diff options
Diffstat (limited to 'thirdparty')
358 files changed, 20562 insertions, 17017 deletions
diff --git a/thirdparty/README.md b/thirdparty/README.md index 27cfe41238..b29f4bd5e8 100644 --- a/thirdparty/README.md +++ b/thirdparty/README.md @@ -8,25 +8,10 @@ - License: BSD-3-Clause -## b2d_convexdecomp - -- Upstream: https://github.com/erincatto/Box2D/tree/master/Contributions/Utilities/ConvexDecomposition -- Version: git (25615e0, 2015) with modifications -- License: zlib - -The files were adapted to Godot by removing the dependency on b2Math (replacing -it by b2Glue.h) and commenting out some verbose printf calls. -Upstream code has not changed in 10 years, no need to keep track of changes. - -Important: Some files have Godot-made changes. -They are marked with `// -- GODOT start --` and `// -- GODOT end --` -comments. - - ## bullet - Upstream: https://github.com/bulletphysics/bullet3 -- Version: git (5ec8339, 2019) +- Version: 2.89 - License: zlib Files extracted from upstream source: @@ -61,7 +46,7 @@ Files extracted from upstream source: ## enet - Upstream: http://enet.bespin.org -- Version: 1.3.13 +- Version: 1.3.14 (0eaf48e, 2019) - License: MIT Files extracted from upstream source: @@ -72,12 +57,14 @@ Files extracted from upstream source: Important: enet.h, host.c, protocol.c have been slightly modified to be usable by godot socket implementation and allow IPv6. +Apply the patch in the `patches/` folder when syncing on newer upstream +commits. + Two files (godot.cpp and enet/godot.h) have been added to provide enet socket implementation using Godot classes. + It is still possible to build against a system wide ENet but doing so will limit it's functionality to IPv4 only. -Check the diff of enet.h, protocol.c, and host.c with the 1.3.13 -tarball before the next update. ## etc2comp @@ -250,7 +237,7 @@ from the Android NDK r18. ## libwebp - Upstream: https://chromium.googlesource.com/webm/libwebp/ -- Version: 1.0.3 +- Version: 1.1.0 - License: BSD-3-Clause Files extracted from upstream source: @@ -397,19 +384,17 @@ Files extracted from the upstream source: ## opus - Upstream: https://opus-codec.org -- Version: 1.3.1 (opus) and 0.11 (opusfile) +- Version: 1.1.5 (opus) and 0.8 (opusfile) - License: BSD-3-Clause Files extracted from upstream source: -- Run `opus/configure` and copy/sync changes to `config.h` - (note that this file may have Godot-specific options enabled) - all .c and .h files in src/ (both opus and opusfile) - all .h files in include/ (both opus and opusfile) as opus/ - remove unused `opus_demo.c`, - remove `http.c`, `wincerts.c` and `winerrno.h` (part of unused libopusurl) -- celt/ and silk/ subfolders (minus tests folders) +- celt/ and silk/ subfolders - COPYING @@ -513,15 +498,13 @@ File extracted from upstream release tarball: ## xatlas - Upstream: https://github.com/jpcy/xatlas -- Version: git (b4b5426, 2019) +- Version: git (e12ea82, 2019) - License: MIT Files extracted from upstream source: - `xatlas.{cpp,h}` - -Note: License is marked as Public Domain in the files, but it was -later clarified upstream to MIT license. +- `LICENSE` ## zlib diff --git a/thirdparty/b2d_convexdecomp/b2Glue.h b/thirdparty/b2d_convexdecomp/b2Glue.h deleted file mode 100644 index 175f75be75..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Glue.h +++ /dev/null @@ -1,174 +0,0 @@ -/* -* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.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 B2GLUE_H -#define B2GLUE_H - -#include "core/math/vector2.h" - -#include <limits.h> - -namespace b2ConvexDecomp { - -typedef real_t float32; -typedef int32_t int32; - -static inline float32 b2Sqrt(float32 val) { return Math::sqrt(val); } -#define b2_maxFloat FLT_MAX -#define b2_epsilon CMP_EPSILON -#define b2_pi 3.14159265359f -#define b2_maxPolygonVertices 16 -#define b2Max MAX -#define b2Min MIN -#define b2Clamp CLAMP -#define b2Abs ABS -/// A small length used as a collision and constraint tolerance. Usually it is -/// chosen to be numerically significant, but visually insignificant. -#define b2_linearSlop 0.005f - -/// A small angle used as a collision and constraint tolerance. Usually it is -/// chosen to be numerically significant, but visually insignificant. -#define b2_angularSlop (2.0f / 180.0f * b2_pi) - -/// A 2D column vector. -struct b2Vec2 -{ - /// Default constructor does nothing (for performance). - b2Vec2() {} - - /// Construct using coordinates. - b2Vec2(float32 x, float32 y) : x(x), y(y) {} - - /// Set this vector to all zeros. - void SetZero() { x = 0.0f; y = 0.0f; } - - /// Set this vector to some specified coordinates. - void Set(float32 x_, float32 y_) { x = x_; y = y_; } - - /// Negate this vector. - b2Vec2 operator -() const { b2Vec2 v; v.Set(-x, -y); return v; } - - /// Read from and indexed element. - float32 operator () (int32 i) const - { - return (&x)[i]; - } - - /// Write to an indexed element. - float32& operator () (int32 i) - { - return (&x)[i]; - } - - /// Add a vector to this vector. - void operator += (const b2Vec2& v) - { - x += v.x; y += v.y; - } - - /// Subtract a vector from this vector. - void operator -= (const b2Vec2& v) - { - x -= v.x; y -= v.y; - } - - /// Multiply this vector by a scalar. - void operator *= (float32 a) - { - x *= a; y *= a; - } - - /// Get the length of this vector (the norm). - float32 Length() const - { - return b2Sqrt(x * x + y * y); - } - - /// Get the length squared. For performance, use this instead of - /// b2Vec2::Length (if possible). - float32 LengthSquared() const - { - return x * x + y * y; - } - - bool operator==(const b2Vec2& p_v) const { - return x==p_v.x && y==p_v.y; - } - b2Vec2 operator+(const b2Vec2& p_v) const { - return b2Vec2(x+p_v.x,y+p_v.y); - } - b2Vec2 operator-(const b2Vec2& p_v) const { - return b2Vec2(x-p_v.x,y-p_v.y); - } - - b2Vec2 operator*(float32 f) const { - return b2Vec2(f*x,f*y); - } - - /// Convert this vector into a unit vector. Returns the length. - float32 Normalize() - { - float32 length = Length(); - if (length < b2_epsilon) - { - return 0.0f; - } - float32 invLength = 1.0f / length; - x *= invLength; - y *= invLength; - - return length; - } - - /* - /// Does this vector contain finite coordinates? - bool IsValid() const - { - return b2IsValid(x) && b2IsValid(y); - } - */ - - float32 x, y; -}; - -inline b2Vec2 operator*(float32 f,const b2Vec2& p_v) { - return b2Vec2(f*p_v.x,f*p_v.y); -} - -/// Perform the dot product on two vectors. -inline float32 b2Dot(const b2Vec2& a, const b2Vec2& b) -{ - return a.x * b.x + a.y * b.y; -} - -/// Perform the cross product on two vectors. In 2D this produces a scalar. -inline float32 b2Cross(const b2Vec2& a, const b2Vec2& b) -{ - return a.x * b.y - a.y * b.x; -} - -/// Perform the cross product on a vector and a scalar. In 2D this produces -/// a vector. -inline b2Vec2 b2Cross(const b2Vec2& a, float32 s) -{ - return b2Vec2(s * a.y, -s * a.x); -} - -} - -#endif diff --git a/thirdparty/b2d_convexdecomp/b2Polygon.cpp b/thirdparty/b2d_convexdecomp/b2Polygon.cpp deleted file mode 100644 index c80204ae21..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Polygon.cpp +++ /dev/null @@ -1,1591 +0,0 @@ -/* - * Copyright (c) 2007 Eric Jordan - * - * 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 utility works with Box2d version 2.0 (or higher), and not with 1.4.3 - -#include "b2Triangle.h" -#include "b2Polygon.h" - -#include <math.h> -#include <limits.h> -#include <assert.h> -#define b2Assert assert - -namespace b2ConvexDecomp { - - -//If you're using 1.4.3, b2_toiSlop won't exist, so set this equal to 0 -static const float32 toiSlop = 0.0f; - -/* - * Check if the lines a0->a1 and b0->b1 cross. - * If they do, intersectionPoint will be filled - * with the point of crossing. - * - * Grazing lines should not return true. - */ -bool intersect(const b2Vec2& a0, const b2Vec2& a1, - const b2Vec2& b0, const b2Vec2& b1, - b2Vec2& intersectionPoint) { - - if (a0 == b0 || a0 == b1 || a1 == b0 || a1 == b1) return false; - float x1 = a0.x; float y1 = a0.y; - float x2 = a1.x; float y2 = a1.y; - float x3 = b0.x; float y3 = b0.y; - float x4 = b1.x; float y4 = b1.y; - - //AABB early exit - if (b2Max(x1,x2) < b2Min(x3,x4) || b2Max(x3,x4) < b2Min(x1,x2) ) return false; - if (b2Max(y1,y2) < b2Min(y3,y4) || b2Max(y3,y4) < b2Min(y1,y2) ) return false; - - float ua = ((x4 - x3) * (y1 - y3) - (y4 - y3) * (x1 - x3)); - float ub = ((x2 - x1) * (y1 - y3) - (y2 - y1) * (x1 - x3)); - float denom = (y4 - y3) * (x2 - x1) - (x4 - x3) * (y2 - y1); - if (b2Abs(denom) < CMP_EPSILON) { - //Lines are too close to parallel to call - return false; - } - ua /= denom; - ub /= denom; - - if ((0 < ua) && (ua < 1) && (0 < ub) && (ub < 1)) { - //if (intersectionPoint){ - intersectionPoint.x = (x1 + ua * (x2 - x1)); - intersectionPoint.y = (y1 + ua * (y2 - y1)); - //} - //printf("%f, %f -> %f, %f crosses %f, %f -> %f, %f\n",x1,y1,x2,y2,x3,y3,x4,y4); - return true; - } - - return false; -} - -/* - * True if line from a0->a1 intersects b0->b1 - */ -bool intersect(const b2Vec2& a0, const b2Vec2& a1, - const b2Vec2& b0, const b2Vec2& b1) { - b2Vec2 myVec(0.0f,0.0f); - return intersect(a0, a1, b0, b1, myVec); -} - -b2Polygon::b2Polygon(float32* _x, float32* _y, int32 nVert) { - nVertices = nVert; - x = new float32[nVertices]; - y = new float32[nVertices]; - for (int32 i = 0; i < nVertices; ++i) { - x[i] = _x[i]; - y[i] = _y[i]; - } - areaIsSet = false; -} - -b2Polygon::b2Polygon(b2Vec2* v, int32 nVert) { - nVertices = nVert; - x = new float32[nVertices]; - y = new float32[nVertices]; - for (int32 i = 0; i < nVertices; ++i) { - x[i] = v[i].x; - y[i] = v[i].y; - - } - areaIsSet = false; -} - -b2Polygon::b2Polygon() { - x = NULL; - y = NULL; - nVertices = 0; - areaIsSet = false; -} - -b2Polygon::~b2Polygon() { - //printf("About to delete poly with %d vertices\n",nVertices); - delete[] x; - delete[] y; -} - -float32 b2Polygon::GetArea() { - // TODO: fix up the areaIsSet caching so that it can be used - //if (areaIsSet) return area; - area = 0.0f; - - //First do wraparound - area += x[nVertices-1]*y[0]-x[0]*y[nVertices-1]; - for (int i=0; i<nVertices-1; ++i){ - area += x[i]*y[i+1]-x[i+1]*y[i]; - } - area *= .5f; - areaIsSet = true; - return area; -} - -bool b2Polygon::IsCCW() { - return (GetArea() > 0.0f); -} - -void b2Polygon::MergeParallelEdges(float32 tolerance) { - if (nVertices <= 3) return; //Can't do anything useful here to a triangle - bool* mergeMe = new bool[nVertices]; - int32 newNVertices = nVertices; - for (int32 i = 0; i < nVertices; ++i) { - int32 lower = (i == 0) ? (nVertices - 1) : (i - 1); - int32 middle = i; - int32 upper = (i == nVertices - 1) ? (0) : (i + 1); - float32 dx0 = x[middle] - x[lower]; - float32 dy0 = y[middle] - y[lower]; - float32 dx1 = x[upper] - x[middle]; - float32 dy1 = y[upper] - y[middle]; - float32 norm0 = sqrtf(dx0*dx0+dy0*dy0); - float32 norm1 = sqrtf(dx1*dx1+dy1*dy1); - if ( !(norm0 > 0.0f && norm1 > 0.0f) && newNVertices > 3 ) { - //Merge identical points - mergeMe[i] = true; - --newNVertices; - } - dx0 /= norm0; dy0 /= norm0; - dx1 /= norm1; dy1 /= norm1; - float32 cross = dx0 * dy1 - dx1 * dy0; - float32 dot = dx0 * dx1 + dy0 * dy1; - if (fabs(cross) < tolerance && dot > 0 && newNVertices > 3) { - mergeMe[i] = true; - --newNVertices; - } else { - mergeMe[i] = false; - } - } - if(newNVertices == nVertices || newNVertices == 0) { - delete[] mergeMe; - return; - } - float32* newx = new float32[newNVertices]; - float32* newy = new float32[newNVertices]; - int32 currIndex = 0; - for (int32 i=0; i < nVertices; ++i) { - if (mergeMe[i] || newNVertices == 0 || currIndex == newNVertices) continue; - b2Assert(currIndex < newNVertices); - newx[currIndex] = x[i]; - newy[currIndex] = y[i]; - ++currIndex; - } - delete[] x; - delete[] y; - delete[] mergeMe; - x = newx; - y = newy; - nVertices = newNVertices; - //printf("%d \n", newNVertices); -} - - /* - * Allocates and returns pointer to vector vertex array. - * Length of array is nVertices. - */ -b2Vec2* b2Polygon::GetVertexVecs() { - b2Vec2* out = new b2Vec2[nVertices]; - for (int32 i = 0; i < nVertices; ++i) { - out[i].Set(x[i], y[i]); - } - return out; -} - -b2Polygon::b2Polygon(b2Triangle& t) { - nVertices = 3; - x = new float[nVertices]; - y = new float[nVertices]; - for (int32 i = 0; i < nVertices; ++i) { - x[i] = t.x[i]; - y[i] = t.y[i]; - } -} - -void b2Polygon::Set(const b2Polygon& p) { - if (nVertices != p.nVertices){ - nVertices = p.nVertices; - delete[] x; - delete[] y; - x = new float32[nVertices]; - y = new float32[nVertices]; - } - - for (int32 i = 0; i < nVertices; ++i) { - x[i] = p.x[i]; - y[i] = p.y[i]; - } - areaIsSet = false; -} - - /* - * Assuming the polygon is simple, checks if it is convex. - */ -bool b2Polygon::IsConvex() { - bool isPositive = false; - for (int32 i = 0; i < nVertices; ++i) { - int32 lower = (i == 0) ? (nVertices - 1) : (i - 1); - int32 middle = i; - int32 upper = (i == nVertices - 1) ? (0) : (i + 1); - float32 dx0 = x[middle] - x[lower]; - float32 dy0 = y[middle] - y[lower]; - float32 dx1 = x[upper] - x[middle]; - float32 dy1 = y[upper] - y[middle]; - float32 cross = dx0 * dy1 - dx1 * dy0; - // Cross product should have same sign - // for each vertex if poly is convex. - bool newIsP = (cross >= 0) ? true : false; - if (i == 0) { - isPositive = newIsP; - } - else if (isPositive != newIsP) { - return false; - } - } - return true; -} - -/* - * Pulled from b2Shape.cpp, assertions removed - */ -static b2Vec2 PolyCentroid(const b2Vec2* vs, int32 count) -{ - b2Vec2 c; c.Set(0.0f, 0.0f); - float32 area = 0.0f; - - const float32 inv3 = 1.0f / 3.0f; - b2Vec2 pRef(0.0f, 0.0f); - for (int32 i = 0; i < count; ++i) - { - // Triangle vertices. - b2Vec2 p1 = pRef; - b2Vec2 p2 = vs[i]; - b2Vec2 p3 = i + 1 < count ? vs[i+1] : vs[0]; - - b2Vec2 e1 = p2 - p1; - b2Vec2 e2 = p3 - p1; - - float32 D = b2Cross(e1, e2); - - float32 triangleArea = 0.5f * D; - area += triangleArea; - - // Area weighted centroid - c += (p1 + p2 + p3) * triangleArea * inv3; - } - - // Centroid - c *= 1.0f / area; - return c; -} - - -/* - * Checks if polygon is valid for use in Box2d engine. - * Last ditch effort to ensure no invalid polygons are - * added to world geometry. - * - * Performs a full check, for simplicity, convexity, - * orientation, minimum angle, and volume. This won't - * be very efficient, and a lot of it is redundant when - * other tools in this section are used. - */ -bool b2Polygon::IsUsable(bool printErrors){ - int32 error = -1; - bool noError = true; - if (nVertices < 3 || nVertices > b2_maxPolygonVertices) {noError = false; error = 0;} - if (!IsConvex()) {noError = false; error = 1;} - if (!IsSimple()) {noError = false; error = 2;} - if (GetArea() < CMP_EPSILON) {noError = false; error = 3;} - - //Compute normals - b2Vec2* normals = new b2Vec2[nVertices]; - b2Vec2* vertices = new b2Vec2[nVertices]; - for (int32 i = 0; i < nVertices; ++i){ - vertices[i].Set(x[i],y[i]); - int32 i1 = i; - int32 i2 = i + 1 < nVertices ? i + 1 : 0; - b2Vec2 edge(x[i2]-x[i1],y[i2]-y[i1]); - normals[i] = b2Cross(edge, 1.0f); - normals[i].Normalize(); - } - - //Required side checks - for (int32 i=0; i<nVertices; ++i){ - int32 iminus = (i==0)?nVertices-1:i-1; - //int32 iplus = (i==nVertices-1)?0:i+1; - - //Parallel sides check - float32 cross = b2Cross(normals[iminus], normals[i]); - cross = b2Clamp(cross, -1.0f, 1.0f); - float32 angle = asinf(cross); - if(angle <= b2_angularSlop){ - noError = false; - error = 4; - break; - } - - //Too skinny check - for (int32 j=0; j<nVertices; ++j){ - if (j == i || j == (i + 1) % nVertices){ - continue; - } - float32 s = b2Dot(normals[i], vertices[j] - vertices[i]); - if (s >= -b2_linearSlop){ - noError = false; - error = 5; - } - } - - - b2Vec2 centroid = PolyCentroid(vertices,nVertices); - b2Vec2 n1 = normals[iminus]; - b2Vec2 n2 = normals[i]; - b2Vec2 v = vertices[i] - centroid; - - b2Vec2 d; - d.x = b2Dot(n1, v) - toiSlop; - d.y = b2Dot(n2, v) - toiSlop; - - // Shifting the edge inward by b2_toiSlop should - // not cause the plane to pass the centroid. - if ((d.x < 0.0f)||(d.y < 0.0f)){ - noError = false; - error = 6; - } - - } - delete[] vertices; - delete[] normals; - - if (!noError && printErrors){ - printf("Found invalid polygon, "); - switch(error){ - case 0: - printf("must have between 3 and %d vertices.\n",b2_maxPolygonVertices); - break; - case 1: - printf("must be convex.\n"); - break; - case 2: - printf("must be simple (cannot intersect itself).\n"); - break; - case 3: - printf("area is too small.\n"); - break; - case 4: - printf("sides are too close to parallel.\n"); - break; - case 5: - printf("polygon is too thin.\n"); - break; - case 6: - printf("core shape generation would move edge past centroid (too thin).\n"); - break; - default: - printf("don't know why.\n"); - } - } - return noError; -} - - -bool b2Polygon::IsUsable(){ - return IsUsable(B2_POLYGON_REPORT_ERRORS); -} - -//Check for edge crossings -bool b2Polygon::IsSimple() { - for (int32 i=0; i<nVertices; ++i){ - int32 iplus = (i+1 > nVertices-1)?0:i+1; - b2Vec2 a1(x[i],y[i]); - b2Vec2 a2(x[iplus],y[iplus]); - for (int32 j=i+1; j<nVertices; ++j){ - int32 jplus = (j+1 > nVertices-1)?0:j+1; - b2Vec2 b1(x[j],y[j]); - b2Vec2 b2(x[jplus],y[jplus]); - if (intersect(a1,a2,b1,b2)){ - return false; - } - } - } - return true; -} - - /* - * Tries to add a triangle to the polygon. Returns null if it can't connect - * properly, otherwise returns a pointer to the new Polygon. Assumes bitwise - * equality of joined vertex positions. - * - * Remember to delete the pointer afterwards. - * Todo: Make this return a b2Polygon instead - * of a pointer to a heap-allocated one. - * - * For internal use. - */ -b2Polygon* b2Polygon::Add(b2Triangle& t) { - // First, find vertices that connect - int32 firstP = -1; - int32 firstT = -1; - int32 secondP = -1; - int32 secondT = -1; - for (int32 i = 0; i < nVertices; i++) { - if (t.x[0] == x[i] && t.y[0] == y[i]) { - if (firstP == -1) { - firstP = i; - firstT = 0; - } - else { - secondP = i; - secondT = 0; - } - } - else if (t.x[1] == x[i] && t.y[1] == y[i]) { - if (firstP == -1) { - firstP = i; - firstT = 1; - } - else { - secondP = i; - secondT = 1; - } - } - else if (t.x[2] == x[i] && t.y[2] == y[i]) { - if (firstP == -1) { - firstP = i; - firstT = 2; - } - else { - secondP = i; - secondT = 2; - } - } - else { - } - } - // Fix ordering if first should be last vertex of poly - if (firstP == 0 && secondP == nVertices - 1) { - firstP = nVertices - 1; - secondP = 0; - } - - // Didn't find it - if (secondP == -1) { - return NULL; - } - - // Find tip index on triangle - int32 tipT = 0; - if (tipT == firstT || tipT == secondT) - tipT = 1; - if (tipT == firstT || tipT == secondT) - tipT = 2; - - float32* newx = new float[nVertices + 1]; - float32* newy = new float[nVertices + 1]; - int32 currOut = 0; - for (int32 i = 0; i < nVertices; i++) { - newx[currOut] = x[i]; - newy[currOut] = y[i]; - if (i == firstP) { - ++currOut; - newx[currOut] = t.x[tipT]; - newy[currOut] = t.y[tipT]; - } - ++currOut; - } - b2Polygon* result = new b2Polygon(newx, newy, nVertices+1); - delete[] newx; - delete[] newy; - return result; -} - - /** - * Adds this polygon to a PolyDef. - */ -#if 0 -void b2Polygon::AddTo(b2FixtureDef& pd) { - if (nVertices < 3) return; - - b2Assert(nVertices <= b2_maxPolygonVertices); - - b2Vec2* vecs = GetVertexVecs(); - b2Vec2* vecsToAdd = new b2Vec2[nVertices]; - - int32 offset = 0; - - b2PolygonShape *polyShape = new b2PolygonShape; - int32 ind; - - for (int32 i = 0; i < nVertices; ++i) { - - //Omit identical neighbors (including wraparound) - ind = i - offset; - if (vecs[i].x==vecs[remainder(i+1,nVertices)].x && - vecs[i].y==vecs[remainder(i+1,nVertices)].y){ - offset++; - continue; - } - - vecsToAdd[ind] = vecs[i]; - - } - - polyShape->Set((const b2Vec2*)vecsToAdd, ind+1); - pd.shape = polyShape; - - delete[] vecs; - delete[] vecsToAdd; -} -#endif - /** - * Finds and fixes "pinch points," points where two polygon - * vertices are at the same point. - * - * If a pinch point is found, pin is broken up into poutA and poutB - * and true is returned; otherwise, returns false. - * - * Mostly for internal use. - */ -bool ResolvePinchPoint(const b2Polygon& pin, b2Polygon& poutA, b2Polygon& poutB){ - if (pin.nVertices < 3) return false; - float32 tol = .001f; - bool hasPinchPoint = false; - int32 pinchIndexA = -1; - int32 pinchIndexB = -1; - for (int i=0; i<pin.nVertices; ++i){ - for (int j=i+1; j<pin.nVertices; ++j){ - //Don't worry about pinch points where the points - //are actually just dupe neighbors - if (b2Abs(pin.x[i]-pin.x[j])<tol&&b2Abs(pin.y[i]-pin.y[j])<tol&&j!