashMap<btHashPtr,const char*> m_nameMap; + + btHashMap<btHashPtr,btPointerUid> m_uniquePointers; + int m_uniqueIdGenerator; + + int m_totalSize; + unsigned char* m_buffer; + bool m_ownsBuffer; + int m_currentSize; + void* m_dna; + int m_dnaLength; + + int m_serializationFlags; + + + btAlignedObjectArray<btChunk*> m_chunkPtrs; + +protected: + + + virtual void* findPointer(void* oldPtr) + { + void** ptr = m_chunkP.find(oldPtr); + if (ptr && *ptr) + return *ptr; + return 0; + } + + + + + + virtual void writeDNA() + { + btChunk* dnaChunk = allocate(m_dnaLength,1); + memcpy(dnaChunk->m_oldPtr,m_dna,m_dnaLength); + finalizeChunk(dnaChunk,"DNA1",BT_DNA_CODE, m_dna); + } + + int getReverseType(const char *type) const + { + + btHashString key(type); + const int* valuePtr = mTypeLookup.find(key); + if (valuePtr) + return *valuePtr; + + return -1; + } + + void initDNA(const char* bdnaOrg,int dnalen) + { + ///was already initialized + if (m_dna) + return; + + int littleEndian= 1; + littleEndian= ((char*)&littleEndian)[0]; + + + m_dna = btAlignedAlloc(dnalen,16); + memcpy(m_dna,bdnaOrg,dnalen); + m_dnaLength = dnalen; + + int *intPtr=0; + short *shtPtr=0; + char *cp = 0;int dataLen =0; + intPtr = (int*)m_dna; + + /* + SDNA (4 bytes) (magic number) + NAME (4 bytes) + <nr> (4 bytes) amount of names (int) + <string> + <string> + */ + + if (strncmp((const char*)m_dna, "SDNA", 4)==0) + { + // skip ++ NAME + intPtr++; intPtr++; + } + + // Parse names + if (!littleEndian) + *intPtr = btSwapEndian(*intPtr); + + dataLen = *intPtr; + + intPtr++; + + cp = (char*)intPtr; + int i; + for ( i=0; i<dataLen; i++) + { + + while (*cp)cp++; + cp++; + } + cp = btAlignPointer(cp,4); + + /* + TYPE (4 bytes) + <nr> amount of types (int) + <string> + <string> + */ + + intPtr = (int*)cp; + btAssert(strncmp(cp, "TYPE", 4)==0); intPtr++; + + if (!littleEndian) + *intPtr = btSwapEndian(*intPtr); + + dataLen = *intPtr; + intPtr++; + + + cp = (char*)intPtr; + for (i=0; i<dataLen; i++) + { + mTypes.push_back(cp); + while (*cp)cp++; + cp++; + } + + cp = btAlignPointer(cp,4); + + + /* + TLEN (4 bytes) + <len> (short) the lengths of types + <len> + */ + + // Parse type lens + intPtr = (int*)cp; + btAssert(strncmp(cp, "TLEN", 4)==0); intPtr++; + + dataLen = (int)mTypes.size(); + + shtPtr = (short*)intPtr; + for (i=0; i<dataLen; i++, shtPtr++) + { + if (!littleEndian) + shtPtr[0] = btSwapEndian(shtPtr[0]); + mTlens.push_back(shtPtr[0]); + } + + if (dataLen & 1) shtPtr++; + + /* + STRC (4 bytes) + <nr> amount of structs (int) + <typenr> + <nr_of_elems> + <typenr> + <namenr> + <typenr> + <namenr> + */ + + intPtr = (int*)shtPtr; + cp = (char*)intPtr; + btAssert(strncmp(cp, "STRC", 4)==0); intPtr++; + + if (!littleEndian) + *intPtr = btSwapEndian(*intPtr); + dataLen = *intPtr ; + intPtr++; + + + shtPtr = (short*)intPtr; + for (i=0; i<dataLen; i++) + { + mStructs.push_back (shtPtr); + + if (!littleEndian) + { + shtPtr[0]= btSwapEndian(shtPtr[0]); + shtPtr[1]= btSwapEndian(shtPtr[1]); + + int len = shtPtr[1]; + shtPtr+= 2; + + for (int a=0; a<len; a++, shtPtr+=2) + { + shtPtr[0]= btSwapEndian(shtPtr[0]); + shtPtr[1]= btSwapEndian(shtPtr[1]); + } + + } else + { + shtPtr+= (2*shtPtr[1])+2; + } + } + + // build reverse lookups + for (i=0; i<(int)mStructs.size(); i++) + { + short *strc = mStructs.at(i); + mStructReverse.insert(strc[0], i); + mTypeLookup.insert(btHashString(mTypes[strc[0]]),i); + } + } + +public: + + btHashMap<btHashPtr,void*> m_skipPointers; + + + btDefaultSerializer(int totalSize=0, unsigned char* buffer=0) + :m_uniqueIdGenerator(0), + m_totalSize(totalSize), + m_currentSize(0), + m_dna(0), + m_dnaLength(0), + m_serializationFlags(0) + { + if (buffer==0) + { + m_buffer = m_totalSize?(unsigned char*)btAlignedAlloc(totalSize,16):0; + m_ownsBuffer = true; + } else + { + m_buffer = buffer; + m_ownsBuffer = false; + } + + const bool VOID_IS_8 = ((sizeof(void*)==8)); + +#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES + if (VOID_IS_8) + { +#if _WIN64 + initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64); +#else + btAssert(0); +#endif + } else + { +#ifndef _WIN64 + initDNA((const char*)sBulletDNAstr,sBulletDNAlen); +#else + btAssert(0); +#endif + } + +#else //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES + if (VOID_IS_8) + { + initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64); + } else + { + initDNA((const char*)sBulletDNAstr,sBulletDNAlen); + } +#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES + + } + + virtual ~btDefaultSerializer() + { + if (m_buffer && m_ownsBuffer) + btAlignedFree(m_buffer); + if (m_dna) + btAlignedFree(m_dna); + } + + static int getMemoryDnaSizeInBytes() + { + const bool VOID_IS_8 = ((sizeof(void*) == 8)); + + if (VOID_IS_8) + { + return sBulletDNAlen64; + } + return sBulletDNAlen; + } + static const char* getMemoryDna() + { + const bool VOID_IS_8 = ((sizeof(void*) == 8)); + if (VOID_IS_8) + { + return (const char*)sBulletDNAstr64; + } + return (const char*)sBulletDNAstr; + } + + void insertHeader() + { + writeHeader(m_buffer); + m_currentSize += BT_HEADER_LENGTH; + } + + void writeHeader(unsigned char* buffer) const + { + + +#ifdef BT_USE_DOUBLE_PRECISION + memcpy(buffer, "BULLETd", 7); +#else + memcpy(buffer, "BULLETf", 7); +#endif //BT_USE_DOUBLE_PRECISION + + int littleEndian= 1; + littleEndian= ((char*)&littleEndian)[0]; + + if (sizeof(void*)==8) + { + buffer[7] = '-'; + } else + { + buffer[7] = '_'; + } + + if (littleEndian) + { + buffer[8]='v'; + } else + { + buffer[8]='V'; + } + + + buffer[9] = '2'; + buffer[10] = '8'; + buffer[11] = '7'; + + } + + virtual void startSerialization() + { + m_uniqueIdGenerator= 1; + if (m_totalSize) + { + unsigned char* buffer = internalAlloc(BT_HEADER_LENGTH); + writeHeader(buffer); + } + + } + + virtual void finishSerialization() + { + writeDNA(); + + //if we didn't pre-allocate a buffer, we need to create a contiguous buffer now + int mysize = 0; + if (!m_totalSize) + { + if (m_buffer) + btAlignedFree(m_buffer); + + m_currentSize += BT_HEADER_LENGTH; + m_buffer = (unsigned char*)btAlignedAlloc(m_currentSize,16); + + unsigned char* currentPtr = m_buffer; + writeHeader(m_buffer); + currentPtr += BT_HEADER_LENGTH; + mysize+=BT_HEADER_LENGTH; + for (int i=0;i< m_chunkPtrs.size();i++) + { + int curLength = sizeof(btChunk)+m_chunkPtrs[i]->m_length; + memcpy(currentPtr,m_chunkPtrs[i], curLength); + btAlignedFree(m_chunkPtrs[i]); + currentPtr+=curLength; + mysize+=curLength; + } + } + + mTypes.clear(); + mStructs.clear(); + mTlens.clear(); + mStructReverse.clear(); + mTypeLookup.clear(); + m_skipPointers.clear(); + m_chunkP.clear(); + m_nameMap.clear(); + m_uniquePointers.clear(); + m_chunkPtrs.clear(); + } + + virtual void* getUniquePointer(void*oldPtr) + { + btAssert(m_uniqueIdGenerator >= 0); + if (!oldPtr) + return 0; + + btPointerUid* uptr = (btPointerUid*)m_uniquePointers.find(oldPtr); + if (uptr) + { + return uptr->m_ptr; + } + + void** ptr2 = m_skipPointers[oldPtr]; + if (ptr2) + { + return 0; + } + + m_uniqueIdGenerator++; + + btPointerUid uid; + uid.m_uniqueIds[0] = m_uniqueIdGenerator; + uid.m_uniqueIds[1] = m_uniqueIdGenerator; + m_uniquePointers.insert(oldPtr,uid); + return uid.m_ptr; + + } + + virtual const unsigned char* getBufferPointer() const + { + return m_buffer; + } + + virtual int getCurrentBufferSize() const + { + return m_currentSize; + } + + virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr) + { + if (!(m_serializationFlags&BT_SERIALIZE_NO_DUPLICATE_ASSERT)) + { + btAssert(!findPointer(oldPtr)); + } + + chunk->m_dna_nr = getReverseType(structType); + + chunk->m_chunkCode = chunkCode; + + void* uniquePtr = getUniquePointer(oldPtr); + + m_chunkP.insert(oldPtr,uniquePtr);//chunk->m_oldPtr); + chunk->m_oldPtr = uniquePtr;//oldPtr; + + } + + + virtual unsigned char* internalAlloc(size_t size) + { + unsigned char* ptr = 0; + + if (m_totalSize) + { + ptr = m_buffer+m_currentSize; + m_currentSize += int(size); + btAssert(m_currentSize<m_totalSize); + } else + { + ptr = (unsigned char*)btAlignedAlloc(size,16); + m_currentSize += int(size); + } + return ptr; + } + + + + virtual btChunk* allocate(size_t size, int numElements) + { + + unsigned char* ptr = internalAlloc(int(size)*numElements+sizeof(btChunk)); + + unsigned char* data = ptr + sizeof(btChunk); + + btChunk* chunk = (btChunk*)ptr; + chunk->m_chunkCode = 0; + chunk->m_oldPtr = data; + chunk->m_length = int(size)*numElements; + chunk->m_number = numElements; + + m_chunkPtrs.push_back(chunk); + + + return chunk; + } + + virtual const char* findNameForPointer(const void* ptr) const + { + const char*const * namePtr = m_nameMap.find(ptr); + if (namePtr && *namePtr) + return *namePtr; + return 0; + + } + + virtual void registerNameForPointer(const void* ptr, const char* name) + { + m_nameMap.insert(ptr,name); + } + + virtual void serializeName(const char* name) + { + if (name) + { + //don't serialize name twice + if (findPointer((void*)name)) + return; + + int len = btStrLen(name); + if (len) + { + + int newLen = len+1; + int padding = ((newLen+3)&~3)-newLen; + newLen += padding; + + //serialize name string now + btChunk* chunk = allocate(sizeof(char),newLen); + char* destinationName = (char*)chunk->m_oldPtr; + for (int i=0;i<len;i++) + { + destinationName[i] = name[i]; + } + destinationName[len] = 0; + finalizeChunk(chunk,"char",BT_ARRAY_CODE,(void*)name); + } + } + } + + virtual int getSerializationFlags() const + { + return m_serializationFlags; + } + + virtual void setSerializationFlags(int flags) + { + m_serializationFlags = flags; + } + int getNumChunks() const + { + return m_chunkPtrs.size(); + } + + const btChunk* getChunk(int chunkIndex) const + { + return m_chunkPtrs[chunkIndex]; + } +}; + + +///In general it is best to use btDefaultSerializer, +///in particular when writing the data to disk or sending it over the network. +///The btInMemorySerializer is experimental and only suitable in a few cases. +///The btInMemorySerializer takes a shortcut and can be useful to create a deep-copy +///of objects. There will be a demo on how to use the btInMemorySerializer. +#ifdef ENABLE_INMEMORY_SERIALIZER + +struct btInMemorySerializer : public btDefaultSerializer +{ + btHashMap<btHashPtr,btChunk*> m_uid2ChunkPtr; + btHashMap<btHashPtr,void*> m_orgPtr2UniqueDataPtr; + btHashMap<btHashString,const void*> m_names2Ptr; + + + btBulletSerializedArrays m_arrays; + + btInMemorySerializer(int totalSize=0, unsigned char* buffer=0) + :btDefaultSerializer(totalSize,buffer) + { + + } + + virtual void startSerialization() + { + m_uid2ChunkPtr.clear(); + //todo: m_arrays.clear(); + btDefaultSerializer::startSerialization(); + } + + + + btChunk* findChunkFromUniquePointer(void* uniquePointer) + { + btChunk** chkPtr = m_uid2ChunkPtr[uniquePointer]; + if (chkPtr) + { + return *chkPtr; + } + return 0; + } + + virtual void registerNameForPointer(const void* ptr, const char* name) + { + btDefaultSerializer::registerNameForPointer(ptr,name); + m_names2Ptr.insert(name,ptr); + } + + virtual void finishSerialization() + { + } + + virtual void* getUniquePointer(void*oldPtr) + { + if (oldPtr==0) + return 0; + + // void* uniquePtr = getUniquePointer(oldPtr); + btChunk* chunk = findChunkFromUniquePointer(oldPtr); + if (chunk) + { + return chunk->m_oldPtr; + } else + { + const char* n = (const char*) oldPtr; + const void** ptr = m_names2Ptr[n]; + if (ptr) + { + return oldPtr; + } else + { + void** ptr2 = m_skipPointers[oldPtr]; + if (ptr2) + { + return 0; + } else + { + //If this assert hit, serialization happened in the wrong order + // 'getUniquePointer' + btAssert(0); + } + + } + return 0; + } + return oldPtr; + } + + virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr) + { + if (!(m_serializationFlags&BT_SERIALIZE_NO_DUPLICATE_ASSERT)) + { + btAssert(!findPointer(oldPtr)); + } + + chunk->m_dna_nr = getReverseType(structType); + chunk->m_chunkCode = chunkCode; + //void* uniquePtr = getUniquePointer(oldPtr); + m_chunkP.insert(oldPtr,oldPtr);//chunk->m_oldPtr); + // chunk->m_oldPtr = uniquePtr;//oldPtr; + + void* uid = findPointer(oldPtr); + m_uid2ChunkPtr.insert(uid,chunk); + + switch (chunk->m_chunkCode) + { + case BT_SOFTBODY_CODE: + { + #ifdef BT_USE_DOUBLE_PRECISION + m_arrays.m_softBodyDoubleData.push_back((btSoftBodyDoubleData*) chunk->m_oldPtr); + #else + m_arrays.m_softBodyFloatData.push_back((btSoftBodyFloatData*) chunk->m_oldPtr); + #endif + break; + } + case BT_COLLISIONOBJECT_CODE: + { + #ifdef BT_USE_DOUBLE_PRECISION + m_arrays.m_collisionObjectDataDouble.push_back((btCollisionObjectDoubleData*)chunk->m_oldPtr); + #else//BT_USE_DOUBLE_PRECISION + m_arrays.m_collisionObjectDataFloat.push_back((btCollisionObjectFloatData*)chunk->m_oldPtr); + #endif //BT_USE_DOUBLE_PRECISION + break; + } + case BT_RIGIDBODY_CODE: + { + #ifdef BT_USE_DOUBLE_PRECISION + m_arrays.m_rigidBodyDataDouble.push_back((btRigidBodyDoubleData*)chunk->m_oldPtr); + #else + m_arrays.m_rigidBodyDataFloat.push_back((btRigidBodyFloatData*)chunk->m_oldPtr); + #endif//BT_USE_DOUBLE_PRECISION + break; + }; + case BT_CONSTRAINT_CODE: + { + #ifdef BT_USE_DOUBLE_PRECISION + m_arrays.m_constraintDataDouble.push_back((btTypedConstraintDoubleData*)chunk->m_oldPtr); + #else + m_arrays.m_constraintDataFloat.push_back((btTypedConstraintFloatData*)chunk->m_oldPtr); + #endif + break; + } + case BT_QUANTIZED_BVH_CODE: + { + #ifdef BT_USE_DOUBLE_PRECISION + m_arrays.m_bvhsDouble.push_back((btQuantizedBvhDoubleData*) chunk->m_oldPtr); + #else + m_arrays.m_bvhsFloat.push_back((btQuantizedBvhFloatData*) chunk->m_oldPtr); + #endif + break; + } + + case BT_SHAPE_CODE: + { + btCollisionShapeData* shapeData = (btCollisionShapeData*) chunk->m_oldPtr; + m_arrays.m_colShapeData.push_back(shapeData); + break; + } + case BT_TRIANLGE_INFO_MAP: + case BT_ARRAY_CODE: + case BT_SBMATERIAL_CODE: + case BT_SBNODE_CODE: + case BT_DYNAMICSWORLD_CODE: + case BT_DNA_CODE: + { + break; + } + default: + { + } + }; + } + + int getNumChunks() const + { + return m_uid2ChunkPtr.size(); + } + + const btChunk* getChunk(int chunkIndex) const + { + return *m_uid2ChunkPtr.getAtIndex(chunkIndex); + } + +}; +#endif //ENABLE_INMEMORY_SERIALIZER + +#endif //BT_SERIALIZER_H + diff --git a/thirdparty/bullet/src/LinearMath/btSerializer64.cpp b/thirdparty/bullet/src/LinearMath/btSerializer64.cpp new file mode 100644 index 0000000000..05f59202d7 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btSerializer64.cpp @@ -0,0 +1,599 @@ +char sBulletDNAstr64[]= { +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), +char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), +char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), +char(115),char(116),char(114),char(97),char(105),char(110),char(116),char(115),char(0),char(42),char(102),char(105),char(114),char(115),char(116),char(0),char(42),char(108),char(97),char(115), +char(116),char(0),char(109),char(95),char(102),char(108),char(111),char(97),char(116),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(108),char(91),char(51), +char(93),char(0),char(109),char(95),char(98),char(97),char(115),char(105),char(115),char(0),char(109),char(95),char(111),char(114),char(105),char(103),char(105),char(110),char(0),char(109), 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+char(0),char(0),char(126),char(1),char(92),char(0),char(24),char(0),char(15),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1), +char(13),char(0),char(107),char(1),char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1), +char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1), +char(4),char(0),char(113),char(1),char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),char(7),char(0),char(119),char(1),char(7),char(0),char(120),char(1), +char(7),char(0),char(121),char(1),char(7),char(0),char(122),char(1),char(0),char(0),char(123),char(1),char(0),char(0),char(124),char(1),char(50),char(0),char(125),char(1), +char(0),char(0),char(126),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(127),char(1),char(14),char(0),char(-128),char(1),char(8),char(0),char(-127),char(1), +char(0),char(0),char(-126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(-125),char(1),char(0),char(0),char(126),char(1),char(4),char(0),char(97),char(1), +char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(-126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(-125),char(1), +char(19),char(0),char(127),char(1),char(13),char(0),char(-128),char(1),char(7),char(0),char(-127),char(1),char(4),char(0),char(97),char(1),}; +int sBulletDNAlen64= sizeof(sBulletDNAstr64); diff --git a/thirdparty/bullet/src/LinearMath/btSpatialAlgebra.h b/thirdparty/bullet/src/LinearMath/btSpatialAlgebra.h new file mode 100644 index 0000000000..8e59658bca --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btSpatialAlgebra.h @@ -0,0 +1,331 @@ +/* +Copyright (c) 2003-2015 Erwin Coumans, Jakub Stepien + +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. +*/ + +///These spatial algebra classes are used for btMultiBody, +///see BulletDynamics/Featherstone + +#ifndef BT_SPATIAL_ALGEBRA_H +#define BT_SPATIAL_ALGEBRA_H + + +#include "btMatrix3x3.h" + +struct btSpatialForceVector +{ + btVector3 m_topVec, m_bottomVec; + // + btSpatialForceVector() { setZero(); } + btSpatialForceVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(linear), m_bottomVec(angular) {} + btSpatialForceVector(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + setValue(ax, ay, az, lx, ly, lz); + } + // + void setVector(const btVector3 &angular, const btVector3 &linear) { m_topVec = linear; m_bottomVec = angular; } + void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + m_bottomVec.setValue(ax, ay, az); m_topVec.setValue(lx, ly, lz); + } + // + void addVector(const btVector3 &angular, const btVector3 &linear) { m_topVec += linear; m_bottomVec += angular; } + void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + m_bottomVec[0] += ax; m_bottomVec[1] += ay; m_bottomVec[2] += az; + m_topVec[0] += lx; m_topVec[1] += ly; m_topVec[2] += lz; + } + // + const btVector3 & getLinear() const { return m_topVec; } + const btVector3 & getAngular() const { return m_bottomVec; } + // + void setLinear(const btVector3 &linear) { m_topVec = linear; } + void setAngular(const btVector3 &angular) { m_bottomVec = angular; } + // + void addAngular(const btVector3 &angular) { m_bottomVec += angular; } + void addLinear(const btVector3 &linear) { m_topVec += linear; } + // + void setZero() { m_topVec.setZero(); m_bottomVec.setZero(); } + // + btSpatialForceVector & operator += (const btSpatialForceVector &vec) { m_topVec += vec.m_topVec; m_bottomVec += vec.m_bottomVec; return *this; } + btSpatialForceVector & operator -= (const btSpatialForceVector &vec) { m_topVec -= vec.m_topVec; m_bottomVec -= vec.m_bottomVec; return *this; } + btSpatialForceVector operator - (const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec - vec.m_bottomVec, m_topVec - vec.m_topVec); } + btSpatialForceVector operator + (const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec + vec.m_bottomVec, m_topVec + vec.m_topVec); } + btSpatialForceVector operator - () const { return btSpatialForceVector(-m_bottomVec, -m_topVec); } + btSpatialForceVector operator * (const btScalar &s) const { return btSpatialForceVector(s * m_bottomVec, s * m_topVec); } + //btSpatialForceVector & operator = (const btSpatialForceVector &vec) { m_topVec = vec.m_topVec; m_bottomVec = vec.m_bottomVec; return *this; } +}; + +struct btSpatialMotionVector +{ + btVector3 m_topVec, m_bottomVec; + // + btSpatialMotionVector() { setZero(); } + btSpatialMotionVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(angular), m_bottomVec(linear) {} + // + void setVector(const btVector3 &angular, const btVector3 &linear) { m_topVec = angular; m_bottomVec = linear; } + void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + m_topVec.setValue(ax, ay, az); m_bottomVec.setValue(lx, ly, lz); + } + // + void addVector(const btVector3 &angular, const btVector3 &linear) { m_topVec += linear; m_bottomVec += angular; } + void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + m_topVec[0] += ax; m_topVec[1] += ay; m_topVec[2] += az; + m_bottomVec[0] += lx; m_bottomVec[1] += ly; m_bottomVec[2] += lz; + } + // + const btVector3 & getAngular() const { return m_topVec; } + const btVector3 & getLinear() const { return m_bottomVec; } + // + void setAngular(const btVector3 &angular) { m_topVec = angular; } + void setLinear(const btVector3 &linear) { m_bottomVec = linear; } + // + void addAngular(const btVector3 &angular) { m_topVec += angular; } + void addLinear(const btVector3 &linear) { m_bottomVec += linear; } + // + void setZero() { m_topVec.setZero(); m_bottomVec.setZero(); } + // + btScalar dot(const btSpatialForceVector &b) const + { + return m_bottomVec.dot(b.m_topVec) + m_topVec.dot(b.m_bottomVec); + } + // + template<typename SpatialVectorType> + void cross(const SpatialVectorType &b, SpatialVectorType &out) const + { + out.m_topVec = m_topVec.cross(b.m_topVec); + out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec); + } + template<typename SpatialVectorType> + SpatialVectorType cross(const SpatialVectorType &b) const + { + SpatialVectorType out; + out.m_topVec = m_topVec.cross(b.m_topVec); + out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec); + return out; + } + // + btSpatialMotionVector & operator += (const btSpatialMotionVector &vec) { m_topVec += vec.m_topVec; m_bottomVec += vec.m_bottomVec; return *this; } + btSpatialMotionVector & operator -= (const btSpatialMotionVector &vec) { m_topVec -= vec.m_topVec; m_bottomVec -= vec.m_bottomVec; return *this; } + btSpatialMotionVector & operator *= (const btScalar &s) { m_topVec *= s; m_bottomVec *= s; return *this; } + btSpatialMotionVector operator - (const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec - vec.m_topVec, m_bottomVec - vec.m_bottomVec); } + btSpatialMotionVector operator + (const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec + vec.m_topVec, m_bottomVec + vec.m_bottomVec); } + btSpatialMotionVector operator - () const { return btSpatialMotionVector(-m_topVec, -m_bottomVec); } + btSpatialMotionVector operator * (const btScalar &s) const { return btSpatialMotionVector(s * m_topVec, s * m_bottomVec); } +}; + +struct btSymmetricSpatialDyad +{ + btMatrix3x3 m_topLeftMat, m_topRightMat, m_bottomLeftMat; + // + btSymmetricSpatialDyad() { setIdentity(); } + btSymmetricSpatialDyad(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) { setMatrix(topLeftMat, topRightMat, bottomLeftMat); } + // + void setMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) + { + m_topLeftMat = topLeftMat; + m_topRightMat = topRightMat; + m_bottomLeftMat = bottomLeftMat; + } + // + void addMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) + { + m_topLeftMat += topLeftMat; + m_topRightMat += topRightMat; + m_bottomLeftMat += bottomLeftMat; + } + // + void setIdentity() { m_topLeftMat.setIdentity(); m_topRightMat.setIdentity(); m_bottomLeftMat.setIdentity(); } + // + btSymmetricSpatialDyad & operator -= (const btSymmetricSpatialDyad &mat) + { + m_topLeftMat -= mat.m_topLeftMat; + m_topRightMat -= mat.m_topRightMat; + m_bottomLeftMat -= mat.m_bottomLeftMat; + return *this; + } + // + btSpatialForceVector operator * (const btSpatialMotionVector &vec) + { + return btSpatialForceVector(m_bottomLeftMat * vec.m_topVec + m_topLeftMat.transpose() * vec.m_bottomVec, m_topLeftMat * vec.m_topVec + m_topRightMat * vec.m_bottomVec); + } +}; + +struct btSpatialTransformationMatrix +{ + btMatrix3x3 m_rotMat; //btMatrix3x3 m_trnCrossMat; + btVector3 m_trnVec; + // + enum eOutputOperation + { + None = 0, + Add = 1, + Subtract = 2 + }; + // + template<typename SpatialVectorType> + void transform( const SpatialVectorType &inVec, + SpatialVectorType &outVec, + eOutputOperation outOp = None) + { + if(outOp == None) + { + outVec.m_topVec = m_rotMat * inVec.m_topVec; + outVec.m_bottomVec = -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec; + } + else if(outOp == Add) + { + outVec.m_topVec += m_rotMat * inVec.m_topVec; + outVec.m_bottomVec += -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec; + } + else if(outOp == Subtract) + { + outVec.m_topVec -= m_rotMat * inVec.m_topVec; + outVec.m_bottomVec -= -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec; + } + + } + + template<typename SpatialVectorType> + void transformRotationOnly( const SpatialVectorType &inVec, + SpatialVectorType &outVec, + eOutputOperation outOp = None) + { + if(outOp == None) + { + outVec.m_topVec = m_rotMat * inVec.m_topVec; + outVec.m_bottomVec = m_rotMat * inVec.m_bottomVec; + } + else if(outOp == Add) + { + outVec.m_topVec += m_rotMat * inVec.m_topVec; + outVec.m_bottomVec += m_rotMat * inVec.m_bottomVec; + } + else if(outOp == Subtract) + { + outVec.m_topVec -= m_rotMat * inVec.m_topVec; + outVec.m_bottomVec -= m_rotMat * inVec.m_bottomVec; + } + + } + + template<typename SpatialVectorType> + void transformInverse( const SpatialVectorType &inVec, + SpatialVectorType &outVec, + eOutputOperation outOp = None) + { + if(outOp == None) + { + outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec = m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec)); + } + else if(outOp == Add) + { + outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec += m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec)); + } + else if(outOp == Subtract) + { + outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec -= m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec)); + } + } + + template<typename SpatialVectorType> + void transformInverseRotationOnly( const SpatialVectorType &inVec, + SpatialVectorType &outVec, + eOutputOperation outOp = None) + { + if(outOp == None) + { + outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec = m_rotMat.transpose() * inVec.m_bottomVec; + } + else if(outOp == Add) + { + outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec += m_rotMat.transpose() * inVec.m_bottomVec; + } + else if(outOp == Subtract) + { + outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec -= m_rotMat.transpose() * inVec.m_bottomVec; + } + + } + + void transformInverse( const btSymmetricSpatialDyad &inMat, + btSymmetricSpatialDyad &outMat, + eOutputOperation outOp = None) + { + const btMatrix3x3 r_cross( 0, -m_trnVec[2], m_trnVec[1], + m_trnVec[2], 0, -m_trnVec[0], + -m_trnVec[1], m_trnVec[0], 0); + + + if(outOp == None) + { + outMat.m_topLeftMat = m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat; + outMat.m_topRightMat = m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat; + outMat.m_bottomLeftMat = m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat; + } + else if(outOp == Add) + { + outMat.m_topLeftMat += m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat; + outMat.m_topRightMat += m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat; + outMat.m_bottomLeftMat += m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat; + } + else if(outOp == Subtract) + { + outMat.m_topLeftMat -= m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat; + outMat.m_topRightMat -= m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat; + outMat.m_bottomLeftMat -= m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat; + } + } + + template<typename SpatialVectorType> + SpatialVectorType operator * (const SpatialVectorType &vec) + { + SpatialVectorType out; + transform(vec, out); + return out; + } +}; + +template<typename SpatialVectorType> +void symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b, btSymmetricSpatialDyad &out) +{ + //output op maybe? + + out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec); + out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec); + out.m_topLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec); + //maybe simple a*spatTranspose(a) would be nicer? +} + +template<typename SpatialVectorType> +btSymmetricSpatialDyad symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b) +{ + btSymmetricSpatialDyad out; + + out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec); + out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec); + out.m_bottomLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec); + + return out; + //maybe simple a*spatTranspose(a) would be nicer? +} + +#endif //BT_SPATIAL_ALGEBRA_H + diff --git a/thirdparty/bullet/src/LinearMath/btStackAlloc.h b/thirdparty/bullet/src/LinearMath/btStackAlloc.h new file mode 100644 index 0000000000..397b084877 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btStackAlloc.h @@ -0,0 +1,116 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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. +*/ + +/* +StackAlloc extracted from GJK-EPA collision solver by Nathanael Presson +Nov.2006 +*/ + +#ifndef BT_STACK_ALLOC +#define BT_STACK_ALLOC + +#include "btScalar.h" //for btAssert +#include "btAlignedAllocator.h" + +///The btBlock class is an internal structure for the btStackAlloc memory allocator. +struct btBlock +{ + btBlock* previous; + unsigned char* address; +}; + +///The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out) +class btStackAlloc +{ +public: + + btStackAlloc(unsigned int size) { ctor();create(size); } + ~btStackAlloc() { destroy(); } + + inline void create(unsigned int size) + { + destroy(); + data = (unsigned char*) btAlignedAlloc(size,16); + totalsize = size; + } + inline void destroy() + { + btAssert(usedsize==0); + //Raise(L"StackAlloc is still in use"); + + if(usedsize==0) + { + if(!ischild && data) + btAlignedFree(data); + + data = 0; + usedsize = 0; + } + + } + + int getAvailableMemory() const + { + return static_cast<int>(totalsize - usedsize); + } + + unsigned char* allocate(unsigned int size) + { + const unsigned int nus(usedsize+size); + if(nus<totalsize) + { + usedsize=nus; + return(data+(usedsize-size)); + } + btAssert(0); + //&& (L"Not enough memory")); + + return(0); + } + SIMD_FORCE_INLINE btBlock* beginBlock() + { + btBlock* pb = (btBlock*)allocate(sizeof(btBlock)); + pb->previous = current; + pb->address = data+usedsize; + current = pb; + return(pb); + } + SIMD_FORCE_INLINE void endBlock(btBlock* block) + { + btAssert(block==current); + //Raise(L"Unmatched blocks"); + if(block==current) + { + current = block->previous; + usedsize = (unsigned int)((block->address-data)-sizeof(btBlock)); + } + } + +private: + void ctor() + { + data = 0; + totalsize = 0; + usedsize = 0; + current = 0; + ischild = false; + } + unsigned char* data; + unsigned int totalsize; + unsigned int usedsize; + btBlock* current; + bool ischild; +}; + +#endif //BT_STACK_ALLOC diff --git a/thirdparty/bullet/src/LinearMath/btThreads.cpp b/thirdparty/bullet/src/LinearMath/btThreads.cpp new file mode 100644 index 0000000000..59a7ea36e9 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btThreads.cpp @@ -0,0 +1,722 @@ +/* +Copyright (c) 2003-2014 Erwin Coumans http://bullet.googlecode.com + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#include "btThreads.h" +#include "btQuickprof.h" +#include <algorithm> // for min and max + + +#if BT_USE_OPENMP && BT_THREADSAFE + +#include <omp.h> + +#endif // #if BT_USE_OPENMP && BT_THREADSAFE + + +#if BT_USE_PPL && BT_THREADSAFE + +// use Microsoft Parallel Patterns Library (installed with Visual Studio 2010 and later) +#include <ppl.h> // if you get a compile error here, check whether your version of Visual Studio includes PPL +// Visual Studio 2010 and later should come with it +#include <concrtrm.h> // for GetProcessorCount() + +#endif // #if BT_USE_PPL && BT_THREADSAFE + + +#if BT_USE_TBB && BT_THREADSAFE + +// use Intel Threading Building Blocks for thread management +#define __TBB_NO_IMPLICIT_LINKAGE 1 +#include <tbb/tbb.h> +#include <tbb/task_scheduler_init.h> +#include <tbb/parallel_for.h> +#include <tbb/blocked_range.h> + +#endif // #if BT_USE_TBB && BT_THREADSAFE + + +#if BT_THREADSAFE +// +// Lightweight spin-mutex based on atomics +// Using ordinary system-provided mutexes like Windows critical sections was noticeably slower +// presumably because when it fails to lock at first it would sleep the thread and trigger costly +// context switching. +// + +#if __cplusplus >= 201103L + +// for anything claiming full C++11 compliance, use C++11 atomics +// on GCC or Clang you need to compile with -std=c++11 +#define USE_CPP11_ATOMICS 1 + +#elif defined( _MSC_VER ) + +// on MSVC, use intrinsics instead +#define USE_MSVC_INTRINSICS 1 + +#elif defined( __GNUC__ ) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 7)) + +// available since GCC 4.7 and some versions of clang +// todo: check for clang +#define USE_GCC_BUILTIN_ATOMICS 1 + +#elif defined( __GNUC__ ) && (__GNUC__ == 4 && __GNUC_MINOR__ >= 1) + +// available since GCC 4.1 +#define USE_GCC_BUILTIN_ATOMICS_OLD 1 + +#endif + + +#if USE_CPP11_ATOMICS + +#include <atomic> +#include <thread> + +#define THREAD_LOCAL_STATIC thread_local static + +bool btSpinMutex::tryLock() +{ + std::atomic<int>* aDest = reinterpret_cast<std::atomic<int>*>(&mLock); + int expected = 0; + return std::atomic_compare_exchange_weak_explicit( aDest, &expected, int(1), std::memory_order_acq_rel, std::memory_order_acquire ); +} + +void btSpinMutex::lock() +{ + // note: this lock does not sleep the thread. + while (! tryLock()) + { + // spin + } +} + +void btSpinMutex::unlock() +{ + std::atomic<int>* aDest = reinterpret_cast<std::atomic<int>*>(&mLock); + std::atomic_store_explicit( aDest, int(0), std::memory_order_release ); +} + + +#elif USE_MSVC_INTRINSICS + +#define WIN32_LEAN_AND_MEAN + +#include <windows.h> +#include <intrin.h> + +#define THREAD_LOCAL_STATIC __declspec( thread ) static + + +bool btSpinMutex::tryLock() +{ + volatile long* aDest = reinterpret_cast<long*>(&mLock); + return ( 0 == _InterlockedCompareExchange( aDest, 1, 0) ); +} + +void btSpinMutex::lock() +{ + // note: this lock does not sleep the thread + while (! tryLock()) + { + // spin + } +} + +void btSpinMutex::unlock() +{ + volatile long* aDest = reinterpret_cast<long*>( &mLock ); + _InterlockedExchange( aDest, 0 ); +} + +#elif USE_GCC_BUILTIN_ATOMICS + +#define THREAD_LOCAL_STATIC static __thread + + +bool btSpinMutex::tryLock() +{ + int expected = 0; + bool weak = false; + const int memOrderSuccess = __ATOMIC_ACQ_REL; + const int memOrderFail = __ATOMIC_ACQUIRE; + return __atomic_compare_exchange_n(&mLock, &expected, int(1), weak, memOrderSuccess, memOrderFail); +} + +void btSpinMutex::lock() +{ + // note: this lock does not sleep the thread + while (! tryLock()) + { + // spin + } +} + +void btSpinMutex::unlock() +{ + __atomic_store_n(&mLock, int(0), __ATOMIC_RELEASE); +} + +#elif USE_GCC_BUILTIN_ATOMICS_OLD + + +#define THREAD_LOCAL_STATIC static __thread + +bool btSpinMutex::tryLock() +{ + return __sync_bool_compare_and_swap(&mLock, int(0), int(1)); +} + +void btSpinMutex::lock() +{ + // note: this lock does not sleep the thread + while (! tryLock()) + { + // spin + } +} + +void btSpinMutex::unlock() +{ + // write 0 + __sync_fetch_and_and(&mLock, int(0)); +} + +#else //#elif USE_MSVC_INTRINSICS + +#error "no threading primitives defined -- unknown platform" + +#endif //#else //#elif USE_MSVC_INTRINSICS + +#else //#if