=i+1){ - pinchIndexA = i; - pinchIndexB = j; - //printf("pinch: %f, %f == %f, %f\n",pin.x[i],pin.y[i],pin.x[j],pin.y[j]); - //printf("at indexes %d, %d\n",i,j); - hasPinchPoint = true; - break; - } - } - if (hasPinchPoint) break; - } - if (hasPinchPoint){ - //printf("Found pinch point\n"); - int32 sizeA = pinchIndexB - pinchIndexA; - if (sizeA == pin.nVertices) return false;//has dupe points at wraparound, not a problem here - float32* xA = new float32[sizeA]; - float32* yA = new float32[sizeA]; - for (int32 i=0; i < sizeA; ++i){ - int32 ind = remainder(pinchIndexA+i,pin.nVertices); - xA[i] = pin.x[ind]; - yA[i] = pin.y[ind]; - } - b2Polygon tempA(xA,yA,sizeA); - poutA.Set(tempA); - delete[] xA; - delete[] yA; - - int32 sizeB = pin.nVertices - sizeA; - float32* xB = new float32[sizeB]; - float32* yB = new float32[sizeB]; - for (int32 i=0; i<sizeB; ++i){ - int32 ind = remainder(pinchIndexB+i,pin.nVertices); - xB[i] = pin.x[ind]; - yB[i] = pin.y[ind]; - } - b2Polygon tempB(xB,yB,sizeB); - poutB.Set(tempB); - //printf("Size of a: %d, size of b: %d\n",sizeA,sizeB); - delete[] xB; - delete[] yB; - } - return hasPinchPoint; -} - - /** - * Triangulates a polygon using simple ear-clipping algorithm. Returns - * size of Triangle array unless the polygon can't be triangulated. - * This should only happen if the polygon self-intersects, - * though it will not _always_ return null for a bad polygon - it is the - * caller's responsibility to check for self-intersection, and if it - * doesn't, it should at least check that the return value is non-null - * before using. You're warned! - * - * Triangles may be degenerate, especially if you have identical points - * in the input to the algorithm. Check this before you use them. - * - * This is totally unoptimized, so for large polygons it should not be part - * of the simulation loop. - * - * Returns: - * -1 if algorithm fails (self-intersection most likely) - * 0 if there are not enough vertices to triangulate anything. - * Number of triangles if triangulation was successful. - * - * results will be filled with results - ear clipping always creates vNum - 2 - * or fewer (due to pinch point polygon snipping), so allocate an array of - * this size. - */ - -int32 TriangulatePolygon(float32* xv, float32* yv, int32 vNum, b2Triangle* results) { - if (vNum < 3) - return 0; - - //Recurse and split on pinch points - b2Polygon pA,pB; - b2Polygon pin(xv,yv,vNum); - if (ResolvePinchPoint(pin,pA,pB)){ - b2Triangle* mergeA = new b2Triangle[pA.nVertices]; - b2Triangle* mergeB = new b2Triangle[pB.nVertices]; - int32 nA = TriangulatePolygon(pA.x,pA.y,pA.nVertices,mergeA); - int32 nB = TriangulatePolygon(pB.x,pB.y,pB.nVertices,mergeB); - if (nA==-1 || nB==-1){ - delete[] mergeA; - delete[] mergeB; - return -1; - } - for (int32 i=0; i<nA; ++i){ - results[i].Set(mergeA[i]); - } - for (int32 i=0; i<nB; ++i){ - results[nA+i].Set(mergeB[i]); - } - delete[] mergeA; - delete[] mergeB; - return (nA+nB); - } - - b2Triangle* buffer = new b2Triangle[vNum-2]; - int32 bufferSize = 0; - float32* xrem = new float32[vNum]; - float32* yrem = new float32[vNum]; - for (int32 i = 0; i < vNum; ++i) { - xrem[i] = xv[i]; - yrem[i] = yv[i]; - } - - int xremLength = vNum; - - while (vNum > 3) { - // Find an ear - int32 earIndex = -1; - //float32 earVolume = -1.0f; - float32 earMaxMinCross = -10.0f; - for (int32 i = 0; i < vNum; ++i) { - if (IsEar(i, xrem, yrem, vNum)) { - int32 lower = remainder(i-1,vNum); - int32 upper = remainder(i+1,vNum); - b2Vec2 d1(xrem[upper]-xrem[i],yrem[upper]-yrem[i]); - b2Vec2 d2(xrem[i]-xrem[lower],yrem[i]-yrem[lower]); - b2Vec2 d3(xrem[lower]-xrem[upper],yrem[lower]-yrem[upper]); - - d1.Normalize(); - d2.Normalize(); - d3.Normalize(); - float32 cross12 = b2Abs( b2Cross(d1,d2) ); - float32 cross23 = b2Abs( b2Cross(d2,d3) ); - float32 cross31 = b2Abs( b2Cross(d3,d1) ); - //Find the maximum minimum angle - float32 minCross = b2Min(cross12, b2Min(cross23,cross31)); - if (minCross > earMaxMinCross){ - earIndex = i; - earMaxMinCross = minCross; - } - - /*//This bit chooses the ear with greatest volume first - float32 testVol = b2Abs( d1.x*d2.y-d2.x*d1.y ); - if (testVol > earVolume){ - earIndex = i; - earVolume = testVol; - }*/ - } - } - - // If we still haven't found an ear, we're screwed. - // Note: sometimes this is happening because the - // remaining points are collinear. Really these - // should just be thrown out without halting triangulation. - if (earIndex == -1){ - if (B2_POLYGON_REPORT_ERRORS){ - b2Polygon dump(xrem,yrem,vNum); - printf("Couldn't find an ear, dumping remaining poly:\n"); - dump.printFormatted(); - printf("Please submit this dump to ewjordan at Box2d forums\n"); - } - for (int32 i = 0; i < bufferSize; i++) { - results[i].Set(buffer[i]); - } - - delete[] buffer; - - if (bufferSize > 0) return bufferSize; - else return -1; - } - - // Clip off the ear: - // - remove the ear tip from the list - - --vNum; - float32* newx = new float32[vNum]; - float32* newy = new float32[vNum]; - int32 currDest = 0; - for (int32 i = 0; i < vNum; ++i) { - if (currDest == earIndex) ++currDest; - newx[i] = xrem[currDest]; - newy[i] = yrem[currDest]; - ++currDest; - } - - // - add the clipped triangle to the triangle list - int32 under = (earIndex == 0) ? (vNum) : (earIndex - 1); - int32 over = (earIndex == vNum) ? 0 : (earIndex + 1); - b2Triangle toAdd = b2Triangle(xrem[earIndex], yrem[earIndex], xrem[over], yrem[over], xrem[under], yrem[under]); - buffer[bufferSize].Set(toAdd); - ++bufferSize; - - // - replace the old list with the new one - delete[] xrem; - delete[] yrem; - xrem = newx; - yrem = newy; - } - - b2Triangle toAdd = b2Triangle(xrem[1], yrem[1], xrem[2], yrem[2], - xrem[0], yrem[0]); - buffer[bufferSize].Set(toAdd); - ++bufferSize; - - delete[] xrem; - delete[] yrem; - - b2Assert(bufferSize == xremLength-2); - - for (int32 i = 0; i < bufferSize; i++) { - results[i].Set(buffer[i]); - } - - delete[] buffer; - - return bufferSize; -} - - /** - * Turns a list of triangles into a list of convex polygons. Very simple - * method - start with a seed triangle, keep adding triangles to it until - * you can't add any more without making the polygon non-convex. - * - * Returns an integer telling how many polygons were created. Will fill - * polys array up to polysLength entries, which may be smaller or larger - * than the return value. - * - * Takes O(N*P) where P is the number of resultant polygons, N is triangle - * count. - * - * The final polygon list will not necessarily be minimal, though in - * practice it works fairly well. - */ -int32 PolygonizeTriangles(b2Triangle* triangulated, int32 triangulatedLength, b2Polygon* polys, int32 polysLength) { - int32 polyIndex = 0; - - if (triangulatedLength <= 0) { - return 0; - } - else { - int* covered = new int[triangulatedLength]; - for (int32 i = 0; i < triangulatedLength; ++i) { - covered[i] = 0; - //Check here for degenerate triangles - if ( ( (triangulated[i].x[0] == triangulated[i].x[1]) && (triangulated[i].y[0] == triangulated[i].y[1]) ) - || ( (triangulated[i].x[1] == triangulated[i].x[2]) && (triangulated[i].y[1] == triangulated[i].y[2]) ) - || ( (triangulated[i].x[0] == triangulated[i].x[2]) && (triangulated[i].y[0] == triangulated[i].y[2]) ) ) { - covered[i] = 1; - } - } - - bool notDone = true; - while (notDone) { - int32 currTri = -1; - for (int32 i = 0; i < triangulatedLength; ++i) { - if (covered[i]) - continue; - currTri = i; - break; - } - if (currTri == -1) { - notDone = false; - } - else { - b2Polygon poly(triangulated[currTri]); - covered[currTri] = 1; - int32 index = 0; - for (int32 i = 0; i < 2*triangulatedLength; ++i,++index) { - while (index >= triangulatedLength) index -= triangulatedLength; - if (covered[index]) { - continue; - } - b2Polygon* newP = poly.Add(triangulated[index]); - if (!newP) { - continue; - } - if (newP->nVertices > b2Polygon::maxVerticesPerPolygon) { - delete newP; - newP = NULL; - continue; - } - if (newP->IsConvex()) { //Or should it be IsUsable? Maybe re-write IsConvex to apply the angle threshold from Box2d - poly.Set(*newP); - delete newP; - newP = NULL; - covered[index] = 1; - } else { - delete newP; - newP = NULL; - } - } - if (polyIndex < polysLength){ - poly.MergeParallelEdges(b2_angularSlop); - //If identical points are present, a triangle gets - //borked by the MergeParallelEdges function, hence - //the vertex number check - if (poly.nVertices >= 3) polys[polyIndex].Set(poly); - //else printf("Skipping corrupt poly\n"); - } - if (poly.nVertices >= 3) polyIndex++; //Must be outside (polyIndex < polysLength) test - } - //printf("MEMCHECK: %d\n",_CrtCheckMemory()); - } - delete[] covered; - } - return polyIndex; -} - - /** - * Checks if vertex i is the tip of an ear in polygon defined by xv[] and - * yv[]. - * - * Assumes clockwise orientation of polygon...ick - */ -bool IsEar(int32 i, float32* xv, float32* yv, int32 xvLength) { - float32 dx0, dy0, dx1, dy1; - dx0 = dy0 = dx1 = dy1 = 0; - if (i >= xvLength || i < 0 || xvLength < 3) { - return false; - } - int32 upper = i + 1; - int32 lower = i - 1; - if (i == 0) { - dx0 = xv[0] - xv[xvLength - 1]; - dy0 = yv[0] - yv[xvLength - 1]; - dx1 = xv[1] - xv[0]; - dy1 = yv[1] - yv[0]; - lower = xvLength - 1; - } - else if (i == xvLength - 1) { - dx0 = xv[i] - xv[i - 1]; - dy0 = yv[i] - yv[i - 1]; - dx1 = xv[0] - xv[i]; - dy1 = yv[0] - yv[i]; - upper = 0; - } - else { - dx0 = xv[i] - xv[i - 1]; - dy0 = yv[i] - yv[i - 1]; - dx1 = xv[i + 1] - xv[i]; - dy1 = yv[i + 1] - yv[i]; - } - float32 cross = dx0 * dy1 - dx1 * dy0; - if (cross > 0) - return false; - b2Triangle myTri(xv[i], yv[i], xv[upper], yv[upper], - xv[lower], yv[lower]); - for (int32 j = 0; j < xvLength; ++j) { - if (j == i || j == lower || j == upper) - continue; - if (myTri.IsInside(xv[j], yv[j])) - return false; - } - return true; -} - -void ReversePolygon(b2Polygon& p){ - ReversePolygon(p.x,p.y,p.nVertices); -} - -void ReversePolygon(float* x, float* y, int n) { - if (n == 1) - return; - int32 low = 0; - int32 high = n - 1; - while (low < high) { - float32 buffer = x[low]; - x[low] = x[high]; - x[high] = buffer; - buffer = y[low]; - y[low] = y[high]; - y[high] = buffer; - ++low; - --high; - } -} - - /** - * Decomposes a non-convex polygon into a number of convex polygons, up - * to maxPolys (remaining pieces are thrown out, but the total number - * is returned, so the return value can be greater than maxPolys). - * - * Each resulting polygon will have no more than maxVerticesPerPolygon - * vertices (set to b2MaxPolyVertices by default, though you can change - * this). - * - * Returns -1 if operation fails (usually due to self-intersection of - * polygon). - */ -int32 DecomposeConvex(b2Polygon* p, b2Polygon* results, int32 maxPolys) { - if (p->nVertices < 3) return 0; - - b2Triangle* triangulated = new b2Triangle[p->nVertices - 2]; - int32 nTri; - if (p->IsCCW()) { - //printf("It is ccw \n"); - b2Polygon tempP; - tempP.Set(*p); - ReversePolygon(tempP.x, tempP.y, tempP.nVertices); - nTri = TriangulatePolygon(tempP.x, tempP.y, tempP.nVertices, triangulated); - //ReversePolygon(p->x, p->y, p->nVertices); //reset orientation - } else { - //printf("It is not ccw \n"); - nTri = TriangulatePolygon(p->x, p->y, p->nVertices, triangulated); - } - if (nTri < 1) { - //Still no luck? Oh well... - delete[] triangulated; - return -1; - } - int32 nPolys = PolygonizeTriangles(triangulated, nTri, results, maxPolys); - delete[] triangulated; - return nPolys; -} - - /** - * Decomposes a polygon into convex polygons and adds all pieces to a b2BodyDef - * using a prototype b2PolyDef. All fields of the prototype are used for every - * shape except the vertices (friction, restitution, density, etc). - * - * If you want finer control, you'll have to add everything by hand. - * - * This is the simplest method to add a complicated polygon to a body. - * - * Until Box2D's b2BodyDef behavior changes, this method returns a pointer to - * a heap-allocated array of b2PolyDefs, which must be deleted by the user - * after the b2BodyDef is added to the world. - */ -#if 0 -void DecomposeConvexAndAddTo(b2Polygon* p, b2Body* bd, b2FixtureDef* prototype) { - - if (p->nVertices < 3) return; - b2Polygon* decomposed = new b2Polygon[p->nVertices - 2]; //maximum number of polys - int32 nPolys = DecomposeConvex(p, decomposed, p->nVertices - 2); - //printf("npolys: %d",nPolys); - b2FixtureDef* pdarray = new b2FixtureDef[2*p->nVertices];//extra space in case of splits - int32 extra = 0; - for (int32 i = 0; i < nPolys; ++i) { - b2FixtureDef* toAdd = &pdarray[i+extra]; - *toAdd = *prototype; - //Hmm, shouldn't have to do all this... - /* - toAdd->type = prototype->type; - toAdd->friction = prototype->friction; - toAdd->restitution = prototype->restitution; - toAdd->density = prototype->density; - toAdd->userData = prototype->userData; - toAdd->categoryBits = prototype->categoryBits; - toAdd->maskBits = prototype->maskBits; - toAdd->groupIndex = prototype->groupIndex;//*/ - //decomposed[i].print(); - b2Polygon curr = decomposed[i]; - //TODO ewjordan: move this triangle handling to a better place so that - //it happens even if this convenience function is not called. - if (curr.nVertices == 3){ - //Check here for near-parallel edges, since we can't - //handle this in merge routine - for (int j=0; j<3; ++j){ - int32 lower = (j == 0) ? (curr.nVertices - 1) : (j - 1); - int32 middle = j; - int32 upper = (j == curr.nVertices - 1) ? (0) : (j + 1); - float32 dx0 = curr.x[middle] - curr.x[lower]; float32 dy0 = curr.y[middle] - curr.y[lower]; - float32 dx1 = curr.x[upper] - curr.x[middle]; float32 dy1 = curr.y[upper] - curr.y[middle]; - float32 norm0 = sqrtf(dx0*dx0+dy0*dy0); float32 norm1 = sqrtf(dx1*dx1+dy1*dy1); - if ( !(norm0 > 0.0f && norm1 > 0.0f) ) { - //Identical points, don't do anything! - goto Skip; - } - dx0 /= norm0; dy0 /= norm0; - dx1 /= norm1; dy1 /= norm1; - float32 cross = dx0 * dy1 - dx1 * dy0; - float32 dot = dx0*dx1 + dy0*dy1; - if (fabs(cross) < b2_angularSlop && dot > 0) { - //Angle too close, split the triangle across from this point. - //This is guaranteed to result in two triangles that satify - //the tolerance (one of the angles is 90 degrees) - float32 dx2 = curr.x[lower] - curr.x[upper]; float32 dy2 = curr.y[lower] - curr.y[upper]; - float32 norm2 = sqrtf(dx2*dx2+dy2*dy2); - if (norm2 == 0.0f) { - goto Skip; - } - dx2 /= norm2; dy2 /= norm2; - float32 thisArea = curr.GetArea(); - float32 thisHeight = 2.0f * thisArea / norm2; - float32 buffer2 = dx2; - dx2 = dy2; dy2 = -buffer2; - //Make two new polygons - //printf("dx2: %f, dy2: %f, thisHeight: %f, middle: %d\n",dx2,dy2,thisHeight,middle); - float32 newX1[3] = { curr.x[middle]+dx2*thisHeight, curr.x[lower], curr.x[middle] }; - float32 newY1[3] = { curr.y[middle]+dy2*thisHeight, curr.y[lower], curr.y[middle] }; - float32 newX2[3] = { newX1[0], curr.x[middle], curr.x[upper] }; - float32 newY2[3] = { newY1[0], curr.y[middle], curr.y[upper] }; - b2Polygon p1(newX1,newY1,3); - b2Polygon p2(newX2,newY2,3); - if (p1.IsUsable()){ - p1.AddTo(*toAdd); - - - bd->CreateFixture(toAdd); - ++extra; - } else if (B2_POLYGON_REPORT_ERRORS){ - printf("Didn't add unusable polygon. Dumping vertices:\n"); - p1.print(); - } - if (p2.IsUsable()){ - p2.AddTo(pdarray[i+extra]); - - bd->CreateFixture(toAdd); - } else if (B2_POLYGON_REPORT_ERRORS){ - printf("Didn't add unusable polygon. Dumping vertices:\n"); - p2.print(); - } - goto Skip; - } - } - - } - if (decomposed[i].IsUsable()){ - decomposed[i].AddTo(*toAdd); - - bd->CreateFixture((const b2FixtureDef*)toAdd); - } else if (B2_POLYGON_REPORT_ERRORS){ - printf("Didn't add unusable polygon. Dumping vertices:\n"); - decomposed[i].print(); - } -Skip: - ; - } - delete[] pdarray; - delete[] decomposed; - return;// pdarray; //needs to be deleted after body is created -} - -#endif - /** - * Find the convex hull of a point cloud using "Gift-wrap" algorithm - start - * with an extremal point, and walk around the outside edge by testing - * angles. - * - * Runs in O(N*S) time where S is number of sides of resulting polygon. - * Worst case: point cloud is all vertices of convex polygon -> O(N^2). - * - * There may be faster algorithms to do this, should you need one - - * this is just the simplest. You can get O(N log N) expected time if you - * try, I think, and O(N) if you restrict inputs to simple polygons. - * - * Returns null if number of vertices passed is less than 3. - * - * Results should be passed through convex decomposition afterwards - * to ensure that each shape has few enough points to be used in Box2d. - * - * FIXME?: May be buggy with colinear points on hull. Couldn't find a test - * case that resulted in wrong behavior. If one turns up, the solution is to - * supplement angle check with an equality resolver that always picks the - * longer edge. I think the current solution is working, though it sometimes - * creates an extra edge along a line. - */ - -b2Polygon ConvexHull(b2Vec2* v, int nVert) { - float32* cloudX = new float32[nVert]; - float32* cloudY = new float32[nVert]; - for (int32 i = 0; i < nVert; ++i) { - cloudX[i] = v[i].x; - cloudY[i] = v[i].y; - } - b2Polygon result = ConvexHull(cloudX, cloudY, nVert); - delete[] cloudX; - delete[] cloudY; - return result; -} - -b2Polygon ConvexHull(float32* cloudX, float32* cloudY, int32 nVert) { - b2Assert(nVert > 2); - int32* edgeList = new int32[nVert]; - int32 numEdges = 0; - - float32 minY = 1e10; - int32 minYIndex = nVert; - for (int32 i = 0; i < nVert; ++i) { - if (cloudY[i] < minY) { - minY = cloudY[i]; - minYIndex = i; - } - } - - int32 startIndex = minYIndex; - int32 winIndex = -1; - float32 dx = -1.0f; - float32 dy = 0.0f; - while (winIndex != minYIndex) { - float32 newdx = 0.0f; - float32 newdy = 0.0f; - float32 maxDot = -2.0f; - for (int32 i = 0; i < nVert; ++i) { - if (i == startIndex) - continue; - newdx = cloudX[i] - cloudX[startIndex]; - newdy = cloudY[i] - cloudY[startIndex]; - float32 nrm = sqrtf(newdx * newdx + newdy * newdy); - nrm = (nrm == 0.0f) ? 1.0f : nrm; - newdx /= nrm; - newdy /= nrm; - - //Cross and dot products act as proxy for angle - //without requiring inverse trig. - //FIXED: don't need cross test - //float32 newCross = newdx * dy - newdy * dx; - float32 newDot = newdx * dx + newdy * dy; - if (newDot > maxDot) {//newCross >= 0.0f && newDot > maxDot) { - maxDot = newDot; - winIndex = i; - } - } - edgeList[numEdges++] = winIndex; - dx = cloudX[winIndex] - cloudX[startIndex]; - dy = cloudY[winIndex] - cloudY[startIndex]; - float32 nrm = sqrtf(dx * dx + dy * dy); - nrm = (nrm == 0.0f) ? 1.0f : nrm; - dx /= nrm; - dy /= nrm; - startIndex = winIndex; - } - - float32* xres = new float32[numEdges]; - float32* yres = new float32[numEdges]; - for (int32 i = 0; i < numEdges; i++) { - xres[i] = cloudX[edgeList[i]]; - yres[i] = cloudY[edgeList[i]]; - //("%f, %f\n",xres[i],yres[i]); - } - - b2Polygon returnVal(xres, yres, numEdges); - - delete[] xres; - delete[] yres; - delete[] edgeList; - returnVal.MergeParallelEdges(b2_angularSlop); - return returnVal; -} - - -/* - * Given sines and cosines, tells if A's angle is less than B's on -Pi, Pi - * (in other words, is A "righter" than B) - */ -bool IsRighter(float32 sinA, float32 cosA, float32 sinB, float32 cosB){ - if (sinA < 0){ - if (sinB > 0 || cosA <= cosB) return true; - else return false; - } else { - if (sinB < 0 || cosA <= cosB) return false; - else return true; - } -} - -//Fix for obnoxious behavior for the % operator for negative numbers... -int32 remainder(int32 x, int32 modulus){ - int32 rem = x % modulus; - while (rem < 0){ - rem += modulus; - } - return rem; -} - -/* -Method: -Start at vertex with minimum y (pick maximum x one if there are two). -We aim our "lastDir" vector at (1.0, 0) -We look at the two rays going off from our start vertex, and follow whichever -has the smallest angle (in -Pi -> Pi) wrt lastDir ("rightest" turn) - -Loop until we hit starting vertex: - -We add our current vertex to the list. -We check the seg from current vertex to next vertex for intersections - - if no intersections, follow to next vertex and continue - - if intersections, pick one with minimum distance - - if more than one, pick one with "rightest" next point (two possibilities for each) - -*/ - -b2Polygon TraceEdge(b2Polygon* p){ - b2PolyNode* nodes = new b2PolyNode[p->nVertices*p->nVertices];//overkill, but sufficient (order of mag. is right) - int32 nNodes = 0; - - //Add base nodes (raw outline) - for (int32 i=0; i < p->nVertices; ++i){ - b2Vec2 pos(p->x[i],p->y[i]); - nodes[i].position = pos; - ++nNodes; - int32 iplus = (i==p->nVertices-1)?0:i+1; - int32 iminus = (i==0)?p->nVertices-1:i-1; - nodes[i].AddConnection(nodes[iplus]); - nodes[i].AddConnection(nodes[iminus]); - } - - //Process intersection nodes - horribly inefficient - bool dirty = true; - int counter = 0; - while (dirty){ - dirty = false; - for (int32 i=0; i < nNodes; ++i){ - for (int32 j=0; j < nodes[i].nConnected; ++j){ - for (int32 k=0; k < nNodes; ++k){ - if (k==i || &nodes[k] == nodes[i].connected[j]) continue; - for (int32 l=0; l < nodes[k].nConnected; ++l){ - - if ( nodes[k].connected[l] == nodes[i].connected[j] || - nodes[k].connected[l] == &nodes[i]) continue; - //Check intersection - b2Vec2 intersectPt; - //if (counter > 100) printf("checking intersection: %d, %d, %d, %d\n",i,j,k,l); - bool crosses = intersect(nodes[i].position,nodes[i].connected[j]->position, - nodes[k].position,nodes[k].connected[l]->position, - intersectPt); - if (crosses){ - /*if (counter > 100) { - printf("Found crossing at %f, %f\n",intersectPt.x, intersectPt.y); - printf("Locations: %f,%f - %f,%f | %f,%f - %f,%f\n", - nodes[i].position.x, nodes[i].position.y, - nodes[i].connected[j]->position.x, nodes[i].connected[j]->position.y, - nodes[k].position.x,nodes[k].position.y, - nodes[k].connected[l]->position.x,nodes[k].connected[l]->position.y); - printf("Memory addresses: %d, %d, %d, %d\n",(int)&nodes[i],(int)nodes[i].connected[j],(int)&nodes[k],(int)nodes[k].connected[l]); - }*/ - dirty = true; - //Destroy and re-hook connections at crossing point - b2PolyNode* connj = nodes[i].connected[j]; - b2PolyNode* connl = nodes[k].connected[l]; - nodes[i].connected[j]->RemoveConnection(nodes[i]); - nodes[i].RemoveConnection(*connj); - nodes[k].connected[l]->RemoveConnection(nodes[k]); - nodes[k].RemoveConnection(*connl); - nodes[nNodes] = b2PolyNode(intersectPt); - nodes[nNodes].AddConnection(nodes[i]); - nodes[i].AddConnection(nodes[nNodes]); - nodes[nNodes].AddConnection(nodes[k]); - nodes[k].AddConnection(nodes[nNodes]); - nodes[nNodes].AddConnection(*connj); - connj->AddConnection(nodes[nNodes]); - nodes[nNodes].AddConnection(*connl); - connl->AddConnection(nodes[nNodes]); - ++nNodes; - goto SkipOut; - } - } - } - } - } - SkipOut: - ++counter; - //if (counter > 100) printf("Counter: %d\n",counter); - } - - /* - // Debugging: check for connection consistency - for (int32 i=0; i<nNodes; ++i) { - int32 nConn = nodes[i].nConnected; - for (int32 j=0; j<nConn; ++j) { - if (nodes[i].connected[j]->nConnected == 0) b2Assert(false); - b2PolyNode* connect = nodes[i].connected[j]; - bool found = false; - for (int32 k=0; k<connect->nConnected; ++k) { - if (connect->connected[k] == &nodes[i]) found = true; - } - b2Assert(found); - } - }*/ - - //Collapse duplicate points - bool foundDupe = true; - int nActive = nNodes; - while (foundDupe){ - foundDupe = false; - for (int32 i=0; i < nNodes; ++i){ - if (nodes[i].nConnected == 0) continue; - for (int32 j=i+1; j < nNodes; ++j){ - if (nodes[j].nConnected == 0) continue; - b2Vec2 diff = nodes[i].position - nodes[j].position; - if (diff.LengthSquared() <= COLLAPSE_DIST_SQR){ - if (nActive <= 3) { - // -- GODOT start -- - delete[] nodes; - // -- GODOT end -- - return b2Polygon(); - } - //printf("Found dupe, %d left\n",nActive); - --nActive; - foundDupe = true; - b2PolyNode* inode = &nodes[i]; - b2PolyNode* jnode = &nodes[j]; - //Move all of j's connections to i, and orphan j - int32 njConn = jnode->nConnected; - for (int32 k=0; k < njConn; ++k){ - b2PolyNode* knode = jnode->connected[k]; - b2Assert(knode != jnode); - if (knode != inode) { - inode->AddConnection(*knode); - knode->AddConnection(*inode); - } - knode->RemoveConnection(*jnode); - //printf("knode %d on node %d now has %d connections\n",k,j,knode->nConnected); - //printf("Found duplicate point.\n"); - } - /* - printf("Orphaning node at address %d\n",(int)jnode); - for (int32 k=0; k<njConn; ++k) { - if (jnode->connected[k]->IsConnectedTo(*jnode)) printf("Problem!!!\n"); - } - for (int32 k=0; k < njConn; ++k){ - jnode->RemoveConnectionByIndex(k); - } - */ - jnode->nConnected = 0; - } - } - } - } - - /* - // Debugging: check for connection consistency - for (int32 i=0; i<nNodes; ++i) { - int32 nConn = nodes[i].nConnected; - printf("Node %d has %d connections\n",i,nConn); - for (int32 j=0; j<nConn; ++j) { - if (nodes[i].connected[j]->nConnected == 0) { - printf("Problem with node %d connection at address %d\n",i,(int)(nodes[i].connected[j])); - b2Assert(false); - } - b2PolyNode* connect = nodes[i].connected[j]; - bool found = false; - for (int32 k=0; k<connect->nConnected; ++k) { - if (connect->connected[k] == &nodes[i]) found = true; - } - if (!found) printf("Connection %d (of %d) on node %d (of %d) did not have reciprocal connection.\n",j,nConn,i,nNodes); - b2Assert(found); - } - }//*/ - - //Now walk the edge of the list - - //Find node with minimum y value (max x if equal) - float32 minY = 1e10; - float32 maxX = -1e10; - int32 minYIndex = -1; - for (int32 i = 0; i < nNodes; ++i) { - if (nodes[i].position.y < minY && nodes[i].nConnected > 1) { - minY = nodes[i].position.y; - minYIndex = i; - maxX = nodes[i].position.x; - } else if (nodes[i].position.y == minY && nodes[i].position.x > maxX && nodes[i].nConnected > 1) { - minYIndex = i; - maxX = nodes[i].position.x; - } - } - - b2Vec2 origDir(1.0f,0.0f); - b2Vec2* resultVecs = new b2Vec2[4*nNodes];// nodes may be visited more than once, unfortunately - change to growable array! - int32 nResultVecs = 0; - b2PolyNode* currentNode = &nodes[minYIndex]; - b2PolyNode* startNode = currentNode; - b2Assert(currentNode->nConnected > 0); - b2PolyNode* nextNode = currentNode->GetRightestConnection(origDir); - if (!nextNode) goto CleanUp; // Borked, clean up our mess and return - resultVecs[0] = startNode->position; - ++nResultVecs; - while (nextNode != startNode){ - if (nResultVecs > 4*nNodes){ - /* - printf("%d, %d, %d\n",(int)startNode,(int)currentNode,(int)nextNode); - printf("%f, %f -> %f, %f\n",currentNode->position.x,currentNode->position.y, nextNode->position.x, nextNode->position.y); - p->printFormatted(); - printf("Dumping connection graph: \n"); - for (int32 i=0; i<nNodes; ++i) { - printf("nodex[%d] = %f; nodey[%d] = %f;\n",i,nodes[i].position.x,i,nodes[i].position.y); - printf("//connected to\n"); - for (int32 j=0; j<nodes[i].nConnected; ++j) { - printf("connx[%d][%d] = %f; conny[%d][%d] = %f;\n",i,j,nodes[i].connected[j]->position.x, i,j,nodes[i].connected[j]->position.y); - } - } - printf("Dumping results thus far: \n"); - for (int32 i=0; i<nResultVecs; ++i) { - printf("x[%d]=map(%f,-3,3,0,width); y[%d] = map(%f,-3,3,height,0);\n",i,resultVecs[i].x,i,resultVecs[i].y); - } - //*/ - b2Assert(false); //nodes should never be visited four times apiece (proof?), so we've probably hit a loop...crap - } - resultVecs[nResultVecs++] = nextNode->position; - b2PolyNode* oldNode = currentNode; - currentNode = nextNode; - //printf("Old node connections = %d; address %d\n",oldNode->nConnected, (int)oldNode); - //printf("Current node connections = %d; address %d\n",currentNode->nConnected, (int)currentNode); - nextNode = currentNode->GetRightestConnection(oldNode); - if (!nextNode) goto CleanUp; // There was a problem, so jump out of the loop and use whatever garbage we've generated so far - //printf("nextNode address: %d\n",(int)nextNode); - } - - CleanUp: - - float32* xres = new float32[nResultVecs]; - float32* yres = new float32[nResultVecs]; - for (int32 i=0; i<nResultVecs; ++i){ - xres[i] = resultVecs[i].x; - yres[i] = resultVecs[i].y; - } - b2Polygon retval(xres,yres,nResultVecs); - delete[] resultVecs; - delete[] yres; - delete[] xres; - delete[] nodes; - return retval; -} - -b2PolyNode::b2PolyNode(){ - nConnected = 0; - visited = false; -} -b2PolyNode::b2PolyNode(b2Vec2& pos){ - position = pos; - nConnected = 0; - visited = false; -} - -void b2PolyNode::AddConnection(b2PolyNode& toMe){ - b2Assert(nConnected < MAX_CONNECTED); - // Ignore duplicate additions - for (int32 i=0; i<nConnected; ++i) { - if (connected[i] == &toMe) return; - } - connected[nConnected] = &toMe; - ++nConnected; -} - -void b2PolyNode::RemoveConnection(b2PolyNode& fromMe){ - bool isFound = false; - int32 foundIndex = -1; - for (int32 i=0; i<nConnected; ++i){ - if (&fromMe == connected[i]) {//.position == connected[i]->position){ - isFound = true; - foundIndex = i; - break; - } - } - b2Assert(isFound); - --nConnected; - //printf("nConnected: %d\n",nConnected); - for (int32 i=foundIndex; i < nConnected; ++i){ - connected[i] = connected[i+1]; - } -} -void b2PolyNode::RemoveConnectionByIndex(int32 index){ - --nConnected; - //printf("New nConnected = %d\n",nConnected); - for (int32 i=index; i < nConnected; ++i){ - connected[i] = connected[i+1]; - } -} -bool b2PolyNode::IsConnectedTo(b2PolyNode& me){ - bool isFound = false; - for (int32 i=0; i<nConnected; ++i){ - if (&me == connected[i]) {//.position == connected[i]->position){ - isFound = true; - break; - } - } - return isFound; -} -b2PolyNode* b2PolyNode::GetRightestConnection(b2PolyNode* incoming){ - if (nConnected == 0) b2Assert(false); // This means the connection graph is inconsistent - if (nConnected == 1) { - //b2Assert(false); - // Because of the possibility of collapsing nearby points, - // we may end up with "spider legs" dangling off of a region. - // The correct behavior here is to turn around. - return incoming; - } - b2Vec2 inDir = position - incoming->position; - float32 inLength = inDir.Normalize(); - b2Assert(inLength > CMP_EPSILON); - - b2PolyNode* result = NULL; - for (int32 i=0; i<nConnected; ++i){ - if (connected[i] == incoming) continue; - b2Vec2 testDir = connected[i]->position - position; - float32 testLengthSqr = testDir.LengthSquared(); - testDir.Normalize(); - /* - if (testLengthSqr < COLLAPSE_DIST_SQR) { - printf("Problem with connection %d\n",i); - printf("This node has %d connections\n",nConnected); - printf("That one has %d\n",connected[i]->nConnected); - if (this == connected[i]) printf("This points at itself.\n"); - }*/ - b2Assert (testLengthSqr >= COLLAPSE_DIST_SQR); - float32 myCos = b2Dot(inDir,testDir); - float32 mySin = b2Cross(inDir,testDir); - if (result){ - b2Vec2 resultDir = result->position - position; - resultDir.Normalize(); - float32 resCos = b2Dot(inDir,resultDir); - float32 resSin = b2Cross(inDir,resultDir); - if (IsRighter(mySin,myCos,resSin,resCos)){ - result = connected[i]; - } - } else{ - result = connected[i]; - } - } - if (B2_POLYGON_REPORT_ERRORS && !result) { - printf("nConnected = %d\n",nConnected); - for (int32 i=0; i<nConnected; ++i) { - printf("connected[%d] @ %d\n",i,0);//(int)connected[i]); - } - } - b2Assert(result); - - return result; -} - -b2PolyNode* b2PolyNode::GetRightestConnection(b2Vec2& incomingDir){ - b2Vec2 diff = position-incomingDir; - b2PolyNode temp(diff); - b2PolyNode* res = GetRightestConnection(&temp); - b2Assert(res); - return res; -} -} diff --git a/thirdparty/b2d_convexdecomp/b2Polygon.h b/thirdparty/b2d_convexdecomp/b2Polygon.h deleted file mode 100644 index c466e28f7e..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Polygon.h +++ /dev/null @@ -1,133 +0,0 @@ -/* - * Copyright (c) 2007 Eric Jordan - * - * 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 B2_POLYGON_H -#define B2_POLYGON_H - -#include "b2Triangle.h" -#include "stdio.h" -#include <string.h> -#include <limits.h> -namespace b2ConvexDecomp { - -static bool B2_POLYGON_REPORT_ERRORS = false; - -class b2Polygon; - -int32 remainder(int32 x, int32 modulus); -int32 TriangulatePolygon(float32* xv, float32* yv, int32 vNum, b2Triangle* results); -bool IsEar(int32 i, float32* xv, float32* yv, int32 xvLength); //Not for external use -int32 PolygonizeTriangles(b2Triangle* triangulated, int32 triangulatedLength, b2Polygon* polys, int32 polysLength); -int32 DecomposeConvex(b2Polygon* p, b2Polygon* results, int32 maxPolys); -//void DecomposeConvexAndAddTo(b2Polygon* p, b2Body* bd, b2FixtureDef* prototype); - -void ReversePolygon(float32* x, float32* y, int n); - -b2Polygon TraceEdge(b2Polygon* p); //For use with self-intersecting polygons, finds outline - -class b2Polygon { - -public: - const static int32 maxVerticesPerPolygon = b2_maxPolygonVertices; - - float32* x; //vertex arrays - float32* y; - int32 nVertices; - - float32 area; - bool areaIsSet; - - b2Polygon(float32* _x, float32* _y, int32 nVert); - b2Polygon(b2Vec2* v, int32 nVert); - b2Polygon(); - ~b2Polygon(); - - float32 GetArea(); - - void MergeParallelEdges(float32 tolerance); - b2Vec2* GetVertexVecs(); - b2Polygon(b2Triangle& t); - void Set(const b2Polygon& p); - bool IsConvex(); - bool IsCCW(); - bool IsUsable(bool printError); - bool IsUsable(); - bool IsSimple(); - // void AddTo(b2FixtureDef& pd); - - b2Polygon* Add(b2Triangle& t); - - void print(){ - printFormatted(); - /* - for (int32 i=0; i<nVertices; ++i){ - printf("i: %d, x:%f, y:%f\n",i,x[i],y[i]); - } - */ - } - - void printFormatted(){ - printf("float xv[] = {"); - for (int32 i=0; i<nVertices; ++i){ - printf("%ff,",x[i]); - } - printf("};\nfloat yv[] = {"); - for (int32 i=0; i<nVertices; ++i){ - printf("%ff,",y[i]); - } - printf("};\n"); - } - - b2Polygon(const b2Polygon& p){ - nVertices = p.nVertices; - area = p.area; - areaIsSet = p.areaIsSet; - x = new float32[nVertices]; - y = new float32[nVertices]; - memcpy(x, p.x, nVertices * sizeof(float32)); - memcpy(y, p.y, nVertices * sizeof(float32)); - } - - -}; - -const int32 MAX_CONNECTED = 32; -const float32 COLLAPSE_DIST_SQR = CMP_EPSILON*CMP_EPSILON;//0.1f;//1000*CMP_EPSILON*1000*CMP_EPSILON; - -class b2PolyNode{ -public: - b2Vec2 position; - b2PolyNode* connected[MAX_CONNECTED]; - int32 nConnected; - bool visited; - - b2PolyNode(b2Vec2& pos); - b2PolyNode(); - void AddConnection(b2PolyNode& toMe); - void RemoveConnection(b2PolyNode& fromMe); - void RemoveConnectionByIndex(int32 index); - bool IsConnectedTo(b2PolyNode& me); - b2PolyNode* GetRightestConnection(b2PolyNode* incoming); - b2PolyNode* GetRightestConnection(b2Vec2& incomingDir); -}; - - -b2Polygon ConvexHull(b2Vec2* v, int nVert); -b2Polygon ConvexHull(float32* cloudX, float32* cloudY, int32 nVert); -} -#endif diff --git a/thirdparty/b2d_convexdecomp/b2Triangle.cpp b/thirdparty/b2d_convexdecomp/b2Triangle.cpp deleted file mode 100644 index a0a30b9407..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Triangle.cpp +++ /dev/null @@ -1,82 +0,0 @@ -/* - * Copyright (c) 2007 Eric Jordan - * - * 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 "b2Triangle.h" - -namespace b2ConvexDecomp { - -//Constructor automatically fixes orientation to ccw -b2Triangle::b2Triangle(float32 x1, float32 y1, float32 x2, float32 y2, float32 x3, float32 y3){ - x = new float32[3]; - y = new float32[3]; - float32 dx1 = x2-x1; - float32 dx2 = x3-x1; - float32 dy1 = y2-y1; - float32 dy2 = y3-y1; - float32 cross = dx1*dy2-dx2*dy1; - bool ccw = (cross>0); - if (ccw){ - x[0] = x1; x[1] = x2; x[2] = x3; - y[0] = y1; y[1] = y2; y[2] = y3; - } else{ - x[0] = x1; x[1] = x3; x[2] = x2; - y[0] = y1; y[1] = y3; y[2] = y2; - } -} - -b2Triangle::b2Triangle(){ - x = new float32[3]; - y = new float32[3]; -} - -b2Triangle::~b2Triangle(){ - delete[] x; - delete[] y; -} - -void b2Triangle::Set(const b2Triangle& toMe) { - for (int32 i=0; i<3; ++i) { - x[i] = toMe.x[i]; - y[i] = toMe.y[i]; - } -} - -bool b2Triangle::IsInside(float32 _x, float32 _y){ - if (_x < x[0] && _x < x[1] && _x < x[2]) return false; - if (_x > x[0] && _x > x[1] && _x > x[2]) return false; - if (_y < y[0] && _y < y[1] && _y < y[2]) return false; - if (_y > y[0] && _y > y[1] && _y > y[2]) return false; - - float32 vx2 = _x-x[0]; float32 vy2 = _y-y[0]; - float32 vx1 = x[1]-x[0]; float32 vy1 = y[1]-y[0]; - float32 vx0 = x[2]-x[0]; float32 vy0 = y[2]-y[0]; - - float32 dot00 = vx0*vx0+vy0*vy0; - float32 dot01 = vx0*vx1+vy0*vy1; - float32 dot02 = vx0*vx2+vy0*vy2; - float32 dot11 = vx1*vx1+vy1*vy1; - float32 dot12 = vx1*vx2+vy1*vy2; - float32 invDenom = 1.0f / (dot00*dot11 - dot01*dot01); - float32 u = (dot11*dot02 - dot01*dot12)*invDenom; - float32 v = (dot00*dot12 - dot01*dot02)*invDenom; - - return ((u>=0)&&(v>=0)&&(u+v<=1)); -} - - -} diff --git a/thirdparty/b2d_convexdecomp/b2Triangle.h b/thirdparty/b2d_convexdecomp/b2Triangle.h deleted file mode 100644 index 99ab5cba69..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Triangle.h +++ /dev/null @@ -1,41 +0,0 @@ -/* - * Copyright (c) 2007 Eric Jordan - * - * 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 B2_TRIANGLE_H -#define B2_TRIANGLE_H - -#include "b2Glue.h" - -namespace b2ConvexDecomp { - - - -class b2Triangle{ -public: - float* x; - float* y; - b2Triangle(); - b2Triangle(float32 x1, float32 y1, float32 x2, float32 y2, float32 x3, float32 y3); - ~b2Triangle(); - bool IsInside(float32 _x, float32 _y); - void Set(const b2Triangle& toMe); - -}; - -} -#endif diff --git a/thirdparty/bullet/Bullet3Common/b3Logging.h b/thirdparty/bullet/Bullet3Common/b3Logging.h index 9c92b12ebb..f61149de77 100644 --- a/thirdparty/bullet/Bullet3Common/b3Logging.h +++ b/thirdparty/bullet/Bullet3Common/b3Logging.h @@ -14,20 +14,8 @@ extern "C" //#define b3Printf b3OutputPrintfVarArgsInternal //#define b3Printf(...) printf(__VA_ARGS__) //#define b3Printf(...) - -#define b3Warning(...) \ - do \ - { \ - b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__); \ - b3OutputWarningMessageVarArgsInternal(__VA_ARGS__); \ - } while (0) -#define b3Error(...) \ - do \ - { \ - b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__); \ - b3OutputErrorMessageVarArgsInternal(__VA_ARGS__); \ - } while (0) - +#define b3Warning(...) do{ b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__);b3OutputWarningMessageVarArgsInternal(__VA_ARGS__);} while (0) +#define b3Error(...)do {b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__);b3OutputErrorMessageVarArgsInternal(__VA_ARGS__);} while (0) #ifndef B3_NO_PROFILE void b3EnterProfileZone(const char* name); diff --git a/thirdparty/bullet/Bullet3Common/b3Scalar.h b/thirdparty/bullet/Bullet3Common/b3Scalar.h index 0db5eb6f4f..eeb70ed632 100644 --- a/thirdparty/bullet/Bullet3Common/b3Scalar.h +++ b/thirdparty/bullet/Bullet3Common/b3Scalar.h @@ -40,8 +40,12 @@ inline int b3GetVersion() #ifdef _WIN32 -#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined(_MSC_VER) && _MSC_VER < 1300) - +#if defined(__GNUC__) // it should handle both MINGW and CYGWIN +#define B3_FORCE_INLINE __inline__ __attribute__((always_inline)) +#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16))) +#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64))) +#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128))) +#elif ( defined(_MSC_VER) && _MSC_VER < 1300 ) #define B3_FORCE_INLINE inline #define B3_ATTRIBUTE_ALIGNED16(a) a #define B3_ATTRIBUTE_ALIGNED64(a) a @@ -67,7 +71,17 @@ inline int b3GetVersion() #if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION)) #if (defined(_M_IX86) || defined(_M_X64)) + + +#ifdef __clang__ +//#define B3_NO_SIMD_OPERATOR_OVERLOADS +#define B3_DISABLE_SSE +#endif //__clang__ + +#ifndef B3_DISABLE_SSE #define B3_USE_SSE +#endif //B3_DISABLE_SSE + #ifdef B3_USE_SSE //B3_USE_SSE_IN_API is disabled under Windows by default, because //it makes it harder to integrate Bullet into your application under Windows @@ -88,17 +102,7 @@ inline int b3GetVersion() #ifdef B3_DEBUG #ifdef _MSC_VER #include <stdio.h> -#define b3Assert(x) \ - { \ - if (!