BT_THREADSAFE + +// These should not be called ever +void btSpinMutex::lock() +{ + btAssert( !"unimplemented btSpinMutex::lock() called" ); +} + +void btSpinMutex::unlock() +{ + btAssert( !"unimplemented btSpinMutex::unlock() called" ); +} + +bool btSpinMutex::tryLock() +{ + btAssert( !"unimplemented btSpinMutex::tryLock() called" ); + return true; +} + +#define THREAD_LOCAL_STATIC static + +#endif // #else //#if BT_THREADSAFE + + +struct ThreadsafeCounter +{ + unsigned int mCounter; + btSpinMutex mMutex; + + ThreadsafeCounter() + { + mCounter = 0; + --mCounter; // first count should come back 0 + } + + unsigned int getNext() + { + // no need to optimize this with atomics, it is only called ONCE per thread! + mMutex.lock(); + mCounter++; + if ( mCounter >= BT_MAX_THREAD_COUNT ) + { + btAssert( !"thread counter exceeded" ); + // wrap back to the first worker index + mCounter = 1; + } + unsigned int val = mCounter; + mMutex.unlock(); + return val; + } +}; + + +static btITaskScheduler* gBtTaskScheduler; +static int gThreadsRunningCounter = 0; // useful for detecting if we are trying to do nested parallel-for calls +static btSpinMutex gThreadsRunningCounterMutex; +static ThreadsafeCounter gThreadCounter; + + +// +// BT_DETECT_BAD_THREAD_INDEX tries to detect when there are multiple threads assigned the same thread index. +// +// BT_DETECT_BAD_THREAD_INDEX is a developer option to test if +// certain assumptions about how the task scheduler manages its threads +// holds true. +// The main assumption is: +// - when the threadpool is resized, the task scheduler either +// 1. destroys all worker threads and creates all new ones in the correct number, OR +// 2. never destroys a worker thread +// +// We make that assumption because we can't easily enumerate the worker threads of a task scheduler +// to assign nice sequential thread-indexes. We also do not get notified if a worker thread is destroyed, +// so we can't tell when a thread-index is no longer being used. +// We allocate thread-indexes as needed with a sequential global thread counter. +// +// Our simple thread-counting scheme falls apart if the task scheduler destroys some threads but +// continues to re-use other threads and the application repeatedly resizes the thread pool of the +// task scheduler. +// In order to prevent the thread-counter from exceeding the global max (BT_MAX_THREAD_COUNT), we +// wrap the thread counter back to 1. This should only happen if the worker threads have all been +// destroyed and re-created. +// +// BT_DETECT_BAD_THREAD_INDEX only works for Win32 right now, +// but could be adapted to work with pthreads +#define BT_DETECT_BAD_THREAD_INDEX 0 + +#if BT_DETECT_BAD_THREAD_INDEX + +typedef DWORD ThreadId_t; +const static ThreadId_t kInvalidThreadId = 0; +ThreadId_t gDebugThreadIds[ BT_MAX_THREAD_COUNT ]; + +static ThreadId_t getDebugThreadId() +{ + return GetCurrentThreadId(); +} + +#endif // #if BT_DETECT_BAD_THREAD_INDEX + + +// return a unique index per thread, main thread is 0, worker threads are in [1, BT_MAX_THREAD_COUNT) +unsigned int btGetCurrentThreadIndex() +{ + const unsigned int kNullIndex = ~0U; + THREAD_LOCAL_STATIC unsigned int sThreadIndex = kNullIndex; + if ( sThreadIndex == kNullIndex ) + { + sThreadIndex = gThreadCounter.getNext(); + btAssert( sThreadIndex < BT_MAX_THREAD_COUNT ); + } +#if BT_DETECT_BAD_THREAD_INDEX + if ( gBtTaskScheduler && sThreadIndex > 0 ) + { + ThreadId_t tid = getDebugThreadId(); + // if not set + if ( gDebugThreadIds[ sThreadIndex ] == kInvalidThreadId ) + { + // set it + gDebugThreadIds[ sThreadIndex ] = tid; + } + else + { + if ( gDebugThreadIds[ sThreadIndex ] != tid ) + { + // this could indicate the task scheduler is breaking our assumptions about + // how threads are managed when threadpool is resized + btAssert( !"there are 2 or more threads with the same thread-index!" ); + __debugbreak(); + } + } + } +#endif // #if BT_DETECT_BAD_THREAD_INDEX + return sThreadIndex; +} + +bool btIsMainThread() +{ + return btGetCurrentThreadIndex() == 0; +} + +void btResetThreadIndexCounter() +{ + // for when all current worker threads are destroyed + btAssert( btIsMainThread() ); + gThreadCounter.mCounter = 0; +} + +btITaskScheduler::btITaskScheduler( const char* name ) +{ + m_name = name; + m_savedThreadCounter = 0; + m_isActive = false; +} + +void btITaskScheduler::activate() +{ + // gThreadCounter is used to assign a thread-index to each worker thread in a task scheduler. + // The main thread is always thread-index 0, and worker threads are numbered from 1 to 63 (BT_MAX_THREAD_COUNT-1) + // The thread-indexes need to be unique amongst the threads that can be running simultaneously. + // Since only one task scheduler can be used at a time, it is OK for a pair of threads that belong to different + // task schedulers to share the same thread index because they can't be running at the same time. + // So each task scheduler needs to keep its own thread counter value + if ( !m_isActive ) + { + gThreadCounter.mCounter = m_savedThreadCounter; // restore saved thread counter + m_isActive = true; + } +} + +void btITaskScheduler::deactivate() +{ + if ( m_isActive ) + { + m_savedThreadCounter = gThreadCounter.mCounter; // save thread counter + m_isActive = false; + } +} + +void btPushThreadsAreRunning() +{ + gThreadsRunningCounterMutex.lock(); + gThreadsRunningCounter++; + gThreadsRunningCounterMutex.unlock(); +} + +void btPopThreadsAreRunning() +{ + gThreadsRunningCounterMutex.lock(); + gThreadsRunningCounter--; + gThreadsRunningCounterMutex.unlock(); +} + +bool btThreadsAreRunning() +{ + return gThreadsRunningCounter != 0; +} + + +void btSetTaskScheduler( btITaskScheduler* ts ) +{ + int threadId = btGetCurrentThreadIndex(); // make sure we call this on main thread at least once before any workers run + if ( threadId != 0 ) + { + btAssert( !"btSetTaskScheduler must be called from the main thread!" ); + return; + } + if ( gBtTaskScheduler ) + { + // deactivate old task scheduler + gBtTaskScheduler->deactivate(); + } + gBtTaskScheduler = ts; + if ( ts ) + { + // activate new task scheduler + ts->activate(); + } +} + + +btITaskScheduler* btGetTaskScheduler() +{ + return gBtTaskScheduler; +} + + +void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) +{ +#if BT_THREADSAFE + +#if BT_DETECT_BAD_THREAD_INDEX + if ( !btThreadsAreRunning() ) + { + // clear out thread ids + for ( int i = 0; i < BT_MAX_THREAD_COUNT; ++i ) + { + gDebugThreadIds[ i ] = kInvalidThreadId; + } + } +#endif // #if BT_DETECT_BAD_THREAD_INDEX + + btAssert( gBtTaskScheduler != NULL ); // call btSetTaskScheduler() with a valid task scheduler first! + gBtTaskScheduler->parallelFor( iBegin, iEnd, grainSize, body ); + +#else // #if BT_THREADSAFE + + // non-parallel version of btParallelFor + btAssert( !"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE" ); + body.forLoop( iBegin, iEnd ); + +#endif// #if BT_THREADSAFE +} + + +/// +/// btTaskSchedulerSequential -- non-threaded implementation of task scheduler +/// (really just useful for testing performance of single threaded vs multi) +/// +class btTaskSchedulerSequential : public btITaskScheduler +{ +public: + btTaskSchedulerSequential() : btITaskScheduler( "Sequential" ) {} + virtual int getMaxNumThreads() const BT_OVERRIDE { return 1; } + virtual int getNumThreads() const BT_OVERRIDE { return 1; } + virtual void setNumThreads( int numThreads ) BT_OVERRIDE {} + virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelFor_sequential" ); + body.forLoop( iBegin, iEnd ); + } +}; + + +#if BT_USE_OPENMP && BT_THREADSAFE +/// +/// btTaskSchedulerOpenMP -- wrapper around OpenMP task scheduler +/// +class btTaskSchedulerOpenMP : public btITaskScheduler +{ + int m_numThreads; +public: + btTaskSchedulerOpenMP() : btITaskScheduler( "OpenMP" ) + { + m_numThreads = 0; + } + virtual int getMaxNumThreads() const BT_OVERRIDE + { + return omp_get_max_threads(); + } + virtual int getNumThreads() const BT_OVERRIDE + { + return m_numThreads; + } + virtual void setNumThreads( int numThreads ) BT_OVERRIDE + { + // With OpenMP, because it is a standard with various implementations, we can't + // know for sure if every implementation has the same behavior of destroying all + // previous threads when resizing the threadpool + m_numThreads = ( std::max )( 1, ( std::min )( int( BT_MAX_THREAD_COUNT ), numThreads ) ); + omp_set_num_threads( 1 ); // hopefully, all previous threads get destroyed here + omp_set_num_threads( m_numThreads ); + m_savedThreadCounter = 0; + if ( m_isActive ) + { + btResetThreadIndexCounter(); + } + } + virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelFor_OpenMP" ); + btPushThreadsAreRunning(); +#pragma omp parallel for schedule( static, 1 ) + for ( int i = iBegin; i < iEnd; i += grainSize ) + { + BT_PROFILE( "OpenMP_job" ); + body.forLoop( i, ( std::min )( i + grainSize, iEnd ) ); + } + btPopThreadsAreRunning(); + } +}; +#endif // #if BT_USE_OPENMP && BT_THREADSAFE + + +#if BT_USE_TBB && BT_THREADSAFE +/// +/// btTaskSchedulerTBB -- wrapper around Intel Threaded Building Blocks task scheduler +/// +class btTaskSchedulerTBB : public btITaskScheduler +{ + int m_numThreads; + tbb::task_scheduler_init* m_tbbSchedulerInit; + +public: + btTaskSchedulerTBB() : btITaskScheduler( "IntelTBB" ) + { + m_numThreads = 0; + m_tbbSchedulerInit = NULL; + } + ~btTaskSchedulerTBB() + { + if ( m_tbbSchedulerInit ) + { + delete m_tbbSchedulerInit; + m_tbbSchedulerInit = NULL; + } + } + + virtual int getMaxNumThreads() const BT_OVERRIDE + { + return tbb::task_scheduler_init::default_num_threads(); + } + virtual int getNumThreads() const BT_OVERRIDE + { + return m_numThreads; + } + virtual void setNumThreads( int numThreads ) BT_OVERRIDE + { + m_numThreads = ( std::max )( 1, ( std::min )( int(BT_MAX_THREAD_COUNT), numThreads ) ); + if ( m_tbbSchedulerInit ) + { + // destroys all previous threads + delete m_tbbSchedulerInit; + m_tbbSchedulerInit = NULL; + } + m_tbbSchedulerInit = new tbb::task_scheduler_init( m_numThreads ); + m_savedThreadCounter = 0; + if ( m_isActive ) + { + btResetThreadIndexCounter(); + } + } + struct BodyAdapter + { + const btIParallelForBody* mBody; + + void operator()( const tbb::blocked_range<int>& range ) const + { + BT_PROFILE( "TBB_job" ); + mBody->forLoop( range.begin(), range.end() ); + } + }; + virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelFor_TBB" ); + // TBB dispatch + BodyAdapter tbbBody; + tbbBody.mBody = &body; + btPushThreadsAreRunning(); + tbb::parallel_for( tbb::blocked_range<int>( iBegin, iEnd, grainSize ), + tbbBody, + tbb::simple_partitioner() + ); + btPopThreadsAreRunning(); + } +}; +#endif // #if BT_USE_TBB && BT_THREADSAFE + + +#if BT_USE_PPL && BT_THREADSAFE +/// +/// btTaskSchedulerPPL -- wrapper around Microsoft Parallel Patterns Lib task scheduler +/// +class btTaskSchedulerPPL : public btITaskScheduler +{ + int m_numThreads; +public: + btTaskSchedulerPPL() : btITaskScheduler( "PPL" ) + { + m_numThreads = 0; + } + virtual int getMaxNumThreads() const BT_OVERRIDE + { + return concurrency::GetProcessorCount(); + } + virtual int getNumThreads() const BT_OVERRIDE + { + return m_numThreads; + } + virtual void setNumThreads( int numThreads ) BT_OVERRIDE + { + // capping the thread count for PPL due to a thread-index issue + const int maxThreadCount = (std::min)(int(BT_MAX_THREAD_COUNT), 31); + m_numThreads = ( std::max )( 1, ( std::min )( maxThreadCount, numThreads ) ); + using namespace concurrency; + if ( CurrentScheduler::Id() != -1 ) + { + CurrentScheduler::Detach(); + } + SchedulerPolicy policy; + { + // PPL seems to destroy threads when threadpool is shrunk, but keeps reusing old threads + // force it to destroy old threads + policy.SetConcurrencyLimits( 1, 1 ); + CurrentScheduler::Create( policy ); + CurrentScheduler::Detach(); + } + policy.SetConcurrencyLimits( m_numThreads, m_numThreads ); + CurrentScheduler::Create( policy ); + m_savedThreadCounter = 0; + if ( m_isActive ) + { + btResetThreadIndexCounter(); + } + } + struct BodyAdapter + { + const btIParallelForBody* mBody; + int mGrainSize; + int mIndexEnd; + + void operator()( int i ) const + { + BT_PROFILE( "PPL_job" ); + mBody->forLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) ); + } + }; + virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelFor_PPL" ); + // PPL dispatch + BodyAdapter pplBody; + pplBody.mBody = &body; + pplBody.mGrainSize = grainSize; + pplBody.mIndexEnd = iEnd; + btPushThreadsAreRunning(); + // note: MSVC 2010 doesn't support partitioner args, so avoid them + concurrency::parallel_for( iBegin, + iEnd, + grainSize, + pplBody + ); + btPopThreadsAreRunning(); + } +}; +#endif // #if BT_USE_PPL && BT_THREADSAFE + + +// create a non-threaded task scheduler (always available) +btITaskScheduler* btGetSequentialTaskScheduler() +{ + static btTaskSchedulerSequential sTaskScheduler; + return &sTaskScheduler; +} + + +// create an OpenMP task scheduler (if available, otherwise returns null) +btITaskScheduler* btGetOpenMPTaskScheduler() +{ +#if BT_USE_OPENMP && BT_THREADSAFE + static btTaskSchedulerOpenMP sTaskScheduler; + return &sTaskScheduler; +#else + return NULL; +#endif +} + + +// create an Intel TBB task scheduler (if available, otherwise returns null) +btITaskScheduler* btGetTBBTaskScheduler() +{ +#if BT_USE_TBB && BT_THREADSAFE + static btTaskSchedulerTBB sTaskScheduler; + return &sTaskScheduler; +#else + return NULL; +#endif +} + + +// create a PPL task scheduler (if available, otherwise returns null) +btITaskScheduler* btGetPPLTaskScheduler() +{ +#if BT_USE_PPL && BT_THREADSAFE + static btTaskSchedulerPPL sTaskScheduler; + return &sTaskScheduler; +#else + return NULL; +#endif +} + diff --git a/thirdparty/bullet/src/LinearMath/btThreads.h b/thirdparty/bullet/src/LinearMath/btThreads.h new file mode 100644 index 0000000000..05fd15ec82 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btThreads.h @@ -0,0 +1,155 @@ +/* +Copyright (c) 2003-2014 Erwin Coumans http://bullet.googlecode.com + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + + +#ifndef BT_THREADS_H +#define BT_THREADS_H + +#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE + +#if defined (_MSC_VER) && _MSC_VER >= 1600 +// give us a compile error if any signatures of overriden methods is changed +#define BT_OVERRIDE override +#endif + +#ifndef BT_OVERRIDE +#define BT_OVERRIDE +#endif + +const unsigned int BT_MAX_THREAD_COUNT = 64; // only if BT_THREADSAFE is 1 + +// for internal use only +bool btIsMainThread(); +bool btThreadsAreRunning(); +unsigned int btGetCurrentThreadIndex(); +void btResetThreadIndexCounter(); // notify that all worker threads have been destroyed + +/// +/// btSpinMutex -- lightweight spin-mutex implemented with atomic ops, never puts +/// a thread to sleep because it is designed to be used with a task scheduler +/// which has one thread per core and the threads don't sleep until they +/// run out of tasks. Not good for general purpose use. +/// +class btSpinMutex +{ + int mLock; + +public: + btSpinMutex() + { + mLock = 0; + } + void lock(); + void unlock(); + bool tryLock(); +}; + + +// +// NOTE: btMutex* is for internal Bullet use only +// +// If BT_THREADSAFE is undefined or 0, should optimize away to nothing. +// This is good because for the single-threaded build of Bullet, any calls +// to these functions will be optimized out. +// +// However, for users of the multi-threaded build of Bullet this is kind +// of bad because if you call any of these functions from external code +// (where BT_THREADSAFE is undefined) you will get unexpected race conditions. +// +SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* mutex ) +{ +#if BT_THREADSAFE + mutex->lock(); +#endif // #if BT_THREADSAFE +} + +SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* mutex ) +{ +#if BT_THREADSAFE + mutex->unlock(); +#endif // #if BT_THREADSAFE +} + +SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex ) +{ +#if BT_THREADSAFE + return mutex->tryLock(); +#else + return true; +#endif // #if BT_THREADSAFE +} + + +// +// btIParallelForBody -- subclass this to express work that can be done in parallel +// +class btIParallelForBody +{ +public: + virtual ~btIParallelForBody() {} + virtual void forLoop( int iBegin, int iEnd ) const = 0; +}; + +// +// btITaskScheduler -- subclass this to implement a task scheduler that can dispatch work to +// worker threads +// +class btITaskScheduler +{ +public: + btITaskScheduler( const char* name ); + virtual ~btITaskScheduler() {} + const char* getName() const { return m_name; } + + virtual int getMaxNumThreads() const = 0; + virtual int getNumThreads() const = 0; + virtual void setNumThreads( int numThreads ) = 0; + virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) = 0; + + // internal use only + virtual void activate(); + virtual void deactivate(); + +protected: + const char* m_name; + unsigned int m_savedThreadCounter; + bool m_isActive; +}; + +// set the task scheduler to use for all calls to btParallelFor() +// NOTE: you must set this prior to using any of the multi-threaded "Mt" classes +void btSetTaskScheduler( btITaskScheduler* ts ); + +// get the current task scheduler +btITaskScheduler* btGetTaskScheduler(); + +// get non-threaded task scheduler (always available) +btITaskScheduler* btGetSequentialTaskScheduler(); + +// get OpenMP task scheduler (if available, otherwise returns null) +btITaskScheduler* btGetOpenMPTaskScheduler(); + +// get Intel TBB task scheduler (if available, otherwise returns null) +btITaskScheduler* btGetTBBTaskScheduler(); + +// get PPL task scheduler (if available, otherwise returns null) +btITaskScheduler* btGetPPLTaskScheduler(); + +// btParallelFor -- call this to dispatch work like a for-loop +// (iterations may be done out of order, so no dependencies are allowed) +void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ); + + +#endif diff --git a/thirdparty/bullet/src/LinearMath/btTransform.h b/thirdparty/bullet/src/LinearMath/btTransform.h new file mode 100644 index 0000000000..d4f939a5d9 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btTransform.h @@ -0,0 +1,305 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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 BT_TRANSFORM_H +#define BT_TRANSFORM_H + + +#include "btMatrix3x3.