(x)) \ - { \ - b3Error( \ - "Assert "__FILE__ \ - ":%u (" #x ")\n", \ - __LINE__); \ - __debugbreak(); \ - } \ - } +#define b3Assert(x) { if(!(x)){b3Error("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} #else //_MSC_VER #include <assert.h> #define b3Assert assert @@ -293,7 +297,7 @@ static int b3NanMask = 0x7F800001; static int b3InfinityMask = 0x7F800000; #define B3_INFINITY_MASK (*(float *)&b3InfinityMask) #endif - +#ifndef B3_NO_SIMD_OPERATOR_OVERLOADS inline __m128 operator+(const __m128 A, const __m128 B) { return _mm_add_ps(A, B); @@ -308,7 +312,7 @@ inline __m128 operator*(const __m128 A, const __m128 B) { return _mm_mul_ps(A, B); } - +#endif //B3_NO_SIMD_OPERATOR_OVERLOADS #define b3CastfTo128i(a) (_mm_castps_si128(a)) #define b3CastfTo128d(a) (_mm_castps_pd(a)) #define b3CastiTo128f(a) (_mm_castsi128_ps(a)) diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp index 0721928684..616fc34f3a 100644 --- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp +++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp @@ -496,7 +496,7 @@ void b3GpuParallelLinearBvh::constructBinaryRadixTree() clFinish(m_queue); } - //Find the number of nodes seperating each internal node and the root node + //Find the number of nodes separating each internal node and the root node //so that the AABBs can be set using the next kernel. //Also determine the maximum number of nodes separating an internal node and the root node. { diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h index 087b30f3e6..2b1e63be75 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h @@ -68,7 +68,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const = 0; - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const = 0; diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h index b6ceb8df10..57cbf03dc2 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h @@ -100,7 +100,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; } - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const { diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp index dae61d4581..8b0a834efe 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp @@ -183,9 +183,9 @@ bool b3VoronoiSimplexSolver::updateClosestVectorAndPoints() const b3Vector3& c = m_simplexVectorW[2]; const b3Vector3& d = m_simplexVectorW[3]; - bool hasSeperation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC); + bool hasSeparation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC); - if (hasSeperation) + if (hasSeparation) { m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] + m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] + diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h index 825caeef56..bc0742ad62 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @@ -187,13 +187,6 @@ btBroadphasePair BT_DECLARE_ALIGNED_ALLOCATOR(); - btBroadphasePair(const btBroadphasePair& other) - : m_pProxy0(other.m_pProxy0), - m_pProxy1(other.m_pProxy1), - m_algorithm(other.m_algorithm), - m_internalInfo1(other.m_internalInfo1) - { - } btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1) { //keep them sorted, so the std::set operations work diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h index a316dbf207..980d19a754 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h @@ -21,7 +21,6 @@ subject to the following restrictions: #include "LinearMath/btVector3.h" #include "LinearMath/btTransform.h" #include "LinearMath/btAabbUtil2.h" - // // Compile time configuration // @@ -131,6 +130,7 @@ subject to the following restrictions: /* btDbvtAabbMm */ struct btDbvtAabbMm { + DBVT_INLINE btDbvtAabbMm(){} DBVT_INLINE btVector3 Center() const { return ((mi + mx) / 2); } DBVT_INLINE btVector3 Lengths() const { return (mx - mi); } DBVT_INLINE btVector3 Extents() const { return ((mx - mi) / 2); } @@ -190,6 +190,36 @@ struct btDbvtNode }; }; +/* btDbv(normal)tNode */ +struct btDbvntNode +{ + btDbvtVolume volume; + btVector3 normal; + btScalar angle; + DBVT_INLINE bool isleaf() const { return (childs[1] == 0); } + DBVT_INLINE bool isinternal() const { return (!isleaf()); } + btDbvntNode* childs[2]; + void* data; + + btDbvntNode(const btDbvtNode* n) + : volume(n->volume) + , angle(0) + , normal(0,0,0) + , data(n->data) + { + childs[0] = 0; + childs[1] = 0; + } + + ~btDbvntNode() + { + if (childs[0]) + delete childs[0]; + if (childs[1]) + delete childs[1]; + } +}; + typedef btAlignedObjectArray<const btDbvtNode*> btNodeStack; ///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree). @@ -225,6 +255,14 @@ struct btDbvt btDbvtNode* parent; sStkCLN(const btDbvtNode* n, btDbvtNode* p) : node(n), parent(p) {} }; + + struct sStknNN + { + const btDbvntNode* a; + const btDbvntNode* b; + sStknNN() {} + sStknNN(const btDbvntNode* na, const btDbvntNode* nb) : a(na), b(nb) {} + }; // Policies/Interfaces /* ICollide */ @@ -234,6 +272,7 @@ struct btDbvt DBVT_VIRTUAL void Process(const btDbvtNode*, const btDbvtNode*) {} DBVT_VIRTUAL void Process(const btDbvtNode*) {} DBVT_VIRTUAL void Process(const btDbvtNode* n, btScalar) { Process(n); } + DBVT_VIRTUAL void Process(const btDbvntNode*, const btDbvntNode*) {} DBVT_VIRTUAL bool Descent(const btDbvtNode*) { return (true); } DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*) { return (true); } }; @@ -306,6 +345,12 @@ struct btDbvt void collideTT(const btDbvtNode* root0, const btDbvtNode* root1, DBVT_IPOLICY); + DBVT_PREFIX + void selfCollideT(const btDbvntNode* root, + DBVT_IPOLICY); + DBVT_PREFIX + void selfCollideTT(const btDbvtNode* root, + DBVT_IPOLICY); DBVT_PREFIX void collideTTpersistentStack(const btDbvtNode* root0, @@ -837,6 +882,135 @@ inline void btDbvt::collideTT(const btDbvtNode* root0, } } +// +DBVT_PREFIX +inline void btDbvt::selfCollideT(const btDbvntNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if (root) + { + int depth = 1; + int treshold = DOUBLE_STACKSIZE - 4; + btAlignedObjectArray<sStknNN> stkStack; + stkStack.resize(DOUBLE_STACKSIZE); + stkStack[0] = sStknNN(root, root); + do + { + sStknNN p = stkStack[--depth]; + if (depth > treshold) + { + stkStack.resize(stkStack.size() * 2); + treshold = stkStack.size() - 4; + } + if (p.a == p.b) + { + if (p.a->isinternal() && p.a->angle > SIMD_PI) + { + stkStack[depth++] = sStknNN(p.a->childs[0], p.a->childs[0]); + stkStack[depth++] = sStknNN(p.a->childs[1], p.a->childs[1]); + stkStack[depth++] = sStknNN(p.a->childs[0], p.a->childs[1]); + } + } + else if (Intersect(p.a->volume, p.b->volume)) + { + if (p.a->isinternal()) + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStknNN(p.a->childs[0], p.b->childs[0]); + stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[0]); + stkStack[depth++] = sStknNN(p.a->childs[0], p.b->childs[1]); + stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[1]); + } + else + { + stkStack[depth++] = sStknNN(p.a->childs[0], p.b); + stkStack[depth++] = sStknNN(p.a->childs[1], p.b); + } + } + else + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStknNN(p.a, p.b->childs[0]); + stkStack[depth++] = sStknNN(p.a, p.b->childs[1]); + } + else + { + policy.Process(p.a, p.b); + } + } + } + } while (depth); + } +} + +// +DBVT_PREFIX +inline void btDbvt::selfCollideTT(const btDbvtNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if (root) + { + int depth = 1; + int treshold = DOUBLE_STACKSIZE - 4; + btAlignedObjectArray<sStkNN> stkStack; + stkStack.resize(DOUBLE_STACKSIZE); + stkStack[0] = sStkNN(root, root); + do + { + sStkNN p = stkStack[--depth]; + if (depth > treshold) + { + stkStack.resize(stkStack.size() * 2); + treshold = stkStack.size() - 4; + } + if (p.a == p.b) + { + if (p.a->isinternal()) + { + stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]); + stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]); + stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]); + } + } + else if (Intersect(p.a->volume, p.b->volume)) + { + if (p.a->isinternal()) + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]); + stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]); + stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]); + stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]); + } + else + { + stkStack[depth++] = sStkNN(p.a->childs[0], p.b); + stkStack[depth++] = sStkNN(p.a->childs[1], p.b); + } + } + else + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStkNN(p.a, p.b->childs[0]); + stkStack[depth++] = sStkNN(p.a, p.b->childs[1]); + } + else + { + policy.Process(p.a, p.b); + } + } + } + } while (depth); + } +} + + DBVT_PREFIX inline void btDbvt::collideTTpersistentStack(const btDbvtNode* root0, const btDbvtNode* root1, diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h index a85782bc8a..f4a2d5e368 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -68,7 +68,7 @@ public: virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher) = 0; - virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo) + virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& /*dispatchInfo*/) { processAllOverlappingPairs(callback, dispatcher); } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h index 1cc4a5ac5f..56341b7d29 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h @@ -27,13 +27,19 @@ public: const btCollisionShape* m_shape; const btCollisionObject* m_collisionObject; const btTransform& m_worldTransform; + const btTransform* m_preTransform; int m_partId; int m_index; btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index) - : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_partId(partId), m_index(index) + : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(NULL), m_partId(partId), m_index(index) { } + + btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, const btTransform& preTransform, int partId, int index) + : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(&preTransform), m_partId(partId), m_index(index) + { + } SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; } SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp index 9f422dc157..e56e73dcf5 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp @@ -292,8 +292,8 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(btCollisionSha } break; } -#endif //SUPPORT_GIMPACT_SHAPE_IMPORT \ - //The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API \ +#endif //SUPPORT_GIMPACT_SHAPE_IMPORT + //The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API //so deal with this case CAPSULE_SHAPE_PROXYTYPE: { diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 633bee4825..1bb21104cb 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -139,7 +139,7 @@ public: if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1)) { - btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, -1, index); + btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, childTrans, -1, index); btCollisionAlgorithm* algo = 0; bool allocatedAlgorithm = false; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index 44dd3c553e..b48d97f2b2 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -503,9 +503,9 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper* gjkPairDetector.getClosestPoints(input, withoutMargin, dispatchInfo.m_debugDraw); //gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw); -#endif //ZERO_MARGIN \ - //btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); \ - //if (l2>SIMD_EPSILON) +#endif //ZERO_MARGIN + //btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); + //if (l2>SIMD_EPSILON) { sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld; //gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2); //minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance(); diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp index e74c83f9f1..a4252c296a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp @@ -1,6 +1,8 @@ #include "btInternalEdgeUtility.h" #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" + #include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" #include "BulletCollision/CollisionShapes/btTriangleShape.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h" @@ -290,6 +292,39 @@ struct btConnectivityProcessor : public btTriangleCallback } } }; + + +struct b3ProcessAllTrianglesHeightfield: public btTriangleCallback +{ + btHeightfieldTerrainShape* m_heightfieldShape; + btTriangleInfoMap* m_triangleInfoMap; + + + b3ProcessAllTrianglesHeightfield(btHeightfieldTerrainShape* heightFieldShape, btTriangleInfoMap* triangleInfoMap) + :m_heightfieldShape(heightFieldShape), + m_triangleInfoMap(triangleInfoMap) + { + } + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) + { + btConnectivityProcessor connectivityProcessor; + connectivityProcessor.m_partIdA = partId; + connectivityProcessor.m_triangleIndexA = triangleIndex; + connectivityProcessor.m_triangleVerticesA = triangle; + connectivityProcessor.m_triangleInfoMap = m_triangleInfoMap; + btVector3 aabbMin, aabbMax; + aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT)); + aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT)); + aabbMin.setMin(triangle[0]); + aabbMax.setMax(triangle[0]); + aabbMin.setMin(triangle[1]); + aabbMax.setMax(triangle[1]); + aabbMin.setMin(triangle[2]); + aabbMax.setMax(triangle[2]); + + m_heightfieldShape->processAllTriangles(&connectivityProcessor, aabbMin, aabbMax); + } +}; ///////////////////////////////////////////////////////// ///////////////////////////////////////////////////////// @@ -361,6 +396,28 @@ void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangle } } + +void btGenerateInternalEdgeInfo(btHeightfieldTerrainShape* heightfieldShape, btTriangleInfoMap* triangleInfoMap) +{ + + //the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there! + if (heightfieldShape->getTriangleInfoMap()) + return; + + heightfieldShape->setTriangleInfoMap(triangleInfoMap); + + //get all the triangles of the heightfield + + btVector3 aabbMin, aabbMax; + + aabbMax.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT)); + aabbMin.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT)); + + b3ProcessAllTrianglesHeightfield processHeightfield(heightfieldShape, triangleInfoMap); + heightfieldShape->processAllTriangles(&processHeightfield, aabbMin, aabbMax); + +} + // Given a point and a line segment (defined by two points), compute the closest point // in the line. Cap the point at the endpoints of the line segment. void btNearestPointInLineSegment(const btVector3& point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint) @@ -426,6 +483,32 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE) return; + + btTriangleInfoMap* triangleInfoMapPtr = 0; + + if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == TERRAIN_SHAPE_PROXYTYPE) + { + btHeightfieldTerrainShape* heightfield = (btHeightfieldTerrainShape*)colObj0Wrap->getCollisionObject()->getCollisionShape(); + triangleInfoMapPtr = heightfield->getTriangleInfoMap(); + +//#define USE_HEIGHTFIELD_TRIANGLES +#ifdef USE_HEIGHTFIELD_TRIANGLES + btVector3 newNormal = btVector3(0, 0, 1); + + const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape()); + btVector3 tri_normal; + tri_shape->calcNormal(tri_normal); + newNormal = tri_normal; + // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB); + cp.m_normalWorldOnB = newNormal; + // Reproject collision point along normal. (what about cp.m_distance1?) + cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; + cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB); + return; +#endif + } + + btBvhTriangleMeshShape* trimesh = 0; if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE) @@ -439,10 +522,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape(); } } - if (trimesh == 0) - return; - - btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*)trimesh->getTriangleInfoMap(); + if (trimesh) + { + triangleInfoMapPtr = (btTriangleInfoMap*)trimesh->getTriangleInfoMap(); + } + + if (!triangleInfoMapPtr) return; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h index 9d9cff040f..cc6d11c241 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h @@ -15,6 +15,7 @@ class btCollisionObject; struct btCollisionObjectWrapper; class btManifoldPoint; class btIDebugDraw; +class btHeightfieldTerrainShape; enum btInternalEdgeAdjustFlags { @@ -26,6 +27,8 @@ enum btInternalEdgeAdjustFlags ///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo' void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangleInfoMap* triangleInfoMap); +void btGenerateInternalEdgeInfo(btHeightfieldTerrainShape* trimeshShape, btTriangleInfoMap* triangleInfoMap); + ///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo) ///If this info map is missing, or the triangle is not store in this map, nothing will be done void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* trimeshColObj0Wrap, const btCollisionObjectWrapper* otherColObj1Wrap, int partId0, int index0, int normalAdjustFlags = 0); diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp index e5097ccbbf..327b3f076a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp @@ -233,7 +233,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { if (colObj0->getActivationState() == ACTIVE_TAG || @@ -257,7 +257,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { @@ -278,7 +278,8 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + if (colObj0->getIslandTag() == islandId) { @@ -337,13 +338,17 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi } } + ///@todo: this is random access, it can be walked 'cache friendly'! void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback) { - btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); - buildIslands(dispatcher, collisionWorld); + processIslands(dispatcher, collisionWorld, callback); +} +void btSimulationIslandManager::processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback) +{ + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); int endIslandIndex = 1; int startIslandIndex; int numElem = getUnionFind().getNumElements(); diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h index 6c2802141c..197bb457cf 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h @@ -57,9 +57,11 @@ public: }; void buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback); - + void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld); + void processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback); + bool getSplitIslands() { return m_splitIslands; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index 34ec2d8c45..34e7926f17 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -21,6 +21,9 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape( int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis, PHY_ScalarType hdt, bool flipQuadEdges) + :m_userIndex2(-1), + m_userValue3(0), + m_triangleInfoMap(0) { initialize(heightStickWidth, heightStickLength, heightfieldData, heightScale, minHeight, maxHeight, upAxis, hdt, @@ -28,6 +31,9 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape( } btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges) + :m_userIndex2(-1), + m_userValue3(0), + m_triangleInfoMap(0) { // legacy constructor: support only float or unsigned char, // and min height is zero @@ -349,12 +355,12 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback getVertex(x, j, vertices[indices[0]]); getVertex(x, j + 1, vertices[indices[1]]); getVertex(x + 1, j + 1, vertices[indices[2]]); - callback->processTriangle(vertices, x, j); + callback->processTriangle(vertices, 2 * x, j); //second triangle // getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman getVertex(x + 1, j + 1, vertices[indices[1]]); getVertex(x + 1, j, vertices[indices[2]]); - callback->processTriangle(vertices, x, j); + callback->processTriangle(vertices, 2 * x+1, j); } else { @@ -362,12 +368,12 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback getVertex(x, j, vertices[indices[0]]); getVertex(x, j + 1, vertices[indices[1]]); getVertex(x + 1, j, vertices[indices[2]]); - callback->processTriangle(vertices, x, j); + callback->processTriangle(vertices, 2 * x, j); //second triangle getVertex(x + 1, j, vertices[indices[0]]); //getVertex(x,j+1,vertices[1]); getVertex(x + 1, j + 1, vertices[indices[2]]); - callback->processTriangle(vertices, x, j); + callback->processTriangle(vertices, 2 * x+1, j); } } } diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h index 43e1d25e3d..8dea98fc6b 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h @@ -114,6 +114,11 @@ protected: int m_vboundsGridLength; int m_vboundsChunkSize; + int m_userIndex2; + btScalar m_userValue3; + + struct btTriangleInfoMap* m_triangleInfoMap; + virtual btScalar getRawHeightFieldValue(int x, int y) const; void quantizeWithClamp(int* out, const btVector3& point, int isMax) const; @@ -185,6 +190,40 @@ public: } //debugging virtual const char* getName() const { return "HEIGHTFIELD"; } + + + void setUserIndex2(int index) + { + m_userIndex2 = index; + } + int getUserIndex2() const + { + return m_userIndex2; + } + void setUserValue3(btScalar value) + { + m_userValue3 = value; + } + btScalar getUserValue3() const + { + return m_userValue3; + } + const struct btTriangleInfoMap* getTriangleInfoMap() const + { + return m_triangleInfoMap; + } + struct btTriangleInfoMap* getTriangleInfoMap() + { + return m_triangleInfoMap; + } + void setTriangleInfoMap(btTriangleInfoMap* map) + { + m_triangleInfoMap = map; + } + const unsigned char* getHeightfieldRawData() const + { + return m_heightfieldDataUnsignedChar; + } }; #endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