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btTransformData btTransformDoubleData +#else +#define btTransformData btTransformFloatData +#endif + + + + +/**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear. + *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */ +ATTRIBUTE_ALIGNED16(class) btTransform { + + ///Storage for the rotation + btMatrix3x3 m_basis; + ///Storage for the translation + btVector3 m_origin; + +public: + + /**@brief No initialization constructor */ + btTransform() {} + /**@brief Constructor from btQuaternion (optional btVector3 ) + * @param q Rotation from quaternion + * @param c Translation from Vector (default 0,0,0) */ + explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, + const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) + : m_basis(q), + m_origin(c) + {} + + /**@brief Constructor from btMatrix3x3 (optional btVector3) + * @param b Rotation from Matrix + * @param c Translation from Vector default (0,0,0)*/ + explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, + const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) + : m_basis(b), + m_origin(c) + {} + /**@brief Copy constructor */ + SIMD_FORCE_INLINE btTransform (const btTransform& other) + : m_basis(other.m_basis), + m_origin(other.m_origin) + { + } + /**@brief Assignment Operator */ + SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other) + { + m_basis = other.m_basis; + m_origin = other.m_origin; + return *this; + } + + + /**@brief Set the current transform as the value of the product of two transforms + * @param t1 Transform 1 + * @param t2 Transform 2 + * This = Transform1 * Transform2 */ + SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) { + m_basis = t1.m_basis * t2.m_basis; + m_origin = t1(t2.m_origin); + } + +/* void multInverseLeft(const btTransform& t1, const btTransform& t2) { + btVector3 v = t2.m_origin - t1.m_origin; + m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis); + m_origin = v * t1.m_basis; + } + */ + +/**@brief Return the transform of the vector */ + SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const + { + return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin; + } + + /**@brief Return the transform of the vector */ + SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const + { + return (*this)(x); + } + + /**@brief Return the transform of the btQuaternion */ + SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const + { + return getRotation() * q; + } + + /**@brief Return the basis matrix for the rotation */ + SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; } + /**@brief Return the basis matrix for the rotation */ + SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; } + + /**@brief Return the origin vector translation */ + SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; } + /**@brief Return the origin vector translation */ + SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; } + + /**@brief Return a quaternion representing the rotation */ + btQuaternion getRotation() const { + btQuaternion q; + m_basis.getRotation(q); + return q; + } + + + /**@brief Set from an array + * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */ + void setFromOpenGLMatrix(const btScalar *m) + { + m_basis.setFromOpenGLSubMatrix(m); + m_origin.setValue(m[12],m[13],m[14]); + } + + /**@brief Fill an array representation + * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */ + void getOpenGLMatrix(btScalar *m) const + { + m_basis.getOpenGLSubMatrix(m); + m[12] = m_origin.x(); + m[13] = m_origin.y(); + m[14] = m_origin.z(); + m[15] = btScalar(1.0); + } + + /**@brief Set the translational element + * @param origin The vector to set the translation to */ + SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) + { + m_origin = origin; + } + + SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const; + + + /**@brief Set the rotational element by btMatrix3x3 */ + SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis) + { + m_basis = basis; + } + + /**@brief Set the rotational element by btQuaternion */ + SIMD_FORCE_INLINE void setRotation(const btQuaternion& q) + { + m_basis.setRotation(q); + } + + + /**@brief Set this transformation to the identity */ + void setIdentity() + { + m_basis.setIdentity(); + m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + } + + /**@brief Multiply this Transform by another(this = this * another) + * @param t The other transform */ + btTransform& operator*=(const btTransform& t) + { + m_origin += m_basis * t.m_origin; + m_basis *= t.m_basis; + return *this; + } + + /**@brief Return the inverse of this transform */ + btTransform inverse() const + { + btMatrix3x3 inv = m_basis.transpose(); + return btTransform(inv, inv * -m_origin); + } + + /**@brief Return the inverse of this transform times the other transform + * @param t The other transform + * return this.inverse() * the other */ + btTransform inverseTimes(const btTransform& t) const; + + /**@brief Return the product of this transform and the other */ + btTransform operator*(const btTransform& t) const; + + /**@brief Return an identity transform */ + static const btTransform& getIdentity() + { + static const btTransform identityTransform(btMatrix3x3::getIdentity()); + return identityTransform; + } + + void serialize(struct btTransformData& dataOut) const; + + void serializeFloat(struct btTransformFloatData& dataOut) const; + + void deSerialize(const struct btTransformData& dataIn); + + void deSerializeDouble(const struct btTransformDoubleData& dataIn); + + void deSerializeFloat(const struct btTransformFloatData& dataIn); + +}; + + +SIMD_FORCE_INLINE btVector3 +btTransform::invXform(const btVector3& inVec) const +{ + btVector3 v = inVec - m_origin; + return (m_basis.transpose() * v); +} + +SIMD_FORCE_INLINE btTransform +btTransform::inverseTimes(const btTransform& t) const +{ + btVector3 v = t.getOrigin() - m_origin; + return btTransform(m_basis.transposeTimes(t.m_basis), + v * m_basis); +} + +SIMD_FORCE_INLINE btTransform +btTransform::operator*(const btTransform& t) const +{ + return btTransform(m_basis * t.m_basis, + (*this)(t.m_origin)); +} + +/**@brief Test if two transforms have all elements equal */ +SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2) +{ + return ( t1.getBasis() == t2.getBasis() && + t1.getOrigin() == t2.getOrigin() ); +} + + +///for serialization +struct btTransformFloatData +{ + btMatrix3x3FloatData m_basis; + btVector3FloatData m_origin; +}; + +struct btTransformDoubleData +{ + btMatrix3x3DoubleData m_basis; + btVector3DoubleData m_origin; +}; + + + +SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const +{ + m_basis.serialize(dataOut.m_basis); + m_origin.serialize(dataOut.m_origin); +} + +SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const +{ + m_basis.serializeFloat(dataOut.m_basis); + m_origin.serializeFloat(dataOut.m_origin); +} + + +SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn) +{ + m_basis.deSerialize(dataIn.m_basis); + m_origin.deSerialize(dataIn.m_origin); +} + +SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn) +{ + m_basis.deSerializeFloat(dataIn.m_basis); + m_origin.deSerializeFloat(dataIn.m_origin); +} + +SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn) +{ + m_basis.deSerializeDouble(dataIn.m_basis); + m_origin.deSerializeDouble(dataIn.m_origin); +} + + +#endif //BT_TRANSFORM_H + + + + + + diff --git a/thirdparty/bullet/src/LinearMath/btTransformUtil.h b/thirdparty/bullet/src/LinearMath/btTransformUtil.h new file mode 100644 index 0000000000..182cc43fab --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btTransformUtil.h @@ -0,0 +1,241 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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 BT_TRANSFORM_UTIL_H +#define BT_TRANSFORM_UTIL_H + +#include "btTransform.h" +#define ANGULAR_MOTION_THRESHOLD btScalar(0.5)*SIMD_HALF_PI + + + + +SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir) +{ + return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(), + supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(), + supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z()); +} + + + + + + +/// Utils related to temporal transforms +class btTransformUtil +{ + +public: + + static void integrateTransform(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep,btTransform& predictedTransform) + { + predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep); +// #define QUATERNION_DERIVATIVE + #ifdef QUATERNION_DERIVATIVE + btQuaternion predictedOrn = curTrans.getRotation(); + predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5)); + predictedOrn.safeNormalize(); + #else + //Exponential map + //google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia + + btVector3 axis; + btScalar fAngle2 = angvel.length2(); + btScalar fAngle = 0; + if (fAngle2>SIMD_EPSILON) + { + fAngle = btSqrt(fAngle2); + } + + //limit the angular motion + if (fAngle*timeStep > ANGULAR_MOTION_THRESHOLD) + { + fAngle = ANGULAR_MOTION_THRESHOLD / timeStep; + } + + if ( fAngle < btScalar(0.001) ) + { + // use Taylor's expansions of sync function + axis = angvel*( btScalar(0.5)*timeStep-(timeStep*timeStep*timeStep)*(btScalar(0.020833333333))*fAngle*fAngle ); + } + else + { + // sync(fAngle) = sin(c*fAngle)/t + axis = angvel*( btSin(btScalar(0.5)*fAngle*timeStep)/fAngle ); + } + btQuaternion dorn (axis.x(),axis.y(),axis.z(),btCos( fAngle*timeStep*btScalar(0.5) )); + btQuaternion orn0 = curTrans.getRotation(); + + btQuaternion predictedOrn = dorn * orn0; + predictedOrn.safeNormalize(); + #endif + if (predictedOrn.length2()>SIMD_EPSILON) + { + predictedTransform.setRotation(predictedOrn); + } + else + { + predictedTransform.setBasis(curTrans.getBasis()); + } + } + + static void calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel) + { + linVel = (pos1 - pos0) / timeStep; + btVector3 axis; + btScalar angle; + if (orn0 != orn1) + { + calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle); + angVel = axis * angle / timeStep; + } else + { + angVel.setValue(0,0,0); + } + } + + static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle) + { + btQuaternion orn1 = orn0.nearest(orn1a); + btQuaternion dorn = orn1 * orn0.inverse(); + angle = dorn.getAngle(); + axis = btVector3(dorn.x(),dorn.y(),dorn.z()); + axis[3] = btScalar(0.); + //check for axis length + btScalar len = axis.length2(); + if (len < SIMD_EPSILON*SIMD_EPSILON) + axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.)); + else + axis /= btSqrt(len); + } + + static void calculateVelocity(const btTransform& transform0,const btTransform& transform1,btScalar timeStep,btVector3& linVel,btVector3& angVel) + { + linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep; + btVector3 axis; + btScalar angle; + calculateDiffAxisAngle(transform0,transform1,axis,angle); + angVel = axis * angle / timeStep; + } + + static void calculateDiffAxisAngle(const btTransform& transform0,const btTransform& transform1,btVector3& axis,btScalar& angle) + { + btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse(); + btQuaternion dorn; + dmat.getRotation(dorn); + + ///floating point inaccuracy can lead to w component > 1..., which breaks + dorn.normalize(); + + angle = dorn.getAngle(); + axis = btVector3(dorn.x(),dorn.y(),dorn.z()); + axis[3] = btScalar(0.); + //check for axis length + btScalar len = axis.length2(); + if (len < SIMD_EPSILON*SIMD_EPSILON) + axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.)); + else + axis /= btSqrt(len); + } + +}; + + +///The btConvexSeparatingDistanceUtil can help speed up convex collision detection +///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance +class btConvexSeparatingDistanceUtil +{ + btQuaternion m_ornA; + btQuaternion m_ornB; + btVector3 m_posA; + btVector3 m_posB; + + btVector3 m_separatingNormal; + + btScalar m_boundingRadiusA; + btScalar m_boundingRadiusB; + btScalar m_separatingDistance; + +public: + + btConvexSeparatingDistanceUtil(btScalar boundingRadiusA,btScalar boundingRadiusB) + :m_boundingRadiusA(boundingRadiusA), + m_boundingRadiusB(boundingRadiusB), + m_separatingDistance(0.f) + { + } + + btScalar getConservativeSeparatingDistance() + { + return m_separatingDistance; + } + + void updateSeparatingDistance(const btTransform& transA,const btTransform& transB) + { + const btVector3& toPosA = transA.getOrigin(); + const btVector3& toPosB = transB.getOrigin(); + btQuaternion toOrnA = transA.getRotation(); + btQuaternion toOrnB = transB.getRotation(); + + if (m_separatingDistance>0.f) + { + + + btVector3 linVelA,angVelA,linVelB,angVelB; + btTransformUtil::calculateVelocityQuaternion(m_posA,toPosA,m_ornA,toOrnA,btScalar(1.),linVelA,angVelA); + btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB); + btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB; + btVector3 relLinVel = (linVelB-linVelA); + btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal); + if (relLinVelocLength<0.f) + { + relLinVelocLength = 0.f; + } + + btScalar projectedMotion = maxAngularProjectedVelocity +relLinVelocLength; + m_separatingDistance -= projectedMotion; + } + + m_posA = toPosA; + m_posB = toPosB; + m_ornA = toOrnA; + m_ornB = toOrnB; + } + + void initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB) + { + m_separatingDistance = separatingDistance; + + if (m_separatingDistance>0.f) + { + m_separatingNormal = separatingVector; + + const btVector3& toPosA = transA.getOrigin(); + const btVector3& toPosB = transB.getOrigin(); + btQuaternion toOrnA = transA.getRotation(); + btQuaternion toOrnB = transB.getRotation(); + m_posA = toPosA; + m_posB = toPosB; + m_ornA = toOrnA; + m_ornB = toOrnB; + } + } + +}; + + +#endif //BT_TRANSFORM_UTIL_H + diff --git a/thirdparty/bullet/src/LinearMath/btVector3.cpp b/thirdparty/bullet/src/LinearMath/btVector3.cpp new file mode 100644 index 0000000000..e05bdccd67 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btVector3.cpp @@ -0,0 +1,1670 @@ +/* + Copyright (c) 2011 Apple Inc. + 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. + + This source version has been altered. + */ + +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif + + +#include "btVector3.h" + + + +#if defined BT_USE_SIMD_VECTOR3 + +#if DEBUG +#include <string.h>//for memset +#endif + + +#ifdef __APPLE__ +#include <stdint.h> +typedef float float4 __attribute__ ((vector_size(16))); +#else +#define float4 __m128 +#endif +//typedef uint32_t uint4 __attribute__ ((vector_size(16))); + + +#if defined BT_USE_SSE || defined _WIN32 + +#define LOG2_ARRAY_SIZE 6 +#define STACK_ARRAY_COUNT (1UL << LOG2_ARRAY_SIZE) + +#include <emmintrin.h> + +long _maxdot_large( const float *vv, const float *vec, unsigned long count, float *dotResult ); +long _maxdot_large( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + const float4 *vertices = (const float4*) vv; + static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 }; + float4 dotMax = btAssign128( -BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY ); + float4 vvec = _mm_loadu_ps( vec ); + float4 vHi = btCastiTo128f(_mm_shuffle_epi32( btCastfTo128i( vvec), 0xaa )); /// zzzz + float4 vLo = _mm_movelh_ps( vvec, vvec ); /// xyxy + + long maxIndex = -1L; + + size_t segment = 0; + float4 stack_array[ STACK_ARRAY_COUNT ]; + +#if DEBUG + //memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) ); +#endif + + size_t index; + float4 max; + // Faster loop without cleanup code for full tiles + for ( segment = 0; segment + STACK_ARRAY_COUNT*4 <= count; segment += STACK_ARRAY_COUNT*4 ) + { + max = dotMax; + + for( index = 0; index < STACK_ARRAY_COUNT; index+= 4 ) + { // do four dot products at a time. Carefully avoid touching the w element. + float4 v0 = vertices[0]; + float4 v1 = vertices[1]; + float4 v2 = vertices[2]; + float4 v3 = vertices[3]; vertices += 4; + + float4 lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + float4 hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + float4 lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + float4 hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); + float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); + float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+1] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+2] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+3] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + // It is too costly to keep the index of the max here. We will look for it again later. We save a lot of work this way. + } + + // If we found a new max + if( 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(max, dotMax))) + { + // copy the new max across all lanes of our max accumulator + max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0x4e)); + max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0xb1)); + + dotMax = max; + + // find first occurrence of that max + size_t