\ No newline at end of file diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h index 7d729ee0d7..68a41dfb45 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h @@ -58,7 +58,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const = 0; - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const = 0; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h index 8ebb22baae..556aa3fef4 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h @@ -100,7 +100,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; } - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const { diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h index eb33ce05e2..5b85e87041 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h @@ -1,5 +1,5 @@ /*! \file btGImpactShape.h -\author Francisco Leon Najera +\author Francisco Len Nßjera */ /* This source file is part of GIMPACT Library. diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h index c94391d816..3c82133037 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h @@ -95,11 +95,11 @@ int btComputeGjkEpaPenetration(const btConvexTemplate& a, const btConvexTemplate for (;;) //while (true) { - btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); - btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); + btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); + btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); - btVector3 pInA = a.getLocalSupportWithoutMargin(seperatingAxisInA); - btVector3 qInB = b.getLocalSupportWithoutMargin(seperatingAxisInB); + btVector3 pInA = a.getLocalSupportWithoutMargin(separatingAxisInA); + btVector3 qInB = b.getLocalSupportWithoutMargin(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index 4339b2ea75..5af93cb2fb 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -79,11 +79,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput &input, Result static void btComputeSupport(const btConvexShape *convexA, const btTransform &localTransA, const btConvexShape *convexB, const btTransform &localTransB, const btVector3 &dir, bool check2d, btVector3 &supAworld, btVector3 &supBworld, btVector3 &aMinb) { - btVector3 seperatingAxisInA = (dir)*localTransA.getBasis(); - btVector3 seperatingAxisInB = (-dir) * localTransB.getBasis(); + btVector3 separatingAxisInA = (dir)*localTransA.getBasis(); + btVector3 separatingAxisInB = (-dir) * localTransB.getBasis(); - btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pInA = pInANoMargin; btVector3 qInB = qInBNoMargin; @@ -839,11 +839,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu for (;;) //while (true) { - btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); - btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); + btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); + btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1116,11 +1116,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu btScalar d2 = 0.f; { - btVector3 seperatingAxisInA = (-orgNormalInB) * localTransA.getBasis(); - btVector3 seperatingAxisInB = orgNormalInB * localTransB.getBasis(); + btVector3 separatingAxisInA = (-orgNormalInB) * localTransA.getBasis(); + btVector3 separatingAxisInB = orgNormalInB * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1130,11 +1130,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu btScalar d1 = 0; { - btVector3 seperatingAxisInA = (normalInB)*localTransA.getBasis(); - btVector3 seperatingAxisInB = -normalInB * localTransB.getBasis(); + btVector3 separatingAxisInA = (normalInB)*localTransA.getBasis(); + btVector3 separatingAxisInB = -normalInB * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1143,11 +1143,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu } btScalar d0 = 0.f; { - btVector3 seperatingAxisInA = (-normalInB) * input.m_transformA.getBasis(); - btVector3 seperatingAxisInB = normalInB * input.m_transformB.getBasis(); + btVector3 separatingAxisInA = (-normalInB) * input.m_transformA.getBasis(); + btVector3 separatingAxisInB = normalInB * input.m_transformB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h index 659b63551e..faa02287ca 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h @@ -64,9 +64,9 @@ public: { m_minkowskiB = minkB; } - void setCachedSeperatingAxis(const btVector3& seperatingAxis) + void setCachedSeparatingAxis(const btVector3& separatingAxis) { - m_cachedSeparatingAxis = seperatingAxis; + m_cachedSeparatingAxis = separatingAxis; } const btVector3& getCachedSeparatingAxis() const diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h index 6d21f66202..573fc86bf9 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @@ -55,6 +55,7 @@ public: : m_userPersistentData(0), m_contactPointFlags(0), m_appliedImpulse(0.f), + m_prevRHS(0.f), m_appliedImpulseLateral1(0.f), m_appliedImpulseLateral2(0.f), m_contactMotion1(0.f), @@ -79,6 +80,7 @@ public: m_userPersistentData(0), m_contactPointFlags(0), m_appliedImpulse(0.f), + m_prevRHS(0.f), m_appliedImpulseLateral1(0.f), m_appliedImpulseLateral2(0.f), m_contactMotion1(0.f), @@ -114,6 +116,7 @@ public: int m_contactPointFlags; btScalar m_appliedImpulse; + btScalar m_prevRHS; btScalar m_appliedImpulseLateral1; btScalar m_appliedImpulseLateral2; btScalar m_contactMotion1; diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp index a77449812f..c042c24208 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp @@ -65,7 +65,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s btScalar minProj = btScalar(BT_LARGE_FLOAT); btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.)); btVector3 minA, minB; - btVector3 seperatingAxisInA, seperatingAxisInB; + btVector3 separatingAxisInA, separatingAxisInB; btVector3 pInA, qInB, pWorld, qWorld, w; #ifndef __SPU__ @@ -75,8 +75,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; - btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; - btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; + btVector3 separatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; + btVector3 separatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; int i; int numSampleDirections = NUM_UNITSPHERE_POINTS; @@ -84,8 +84,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s for (i = 0; i < numSampleDirections; i++) { btVector3 norm = getPenetrationDirections()[i]; - seperatingAxisInABatch[i] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[i] = norm * transB.getBasis(); + separatingAxisInABatch[i] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[i] = norm * transB.getBasis(); } { @@ -98,8 +98,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s convexA->getPreferredPenetrationDirection(i, norm); norm = transA.getBasis() * norm; getPenetrationDirections()[numSampleDirections] = norm; - seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); numSampleDirections++; } } @@ -115,15 +115,15 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s convexB->getPreferredPenetrationDirection(i, norm); norm = transB.getBasis() * norm; getPenetrationDirections()[numSampleDirections] = norm; - seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); numSampleDirections++; } } } - convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch, supportVerticesABatch, numSampleDirections); - convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch, supportVerticesBBatch, numSampleDirections); + convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInABatch, supportVerticesABatch, numSampleDirections); + convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInBBatch, supportVerticesBBatch, numSampleDirections); for (i = 0; i < numSampleDirections; i++) { @@ -134,8 +134,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s } if (norm.length2() > 0.01) { - seperatingAxisInA = seperatingAxisInABatch[i]; - seperatingAxisInB = seperatingAxisInBBatch[i]; + separatingAxisInA = separatingAxisInABatch[i]; + separatingAxisInB = separatingAxisInBBatch[i]; pInA = supportVerticesABatch[i]; qInB = supportVerticesBBatch[i]; @@ -199,10 +199,10 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s for (int i = 0; i < numSampleDirections; i++) { const btVector3& norm = getPenetrationDirections()[i]; - seperatingAxisInA = (-norm) * transA.getBasis(); - seperatingAxisInB = norm * transB.getBasis(); - pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + separatingAxisInA = (-norm) * transA.getBasis(); + separatingAxisInB = norm * transB.getBasis(); + pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); pWorld = transA(pInA); qWorld = transB(qInB); w = qWorld - pWorld; @@ -259,7 +259,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT); //minProj; btIntermediateResult res; - gjkdet.setCachedSeperatingAxis(-minNorm); + gjkdet.setCachedSeparatingAxis(-minNorm); gjkdet.getClosestPoints(input, res, debugDraw); btScalar correctedMinNorm = minProj - res.m_depth; diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h index 358bc95d81..534a66d3fa 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h @@ -309,11 +309,11 @@ inline void btMprSupport(const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, const btVector3 &dir, btMprSupport_t *supp) { - btVector3 seperatingAxisInA = dir * a.getWorldTransform().getBasis(); - btVector3 seperatingAxisInB = -dir * b.getWorldTransform().getBasis(); + btVector3 separatingAxisInA = dir * a.getWorldTransform().getBasis(); + btVector3 separatingAxisInB = -dir * b.getWorldTransform().getBasis(); - btVector3 pInA = a.getLocalSupportWithMargin(seperatingAxisInA); - btVector3 qInB = b.getLocalSupportWithMargin(seperatingAxisInB); + btVector3 pInA = a.getLocalSupportWithMargin(separatingAxisInA); + btVector3 qInB = b.getLocalSupportWithMargin(separatingAxisInB); supp->v1 = a.getWorldTransform()(pInA); supp->v2 = b.getWorldTransform()(qInB); @@ -467,7 +467,7 @@ static int btRefinePortal(const btConvexTemplate &a, const btConvexTemplate &b, for (int i = 0; i < BT_MPR_MAX_ITERATIONS; i++) //while (1) { - // compute direction outside the portal (from v0 throught v1,v2,v3 + // compute direction outside the portal (from v0 through v1,v2,v3 // face) btPortalDir(portal, &dir); diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp index f1422cad4d..dca3e09267 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -325,6 +325,7 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma { const btManifoldPoint& pt = manifold->getContactPoint(i); dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse; + dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS; dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1; dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2; pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]); @@ -371,6 +372,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleDa btManifoldPoint& pt = m_pointCache[i]; pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i]; pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]); @@ -416,6 +418,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat btManifoldPoint& pt = m_pointCache[i]; pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i]; pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]); @@ -444,4 +447,4 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i]; pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i]; } -}
\ No newline at end of file +} diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h index 8a9134c95c..0e26da0ebe 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h @@ -173,6 +173,7 @@ public: //get rid of duplicated userPersistentData pointer m_pointCache[lastUsedIndex].m_userPersistentData = 0; m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f; + m_pointCache[lastUsedIndex].m_prevRHS = 0.f; m_pointCache[lastUsedIndex].m_contactPointFlags = 0; m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f; m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f; @@ -195,6 +196,7 @@ public: #ifdef MAINTAIN_PERSISTENCY int lifeTime = m_pointCache[insertIndex].getLifeTime(); btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse; + btScalar prevRHS = m_pointCache[insertIndex].m_prevRHS; btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1; btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2; @@ -223,6 +225,7 @@ public: m_pointCache[insertIndex] = newPoint; m_pointCache[insertIndex].m_userPersistentData = cache; m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse; + m_pointCache[insertIndex].m_prevRHS = prevRHS; m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1; m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2; } @@ -276,7 +279,8 @@ struct btPersistentManifoldDoubleData btVector3DoubleData m_pointCacheLateralFrictionDir2[4]; double m_pointCacheDistance[4]; double m_pointCacheAppliedImpulse[4]; - double m_pointCacheCombinedFriction[4]; + double m_pointCachePrevRHS[4]; + double m_pointCacheCombinedFriction[4]; double m_pointCacheCombinedRollingFriction[4]; double m_pointCacheCombinedSpinningFriction[4]; double m_pointCacheCombinedRestitution[4]; @@ -322,6 +326,7 @@ struct btPersistentManifoldFloatData btVector3FloatData m_pointCacheLateralFrictionDir2[4]; float m_pointCacheDistance[4]; float m_pointCacheAppliedImpulse[4]; + float m_pointCachePrevRHS[4]; float m_pointCacheCombinedFriction[4]; float m_pointCacheCombinedRollingFriction[4]; float m_pointCacheCombinedSpinningFriction[4]; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp index 2a5efc6495..27f76b8425 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp @@ -890,6 +890,8 @@ static void setupSpatialGridBatchesMt( btVector3 gridExtent = bboxMax - bboxMin; + gridExtent.setMax(btVector3(btScalar(1), btScalar(1), btScalar(1))); + btVector3 gridCellSize = consExtent; int gridDim[3]; gridDim[0] = int(1.0 + gridExtent.x() / gridCellSize.x()); diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 63d7c98e16..e82d1b139e 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -30,7 +30,8 @@ enum btSolverMode SOLVER_SIMD = 256, SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512, SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024, - SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048 + SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048, + SOLVER_USE_ARTICULATED_WARMSTARTING = 4096, }; struct btContactSolverInfoData @@ -45,6 +46,7 @@ struct btContactSolverInfoData btScalar m_sor; //successive over-relaxation term btScalar m_erp; //error reduction for non-contact constraints btScalar m_erp2; //error reduction for contact constraints + btScalar m_deformable_erp; //error reduction for deformable constraints btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts btScalar m_frictionERP; //error reduction for friction constraints btScalar m_frictionCFM; //constraint force mixing for friction constraints @@ -54,7 +56,7 @@ struct btContactSolverInfoData btScalar m_splitImpulseTurnErp; btScalar m_linearSlop; btScalar m_warmstartingFactor; - + btScalar m_articulatedWarmstartingFactor; int m_solverMode; int m_restingContactRestitutionThreshold; int m_minimumSolverBatchSize; @@ -80,6 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_numIterations = 10; m_erp = btScalar(0.2); m_erp2 = btScalar(0.2); + m_deformable_erp = btScalar(0.); m_globalCfm = btScalar(0.); m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default m_frictionCFM = btScalar(0.); @@ -89,6 +92,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_splitImpulseTurnErp = 0.1f; m_linearSlop = btScalar(0.0); m_warmstartingFactor = btScalar(0.85); + m_articulatedWarmstartingFactor = btScalar(0.85); //m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER; m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER; m_restingContactRestitutionThreshold = 2; //unused as of 2.81 @@ -120,6 +124,7 @@ struct btContactSolverInfoDoubleData double m_splitImpulseTurnErp; double m_linearSlop; double m_warmstartingFactor; + double m_articulatedWarmstartingFactor; double m_maxGyroscopicForce; ///it is only used for 'explicit' version of gyroscopic force double m_singleAxisRollingFrictionThreshold; @@ -150,16 +155,17 @@ struct btContactSolverInfoFloatData float m_linearSlop; float m_warmstartingFactor; + float m_articulatedWarmstartingFactor; float m_maxGyroscopicForce; - float m_singleAxisRollingFrictionThreshold; + float m_singleAxisRollingFrictionThreshold; int m_numIterations; int m_solverMode; int m_restingContactRestitutionThreshold; - int m_minimumSolverBatchSize; + int m_minimumSolverBatchSize; int m_splitImpulse; - char m_padding[4]; + }; #endif //BT_CONTACT_SOLVER_INFO diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp index 9a3b39e6f8..93626f18ff 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp @@ -32,7 +32,7 @@ Cons: /* 2007-09-09 -btGeneric6DofConstraint Refactored by Francisco Leon +btGeneric6DofConstraint Refactored by Francisco Le?n email: projectileman@yahoo.com http://gimpact.sf.net */ @@ -311,9 +311,9 @@ void btGeneric6DofSpring2Constraint::calculateAngleInfo() case RO_XYZ: { //Is this the "line of nodes" calculation choosing planes YZ (B coordinate system) and xy (A coordinate system)? (http://en.wikipedia.org/wiki/Euler_angles) - //The two planes are non-homologous, so this is a Tait-Bryan angle formalism and not a proper Euler + //The two planes are non-homologous, so this is a Tait Bryan angle formalism and not a proper Euler //Extrinsic rotations are equal to the reversed order intrinsic rotations so the above xyz extrinsic rotations (axes are fixed) are the same as the zy'x" intrinsic rotations (axes are refreshed after each rotation) - //that is why xy and YZ planes are chosen (this will describe a zy'x" intrinsic rotation) (see the figure on the left at http://en.wikipedia.org/wiki/Euler_angles under Tait-Bryan angles) + //that is why xy and YZ planes are chosen (this will describe a zy'x" intrinsic rotation) (see the figure on the left at http://en.wikipedia.org/wiki/Euler_angles under Tait Bryan angles) // x' = Nperp = N.cross(axis2) // y' = N = axis2.cross(axis0) // z' = z diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index d3b71e4583..e4da468299 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -394,18 +394,6 @@ btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstr return gResolveSingleConstraintRowLowerLimit_scalar_reference; } -btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarSplitPenetrationImpulseGeneric() -{ - return gResolveSplitPenetrationImpulse_scalar_reference; -} - -btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2SplitPenetrationImpulseGeneric() -{ - return gResolveSplitPenetrationImpulse_sse2; -} - - - #ifdef USE_SIMD btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric() { @@ -433,11 +421,6 @@ unsigned long btSequentialImpulseConstraintSolver::btRand2() return m_btSeed2; } -unsigned long btSequentialImpulseConstraintSolver::btRand2a(unsigned long& seed) -{ - seed = (1664525L * seed + 1013904223L) & 0xffffffff; - return seed; -} //See ODE: adam's all-int straightforward(?) dRandInt (0..n-1) int btSequentialImpulseConstraintSolver::btRandInt2(int n) { @@ -471,44 +454,42 @@ int btSequentialImpulseConstraintSolver::btRandInt2(int n) return (int)(r % un); } -int btSequentialImpulseConstraintSolver::btRandInt2a(int n, unsigned long& seed) +void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep) { - // seems good; xor-fold and modulus - const unsigned long un = static_cast<unsigned long>(n); - unsigned long r = btSequentialImpulseConstraintSolver::btRand2a(seed); + btRigidBody* rb = collisionObject ? btRigidBody::upcast(collisionObject) : 0; - // note: probably more aggressive than it needs to be -- might be - // able to get away without one or two of the innermost branches. - if (un <= 0x00010000UL) + solverBody->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f); + + if (rb) { - r ^= (r >> 16); - if (un <= 0x00000100UL) + solverBody->m_worldTransform = rb->getWorldTransform(); + solverBody->internalSetInvMass(btVector3(rb->getInvMass(), rb->getInvMass(), rb->getInvMass()) * rb->getLinearFactor()); + solverBody->m_originalBody = rb; + solverBody->m_angularFactor = rb->getAngularFactor(); + solverBody->m_linearFactor = rb->getLinearFactor(); + solverBody->m_linearVelocity = rb->getLinearVelocity(); + solverBody->m_angularVelocity = rb->getAngularVelocity(); + solverBody->m_externalForceImpulse = rb->getTotalForce() * rb->getInvMass() * timeStep; + solverBody->m_externalTorqueImpulse = rb->getTotalTorque() * rb->getInvInertiaTensorWorld() * timeStep; + } + else { - r ^= (r >> 8); - if (un <= 0x00000010UL) - { - r ^= (r >> 4); - if (un <= 0x00000004UL) - { - r ^= (r >> 2); - if (un <= 0x00000002UL) - { - r ^= (r >> 1); + solverBody->m_worldTransform.setIdentity(); + solverBody->internalSetInvMass(btVector3(0, 0, 0)); + solverBody->m_originalBody = 0; + solverBody->m_angularFactor.setValue(1, 1, 1); + solverBody->m_linearFactor.setValue(1, 1, 1); + solverBody->m_linearVelocity.setValue(0, 0, 0); + solverBody->m_angularVelocity.setValue(0, 0, 0); + solverBody->m_externalForceImpulse.setValue(0, 0, 0); + solverBody->m_externalTorqueImpulse.setValue(0, 0, 0); } } - } - } - } - return (int)(r % un); -} - -void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep) -{ - btSISolverSingleIterationData::initSolverBody(solverBody, collisionObject, timeStep); -} - -btScalar btSequentialImpulseConstraintSolver::restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) +btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) { //printf("rel_vel =%f\n", rel_vel); if (btFabs(rel_vel) < velocityThreshold) @@ -517,10 +498,6 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurveInternal(btScalar btScalar rest = restitution * -rel_vel; return rest; } -btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) -{ - return btSequentialImpulseConstraintSolver::restitutionCurveInternal(rel_vel, restitution, velocityThreshold); -} void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj, btVector3& frictionDirection, int frictionMode) { @@ -536,13 +513,13 @@ void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionOb } } -void btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { - btSolverBody& solverBodyA = tmpSolverBodyPool[solverBodyIdA]; - btSolverBody& solverBodyB = tmpSolverBodyPool[solverBodyIdB]; + btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; - btRigidBody* body0 = tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* bodyA = tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -628,22 +605,6 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(btAlig } } -void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) -{ - btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(m_tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); -} - -btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) -{ - btSolverConstraint& solverConstraint = tmpSolverContactFrictionConstraintPool.expandNonInitializing(); - solverConstraint.m_frictionIndex = frictionIndex; - setupFrictionConstraintInternal(tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); - return solverConstraint; -} - - - btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing(); @@ -653,8 +614,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c return solverConstraint; } - -void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, +void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) @@ -664,11 +624,11 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintIntern solverConstraint.m_contactNormal1 = normalAxis; solverConstraint.m_contactNormal2 = -normalAxis; - btSolverBody& solverBodyA = tmpSolverBodyPool[solverBodyIdA]; - btSolverBody& solverBodyB = tmpSolverBodyPool[solverBodyIdB]; + btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; - btRigidBody* body0 = tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* bodyA = tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -717,30 +677,6 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintIntern } } - -void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, - btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, - btScalar desiredVelocity, btScalar cfmSlip) - -{ - setupTorsionalFrictionConstraintInternal(m_tmpSolverBodyPool, solverConstraint, normalAxis1, solverBodyIdA, solverBodyIdB, - cp, combinedTorsionalFriction, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, - desiredVelocity, cfmSlip); - -} - -btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) -{ - btSolverConstraint& solverConstraint = tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing(); - solverConstraint.m_frictionIndex = frictionIndex; - setupTorsionalFrictionConstraintInternal(tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, combinedTorsionalFriction, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, desiredVelocity, cfmSlip); - return solverConstraint; -} - - btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) { btSolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing(); @@ -750,217 +686,6 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionCon return solverConstraint; } -int btSISolverSingleIterationData::getOrInitSolverBody(btCollisionObject & body, btScalar timeStep) -{ -#if BT_THREADSAFE - int solverBodyId = -1; - bool isRigidBodyType = btRigidBody::upcast(&body) != NULL; - if (isRigidBodyType && !body.isStaticOrKinematicObject()) - { - // dynamic body - // Dynamic bodies can only be in one island, so it's safe to write to the companionId - solverBodyId = body.getCompanionId(); - if (solverBodyId < 0) - { - solverBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&solverBody, &body, timeStep); - body.setCompanionId(solverBodyId); - } - } - else if (isRigidBodyType && body.isKinematicObject()) - { - // - // NOTE: must test for kinematic before static because some kinematic objects also - // identify as "static" - // - // Kinematic bodies can be in multiple islands at once, so it is a - // race condition to write to them, so we use an alternate method - // to record the solverBodyId - int uniqueId = body.getWorldArrayIndex(); - const int INVALID_SOLVER_BODY_ID = -1; - if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size()) - { - m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID); - } - solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId]; - // if no table entry yet, - if (solverBodyId == INVALID_SOLVER_BODY_ID) - { - // create a table entry for this body - solverBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&solverBody, &body, timeStep); - m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId] = solverBodyId; - } - } - else - { - bool isMultiBodyType = (body.getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK); - // Incorrectly set collision object flags can degrade performance in various ways. - if (!isMultiBodyType) - { - btAssert(body.isStaticOrKinematicObject()); - } - //it could be a multibody link collider - // all fixed bodies (inf mass) get mapped to a single solver id - if (m_fixedBodyId < 0) - { - m_fixedBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&fixedBody, 0, timeStep); - } - solverBodyId = m_fixedBodyId; - } - btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size()); - return solverBodyId; -#else // BT_THREADSAFE - - int solverBodyIdA = -1; - - if (body.getCompanionId() >= 0) - { - //body has already been converted - solverBodyIdA = body.getCompanionId(); - btAssert(solverBodyIdA < m_tmpSolverBodyPool.size()); - } - else - { - btRigidBody* rb = btRigidBody::upcast(&body); - //convert both active and kinematic objects (for their velocity) - if (rb && (rb->getInvMass() || rb->isKinematicObject())) - { - solverBodyIdA = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&solverBody, &body, timeStep); - body.setCompanionId(solverBodyIdA); - } - else - { - if (m_fixedBodyId < 0) - { - m_fixedBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&fixedBody, 0, timeStep); - } - return m_fixedBodyId; - // return 0;//assume first one is a fixed solver body - } - } - - return solverBodyIdA; -#endif // BT_THREADSAFE -} -void btSISolverSingleIterationData::initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep) -{ - btRigidBody* rb = collisionObject ? btRigidBody::upcast(collisionObject) : 0; - - solverBody->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f); - - if (rb) - { - solverBody->m_worldTransform = rb->getWorldTransform(); - solverBody->internalSetInvMass(btVector3(rb->getInvMass(), rb->getInvMass(), rb->getInvMass()) * rb->getLinearFactor()); - solverBody->m_originalBody = rb; - solverBody->m_angularFactor = rb->getAngularFactor(); - solverBody->m_linearFactor = rb->getLinearFactor(); - solverBody->m_linearVelocity = rb->getLinearVelocity(); - solverBody->m_angularVelocity = rb->getAngularVelocity(); - solverBody->m_externalForceImpulse = rb->getTotalForce() * rb->getInvMass() * timeStep; - solverBody->m_externalTorqueImpulse = rb->getTotalTorque() * rb->getInvInertiaTensorWorld() * timeStep; - } - else - { - solverBody->m_worldTransform.setIdentity(); - solverBody->internalSetInvMass(btVector3(0, 0, 0)); - solverBody->m_originalBody = 0; - solverBody->m_angularFactor.setValue(1, 1, 1); - solverBody->m_linearFactor.setValue(1, 1, 1); - solverBody->m_linearVelocity.setValue(0, 0, 0); - solverBody->m_angularVelocity.setValue(0, 0, 0); - solverBody->m_externalForceImpulse.setValue(0, 0, 0); - solverBody->m_externalTorqueImpulse.setValue(0, 0, 0); - } -} - -int btSISolverSingleIterationData::getSolverBody(btCollisionObject& body) const -{ -#if BT_THREADSAFE - int solverBodyId = -1; - bool isRigidBodyType = btRigidBody::upcast(&body) != NULL; - if (isRigidBodyType && !body.isStaticOrKinematicObject()) - { - // dynamic body - // Dynamic bodies can only be in one island, so it's safe to write to the companionId - solverBodyId = body.getCompanionId(); - btAssert(solverBodyId >= 0); - } - else if (isRigidBodyType && body.isKinematicObject()) - { - // - // NOTE: must test for kinematic before static because some kinematic objects also - // identify as "static" - // - // Kinematic bodies can be in multiple islands at once, so it is a - // race condition to write to them, so we use an alternate method - // to record the solverBodyId - int uniqueId = body.getWorldArrayIndex(); - const int INVALID_SOLVER_BODY_ID = -1; - if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size()) - { - m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID); - } - solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId]; - btAssert(solverBodyId != INVALID_SOLVER_BODY_ID); - } - else - { - bool isMultiBodyType = (body.getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK); - // Incorrectly set collision object flags can degrade performance in various ways. - if (!isMultiBodyType) - { - btAssert(body.isStaticOrKinematicObject()); - } - btAssert(m_fixedBodyId >= 0); - solverBodyId = m_fixedBodyId; - } - btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size()); - return solverBodyId; -#else // BT_THREADSAFE - int solverBodyIdA = -1; - - if (body.getCompanionId() >= 0) - { - //body has already been converted - solverBodyIdA = body.getCompanionId(); - btAssert(solverBodyIdA < m_tmpSolverBodyPool.size()); - } - else - { - btRigidBody* rb = btRigidBody::upcast(&body); - //convert both active and kinematic objects (for their velocity) - if (rb && (rb->getInvMass() || rb->isKinematicObject())) - { - btAssert(0); - } - else - { - if (m_fixedBodyId < 0) - { - btAssert(0); - } - return m_fixedBodyId; - // return 0;//assume first one is a fixed solver body - } - } - - return solverBodyIdA; -#endif // BT_THREADSAFE -} - int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body, btScalar timeStep) { #if BT_THREADSAFE @@ -1064,10 +789,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& } #include <stdio.h> - - -void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISolverSingleIterationData& siData, - btSolverConstraint& solverConstraint, +void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, @@ -1076,8 +798,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISol // const btVector3& pos1 = cp.getPositionWorldOnA(); // const btVector3& pos2 = cp.getPositionWorldOnB(); - btSolverBody* bodyA = &siData.m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* bodyB = &siData.m_tmpSolverBodyPool[solverBodyIdB]; + btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB]; btRigidBody* rb0 = bodyA->m_originalBody; btRigidBody* rb1 = bodyB->m_originalBody; @@ -1184,7 +906,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISol solverConstraint.m_friction = cp.m_combinedFriction; - restitution = btSequentialImpulseConstraintSolver::restitutionCurveInternal(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold); + restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold); if (restitution <= btScalar(0.)) { restitution = 0.f; @@ -1252,109 +974,39 @@ void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISol } } -void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, - btScalar& relaxation, - const btVector3& rel_pos1, const btVector3& rel_pos2) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations - ); - - - setupContactConstraintInternal(siData, solverConstraint, - solverBodyIdA, solverBodyIdB, - cp, infoGlobal, - relaxation, - rel_pos1, rel_pos2); -} - - -void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, - btSolverConstraint& solverConstraint, +void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) { - btSolverBody* bodyA = &tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* bodyB = &tmpSolverBodyPool[solverBodyIdB]; - - btRigidBody* rb0 = bodyA->m_originalBody; - btRigidBody* rb1 = bodyB->m_originalBody; - { - btSolverConstraint& frictionConstraint1 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor; - if (rb0) - bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass(), frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse); - if (rb1) - bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass(), -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse); - } - else - { - frictionConstraint1.m_appliedImpulse = 0.f; - } + btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; + + frictionConstraint1.m_appliedImpulse = 0.f; } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { - btSolverConstraint& frictionConstraint2 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1]; - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor; - if (rb0) - bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal1 * rb0->getInvMass(), frictionConstraint2.m_angularComponentA, frictionConstraint2.m_appliedImpulse); - if (rb1) - bodyB->internalApplyImpulse(-frictionConstraint2.m_contactNormal2 * rb1->getInvMass(), -frictionConstraint2.m_angularComponentB, -(btScalar)frictionConstraint2.m_appliedImpulse); - } - else - { - frictionConstraint2.m_appliedImpulse = 0.f; - } + btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1]; + + frictionConstraint2.m_appliedImpulse = 0.f; } } -void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) -{ - setFrictionConstraintImpulseInternal(m_tmpSolverBodyPool, m_tmpSolverContactFrictionConstraintPool, - solverConstraint, - solverBodyIdA, solverBodyIdB, - cp, infoGlobal); - -} -void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) { btCollisionObject *colObj0 = 0, *colObj1 = 0; colObj0 = (btCollisionObject*)manifold->getBody0(); colObj1 = (btCollisionObject*)manifold->getBody1(); - int solverBodyIdA = siData.getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep); - int solverBodyIdB = siData.getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep); + int solverBodyIdA = getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep); // btRigidBody* bodyA = btRigidBody::upcast(colObj0); // btRigidBody* bodyB = btRigidBody::upcast(colObj1); - btSolverBody* solverBodyA = &siData.m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* solverBodyB = &siData.m_tmpSolverBodyPool[solverBodyIdB]; + btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB]; ///avoid collision response between two static objects if (!solverBodyA || (solverBodyA->m_invMass.fuzzyZero() && (!solverBodyB || solverBodyB->m_invMass.fuzzyZero()))) @@ -1371,8 +1023,8 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl btVector3 rel_pos2; btScalar relaxation; - int frictionIndex = siData.m_tmpSolverContactConstraintPool.size(); - btSolverConstraint& solverConstraint = siData.m_tmpSolverContactConstraintPool.expandNonInitializing(); + int frictionIndex = m_tmpSolverContactConstraintPool.size(); + btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing(); solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -1393,20 +1045,16 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl btVector3 vel = vel1 - vel2; btScalar rel_vel = cp.m_normalWorldOnB.dot(vel); - setupContactConstraintInternal(siData, solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2); + setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2); /////setup the friction constraints - solverConstraint.m_frictionIndex = siData.m_tmpSolverContactFrictionConstraintPool.size(); + solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size(); if ((cp.m_combinedRollingFriction > 0.f) && (rollingFriction > 0)) { { - - btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, - siData.m_tmpSolverContactRollingFrictionConstraintPool, - cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedSpinningFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); - + addTorsionalFrictionConstraint(cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedSpinningFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); btVector3 axis0, axis1; btPlaneSpace1(cp.m_normalWorldOnB, axis0, axis1); axis0.normalize(); @@ -1417,19 +1065,13 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl applyAnisotropicFriction(colObj0, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); applyAnisotropicFriction(colObj1, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); if (axis0.length() > 0.001) - { - btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, - siData.m_tmpSolverContactRollingFrictionConstraintPool, axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp, + addTorsionalFrictionConstraint(axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); - } if (axis1.length() > 0.001) - { - btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, - siData.m_tmpSolverContactRollingFrictionConstraintPool, axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, + addTorsionalFrictionConstraint(axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); } } - } ///Bullet has several options to set the friction directions ///By default, each contact has only a single friction direction that is recomputed automatically very frame @@ -1456,8 +1098,7 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl cp.m_lateralFrictionDir1 *= 1.f / btSqrt(lat_rel_vel); applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { @@ -1465,8 +1106,7 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl cp.m_lateralFrictionDir2.normalize(); //?? applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); } } else @@ -1475,15 +1115,13 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) @@ -1494,43 +1132,15 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl } else { - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); + addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - { - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); + addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); } + setFrictionConstraintImpulse(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); } - btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal( - siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); } } -} - -void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - btSequentialImpulseConstraintSolver::convertContactInternal(siData, manifold, infoGlobal); -} void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) { @@ -1545,9 +1155,7 @@ void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** } } -void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, - int& maxOverrideNumSolverIterations, - btSolverConstraint* currentConstraintRow, +void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow, btTypedConstraint* constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, @@ -1557,12 +1165,12 @@ void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectAr const btRigidBody& rbA = constraint->getRigidBodyA(); const btRigidBody& rbB = constraint->getRigidBodyB(); - const btSolverBody* bodyAPtr = &tmpSolverBodyPool[solverBodyIdA]; - const btSolverBody* bodyBPtr = &tmpSolverBodyPool[solverBodyIdB]; + const btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA]; + const btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB]; int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations; - if (overrideNumSolverIterations > maxOverrideNumSolverIterations) - maxOverrideNumSolverIterations = overrideNumSolverIterations; + if (overrideNumSolverIterations > m_maxOverrideNumSolverIterations) + m_maxOverrideNumSolverIterations = overrideNumSolverIterations; for (int j = 0; j < info1.m_numConstraintRows; j++) { @@ -1679,16 +1287,7 @@ void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectAr } } -void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow, - btTypedConstraint* constraint, - const btTypedConstraint::btConstraintInfo1& info1, - int solverBodyIdA, - int solverBodyIdB, - const btContactSolverInfo& infoGlobal) -{ -} - -void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) { BT_PROFILE("convertJoints"); for (int j = 0; j < numConstraints; j++) @@ -1700,11 +1299,11 @@ void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingle int totalNumRows = 0; - siData.m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); + m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); //calculate the total number of contraint rows for (int i = 0; i < numConstraints; i++) { - btTypedConstraint::btConstraintInfo1& info1 = siData.m_tmpConstraintSizesPool[i]; + btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; btJointFeedback* fb = constraints[i]->getJointFeedback(); if (fb) { @@ -1725,58 +1324,34 @@ void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingle } totalNumRows += info1.m_numConstraintRows; } - siData.m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); ///setup the btSolverConstraints int currentRow = 0; for (int i = 0; i < numConstraints; i++) { - const btTypedConstraint::btConstraintInfo1& info1 = siData.m_tmpConstraintSizesPool[i]; + const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; if (info1.m_numConstraintRows) { btAssert(currentRow < totalNumRows); - btSolverConstraint* currentConstraintRow = &siData.m_tmpSolverNonContactConstraintPool[currentRow]; + btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow]; btTypedConstraint* constraint = constraints[i]; btRigidBody& rbA = constraint->getRigidBodyA(); btRigidBody& rbB = constraint->getRigidBodyB(); - int solverBodyIdA = siData.getOrInitSolverBody(rbA, infoGlobal.m_timeStep); - int solverBodyIdB = siData.getOrInitSolverBody(rbB, infoGlobal.m_timeStep); + int solverBodyIdA = getOrInitSolverBody(rbA, infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(rbB, infoGlobal.m_timeStep); - convertJointInternal(siData.m_tmpSolverBodyPool, siData.m_maxOverrideNumSolverIterations, - currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal); + convertJoint(currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal); } currentRow += info1.m_numConstraintRows; } } -void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - convertJointsInternal(siData, constraints, numConstraints, infoGlobal); -} - - -void btSequentialImpulseConstraintSolver::convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { BT_PROFILE("convertBodies"); for (int i = 0; i < numBodies; i++) @@ -1784,23 +1359,23 @@ void btSequentialImpulseConstraintSolver::convertBodiesInternal(btSISolverSingle bodies[i]->setCompanionId(-1); } #if BT_THREADSAFE - siData.m_kinematicBodyUniqueIdToSolverBodyTable.resize(0); + m_kinematicBodyUniqueIdToSolverBodyTable.resize(0); #endif // BT_THREADSAFE - siData.m_tmpSolverBodyPool.reserve(numBodies + 1); - siData.m_tmpSolverBodyPool.resize(0); + m_tmpSolverBodyPool.reserve(numBodies + 1); + m_tmpSolverBodyPool.resize(0); //btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); //initSolverBody(&fixedBody,0); for (int i = 0; i < numBodies; i++) { - int bodyId = siData.getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); + int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); btRigidBody* body = btRigidBody::upcast(bodies[i]); if (body && body->getInvMass()) { - btSolverBody& solverBody = siData.m_tmpSolverBodyPool[bodyId]; + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; btVector3 gyroForce(0, 0, 0); if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT) { @@ -1821,29 +1396,6 @@ void btSequentialImpulseConstraintSolver::convertBodiesInternal(btSISolverSingle } } - -void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - convertBodiesInternal(siData, bodies, numBodies, infoGlobal); -} - btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { m_fixedBodyId = -1; @@ -1967,14 +1519,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol return 0.f; } -btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) +btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/) { BT_PROFILE("solveSingleIteration"); btScalar leastSquaresResidual = 0.f; - int numNonContactPool = siData.m_tmpSolverNonContactConstraintPool.size(); - int numConstraintPool = siData.m_tmpSolverContactConstraintPool.size(); - int numFrictionPool = siData.m_tmpSolverContactFrictionConstraintPool.size(); + int numNonContactPool = m_tmpSolverNonContactConstraintPool.size(); + int numConstraintPool = m_tmpSolverContactConstraintPool.size(); + int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) { @@ -1982,10 +1534,10 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS { for (int j = 0; j < numNonContactPool; ++j) { - int tmp = siData.m_orderNonContactConstraintPool[j]; - int swapi = btRandInt2a(j + 1, siData.m_seed); - siData.m_orderNonContactConstraintPool[j] = siData.m_orderNonContactConstraintPool[swapi]; - siData.m_orderNonContactConstraintPool[swapi] = tmp; + int tmp = m_orderNonContactConstraintPool[j]; + int swapi = btRandInt2(j + 1); + m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi]; + m_orderNonContactConstraintPool[swapi] = tmp; } //contact/friction constraints are not solved more than @@ -1993,30 +1545,30 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS { for (int j = 0; j < numConstraintPool; ++j) { - int tmp = siData.m_orderTmpConstraintPool[j]; - int swapi = btRandInt2a(j + 1, siData.m_seed); - siData.m_orderTmpConstraintPool[j] = siData.m_orderTmpConstraintPool[swapi]; - siData.m_orderTmpConstraintPool[swapi] = tmp; + int tmp = m_orderTmpConstraintPool[j]; + int swapi = btRandInt2(j + 1); + m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi]; + m_orderTmpConstraintPool[swapi] = tmp; } for (int j = 0; j < numFrictionPool; ++j) { - int tmp = siData.m_orderFrictionConstraintPool[j]; - int swapi = btRandInt2a(j + 1, siData.m_seed); - siData.m_orderFrictionConstraintPool[j] = siData.m_orderFrictionConstraintPool[swapi]; - siData.m_orderFrictionConstraintPool[swapi] = tmp; + int tmp = m_orderFrictionConstraintPool[j]; + int swapi = btRandInt2(j + 1); + m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi]; + m_orderFrictionConstraintPool[swapi] = tmp; } } } } ///solve all joint constraints - for (int j = 0; j < siData.m_tmpSolverNonContactConstraintPool.size(); j++) + for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) { - btSolverConstraint& constraint = siData.m_tmpSolverNonContactConstraintPool[siData.m_orderNonContactConstraintPool[j]]; + btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]]; if (iteration < constraint.m_overrideNumSolverIterations) { - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[constraint.m_solverBodyIdA], siData.m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2027,10 +1579,10 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS { if (constraints[j]->isEnabled()) { - int bodyAid = siData.getSolverBody(constraints[j]->getRigidBodyA()); - int bodyBid = siData.getSolverBody(constraints[j]->getRigidBodyB()); - btSolverBody& bodyA = siData.m_tmpSolverBodyPool[bodyAid]; - btSolverBody& bodyB = siData.m_tmpSolverBodyPool[bodyBid]; + int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(), infoGlobal.m_timeStep); + int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(), infoGlobal.m_timeStep); + btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; + btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep); } } @@ -2038,7 +1590,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS ///solve all contact constraints if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) { - int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1; for (int c = 0; c < numPoolConstraints; c++) @@ -2046,8 +1598,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS btScalar totalImpulse = 0; { - const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[c]]; - btScalar residual = siData.m_resolveSingleConstraintRowLowerLimit(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]]; + btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); totalImpulse = solveManifold.m_appliedImpulse; @@ -2056,28 +1608,28 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS if (applyFriction) { { - btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[c * multiplier]]; + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]]; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) { - btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[c * multiplier + 1]]; + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]]; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2087,40 +1639,40 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS else //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS { //solve the friction constraints after all contact constraints, don't interleave them - int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int j; for (j = 0; j < numPoolConstraints; j++) { - const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[j]]; - btScalar residual = siData.m_resolveSingleConstraintRowLowerLimit(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; + btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } ///solve all friction constraints - int numFrictionPoolConstraints = siData.m_tmpSolverContactFrictionConstraintPool.size(); + int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size(); for (j = 0; j < numFrictionPoolConstraints; j++) { - btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[j]]; - btScalar totalImpulse = siData.m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]]; + btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } } - int numRollingFrictionPoolConstraints = siData.m_tmpSolverContactRollingFrictionConstraintPool.size(); + int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); for (int j = 0; j < numRollingFrictionPoolConstraints; j++) { - btSolverConstraint& rollingFrictionConstraint = siData.m_tmpSolverContactRollingFrictionConstraintPool[j]; - btScalar totalImpulse = siData.m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; + btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j]; + btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; if (totalImpulse > btScalar(0)) { btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse; @@ -2130,7 +1682,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], siData.m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2138,56 +1690,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS return leastSquaresResidual; } - -btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - btScalar leastSquaresResidual = btSequentialImpulseConstraintSolver::solveSingleIterationInternal(siData, - iteration, constraints, numConstraints, infoGlobal); - return leastSquaresResidual; -} - void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - solveGroupCacheFriendlySplitImpulseIterationsInternal(siData, - bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); - -} -void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) -{ BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); int iteration; if (infoGlobal.m_splitImpulse) @@ -2197,13 +1701,13 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte { btScalar leastSquaresResidual = 0.f; { - int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int j; for (j = 0; j < numPoolConstraints; j++) { - const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[j]]; + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - btScalar residual = siData.m_resolveSplitPenetrationImpulse(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2254,42 +1758,31 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations( return 0.f; } -void btSequentialImpulseConstraintSolver::writeBackContactsInternal(btConstraintArray& tmpSolverContactConstraintPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { for (int j = iBegin; j < iEnd; j++) { - const btSolverConstraint& solveManifold = tmpSolverContactConstraintPool[j]; + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j]; btManifoldPoint* pt = (btManifoldPoint*)solveManifold.m_originalContactPoint; btAssert(pt); pt->m_appliedImpulse = solveManifold.m_appliedImpulse; // float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; // printf("pt->m_appliedImpulseLateral1 = %f\n", f); - pt->m_appliedImpulseLateral1 = tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; //printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { - pt->m_appliedImpulseLateral2 = tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse; + pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse; } //do a callback here? } } -void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) -{ - writeBackContactsInternal(m_tmpSolverContactConstraintPool, m_tmpSolverContactFrictionConstraintPool, iBegin, iEnd, infoGlobal); - -} - void btSequentialImpulseConstraintSolver::writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { - writeBackJointsInternal(m_tmpSolverNonContactConstraintPool, iBegin, iEnd, infoGlobal); -} - -void btSequentialImpulseConstraintSolver::writeBackJointsInternal(btConstraintArray& tmpSolverNonContactConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) -{ for (int j = iBegin; j < iEnd; j++) { - const btSolverConstraint& solverConstr = tmpSolverNonContactConstraintPool[j]; + const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j]; btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint; btJointFeedback* fb = constr->getJointFeedback(); if (fb) @@ -2310,79 +1803,53 @@ void btSequentialImpulseConstraintSolver::writeBackJointsInternal(btConstraintAr void btSequentialImpulseConstraintSolver::writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { - writeBackBodiesInternal(m_tmpSolverBodyPool, iBegin, iEnd, infoGlobal); -} -void btSequentialImpulseConstraintSolver::writeBackBodiesInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) -{ for (int i = iBegin; i < iEnd; i++) { - btRigidBody* body = tmpSolverBodyPool[i].m_originalBody; + btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; if (body) { if (infoGlobal.m_splitImpulse) - tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp); + m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp); else - tmpSolverBodyPool[i].writebackVelocity(); + m_tmpSolverBodyPool[i].writebackVelocity(); - tmpSolverBodyPool[i].m_originalBody->setLinearVelocity( - tmpSolverBodyPool[i].m_linearVelocity + - tmpSolverBodyPool[i].m_externalForceImpulse); + m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity( + m_tmpSolverBodyPool[i].m_linearVelocity + + m_tmpSolverBodyPool[i].m_externalForceImpulse); - tmpSolverBodyPool[i].m_originalBody->setAngularVelocity( - tmpSolverBodyPool[i].m_angularVelocity + - tmpSolverBodyPool[i].m_externalTorqueImpulse); + m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity( + m_tmpSolverBodyPool[i].m_angularVelocity + + m_tmpSolverBodyPool[i].m_externalTorqueImpulse); if (infoGlobal.m_splitImpulse) - tmpSolverBodyPool[i].m_originalBody->setWorldTransform(tmpSolverBodyPool[i].m_worldTransform); + m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform); - tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); + m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); } } } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { BT_PROFILE("solveGroupCacheFriendlyFinish"); if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) { - writeBackContactsInternal(siData.m_tmpSolverContactConstraintPool, siData.m_tmpSolverContactFrictionConstraintPool, 0, siData.m_tmpSolverContactConstraintPool.size(), infoGlobal); + writeBackContacts(0, m_tmpSolverContactConstraintPool.size(), infoGlobal); } - writeBackJointsInternal(siData.m_tmpSolverNonContactConstraintPool, 0, siData.m_tmpSolverNonContactConstraintPool.size(), infoGlobal); - writeBackBodiesInternal(siData.m_tmpSolverBodyPool, 0, siData.m_tmpSolverBodyPool.size(), infoGlobal); + writeBackJoints(0, m_tmpSolverNonContactConstraintPool.size(), infoGlobal); + writeBackBodies(0, m_tmpSolverBodyPool.size(), infoGlobal); - siData.m_tmpSolverContactConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverBodyPool.resizeNoInitialize(0); + m_tmpSolverBodyPool.resizeNoInitialize(0); return 0.f; } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(siData, bodies, numBodies, infoGlobal); -} - /// btSequentialImpulseConstraintSolver Sequentially applies impulses btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer, btDispatcher* /*dispatcher*/) { @@ -2401,4 +1868,4 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod void btSequentialImpulseConstraintSolver::reset() { m_btSeed2 = 0; -}