test; + for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], max))); index++ ) // local_count must be a multiple of 4 + {} + // record where it is. + maxIndex = 4*index + segment + indexTable[test]; + } + } + + // account for work we've already done + count -= segment; + + // Deal with the last < STACK_ARRAY_COUNT vectors + max = dotMax; + index = 0; + + + if( btUnlikely( count > 16) ) + { + for( ; index + 4 <= count / 4; index+=4 ) + { // do four dot products at a time. Carefully avoid touching the w element. + float4 v0 = vertices[0]; + float4 v1 = vertices[1]; + float4 v2 = vertices[2]; + float4 v3 = vertices[3]; vertices += 4; + + float4 lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + float4 hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + float4 lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + float4 hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); + float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); + float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+1] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+2] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+3] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + // It is too costly to keep the index of the max here. We will look for it again later. We save a lot of work this way. + } + } + + size_t localCount = (count & -4L) - 4*index; + if( localCount ) + { +#ifdef __APPLE__ + float4 t0, t1, t2, t3, t4; + float4 * sap = &stack_array[index + localCount / 4]; + vertices += localCount; // counter the offset + size_t byteIndex = -(localCount) * sizeof(float); + //AT&T Code style assembly + asm volatile + ( ".align 4 \n\ + 0: movaps %[max], %[t2] // move max out of the way to avoid propagating NaNs in max \n\ + movaps (%[vertices], %[byteIndex], 4), %[t0] // vertices[0] \n\ + movaps 16(%[vertices], %[byteIndex], 4), %[t1] // vertices[1] \n\ + movaps %[t0], %[max] // vertices[0] \n\ + movlhps %[t1], %[max] // x0y0x1y1 \n\ + movaps 32(%[vertices], %[byteIndex], 4), %[t3] // vertices[2] \n\ + movaps 48(%[vertices], %[byteIndex], 4), %[t4] // vertices[3] \n\ + mulps %[vLo], %[max] // x0y0x1y1 * vLo \n\ + movhlps %[t0], %[t1] // z0w0z1w1 \n\ + movaps %[t3], %[t0] // vertices[2] \n\ + movlhps %[t4], %[t0] // x2y2x3y3 \n\ + mulps %[vLo], %[t0] // x2y2x3y3 * vLo \n\ + movhlps %[t3], %[t4] // z2w2z3w3 \n\ + shufps $0x88, %[t4], %[t1] // z0z1z2z3 \n\ + mulps %[vHi], %[t1] // z0z1z2z3 * vHi \n\ + movaps %[max], %[t3] // x0y0x1y1 * vLo \n\ + shufps $0x88, %[t0], %[max] // x0x1x2x3 * vLo.x \n\ + shufps $0xdd, %[t0], %[t3] // y0y1y2y3 * vLo.y \n\ + addps %[t3], %[max] // x + y \n\ + addps %[t1], %[max] // x + y + z \n\ + movaps %[max], (%[sap], %[byteIndex]) // record result for later scrutiny \n\ + maxps %[t2], %[max] // record max, restore max \n\ + add $16, %[byteIndex] // advance loop counter\n\ + jnz 0b \n\ + " + : [max] "+x" (max), [t0] "=&x" (t0), [t1] "=&x" (t1), [t2] "=&x" (t2), [t3] "=&x" (t3), [t4] "=&x" (t4), [byteIndex] "+r" (byteIndex) + : [vLo] "x" (vLo), [vHi] "x" (vHi), [vertices] "r" (vertices), [sap] "r" (sap) + : "memory", "cc" + ); + index += localCount/4; +#else + { + for( unsigned int i=0; i<localCount/4; i++,index++) + { // do four dot products at a time. Carefully avoid touching the w element. + float4 v0 = vertices[0]; + float4 v1 = vertices[1]; + float4 v2 = vertices[2]; + float4 v3 = vertices[3]; + vertices += 4; + + float4 lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + float4 hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + float4 lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + float4 hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); + float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); + float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + } + } +#endif //__APPLE__ + } + + // process the last few points + if( count & 3 ) + { + float4 v0, v1, v2, x, y, z; + switch( count & 3 ) + { + case 3: + { + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + + // Calculate 3 dot products, transpose, duplicate v2 + float4 lo0 = _mm_movelh_ps( v0, v1); // xyxy.lo + float4 hi0 = _mm_movehl_ps( v1, v0); // z?z?.lo + lo0 = lo0*vLo; + z = _mm_shuffle_ps(hi0, v2, 0xa8 ); // z0z1z2z2 + z = z*vHi; + float4 lo1 = _mm_movelh_ps(v2, v2); // xyxy + lo1 = lo1*vLo; + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + } + break; + case 2: + { + v0 = vertices[0]; + v1 = vertices[1]; + float4 xy = _mm_movelh_ps(v0, v1); + z = _mm_movehl_ps(v1, v0); + xy = xy*vLo; + z = _mm_shuffle_ps( z, z, 0xa8); + x = _mm_shuffle_ps( xy, xy, 0xa8); + y = _mm_shuffle_ps( xy, xy, 0xfd); + z = z*vHi; + } + break; + case 1: + { + float4 xy = vertices[0]; + z = _mm_shuffle_ps( xy, xy, 0xaa); + xy = xy*vLo; + z = z*vHi; + x = _mm_shuffle_ps(xy, xy, 0); + y = _mm_shuffle_ps(xy, xy, 0x55); + } + break; + } + x = x+y; + x = x+z; + stack_array[index] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + index++; + } + + // if we found a new max. + if( 0 == segment || 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(max, dotMax))) + { // we found a new max. Search for it + // find max across the max vector, place in all elements of max -- big latency hit here + max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0x4e)); + max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0xb1)); + + // It is slightly faster to do this part in scalar code when count < 8. However, the common case for + // this where it actually makes a difference is handled in the early out at the top of the function, + // so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced + // complexity, and removed it. + + dotMax = max; + + // scan for the first occurence of max in the array + size_t test; + for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], max))); index++ ) // local_count must be a multiple of 4 + {} + maxIndex = 4*index + segment + indexTable[test]; + } + + _mm_store_ss( dotResult, dotMax); + return maxIndex; +} + +long _mindot_large( const float *vv, const float *vec, unsigned long count, float *dotResult ); + +long _mindot_large( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + const float4 *vertices = (const float4*) vv; + static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 }; + float4 dotmin = btAssign128( BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY ); + float4 vvec = _mm_loadu_ps( vec ); + float4 vHi = btCastiTo128f(_mm_shuffle_epi32( btCastfTo128i( vvec), 0xaa )); /// zzzz + float4 vLo = _mm_movelh_ps( vvec, vvec ); /// xyxy + + long minIndex = -1L; + + size_t segment = 0; + float4 stack_array[ STACK_ARRAY_COUNT ]; + +#if DEBUG + //memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) ); +#endif + + size_t index; + float4 min; + // Faster loop without cleanup code for full tiles + for ( segment = 0; segment + STACK_ARRAY_COUNT*4 <= count; segment += STACK_ARRAY_COUNT*4 ) + { + min = dotmin; + + for( index = 0; index < STACK_ARRAY_COUNT; index+= 4 ) + { // do four dot products at a time. Carefully avoid touching the w element. + float4 v0 = vertices[0]; + float4 v1 = vertices[1]; + float4 v2 = vertices[2]; + float4 v3 = vertices[3]; vertices += 4; + + float4 lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + float4 hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + float4 lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + float4 hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); + float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); + float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index] = x; + min = _mm_min_ps( x, min ); // control the order here so that min is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+1] = x; + min = _mm_min_ps( x, min ); // control the order here so that min is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+2] = x; + min = _mm_min_ps( x, min ); // control the order here so that min is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+3] = x; + min = _mm_min_ps( x, min ); // control the order here so that min is never NaN even if x is nan + + // It is too costly to keep the index of the min here. We will look for it again later. We save a lot of work this way. + } + + // If we found a new min + if( 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(min, dotmin))) + { + // copy the new min across all lanes of our min accumulator + min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0x4e)); + min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0xb1)); + + dotmin = min; + + // find first occurrence of that min + size_t test; + for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], min))); index++ ) // local_count must be a multiple of 4 + {} + // record where it is. + minIndex = 4*index + segment + indexTable[test]; + } + } + + // account for work we've already done + count -= segment; + + // Deal with the last < STACK_ARRAY_COUNT vectors + min = dotmin; + index = 0; + + + if(btUnlikely( count > 16) ) + { + for( ; index + 4 <= count / 4; index+=4 ) + { // do four dot products at a time. Carefully avoid touching the w element. + float4 v0 = vertices[0]; + float4 v1 = vertices[1]; + float4 v2 = vertices[2]; + float4 v3 = vertices[3]; vertices += 4; + + float4 lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + float4 hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + float4 lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + float4 hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); + float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); + float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index] = x; + min = _mm_min_ps( x, min ); // control the order here so that min is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+1] = x; + min = _mm_min_ps( x, min ); // control the order here so that min is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+2] = x; + min = _mm_min_ps( x, min ); // control the order here so that min is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+3] = x; + min = _mm_min_ps( x, min ); // control the order here so that min is never NaN even if x is nan + + // It is too costly to keep the index of the min here. We will look for it again later. We save a lot of work this way. + } + } + + size_t localCount = (count & -4L) - 4*index; + if( localCount ) + { + + +#ifdef __APPLE__ + vertices += localCount; // counter the offset + float4 t0, t1, t2, t3, t4; + size_t byteIndex = -(localCount) * sizeof(float); + float4 * sap = &stack_array[index + localCount / 4]; + + asm volatile + ( ".align 4 \n\ + 0: movaps %[min], %[t2] // move min out of the way to avoid propagating NaNs in min \n\ + movaps (%[vertices], %[byteIndex], 4), %[t0] // vertices[0] \n\ + movaps 16(%[vertices], %[byteIndex], 4), %[t1] // vertices[1] \n\ + movaps %[t0], %[min] // vertices[0] \n\ + movlhps %[t1], %[min] // x0y0x1y1 \n\ + movaps 32(%[vertices], %[byteIndex], 4), %[t3] // vertices[2] \n\ + movaps 48(%[vertices], %[byteIndex], 4), %[t4] // vertices[3] \n\ + mulps %[vLo], %[min] // x0y0x1y1 * vLo \n\ + movhlps %[t0], %[t1] // z0w0z1w1 \n\ + movaps %[t3], %[t0] // vertices[2] \n\ + movlhps %[t4], %[t0] // x2y2x3y3 \n\ + movhlps %[t3], %[t4] // z2w2z3w3 \n\ + mulps %[vLo], %[t0] // x2y2x3y3 * vLo \n\ + shufps $0x88, %[t4], %[t1] // z0z1z2z3 \n\ + mulps %[vHi], %[t1] // z0z1z2z3 * vHi \n\ + movaps %[min], %[t3] // x0y0x1y1 * vLo \n\ + shufps $0x88, %[t0], %[min] // x0x1x2x3 * vLo.x \n\ + shufps $0xdd, %[t0], %[t3] // y0y1y2y3 * vLo.y \n\ + addps %[t3], %[min] // x + y \n\ + addps %[t1], %[min] // x + y + z \n\ + movaps %[min], (%[sap], %[byteIndex]) // record result for later scrutiny \n\ + minps %[t2], %[min] // record min, restore min \n\ + add $16, %[byteIndex] // advance loop counter\n\ + jnz 0b \n\ + " + : [min] "+x" (min), [t0] "=&x" (t0), [t1] "=&x" (t1), [t2] "=&x" (t2), [t3] "=&x" (t3), [t4] "=&x" (t4), [byteIndex] "+r" (byteIndex) + : [vLo] "x" (vLo), [vHi] "x" (vHi), [vertices] "r" (vertices), [sap] "r" (sap) + : "memory", "cc" + ); + index += localCount/4; +#else + { + for( unsigned int i=0; i<localCount/4; i++,index++) + { // do four dot products at a time. Carefully avoid touching the w element. + float4 v0 = vertices[0]; + float4 v1 = vertices[1]; + float4 v2 = vertices[2]; + float4 v3 = vertices[3]; + vertices += 4; + + float4 lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + float4 hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + float4 lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + float4 hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); + float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); + float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index] = x; + min = _mm_min_ps( x, min ); // control the order here so that max is never NaN even if x is nan + } + } + +#endif + } + + // process the last few points + if( count & 3 ) + { + float4 v0, v1, v2, x, y, z; + switch( count & 3 ) + { + case 3: + { + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + + // Calculate 3 dot products, transpose, duplicate v2 + float4 lo0 = _mm_movelh_ps( v0, v1); // xyxy.lo + float4 hi0 = _mm_movehl_ps( v1, v0); // z?z?.lo + lo0 = lo0*vLo; + z = _mm_shuffle_ps(hi0, v2, 0xa8 ); // z0z1z2z2 + z = z*vHi; + float4 lo1 = _mm_movelh_ps(v2, v2); // xyxy + lo1 = lo1*vLo; + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + } + break; + case 2: + { + v0 = vertices[0]; + v1 = vertices[1]; + float4 xy = _mm_movelh_ps(v0, v1); + z = _mm_movehl_ps(v1, v0); + xy = xy*vLo; + z = _mm_shuffle_ps( z, z, 0xa8); + x = _mm_shuffle_ps( xy, xy, 0xa8); + y = _mm_shuffle_ps( xy, xy, 0xfd); + z = z*vHi; + } + break; + case 1: + { + float4 xy = vertices[0]; + z = _mm_shuffle_ps( xy, xy, 0xaa); + xy = xy*vLo; + z = z*vHi; + x = _mm_shuffle_ps(xy, xy, 0); + y = _mm_shuffle_ps(xy, xy, 0x55); + } + break; + } + x = x+y; + x = x+z; + stack_array[index] = x; + min = _mm_min_ps( x, min ); // control the order here so that min is never NaN even if x is nan + index++; + } + + // if we found a new min. + if( 0 == segment || 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(min, dotmin))) + { // we found a new min. Search for it + // find min across the min vector, place in all elements of min -- big latency hit here + min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0x4e)); + min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0xb1)); + + // It is slightly faster to do this part in scalar code when count < 8. However, the common case for + // this where it actually makes a difference is handled in the early out at the top of the function, + // so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced + // complexity, and removed it. + + dotmin = min; + + // scan for the first occurence of min in the array + size_t test; + for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], min))); index++ ) // local_count must be a multiple of 4 + {} + minIndex = 4*index + segment + indexTable[test]; + } + + _mm_store_ss( dotResult, dotmin); + return minIndex; +} + + +#elif defined BT_USE_NEON + +#define ARM_NEON_GCC_COMPATIBILITY 1 +#include <arm_neon.h> +#include <sys/types.h> +#include <sys/sysctl.h> //for sysctlbyname + +static long _maxdot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult ); +static long _maxdot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult ); +static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult ); +static long _mindot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult ); +static long _mindot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult ); +static long _mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult ); + +long (*_maxdot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _maxdot_large_sel; +long (*_mindot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _mindot_large_sel; + + +static inline uint32_t btGetCpuCapabilities( void ) +{ + static uint32_t capabilities = 0; + static bool testedCapabilities = false; + + if( 0 == testedCapabilities) + { + uint32_t hasFeature = 0; + size_t featureSize = sizeof( hasFeature ); + int err = sysctlbyname( "hw.optional.neon_hpfp", &hasFeature, &featureSize, NULL, 0 ); + + if( 0 == err && hasFeature) + capabilities |= 0x2000; + + testedCapabilities = true; + } + + return capabilities; +} + + + + +static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + + if( btGetCpuCapabilities() & 0x2000 ) + _maxdot_large = _maxdot_large_v1; + else + _maxdot_large = _maxdot_large_v0; + + return _maxdot_large(vv, vec, count, dotResult); +} + +static long _mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + + if( btGetCpuCapabilities() & 0x2000 ) + _mindot_large = _mindot_large_v1; + else + _mindot_large = _mindot_large_v0; + + return _mindot_large(vv, vec, count, dotResult); +} + + + +#if defined __arm__ +# define vld1q_f32_aligned_postincrement( _ptr ) ({ float32x4_t _r; asm( "vld1.f32 {%0}, [%1, :128]!\n" : "=w" (_r), "+r" (_ptr) ); /*return*/ _r; }) +#else +//support 64bit arm +# define vld1q_f32_aligned_postincrement( _ptr) ({ float32x4_t _r = ((float32x4_t*)(_ptr))[0]; (_ptr) = (const float*) ((const char*)(_ptr) + 16L); /*return*/ _r; }) +#endif + + +long _maxdot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + unsigned long i = 0; + float32x4_t vvec = vld1q_f32_aligned_postincrement( vec ); + float32x2_t vLo = vget_low_f32(vvec); + float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0); + float32x2_t dotMaxLo = (float32x2_t) { -BT_INFINITY, -BT_INFINITY }; + float32x2_t dotMaxHi = (float32x2_t) { -BT_INFINITY, -BT_INFINITY }; + uint32x2_t indexLo = (uint32x2_t) {0, 1}; + uint32x2_t indexHi = (uint32x2_t) {2, 3}; + uint32x2_t iLo = (uint32x2_t) {static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)}; + uint32x2_t iHi = (uint32x2_t) {static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)}; + const uint32x2_t four = (uint32x2_t) {4,4}; + + for( ; i+8 <= count; i+= 8 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo); + float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + float32x2_t zHi = vmul_f32( z1.val[0], vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + float32x2_t rHi = vpadd_f32( xy2, xy3); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo ); + uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi ); + dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo); + dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + indexLo = vadd_u32(indexLo, four); + indexHi = vadd_u32(indexHi, four); + + v0 = vld1q_f32_aligned_postincrement( vv ); + v1 = vld1q_f32_aligned_postincrement( vv ); + v2 = vld1q_f32_aligned_postincrement( vv ); + v3 = vld1q_f32_aligned_postincrement( vv ); + + xy0 = vmul_f32( vget_low_f32(v0), vLo); + xy1 = vmul_f32( vget_low_f32(v1), vLo); + xy2 = vmul_f32( vget_low_f32(v2), vLo); + xy3 = vmul_f32( vget_low_f32(v3), vLo); + + z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3)); + zLo = vmul_f32( z0.val[0], vHi); + zHi = vmul_f32( z1.val[0], vHi); + + rLo = vpadd_f32( xy0, xy1); + rHi = vpadd_f32( xy2, xy3); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + maskLo = vcgt_f32( rLo, dotMaxLo ); + maskHi = vcgt_f32( rHi, dotMaxHi ); + dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo); + dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + indexLo = vadd_u32(indexLo, four); + indexHi = vadd_u32(indexHi, four); + } + + for( ; i+4 <= count; i+= 4 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo); + float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + float32x2_t zHi = vmul_f32( z1.val[0], vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + float32x2_t rHi = vpadd_f32( xy2, xy3); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo ); + uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi ); + dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo); + dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + indexLo = vadd_u32(indexLo, four); + indexHi = vadd_u32(indexHi, four); + } + + switch( count & 3 ) + { + case 3: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + float32x2_t zHi = vmul_f32( vdup_lane_f32(vget_high_f32(v2), 0), vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + float32x2_t rHi = vpadd_f32( xy2, xy2); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo ); + uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi ); + dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo); + dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + } + break; + case 2: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + rLo = vadd_f32(rLo, zLo); + + uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo ); + dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo); + iLo = vbsl_u32(maskLo, indexLo, iLo); + } + break; + case 1: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0); + float32x2_t zLo = vmul_f32( z0, vHi); + float32x2_t rLo = vpadd_f32( xy0, xy0); + rLo = vadd_f32(rLo, zLo); + uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo ); + dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo); + iLo = vbsl_u32(maskLo, indexLo, iLo); + } + break; + + default: + break; + } + + // select best answer between hi and lo results + uint32x2_t mask = vcgt_f32( dotMaxHi, dotMaxLo ); + dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo); + iLo = vbsl_u32(mask, iHi, iLo); + + // select best answer between even and odd results + dotMaxHi = vdup_lane_f32(dotMaxLo, 1); + iHi = vdup_lane_u32(iLo, 1); + mask = vcgt_f32( dotMaxHi, dotMaxLo ); + dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo); + iLo = vbsl_u32(mask, iHi, iLo); + + *dotResult = vget_lane_f32( dotMaxLo, 0); + return vget_lane_u32(iLo, 0); +} + + +long _maxdot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + float32x4_t vvec = vld1q_f32_aligned_postincrement( vec ); + float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec)); + float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0); + const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 }; + uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3}; + uint32x4_t index = (uint32x4_t) { static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1) }; + float32x4_t maxDot = (float32x4_t) { -BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY }; + + unsigned long i = 0; + for( ; i + 8 <= count; i += 8 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z1); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy1); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcgtq_f32(x, maxDot); + maxDot = vbslq_f32( mask, x, maxDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + + v0 = vld1q_f32_aligned_postincrement( vv ); + v1 = vld1q_f32_aligned_postincrement( vv ); + v2 = vld1q_f32_aligned_postincrement( vv ); + v3 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3)); + // the next two lines should resolve to a single vswp d, d + z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + zb = vuzpq_f32( z0, z1); + z = vmulq_f32( zb.val[0], vHi); + xy = vuzpq_f32( xy0, xy1); + x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + mask = vcgtq_f32(x, maxDot); + maxDot = vbslq_f32( mask, x, maxDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + + for( ; i + 4 <= count; i += 4 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z1); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy1); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcgtq_f32(x, maxDot); + maxDot = vbslq_f32( mask, x, maxDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + + switch (count & 3) { + case 3: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v2)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v2)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z1); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy1); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcgtq_f32(x, maxDot); + maxDot = vbslq_f32( mask, x, maxDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + break; + + case 2: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + + xy0 = vmulq_f32(xy0, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z0); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy0); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcgtq_f32(x, maxDot); + maxDot = vbslq_f32( mask, x, maxDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + break; + + case 1: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v0)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0); + + xy0 = vmulq_f32(xy0, vLo); + + z = vmulq_f32( z, vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy0); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcgtq_f32(x, maxDot); + maxDot = vbslq_f32( mask, x, maxDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + break; + + default: + break; + } + + + // select best answer between hi and lo results + uint32x2_t mask = vcgt_f32( vget_high_f32(maxDot), vget_low_f32(maxDot)); + float32x2_t maxDot2 = vbsl_f32(mask, vget_high_f32(maxDot), vget_low_f32(maxDot)); + uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index)); + + // select best answer between even and odd results + float32x2_t maxDotO = vdup_lane_f32(maxDot2, 1); + uint32x2_t indexHi = vdup_lane_u32(index2, 1); + mask = vcgt_f32( maxDotO, maxDot2 ); + maxDot2 = vbsl_f32(mask, maxDotO, maxDot2); + index2 = vbsl_u32(mask, indexHi, index2); + + *dotResult = vget_lane_f32( maxDot2, 0); + return vget_lane_u32(index2, 0); + +} + +long _mindot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + unsigned long i = 0; + float32x4_t vvec = vld1q_f32_aligned_postincrement( vec ); + float32x2_t vLo = vget_low_f32(vvec); + float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0); + float32x2_t dotMinLo = (float32x2_t) { BT_INFINITY, BT_INFINITY }; + float32x2_t dotMinHi = (float32x2_t) { BT_INFINITY, BT_INFINITY }; + uint32x2_t indexLo = (uint32x2_t) {0, 1}; + uint32x2_t indexHi = (uint32x2_t) {2, 3}; + uint32x2_t iLo = (uint32x2_t) {static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)}; + uint32x2_t iHi = (uint32x2_t) {static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)}; + const uint32x2_t four = (uint32x2_t) {4,4}; + + for( ; i+8 <= count; i+= 8 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo); + float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + float32x2_t zHi = vmul_f32( z1.val[0], vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + float32x2_t rHi = vpadd_f32( xy2, xy3); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + uint32x2_t maskLo = vclt_f32( rLo, dotMinLo ); + uint32x2_t maskHi = vclt_f32( rHi, dotMinHi ); + dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo); + dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + indexLo = vadd_u32(indexLo, four); + indexHi = vadd_u32(indexHi, four); + + v0 = vld1q_f32_aligned_postincrement( vv ); + v1 = vld1q_f32_aligned_postincrement( vv ); + v2 = vld1q_f32_aligned_postincrement( vv ); + v3 = vld1q_f32_aligned_postincrement( vv ); + + xy0 = vmul_f32( vget_low_f32(v0), vLo); + xy1 = vmul_f32( vget_low_f32(v1), vLo); + xy2 = vmul_f32( vget_low_f32(v2), vLo); + xy3 = vmul_f32( vget_low_f32(v3), vLo); + + z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3)); + zLo = vmul_f32( z0.val[0], vHi); + zHi = vmul_f32( z1.val[0], vHi); + + rLo = vpadd_f32( xy0, xy1); + rHi = vpadd_f32( xy2, xy3); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + maskLo = vclt_f32( rLo, dotMinLo ); + maskHi = vclt_f32( rHi, dotMinHi ); + dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo); + dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + indexLo = vadd_u32(indexLo, four); + indexHi = vadd_u32(indexHi, four); + } + + for( ; i+4 <= count; i+= 4 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo); + float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + float32x2_t zHi = vmul_f32( z1.val[0], vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + float32x2_t rHi = vpadd_f32( xy2, xy3); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + uint32x2_t maskLo = vclt_f32( rLo, dotMinLo ); + uint32x2_t maskHi = vclt_f32( rHi, dotMinHi ); + dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo); + dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + indexLo = vadd_u32(indexLo, four); + indexHi = vadd_u32(indexHi, four); + } + switch( count & 3 ) + { + case 3: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + float32x2_t zHi = vmul_f32( vdup_lane_f32(vget_high_f32(v2), 0), vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + float32x2_t rHi = vpadd_f32( xy2, xy2); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + uint32x2_t maskLo = vclt_f32( rLo, dotMinLo ); + uint32x2_t maskHi = vclt_f32( rHi, dotMinHi ); + dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo); + dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + } + break; + case 2: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + rLo = vadd_f32(rLo, zLo); + + uint32x2_t maskLo = vclt_f32( rLo, dotMinLo ); + dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo); + iLo = vbsl_u32(maskLo, indexLo, iLo); + } + break; + case 1: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0); + float32x2_t zLo = vmul_f32( z0, vHi); + float32x2_t rLo = vpadd_f32( xy0, xy0); + rLo = vadd_f32(rLo, zLo); + uint32x2_t maskLo = vclt_f32( rLo, dotMinLo ); + dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo); + iLo = vbsl_u32(maskLo, indexLo, iLo); + } + break; + + default: + break; + } + + // select best answer between hi and lo results + uint32x2_t mask = vclt_f32( dotMinHi, dotMinLo ); + dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo); + iLo = vbsl_u32(mask, iHi, iLo); + + // select best answer between even and odd results + dotMinHi = vdup_lane_f32(dotMinLo, 1); + iHi = vdup_lane_u32(iLo, 1); + mask = vclt_f32( dotMinHi, dotMinLo ); + dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo); + iLo = vbsl_u32(mask, iHi, iLo); + + *dotResult = vget_lane_f32( dotMinLo, 0); + return vget_lane_u32(iLo, 0); +} + +long _mindot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + float32x4_t vvec = vld1q_f32_aligned_postincrement( vec ); + float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec)); + float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0); + const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 }; + uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3}; + uint32x4_t index = (uint32x4_t) { static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1) }; + float32x4_t minDot = (float32x4_t) { BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY }; + + unsigned long i = 0; + for( ; i + 8 <= count; i += 8 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z1); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy1); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcltq_f32(x, minDot); + minDot = vbslq_f32( mask, x, minDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + + v0 = vld1q_f32_aligned_postincrement( vv ); + v1 = vld1q_f32_aligned_postincrement( vv ); + v2 = vld1q_f32_aligned_postincrement( vv ); + v3 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3)); + // the next two lines should resolve to a single vswp d, d + z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + zb = vuzpq_f32( z0, z1); + z = vmulq_f32( zb.val[0], vHi); + xy = vuzpq_f32( xy0, xy1); + x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + mask = vcltq_f32(x, minDot); + minDot = vbslq_f32( mask, x, minDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + + for( ; i + 4 <= count; i += 4 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z1); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy1); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcltq_f32(x, minDot); + minDot = vbslq_f32( mask, x, minDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + + switch (count & 3) { + case 3: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v2)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v2)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z1); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy1); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcltq_f32(x, minDot); + minDot = vbslq_f32( mask, x, minDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + break; + + case 2: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + + xy0 = vmulq_f32(xy0, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z0); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy0); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcltq_f32(x, minDot); + minDot = vbslq_f32( mask, x, minDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + break; + + case 1: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v0)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0); + + xy0 = vmulq_f32(xy0, vLo); + + z = vmulq_f32( z, vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy0); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcltq_f32(x, minDot); + minDot = vbslq_f32( mask, x, minDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + break; + + default: + break; + } + + + // select best answer between hi and lo results + uint32x2_t mask = vclt_f32( vget_high_f32(minDot), vget_low_f32(minDot)); + float32x2_t minDot2 = vbsl_f32(mask, vget_high_f32(minDot), vget_low_f32(minDot)); + uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index)); + + // select best answer between even and odd results + float32x2_t minDotO = vdup_lane_f32(minDot2, 1); + uint32x2_t indexHi = vdup_lane_u32(index2, 1); + mask = vclt_f32( minDotO, minDot2 ); + minDot2 = vbsl_f32(mask, minDotO, minDot2); + index2 = vbsl_u32(mask, indexHi, index2); + + *dotResult = vget_lane_f32( minDot2, 0); + return vget_lane_u32(index2, 0); + +} + +#else + #error Unhandled __APPLE__ arch +#endif + +#endif /* __APPLE__ */ + + diff --git a/thirdparty/bullet/src/LinearMath/btVector3.h b/thirdparty/bullet/src/LinearMath/btVector3.h new file mode 100644 index 0000000000..c69effa96e --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/btVector3.h @@ -0,0 +1,1363 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / 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 BT_VECTOR3_H +#define BT_VECTOR3_H + +//#include <stdint.h> +#include "btScalar.h" +#include "btMinMax.h" +#include "btAlignedAllocator.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btVector3Data btVector3DoubleData +#define btVector3DataName "btVector3DoubleData" +#else +#define btVector3Data btVector3FloatData +#define btVector3DataName "btVector3FloatData" +#endif //BT_USE_DOUBLE_PRECISION + +#if defined BT_USE_SSE + +//typedef uint32_t __m128i __attribute__ ((vector_size(16))); + +#ifdef _MSC_VER +#pragma warning(disable: 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255' +#endif + + +#define BT_SHUFFLE(x,y,z,w) ((w)<<6 | (z)<<4 | (y)<<2 | (x)) +//#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) ) +#define bt_pshufd_ps( _a, _mask ) _mm_shuffle_ps((_a), (_a), (_mask) ) +#define bt_splat3_ps( _a, _i ) bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i, 3) ) +#define bt_splat_ps( _a, _i ) bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i,_i) ) + +#define btv3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF)) +#define btvAbsMask (_mm_set_epi32( 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF)) +#define btvFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF)) +#define btv3AbsfMask btCastiTo128f(btv3AbsiMask) +#define btvFFF0fMask btCastiTo128f(btvFFF0Mask) +#define btvxyzMaskf btvFFF0fMask +#define btvAbsfMask btCastiTo128f(btvAbsMask) + +//there is an issue with XCode 3.2 (LCx errors) +#define btvMzeroMask (_mm_set_ps(-0.0f, -0.0f, -0.0f, -0.0f)) +#define v1110 (_mm_set_ps(0.0f, 1.0f, 1.0f, 1.0f)) +#define vHalf (_mm_set_ps(0.5f, 0.5f, 0.5f, 0.5f)) +#define v1_5 (_mm_set_ps(1.5f, 1.5f, 1.5f, 1.5f)) + +//const __m128 ATTRIBUTE_ALIGNED16(btvMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(v1110) = {1.0f, 1.0f, 1.0f, 0.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(vHalf) = {0.5f, 0.5f, 0.5f, 0.5f}; +//const __m128 ATTRIBUTE_ALIGNED16(v1_5) = {1.5f, 1.5f, 1.5f, 1.5f}; + +#endif + +#ifdef BT_USE_NEON + +const float32x4_t ATTRIBUTE_ALIGNED16(btvMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f}; +const int32x4_t ATTRIBUTE_ALIGNED16(btvFFF0Mask) = (int32x4_t){static_cast<int32_t>(0xFFFFFFFF), + static_cast<int32_t>(0xFFFFFFFF), static_cast<int32_t>(0xFFFFFFFF), 0x0}; +const int32x4_t ATTRIBUTE_ALIGNED16(btvAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF}; +const int32x4_t ATTRIBUTE_ALIGNED16(btv3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0}; + +#endif + +/**@brief btVector3 can be used to represent 3D points and vectors. + * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user + * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers + */ +ATTRIBUTE_ALIGNED16(class) btVector3 +{ +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + +#if defined (__SPU__) && defined (__CELLOS_LV2__) + btScalar m_floats[4]; +public: + SIMD_FORCE_INLINE const vec_float4& get128() const + { + return *((const vec_float4*)&m_floats[0]); + } +public: +#else //__CELLOS_LV2__ __SPU__ + #if defined (BT_USE_SSE) || defined(BT_USE_NEON) // _WIN32 || ARM + union { + btSimdFloat4 mVec128; + btScalar m_floats[4]; + }; + SIMD_FORCE_INLINE btSimdFloat4 get128() const + { + return mVec128; + } + SIMD_FORCE_INLINE void set128(btSimdFloat4 v128) + { + mVec128 = v128; + } + #else + btScalar m_floats[4]; + #endif +#endif //__CELLOS_LV2__ __SPU__ + + public: + + /**@brief No initialization constructor */ + SIMD_FORCE_INLINE btVector3() + { + + } + + + + /**@brief Constructor from scalars + * @param x X value + * @param y Y value + * @param z Z value + */ + SIMD_FORCE_INLINE btVector3(const btScalar& _x, const btScalar& _y, const btScalar& _z) + { + m_floats[0] = _x; + m_floats[1] = _y; + m_floats[2] = _z; + m_floats[3] = btScalar(0.f); + } + +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) )|| defined (BT_USE_NEON) + // Set Vector + SIMD_FORCE_INLINE btVector3( btSimdFloat4 v) + { + mVec128 = v; + } + + // Copy constructor + SIMD_FORCE_INLINE btVector3(const btVector3& rhs) + { + mVec128 = rhs.mVec128; + } + + // Assignment Operator + SIMD_FORCE_INLINE btVector3& + operator=(const btVector3& v) + { + mVec128 = v.mVec128; + + return *this; + } +#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + +/**@brief Add a vector to this one + * @param The vector to add to this one */ + SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_add_ps(mVec128, v.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vaddq_f32(mVec128, v.mVec128); +#else + m_floats[0] += v.m_floats[0]; + m_floats[1] += v.m_floats[1]; + m_floats[2] += v.m_floats[2]; +#endif + return *this; + } + + + /**@brief Subtract a vector from this one + * @param The vector to subtract */ + SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_sub_ps(mVec128, v.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vsubq_f32(mVec128, v.mVec128); +#else + m_floats[0] -= v.m_floats[0]; + m_floats[1] -= v.m_floats[1]; + m_floats[2] -= v.m_floats[2]; +#endif + return *this; + } + + /**@brief Scale the vector + * @param s Scale factor */ + SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vs = _mm_load_ss(&s); // (S 0 0 0) + vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0) + mVec128 = _mm_mul_ps(mVec128, vs); +#elif defined(BT_USE_NEON) + mVec128 = vmulq_n_f32(mVec128, s); +#else + m_floats[0] *= s; + m_floats[1] *= s; + m_floats[2] *= s; +#endif + return *this; + } + + /**@brief Inversely scale the vector + * @param s Scale factor to divide by */ + SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s) + { + btFullAssert(s != btScalar(0.0)); + +#if 0 //defined(BT_USE_SSE_IN_API) +// this code is not faster ! + __m128 vs = _mm_load_ss(&s); + vs = _mm_div_ss(v1110, vs); + vs = bt_pshufd_ps(vs, 0x00); // (S S S S) + + mVec128 = _mm_mul_ps(mVec128, vs); + + return *this; +#else + return *this *= btScalar(1.0) / s; +#endif + } + + /**@brief Return the dot product + * @param v The other vector in the dot product */ + SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vd = _mm_mul_ps(mVec128, v.mVec128); + __m128 z = _mm_movehl_ps(vd, vd); + __m128 y = _mm_shuffle_ps(vd, vd, 0x55); + vd = _mm_add_ss(vd, y); + vd = _mm_add_ss(vd, z); + return _mm_cvtss_f32(vd); +#elif defined(BT_USE_NEON) + float32x4_t vd = vmulq_f32(mVec128, v.mVec128); + float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd)); + x = vadd_f32(x, vget_high_f32(vd)); + return vget_lane_f32(x, 0); +#else + return m_floats[0] * v.m_floats[0] + + m_floats[1] * v.m_floats[1] + + m_floats[2] * v.m_floats[2]; +#endif + } + + /**@brief Return the length of the vector squared */ + SIMD_FORCE_INLINE btScalar length2() const + { + return dot(*this); + } + + /**@brief Return the length of the vector */ + SIMD_FORCE_INLINE btScalar length() const + { + return btSqrt(length2()); + } + + /**@brief Return the norm (length) of the vector */ + SIMD_FORCE_INLINE btScalar norm() const + { + return length(); + } + + /**@brief Return the norm (length) of the vector */ + SIMD_FORCE_INLINE btScalar safeNorm() const + { + btScalar d = length2(); + //workaround for some clang/gcc issue of sqrtf(tiny number) = -INF + if (d>SIMD_EPSILON) + return btSqrt(d); + return btScalar(0); + } + + /**@brief Return the distance squared between the ends of this and another vector + * This is symantically treating the vector like a point */ + SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const; + + /**@brief Return the distance between the ends of this and another vector + * This is symantically treating the vector like a point */ + SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const; + + SIMD_FORCE_INLINE btVector3& safeNormalize() + { + btScalar l2 = length2(); + //triNormal.normalize(); + if (l2 >= SIMD_EPSILON*SIMD_EPSILON) + { + (*this) /= btSqrt(l2); + } + else + { + setValue(1, 0, 0); + } + return *this; + } + + /**@brief Normalize this vector + * x^2 + y^2 + z^2 = 1 */ + SIMD_FORCE_INLINE btVector3& normalize() + { + + btAssert(!fuzzyZero()); + +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + // dot product first + __m128 vd = _mm_mul_ps(mVec128, mVec128); + __m128 z = _mm_movehl_ps(vd, vd); + __m128 y = _mm_shuffle_ps(vd, vd, 0x55); + vd = _mm_add_ss(vd, y); + vd = _mm_add_ss(vd, z); + + #if 0 + vd = _mm_sqrt_ss(vd); + vd = _mm_div_ss(v1110, vd); + vd = bt_splat_ps(vd, 0x80); + mVec128 = _mm_mul_ps(mVec128, vd); + #else + + // NR step 1/sqrt(x) - vd is x, y is output + y = _mm_rsqrt_ss(vd); // estimate + + // one step NR + z = v1_5; + vd = _mm_mul_ss(vd, vHalf); // vd * 0.5 + //x2 = vd; + vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 + vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 * y0 + z = _mm_sub_ss(z, vd); // 1.5 - vd * 0.5 * y0 * y0 + + y = _mm_mul_ss(y, z); // y0 * (1.5 - vd * 0.5 * y0 * y0) + + y = bt_splat_ps(y, 0x80); + mVec128 = _mm_mul_ps(mVec128, y); + + #endif + + + return *this; +#else + return *this /= length(); +#endif + } + + /**@brief Return a normalized version of this vector */ + SIMD_FORCE_INLINE btVector3 normalized() const; + + /**@brief Return a rotated version of this vector + * @param wAxis The axis to rotate about + * @param angle The angle to rotate by */ + SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle ) const; + + /**@brief Return the angle between this and another vector + * @param v The other vector */ + SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const + { + btScalar s = btSqrt(length2() * v.length2()); + btFullAssert(s != btScalar(0.0)); + return btAcos(dot(v) / s); + } + + /**@brief Return a vector with the absolute values of each element */ + SIMD_FORCE_INLINE btVector3 absolute() const + { + +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector3(_mm_and_ps(mVec128, btv3AbsfMask)); +#elif defined(BT_USE_NEON) + return btVector3(vabsq_f32(mVec128)); +#else + return btVector3( + btFabs(m_floats[0]), + btFabs(m_floats[1]), + btFabs(m_floats[2])); +#endif + } + + /**@brief Return the cross product between this and another vector + * @param v The other vector */ + SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 T, V; + + T = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) + V = bt_pshufd_ps(v.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) + + V = _mm_mul_ps(V, mVec128); + T = _mm_mul_ps(T, v.mVec128); + V = _mm_sub_ps(V, T); + + V = bt_pshufd_ps(V, BT_SHUFFLE(1, 2, 0, 3)); + return btVector3(V); +#elif defined(BT_USE_NEON) + float32x4_t T, V; + // form (Y, Z, X, _) of mVec128 and v.mVec128 + float32x2_t Tlow = vget_low_f32(mVec128); + float32x2_t Vlow = vget_low_f32(v.mVec128); + T = vcombine_f32(vext_f32(Tlow, vget_high_f32(mVec128), 1), Tlow); + V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v.mVec128), 1), Vlow); + + V = vmulq_f32(V, mVec128); + T = vmulq_f32(T, v.mVec128); + V = vsubq_f32(V, T); + Vlow = vget_low_f32(V); + // form (Y, Z, X, _); + V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow); + V = (float32x4_t)vandq_s32((int32x4_t)V, btvFFF0Mask); + + return btVector3(V); +#else + return btVector3( + m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1], + m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2], + m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]); +#endif + } + + SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + // cross: + __m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) + __m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) + + V = _mm_mul_ps(V, v1.mVec128); + T = _mm_mul_ps(T, v2.mVec128); + V = _mm_sub_ps(V, T); + + V = _mm_shuffle_ps(V, V, BT_SHUFFLE(1, 2, 0, 3)); + + // dot: + V = _mm_mul_ps(V, mVec128); + __m128 z = _mm_movehl_ps(V, V); + __m128 y = _mm_shuffle_ps(V, V, 0x55); + V = _mm_add_ss(V, y); + V = _mm_add_ss(V, z); + return _mm_cvtss_f32(V); + +#elif defined(BT_USE_NEON) + // cross: + float32x4_t T, V; + // form (Y, Z, X, _) of mVec128 and v.mVec128 + float32x2_t Tlow = vget_low_f32(v1.mVec128); + float32x2_t Vlow = vget_low_f32(v2.mVec128); + T = vcombine_f32(vext_f32(Tlow, vget_high_f32(v1.mVec128), 1), Tlow); + V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v2.mVec128), 1), Vlow); + + V = vmulq_f32(V, v1.mVec128); + T = vmulq_f32(T, v2.mVec128); + V = vsubq_f32(V, T); + Vlow = vget_low_f32(V); + // form (Y, Z, X, _); + V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow); + + // dot: + V = vmulq_f32(mVec128, V); + float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V)); + x = vadd_f32(x, vget_high_f32(V)); + return vget_lane_f32(x, 0); +#else + return + m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + + m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) + + m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]); +#endif + } + + /**@brief Return the axis with the smallest value + * Note return values are 0,1,2 for x, y, or z */ + SIMD_FORCE_INLINE int minAxis() const + { + return m_floats[0] < m_floats[1] ? (m_floats[0] <m_floats[2] ? 0 : 2) : (m_floats[1] <m_floats[2] ? 1 : 2); + } + + /**@brief Return the axis with the largest value + * Note return values are 0,1,2 for x, y, or z */ + SIMD_FORCE_INLINE int maxAxis() const + { + return m_floats[0] < m_floats[1] ? (m_floats[1] <m_floats[2] ? 2 : 1) : (m_floats[0] <m_floats[2] ? 2 : 0); + } + + SIMD_FORCE_INLINE int furthestAxis() const + { + return absolute().minAxis(); + } + + SIMD_FORCE_INLINE int closestAxis() const + { + return absolute().maxAxis(); + } + + + SIMD_FORCE_INLINE void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vrt = _mm_load_ss(&rt); // (rt 0 0 0) + btScalar s = btScalar(1.0) - rt; + __m128 vs = _mm_load_ss(&s); // (S 0 0 0) + vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0) + __m128 r0 = _mm_mul_ps(v0.mVec128, vs); + vrt = bt_pshufd_ps(vrt, 0x80); // (rt rt rt 0.0) + __m128 r1 = _mm_mul_ps(v1.mVec128, vrt); + __m128 tmp3 = _mm_add_ps(r0,r1); + mVec128 = tmp3; +#elif defined(BT_USE_NEON) + float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128); + vl = vmulq_n_f32(vl, rt); + mVec128 = vaddq_f32(vl, v0.mVec128); +#else + btScalar s = btScalar(1.0) - rt; + m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0]; + m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1]; + m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2]; + //don't do the unused w component + // m_co[3] = s * v0[3] + rt * v1[3]; +#endif + } + + /**@brief Return the linear interpolation between this and another vector + * @param v The other vector + * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */ + SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vt = _mm_load_ss(&t); // (t 0 0 0) + vt = bt_pshufd_ps(vt, 0x80); // (rt rt rt 0.0) + __m128 vl = _mm_sub_ps(v.mVec128, mVec128); + vl = _mm_mul_ps(vl, vt); + vl = _mm_add_ps(vl, mVec128); + + return btVector3(vl); +#elif defined(BT_USE_NEON) + float32x4_t vl = vsubq_f32(v.mVec128, mVec128); + vl = vmulq_n_f32(vl, t); + vl = vaddq_f32(vl, mVec128); + + return btVector3(vl); +#else + return + btVector3( m_floats[0] + (v.m_floats[0] - m_floats[0]) * t, + m_floats[1] + (v.m_floats[1] - m_floats[1]) * t, + m_floats[2] + (v.m_floats[2] - m_floats[2]) * t); +#endif + } + + /**@brief Elementwise multiply this vector by the other + * @param v The other vector */ + SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_mul_ps(mVec128, v.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vmulq_f32(mVec128, v.mVec128); +#else + m_floats[0] *= v.m_floats[0]; + m_floats[1] *= v.m_floats[1]; + m_floats[2] *= v.m_floats[2]; +#endif + return *this; + } + + /**@brief Return the x value */ + SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; } + /**@brief Return the y value */ + SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; } + /**@brief Return the z value */ + SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; } + /**@brief Set the x value */ + SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x;}; + /**@brief Set the y value */ + SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y;}; + /**@brief Set the z value */ + SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z;}; + /**@brief Set the w value */ + SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w;}; + /**@brief Return the x value */ + SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; } + /**@brief Return the y value */ + SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; } + /**@brief Return the z value */ + SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; } + /**@brief Return the w value */ + SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; } + + //SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; } + //SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; } + ///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons. + SIMD_FORCE_INLINE operator btScalar *() { return &m_floats[0]; } + SIMD_FORCE_INLINE operator const btScalar *() const { return &m_floats[0]; } + + SIMD_FORCE_INLINE bool operator==(const btVector3& other) const + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128))); +#else + return ((m_floats[3]==other.m_floats[3]) && + (m_floats[2]==other.m_floats[2]) && + (m_floats[1]==other.m_floats[1]) && + (m_floats[0]==other.m_floats[0])); +#endif + } + + SIMD_FORCE_INLINE bool operator!=(const btVector3& other) const + { + return !(*this == other); + } + + /**@brief Set each element to the max of the current values and the values of another btVector3 + * @param other The other btVector3 to compare with + */ + SIMD_FORCE_INLINE void setMax(const btVector3& other) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_max_ps(mVec128, other.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vmaxq_f32(mVec128, other.mVec128); +#else + btSetMax(m_floats[0], other.m_floats[0]); + btSetMax(m_floats[1], other.m_floats[1]); + btSetMax(m_floats[2], other.m_floats[2]); + btSetMax(m_floats[3], other.w()); +#endif + } + + /**@brief Set each element to the min of the current values and the values of another btVector3 + * @param other The other btVector3 to compare with + */ + SIMD_FORCE_INLINE void setMin(const btVector3& other) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_min_ps(mVec128, other.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vminq_f32(mVec128, other.mVec128); +#else + btSetMin(m_floats[0], other.m_floats[0]); + btSetMin(m_floats[1], other.m_floats[1]); + btSetMin(m_floats[2], other.m_floats[2]); + btSetMin(m_floats[3], other.w()); +#endif + } + + SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z) + { + m_floats[0]=_x; + m_floats[1]=_y; + m_floats[2]=_z; + m_floats[3] = btScalar(0.f); + } + + void getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + + __m128 V = _mm_and_ps(mVec128, btvFFF0fMask); + __m128 V0 = _mm_xor_ps(btvMzeroMask, V); + __m128 V2 = _mm_movelh_ps(V0, V); + + __m128 V1 = _mm_shuffle_ps(V, V0, 0xCE); + + V0 = _mm_shuffle_ps(V0, V, 0xDB); + V2 = _mm_shuffle_ps(V2, V, 0xF9); + + v0->mVec128 = V0; + v1->mVec128 = V1; + v2->mVec128 = V2; +#else + v0->setValue(0. ,-z() ,y()); + v1->setValue(z() ,0. ,-x()); + v2->setValue(-y() ,x() ,0.); +#endif + } + + void setZero() + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128); +#elif defined(BT_USE_NEON) + int32x4_t vi = vdupq_n_s32(0); + mVec128 = vreinterpretq_f32_s32(vi); +#else + setValue(btScalar(0.),btScalar(0.),btScalar(0.)); +#endif + } + + SIMD_FORCE_INLINE bool isZero() const + { + return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0); + } + + + SIMD_FORCE_INLINE bool fuzzyZero() const + { + return length2() < SIMD_EPSILON*SIMD_EPSILON; + } + + SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const; + + SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn); + + SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData& dataOut) const; + + SIMD_FORCE_INLINE void deSerializeFloat(const struct btVector3FloatData& dataIn); + + SIMD_FORCE_INLINE void serializeDouble(struct btVector3DoubleData& dataOut) const; + + SIMD_FORCE_INLINE void deSerializeDouble(const struct btVector3DoubleData& dataIn); + + /**@brief returns index of maximum dot product between this and vectors in array[] + * @param array The other vectors + * @param array_count The number of other vectors + * @param dotOut The maximum dot product */ + SIMD_FORCE_INLINE long maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; + + /**@brief returns index of minimum dot product between this and vectors in array[] + * @param array The other vectors + * @param array_count The number of other vectors + * @param dotOut The minimum dot product */ + SIMD_FORCE_INLINE long minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; + + /* create a vector as btVector3( this->dot( btVector3 v0 ), this->dot( btVector3 v1), this->dot( btVector3 v2 )) */ + SIMD_FORCE_INLINE btVector3 dot3( const btVector3 &v0, const btVector3 &v1, const btVector3 &v2 ) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + + __m128 a0 = _mm_mul_ps( v0.mVec128, this->mVec128 ); + __m128 a1 = _mm_mul_ps( v1.mVec128, this->mVec128 ); + __m128 a2 = _mm_mul_ps( v2.mVec128, this->mVec128 ); + __m128 b0 = _mm_unpacklo_ps( a0, a1 ); + __m128 b1 = _mm_unpackhi_ps( a0, a1 ); + __m128 b2 = _mm_unpacklo_ps( a2, _mm_setzero_ps() ); + __m128 r = _mm_movelh_ps( b0, b2 ); + r = _mm_add_ps( r, _mm_movehl_ps( b2, b0 )); + a2 = _mm_and_ps( a2, btvxyzMaskf); + r = _mm_add_ps( r, btCastdTo128f (_mm_move_sd( btCastfTo128d(a2), btCastfTo128d(b1) ))); + return btVector3(r); + +#elif defined(BT_USE_NEON) + static const uint32x4_t xyzMask = (const uint32x4_t){ static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0 }; + float32x4_t a0 = vmulq_f32( v0.mVec128, this->mVec128); + float32x4_t a1 = vmulq_f32( v1.mVec128, this->mVec128); + float32x4_t a2 = vmulq_f32( v2.mVec128, this->mVec128); + float32x2x2_t zLo = vtrn_f32( vget_high_f32(a0), vget_high_f32(a1)); + a2 = (float32x4_t) vandq_u32((uint32x4_t) a2, xyzMask ); + float32x2_t b0 = vadd_f32( vpadd_f32( vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0] ); + float32x2_t b1 = vpadd_f32( vpadd_f32( vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f)); + return btVector3( vcombine_f32(b0, b1) ); +#else + return btVector3( dot(v0), dot(v1), dot(v2)); +#endif + } +}; + +/**@brief Return the sum of two vectors (Point symantics)*/ +SIMD_FORCE_INLINE btVector3 +operator+(const btVector3& v1, const btVector3& v2) +{ +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector3(_mm_add_ps(v1.mVec128, v2.mVec128)); +#elif defined(BT_USE_NEON) + return btVector3(vaddq_f32(v1.mVec128, v2.mVec128)); +#else + return btVector3( + v1.m_floats[0] + v2.m_floats[0], + v1.m_floats[1] + v2.m_floats[1], + v1.m_floats[2] + v2.m_floats[2]); +#endif +} + +/**@brief Return the elementwise product of two vectors */ +SIMD_FORCE_INLINE btVector3 +operator*(const btVector3& v1, const btVector3& v2) +{ +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector3(_mm_mul_ps(v1.mVec128, v2.mVec128)); +#elif defined(BT_USE_NEON) + return btVector3(vmulq_f32(v1.mVec128, v2.mVec128)); +#else + return btVector3( + v1.m_floats[0] * v2.m_floats[0], + v1.m_floats[1] * v2.m_floats[1], + v1.m_floats[2] * v2.m_floats[2]); +#endif +} + +/**@brief Return the difference between two vectors */ +SIMD_FORCE_INLINE btVector3 +operator-(const btVector3& v1, const btVector3& v2) +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) + + // without _mm_and_ps this code causes slowdown in Concave moving + __m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128); + return btVector3(_mm_and_ps(r, btvFFF0fMask)); +#elif defined(BT_USE_NEON) + float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128); + return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask)); +#else + return btVector3( + v1.m_floats[0] - v2.m_floats[0], + v1.m_floats[1] - v2.m_floats[1], + v1.m_floats[2] - v2.m_floats[2]); +#endif +} + +/**@brief Return the negative of the vector */ +SIMD_FORCE_INLINE btVector3 +operator-(const btVector3& v) +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + __m128 r = _mm_xor_ps(v.mVec128, btvMzeroMask); + return btVector3(_mm_and_ps(r, btvFFF0fMask)); +#elif defined(BT_USE_NEON) + return btVector3((btSimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)btvMzeroMask)); +#else + return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]); +#endif +} + +/**@brief Return the vector scaled by s */ +SIMD_FORCE_INLINE btVector3 +operator*(const btVector3& v, const btScalar& s) +{ +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vs = _mm_load_ss(&s); // (S 0 0 0) + vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0) + return btVector3(_mm_mul_ps(v.mVec128, vs)); +#elif defined(BT_USE_NEON) + float32x4_t r = vmulq_n_f32(v.mVec128, s); + return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask)); +#else + return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s); +#endif +} + +/**@brief Return the vector scaled by s */ +SIMD_FORCE_INLINE btVector3 +operator*(const btScalar& s, const btVector3& v) +{ + return v * s; +} + +/**@brief Return the vector inversely scaled by s */ +SIMD_FORCE_INLINE btVector3 +operator/(const btVector3& v, const btScalar& s) +{ + btFullAssert(s != btScalar(0.0)); +#if 0 //defined(BT_USE_SSE_IN_API) +// this code is not faster ! + __m128 vs = _mm_load_ss(&s); + vs = _mm_div_ss(v1110, vs); + vs = bt_pshufd_ps(vs, 0x00); // (S S S S) + + return btVector3(_mm_mul_ps(v.mVec128, vs)); +#else + return v * (btScalar(1.0) / s); +#endif +} + +/**@brief Return the vector inversely scaled by s */ +SIMD_FORCE_INLINE btVector3 +operator/(const btVector3& v1, const btVector3& v2) +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) + __m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128); + vec = _mm_and_ps(vec, btvFFF0fMask); + return btVector3(vec); +#elif defined(BT_USE_NEON) + float32x4_t x, y, v, m; + + x = v1.mVec128; + y = v2.mVec128; + + v = vrecpeq_f32(y); // v ~ 1/y + m = vrecpsq_f32(y, v); // m = (2-v*y) + v = vmulq_f32(v, m); // vv = v*m ~~ 1/y + m = vrecpsq_f32(y, v); // mm = (2-vv*y) + v = vmulq_f32(v, x); // x*vv + v = vmulq_f32(v, m); // (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y + + return btVector3(v); +#else + return btVector3( + v1.m_floats[0] / v2.m_floats[0], + v1.m_floats[1] / v2.m_floats[1], + v1.m_floats[2] / v2.m_floats[2]); +#endif +} + +/**@brief Return the dot product between two vectors */ +SIMD_FORCE_INLINE btScalar +btDot(const btVector3& v1, const btVector3& v2) +{ + return v1.dot(v2); +} + + +/**@brief Return the distance squared between two vectors */ +SIMD_FORCE_INLINE btScalar +btDistance2(const btVector3& v1, const btVector3& v2) +{ + return v1.distance2(v2); +} + + +/**@brief Return the distance between two vectors */ +SIMD_FORCE_INLINE btScalar +btDistance(const btVector3& v1, const btVector3& v2) +{ + return v1.distance(v2); +} + +/**@brief Return the angle between two vectors */ +SIMD_FORCE_INLINE btScalar +btAngle(const btVector3& v1, const btVector3& v2) +{ + return v1.angle(v2); +} + +/**@brief Return the cross product of two vectors */ +SIMD_FORCE_INLINE btVector3 +btCross(const btVector3& v1, const btVector3& v2) +{ + return v1.cross(v2); +} + +SIMD_FORCE_INLINE btScalar +btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3) +{ + return v1.triple(v2, v3); +} + +/**@brief Return the linear interpolation between two vectors + * @param v1 One vector + * @param v2 The other vector + * @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */ +SIMD_FORCE_INLINE btVector3 +lerp(const btVector3& v1, const btVector3& v2, const btScalar& t) +{ + return v1.lerp(v2, t); +} + + + +SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3& v) const +{ + return (v - *this).length2(); +} + +SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3& v) const +{ + return (v - *this).length(); +} + +SIMD_FORCE_INLINE btVector3 btVector3::normalized() const +{ + btVector3 nrm = *this; + + return nrm.normalize(); +} + +SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar _angle ) const +{ + // wAxis must be a unit lenght vector + +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + + __m128 O = _mm_mul_ps(wAxis.mVec128, mVec128); + btScalar ssin = btSin( _angle ); + __m128 C = wAxis.cross( mVec128 ).mVec128; + O = _mm_and_ps(O, btvFFF0fMask); + btScalar scos = btCos( _angle ); + + __m128 vsin = _mm_load_ss(&ssin); // (S 0 0 0) + __m128 vcos = _mm_load_ss(&scos); // (S 0 0 0) + + __m128 Y = bt_pshufd_ps(O, 0xC9); // (Y Z X 0) + __m128 Z = bt_pshufd_ps(O, 0xD2); // (Z X Y 0) + O = _mm_add_ps(O, Y); + vsin = bt_pshufd_ps(vsin, 0x80); // (S S S 0) + O = _mm_add_ps(O, Z); + vcos = bt_pshufd_ps(vcos, 0x80); // (S S S 0) + + vsin = vsin * C; + O = O * wAxis.mVec128; + __m128 X = mVec128 - O; + + O = O + vsin; + vcos = vcos * X; + O = O + vcos; + + return btVector3(O); +#else + btVector3 o = wAxis * wAxis.dot( *this ); + btVector3 _x = *this - o; + btVector3 _y; + + _y = wAxis.cross( *this ); + + return ( o + _x * btCos( _angle ) + _y * btSin( _angle ) ); +#endif +} + +SIMD_FORCE_INLINE long btVector3::maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const +{ +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + #if defined _WIN32 || defined (BT_USE_SSE) + const long scalar_cutoff = 10; + long _maxdot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut ); + #elif defined BT_USE_NEON + const long scalar_cutoff = 4; + extern long (*_maxdot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut ); + #endif + if( array_count < scalar_cutoff ) +#endif + { + btScalar maxDot1 = -SIMD_INFINITY; + int i = 0; + int ptIndex = -1; + for( i = 0; i < array_count; i++ ) + { + btScalar dot = array[i].dot(*this); + + if( dot > maxDot1 ) + { + maxDot1 = dot; + ptIndex = i; + } + } + + dotOut = maxDot1; + return ptIndex; + } +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + return _maxdot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut ); +#endif +} + +SIMD_FORCE_INLINE long btVector3::minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const +{ +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + #if defined BT_USE_SSE + const long scalar_cutoff = 10; + long _mindot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut ); + #elif defined BT_USE_NEON + const long scalar_cutoff = 4; + extern long (*_mindot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut ); + #else + #error unhandled arch! + #endif + + if( array_count < scalar_cutoff ) +#endif + { + btScalar minDot = SIMD_INFINITY; + int i = 0; + int ptIndex = -1; + + for( i = 0; i < array_count; i++ ) + { + btScalar dot = array[i].dot(*this); + + if( dot < minDot ) + { + minDot = dot; + ptIndex = i; + } + } + + dotOut = minDot; + + return ptIndex; + } +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + return _mindot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut ); +#endif//BT_USE_SIMD_VECTOR3 +} + + +class btVector4 : public btVector3 +{ +public: + + SIMD_FORCE_INLINE btVector4() {} + + + SIMD_FORCE_INLINE btVector4(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) + : btVector3(_x,_y,_z) + { + m_floats[3] = _w; + } + +#if (defined (BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined (BT_USE_NEON) + SIMD_FORCE_INLINE btVector4(const btSimdFloat4 vec) + { + mVec128 = vec; + } + + SIMD_FORCE_INLINE btVector4(const btVector3& rhs) + { + mVec128 = rhs.mVec128; + } + + SIMD_FORCE_INLINE btVector4& + operator=(const btVector4& v) + { + mVec128 = v.mVec128; + return *this; + } +#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + + SIMD_FORCE_INLINE btVector4 absolute4() const + { +#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector4(_mm_and_ps(mVec128, btvAbsfMask)); +#elif defined(BT_USE_NEON) + return btVector4(vabsq_f32(mVec128)); +#else + return btVector4( + btFabs(m_floats[0]), + btFabs(m_floats[1]), + btFabs(m_floats[2]), + btFabs(m_floats[3])); +#endif + } + + + btScalar getW() const { return m_floats[3];} + + + SIMD_FORCE_INLINE int maxAxis4() const + { + int maxIndex = -1; + btScalar maxVal = btScalar(-BT_LARGE_FLOAT); + if (m_floats[0] > maxVal) + { + maxIndex = 0; + maxVal = m_floats[0]; + } + if (m_floats[1] > maxVal) + { + maxIndex = 1; + maxVal = m_floats[1]; + } + if (m_floats[2] > maxVal) + { + maxIndex = 2; + maxVal =m_floats[2]; + } + if (m_floats[3] > maxVal) + { + maxIndex = 3; + } + + return maxIndex; + } + + + SIMD_FORCE_INLINE int minAxis4() const + { + int minIndex = -1; + btScalar minVal = btScalar(BT_LARGE_FLOAT); + if (m_floats[0] < minVal) + { + minIndex = 0; + minVal = m_floats[0]; + } + if (m_floats[1] < minVal) + { + minIndex = 1; + minVal = m_floats[1]; + } + if (m_floats[2] < minVal) + { + minIndex = 2; + minVal =m_floats[2]; + } + if (m_floats[3] < minVal) + { + minIndex = 3; + } + + return minIndex; + } + + + SIMD_FORCE_INLINE int closestAxis4() const + { + return absolute4().maxAxis4(); + } + + + + + /**@brief Set x,y,z and zero w + * @param x Value of x + * @param y Value of y + * @param z Value of z + */ + + +/* void getValue(btScalar *m) const + { + m[0] = m_floats[0]; + m[1] = m_floats[1]; + m[2] =m_floats[2]; + } +*/ +/**@brief Set the values + * @param x Value of x + * @param y Value of y + * @param z Value of z + * @param w Value of w + */ + SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) + { + m_floats[0]=_x; + m_floats[1]=_y; + m_floats[2]=_z; + m_floats[3]=_w; + } + + +}; + + +///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization +SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal) +{ + #ifdef BT_USE_DOUBLE_PRECISION + unsigned char* dest = (unsigned char*) &destVal; + unsigned char* src = (unsigned char*) &sourceVal; + dest[0] = src[7]; + dest[1] = src[6]; + dest[2] = src[5]; + dest[3] = src[4]; + dest[4] = src[3]; + dest[5] = src[2]; + dest[6] = src[1]; + dest[7] = src[0]; +#else + unsigned char* dest = (unsigned char*) &destVal; + unsigned char* src = (unsigned char*) &sourceVal; + dest[0] = src[3]; + dest[1] = src[2]; + dest[2] = src[1]; + dest[3] = src[0]; +#endif //BT_USE_DOUBLE_PRECISION +} +///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization +SIMD_FORCE_INLINE void btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec) +{ + for (int i=0;i<4;i++) + { + btSwapScalarEndian(sourceVec[i],destVec[i]); + } + +} + +///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization +SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector) +{ + + btVector3 swappedVec; + for (int i=0;i<4;i++) + { + btSwapScalarEndian(vector[i],swappedVec[i]); + } + vector = swappedVec; +} + +template <class T> +SIMD_FORCE_INLINE void btPlaneSpace1 (const T& n, T& p, T& q) +{ + if (btFabs(n[2]) > SIMDSQRT12) { + // choose p in y-z plane + btScalar a = n[1]*n[1] + n[2]*n[2]; + btScalar k = btRecipSqrt (a); + p[0] = 0; + p[1] = -n[2]*k; + p[2] = n[1]*k; + // set q = n x p + q[0] = a*k; + q[1] = -n[0]*p[2]; + q[2] = n[0]*p[1]; + } + else { + // choose p in x-y plane + btScalar a = n[0]*n[0] + n[1]*n[1]; + btScalar k = btRecipSqrt (a); + p[0] = -n[1]*k; + p[1] = n[0]*k; + p[2] = 0; + // set q = n x p + q[0] = -n[2]*p[1]; + q[1] = n[2]*p[0]; + q[2] = a*k; + } +} + + +struct btVector3FloatData +{ + float m_floats[4]; +}; + +struct btVector3DoubleData +{ + double m_floats[4]; + +}; + +SIMD_FORCE_INLINE void btVector3::serializeFloat(struct btVector3FloatData& dataOut) const +{ + ///could also do a memcpy, check if it is worth it + for (int i=0;i<4;i++) + dataOut.m_floats[i] = float(m_floats[i]); +} + +SIMD_FORCE_INLINE void btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = btScalar(dataIn.m_floats[i]); +} + + +SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData& dataOut) const +{ + ///could also do a memcpy, check if it is worth it + for (int i=0;i<4;i++) + dataOut.m_floats[i] = double(m_floats[i]); +} + +SIMD_FORCE_INLINE void btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = btScalar(dataIn.m_floats[i]); +} + + +SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const +{ + ///could also do a memcpy, check if it is worth it + for (int i=0;i<4;i++) + dataOut.m_floats[i] = m_floats[i]; +} + +SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3Data& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = dataIn.m_floats[i]; +} + +#endif //BT_VECTOR3_H diff --git a/thirdparty/bullet/src/LinearMath/premake4.lua b/thirdparty/bullet/src/LinearMath/premake4.lua new file mode 100644 index 0000000000..524e2c3161 --- /dev/null +++ b/thirdparty/bullet/src/LinearMath/premake4.lua @@ -0,0 +1,10 @@ + project "LinearMath" + + kind "StaticLib" + includedirs { + "..", + } + files { + "*.cpp", + "*.h" + } |