\ No newline at end of file +} diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 2b88e25be7..f3ef02fccc 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -29,68 +29,6 @@ class btCollisionObject; typedef btScalar (*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&); -struct btSISolverSingleIterationData -{ - btAlignedObjectArray<btSolverBody>& m_tmpSolverBodyPool; - btConstraintArray& m_tmpSolverContactConstraintPool; - btConstraintArray& m_tmpSolverNonContactConstraintPool; - btConstraintArray& m_tmpSolverContactFrictionConstraintPool; - btConstraintArray& m_tmpSolverContactRollingFrictionConstraintPool; - - btAlignedObjectArray<int>& m_orderTmpConstraintPool; - btAlignedObjectArray<int>& m_orderNonContactConstraintPool; - btAlignedObjectArray<int>& m_orderFrictionConstraintPool; - btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& m_tmpConstraintSizesPool; - unsigned long& m_seed; - - btSingleConstraintRowSolver& m_resolveSingleConstraintRowGeneric; - btSingleConstraintRowSolver& m_resolveSingleConstraintRowLowerLimit; - btSingleConstraintRowSolver& m_resolveSplitPenetrationImpulse; - btAlignedObjectArray<int>& m_kinematicBodyUniqueIdToSolverBodyTable; - int& m_fixedBodyId; - int& m_maxOverrideNumSolverIterations; - int getOrInitSolverBody(btCollisionObject & body, btScalar timeStep); - static void initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep); - int getSolverBody(btCollisionObject& body) const; - - - btSISolverSingleIterationData(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, - btConstraintArray& tmpSolverContactConstraintPool, - btConstraintArray& tmpSolverNonContactConstraintPool, - btConstraintArray& tmpSolverContactFrictionConstraintPool, - btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, - btAlignedObjectArray<int>& orderTmpConstraintPool, - btAlignedObjectArray<int>& orderNonContactConstraintPool, - btAlignedObjectArray<int>& orderFrictionConstraintPool, - btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& tmpConstraintSizesPool, - btSingleConstraintRowSolver& resolveSingleConstraintRowGeneric, - btSingleConstraintRowSolver& resolveSingleConstraintRowLowerLimit, - btSingleConstraintRowSolver& resolveSplitPenetrationImpulse, - btAlignedObjectArray<int>& kinematicBodyUniqueIdToSolverBodyTable, - unsigned long& seed, - int& fixedBodyId, - int& maxOverrideNumSolverIterations - ) - :m_tmpSolverBodyPool(tmpSolverBodyPool), - m_tmpSolverContactConstraintPool(tmpSolverContactConstraintPool), - m_tmpSolverNonContactConstraintPool(tmpSolverNonContactConstraintPool), - m_tmpSolverContactFrictionConstraintPool(tmpSolverContactFrictionConstraintPool), - m_tmpSolverContactRollingFrictionConstraintPool(tmpSolverContactRollingFrictionConstraintPool), - m_orderTmpConstraintPool(orderTmpConstraintPool), - m_orderNonContactConstraintPool(orderNonContactConstraintPool), - m_orderFrictionConstraintPool(orderFrictionConstraintPool), - m_tmpConstraintSizesPool(tmpConstraintSizesPool), - m_seed(seed), - m_resolveSingleConstraintRowGeneric(resolveSingleConstraintRowGeneric), - m_resolveSingleConstraintRowLowerLimit(resolveSingleConstraintRowLowerLimit), - m_resolveSplitPenetrationImpulse(resolveSplitPenetrationImpulse), - m_kinematicBodyUniqueIdToSolverBodyTable(kinematicBodyUniqueIdToSolverBodyTable), - m_fixedBodyId(fixedBodyId), - m_maxOverrideNumSolverIterations(maxOverrideNumSolverIterations) - { - } -}; - struct btSolverAnalyticsData { btSolverAnalyticsData() @@ -178,7 +116,6 @@ protected: virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal); void convertJoint(btSolverConstraint * currentConstraintRow, btTypedConstraint * constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal); - virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); btScalar resolveSplitPenetrationSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint) @@ -204,8 +141,7 @@ protected: return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint); } -public: - +protected: void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); @@ -213,7 +149,6 @@ public: virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); @@ -225,51 +160,12 @@ public: virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); - static btScalar solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal); - static void convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); - static void convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal); - static void convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal); - static void setupContactConstraintInternal(btSISolverSingleIterationData& siData, btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, - const btVector3& rel_pos1, const btVector3& rel_pos2); - static btScalar restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold); - static btSolverConstraint& addTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.); - static void setupTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, - btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, - btScalar desiredVelocity, btScalar cfmSlip); - static void setupFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip); - static btSolverConstraint& addFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0., btScalar cfmSlip = 0.); - static void setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, - - btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); - static void convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, - int& maxOverrideNumSolverIterations, - btSolverConstraint* currentConstraintRow, - btTypedConstraint* constraint, - const btTypedConstraint::btConstraintInfo1& info1, - int solverBodyIdA, - int solverBodyIdB, - const btContactSolverInfo& infoGlobal); - - static btScalar solveGroupCacheFriendlyFinishInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); - - static void writeBackContactsInternal(btConstraintArray& tmpSolverContactConstraintPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - - static void writeBackJointsInternal(btConstraintArray& tmpSolverNonContactConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - static void writeBackBodiesInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - static void solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - - ///clear internal cached data and reset random seed virtual void reset(); unsigned long btRand2(); - int btRandInt2(int n); - static unsigned long btRand2a(unsigned long& seed); - static int btRandInt2a(int n, unsigned long& seed); + int btRandInt2(int n); void setRandSeed(unsigned long seed) { @@ -305,18 +201,14 @@ public: ///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4 - static btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); - static btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); - static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); ///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4 - static btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); - static btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); - static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); - - static btSingleConstraintRowSolver getScalarSplitPenetrationImpulseGeneric(); - static btSingleConstraintRowSolver getSSE2SplitPenetrationImpulseGeneric(); - + btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); + btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); + btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); btSolverAnalyticsData m_analyticsData; }; diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index dfbbdb154f..a3c9f42eb9 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -1436,9 +1436,7 @@ void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serialize worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse; - // Fill padding with zeros to appease msan. - memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding)); - + #ifdef BT_USE_DOUBLE_PRECISION const char* structType = "btDynamicsWorldDoubleData"; #else //BT_USE_DOUBLE_PRECISION diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index 7fe9619213..73607c61fd 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -17,7 +17,6 @@ subject to the following restrictions: #define BT_DISCRETE_DYNAMICS_WORLD_H #include "btDynamicsWorld.h" - class btDispatcher; class btOverlappingPairCache; class btConstraintSolver; @@ -26,6 +25,7 @@ class btTypedConstraint; class btActionInterface; class btPersistentManifold; class btIDebugDraw; + struct InplaceSolverIslandCallback; #include "LinearMath/btAlignedObjectArray.h" @@ -76,7 +76,7 @@ protected: virtual void calculateSimulationIslands(); - virtual void solveConstraints(btContactSolverInfo & solverInfo); + virtual void updateActivationState(btScalar timeStep); @@ -95,7 +95,7 @@ protected: void serializeRigidBodies(btSerializer * serializer); void serializeDynamicsWorldInfo(btSerializer * serializer); - + public: BT_DECLARE_ALIGNED_ALLOCATOR(); @@ -107,6 +107,8 @@ public: ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)); + virtual void solveConstraints(btContactSolverInfo & solverInfo); + virtual void synchronizeMotionStates(); ///this can be useful to synchronize a single rigid body -> graphics object @@ -227,6 +229,16 @@ public: { return m_latencyMotionStateInterpolation; } + + btAlignedObjectArray<btRigidBody*>& getNonStaticRigidBodies() + { + return m_nonStaticRigidBodies; + } + + const btAlignedObjectArray<btRigidBody*>& getNonStaticRigidBodies() const + { + return m_nonStaticRigidBodies; + } }; #endif //BT_DISCRETE_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h index eadd8c12e7..3c55234a8a 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h @@ -34,7 +34,8 @@ enum btDynamicsWorldType BT_CONTINUOUS_DYNAMICS_WORLD = 3, BT_SOFT_RIGID_DYNAMICS_WORLD = 4, BT_GPU_DYNAMICS_WORLD = 5, - BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6 + BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6, + BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD = 7 }; ///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp index f4bcabada2..9e8705b001 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp @@ -206,6 +206,14 @@ void btRigidBody::applyGravity() applyCentralForce(m_gravity); } +void btRigidBody::clearGravity() +{ + if (isStaticOrKinematicObject()) + return; + + applyCentralForce(-m_gravity); +} + void btRigidBody::proceedToTransform(const btTransform& newTrans) { setCenterOfMassTransform(newTrans); diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h index 05f270a4b8..39d47cbbda 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h @@ -205,6 +205,8 @@ public: void saveKinematicState(btScalar step); void applyGravity(); + + void clearGravity(); void setGravity(const btVector3& acceleration); @@ -259,6 +261,7 @@ public: m_invMass = m_linearFactor * m_inverseMass; } btScalar getInvMass() const { return m_inverseMass; } + btScalar getMass() const { return m_inverseMass == btScalar(0.) ? btScalar(0.) : btScalar(1.0) / m_inverseMass; } const btMatrix3x3& getInvInertiaTensorWorld() const { return m_invInertiaTensorWorld; @@ -331,6 +334,48 @@ public: } } } + + void applyPushImpulse(const btVector3& impulse, const btVector3& rel_pos) + { + if (m_inverseMass != btScalar(0.)) + { + applyCentralPushImpulse(impulse); + if (m_angularFactor) + { + applyTorqueTurnImpulse(rel_pos.cross(impulse * m_linearFactor)); + } + } + } + + btVector3 getPushVelocity() + { + return m_pushVelocity; + } + + btVector3 getTurnVelocity() + { + return m_turnVelocity; + } + + void setPushVelocity(const btVector3& v) + { + m_pushVelocity = v; + } + + void setTurnVelocity(const btVector3& v) + { + m_turnVelocity = v; + } + + void applyCentralPushImpulse(const btVector3& impulse) + { + m_pushVelocity += impulse * m_linearFactor * m_inverseMass; + } + + void applyTorqueTurnImpulse(const btVector3& torque) + { + m_turnVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; + } void clearForces() { diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp index 3e210d7520..bdaa473476 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp @@ -100,6 +100,8 @@ btMultiBody::btMultiBody(int n_links, m_baseName(0), m_basePos(0, 0, 0), m_baseQuat(0, 0, 0, 1), + m_basePos_interpolate(0, 0, 0), + m_baseQuat_interpolate(0, 0, 0, 1), m_baseMass(mass), m_baseInertia(inertia), @@ -449,6 +451,16 @@ const btQuaternion &btMultiBody::getParentToLocalRot(int i) const return m_links[i].m_cachedRotParentToThis; } +const btVector3 &btMultiBody::getInterpolateRVector(int i) const +{ + return m_links[i].m_cachedRVector_interpolate; +} + +const btQuaternion &btMultiBody::getInterpolateParentToLocalRot(int i) const +{ + return m_links[i].m_cachedRotParentToThis_interpolate; +} + btVector3 btMultiBody::localPosToWorld(int i, const btVector3 &local_pos) const { btAssert(i >= -1); @@ -1581,6 +1593,158 @@ void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar //printf("]\n"); ///////////////// } +void btMultiBody::predictPositionsMultiDof(btScalar dt) +{ + int num_links = getNumLinks(); + // step position by adding dt * velocity + //btVector3 v = getBaseVel(); + //m_basePos += dt * v; + // + btScalar *pBasePos; + btScalar *pBaseVel = &m_realBuf[3]; //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety) + + // reset to current position + for (int i = 0; i < 3; ++i) + { + m_basePos_interpolate[i] = m_basePos[i]; + } + pBasePos = m_basePos_interpolate; + + pBasePos[0] += dt * pBaseVel[0]; + pBasePos[1] += dt * pBaseVel[1]; + pBasePos[2] += dt * pBaseVel[2]; + + /////////////////////////////// + //local functor for quaternion integration (to avoid error prone redundancy) + struct + { + //"exponential map" based on btTransformUtil::integrateTransform(..) + void operator()(const btVector3 &omega, btQuaternion &quat, bool baseBody, btScalar dt) + { + //baseBody => quat is alias and omega is global coor + //!baseBody => quat is alibi and omega is local coor + + btVector3 axis; + btVector3 angvel; + + if (!baseBody) + angvel = quatRotate(quat, omega); //if quat is not m_baseQuat, it is alibi => ok + else + angvel = omega; + + btScalar fAngle = angvel.length(); + //limit the angular motion + if (fAngle * dt > ANGULAR_MOTION_THRESHOLD) + { + fAngle = btScalar(0.5) * SIMD_HALF_PI / dt; + } + + if (fAngle < btScalar(0.001)) + { + // use Taylor's expansions of sync function + axis = angvel * (btScalar(0.5) * dt - (dt * dt * dt) * (btScalar(0.020833333333)) * fAngle * fAngle); + } + else + { + // sync(fAngle) = sin(c*fAngle)/t + axis = angvel * (btSin(btScalar(0.5) * fAngle * dt) / fAngle); + } + + if (!baseBody) + quat = btQuaternion(axis.x(), axis.y(), axis.z(), btCos(fAngle * dt * btScalar(0.5))) * quat; + else + quat = quat * btQuaternion(-axis.x(), -axis.y(), -axis.z(), btCos(fAngle * dt * btScalar(0.5))); + //equivalent to: quat = (btQuaternion(axis.x(),axis.y(),axis.z(),btCos( fAngle*dt*btScalar(0.5) )) * quat.inverse()).inverse(); + + quat.normalize(); + } + } pQuatUpdateFun; + /////////////////////////////// + + //pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt); + // + btScalar *pBaseQuat; + + // reset to current orientation + for (int i = 0; i < 4; ++i) + { + m_baseQuat_interpolate[i] = m_baseQuat[i]; + } + pBaseQuat = m_baseQuat_interpolate; + + btScalar *pBaseOmega = &m_realBuf[0]; //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety) + // + btQuaternion baseQuat; + baseQuat.setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]); + btVector3 baseOmega; + baseOmega.setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]); + pQuatUpdateFun(baseOmega, baseQuat, true, dt); + pBaseQuat[0] = baseQuat.x(); + pBaseQuat[1] = baseQuat.y(); + pBaseQuat[2] = baseQuat.z(); + pBaseQuat[3] = baseQuat.w(); + + // Finally we can update m_jointPos for each of the m_links + for (int i = 0; i < num_links; ++i) + { + btScalar *pJointPos; + pJointPos = &m_links[i].m_jointPos_interpolate[0]; + + btScalar *pJointVel = getJointVelMultiDof(i); + + switch (m_links[i].m_jointType) + { + case btMultibodyLink::ePrismatic: + case btMultibodyLink::eRevolute: + { + //reset to current pos + pJointPos[0] = m_links[i].m_jointPos[0]; + btScalar jointVel = pJointVel[0]; + pJointPos[0] += dt * jointVel; + break; + } + case btMultibodyLink::eSpherical: + { + //reset to current pos + + for (int j = 0; j < 4; ++j) + { + pJointPos[j] = m_links[i].m_jointPos[j]; + } + + btVector3 jointVel; + jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]); + btQuaternion jointOri; + jointOri.setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]); + pQuatUpdateFun(jointVel, jointOri, false, dt); + pJointPos[0] = jointOri.x(); + pJointPos[1] = jointOri.y(); + pJointPos[2] = jointOri.z(); + pJointPos[3] = jointOri.w(); + break; + } + case btMultibodyLink::ePlanar: + { + for (int j = 0; j < 3; ++j) + { + pJointPos[j] = m_links[i].m_jointPos[j]; + } + pJointPos[0] += dt * getJointVelMultiDof(i)[0]; + + btVector3 q0_coors_qd1qd2 = getJointVelMultiDof(i)[1] * m_links[i].getAxisBottom(1) + getJointVelMultiDof(i)[2] * m_links[i].getAxisBottom(2); + btVector3 no_q0_coors_qd1qd2 = quatRotate(btQuaternion(m_links[i].getAxisTop(0), pJointPos[0]), q0_coors_qd1qd2); + pJointPos[1] += m_links[i].getAxisBottom(1).dot(no_q0_coors_qd1qd2) * dt; + pJointPos[2] += m_links[i].getAxisBottom(2).dot(no_q0_coors_qd1qd2) * dt; + break; + } + default: + { + } + } + + m_links[i].updateInterpolationCacheMultiDof(); + } +} void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd) { @@ -1589,9 +1753,9 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd //btVector3 v = getBaseVel(); //m_basePos += dt * v; // - btScalar *pBasePos = (pq ? &pq[4] : m_basePos); - btScalar *pBaseVel = (pqd ? &pqd[3] : &m_realBuf[3]); //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety) - // + btScalar *pBasePos = (pq ? &pq[4] : m_basePos); + btScalar *pBaseVel = (pqd ? &pqd[3] : &m_realBuf[3]); //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety) + pBasePos[0] += dt * pBaseVel[0]; pBasePos[1] += dt * pBaseVel[1]; pBasePos[2] += dt * pBaseVel[2]; @@ -1645,7 +1809,7 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd //pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt); // - btScalar *pBaseQuat = pq ? pq : m_baseQuat; + btScalar *pBaseQuat = pq ? pq : m_baseQuat; btScalar *pBaseOmega = pqd ? pqd : &m_realBuf[0]; //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety) // btQuaternion baseQuat; @@ -1670,7 +1834,9 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd // Finally we can update m_jointPos for each of the m_links for (int i = 0; i < num_links; ++i) { - btScalar *pJointPos = (pq ? pq : &m_links[i].m_jointPos[0]); + btScalar *pJointPos; + pJointPos= (pq ? pq : &m_links[i].m_jointPos[0]); + btScalar *pJointVel = (pqd ? pqd : getJointVelMultiDof(i)); switch (m_links[i].m_jointType) @@ -1678,12 +1844,14 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd case btMultibodyLink::ePrismatic: case btMultibodyLink::eRevolute: { + //reset to current pos btScalar jointVel = pJointVel[0]; pJointPos[0] += dt * jointVel; break; } case btMultibodyLink::eSpherical: { + //reset to current pos btVector3 jointVel; jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]); btQuaternion jointOri; @@ -1974,6 +2142,7 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQu tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); getBaseCollider()->setWorldTransform(tr); + getBaseCollider()->setInterpolationWorldTransform(tr); } for (int k = 0; k < getNumLinks(); k++) @@ -2002,10 +2171,62 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQu tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); col->setWorldTransform(tr); + col->setInterpolationWorldTransform(tr); } } } +void btMultiBody::updateCollisionObjectInterpolationWorldTransforms(btAlignedObjectArray<btQuaternion> &world_to_local, btAlignedObjectArray<btVector3> &local_origin) +{ + world_to_local.resize(getNumLinks() + 1); + local_origin.resize(getNumLinks() + 1); + + world_to_local[0] = getInterpolateWorldToBaseRot(); + local_origin[0] = getInterpolateBasePos(); + + if (getBaseCollider()) + { + btVector3 posr = local_origin[0]; + // float pos[4]={posr.x(),posr.y(),posr.z(),1}; + btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()}; + btTransform tr; + tr.setIdentity(); + tr.setOrigin(posr); + tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); + + getBaseCollider()->setInterpolationWorldTransform(tr); + } + + for (int k = 0; k < getNumLinks(); k++) + { + const int parent = getParent(k); + world_to_local[k + 1] = getInterpolateParentToLocalRot(k) * world_to_local[parent + 1]; + local_origin[k + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[k + 1].inverse(), getInterpolateRVector(k))); + } + + for (int m = 0; m < getNumLinks(); m++) + { + btMultiBodyLinkCollider *col = getLink(m).m_collider; + if (col) + { + int link = col->m_link; + btAssert(link == m); + + int index = link + 1; + + btVector3 posr = local_origin[index]; + // float pos[4]={posr.x(),posr.y(),posr.z(),1}; + btScalar quat[4] = {-world_to_local[index].x(), -world_to_local[index].y(), -world_to_local[index].z(), world_to_local[index].w()}; + btTransform tr; + tr.setIdentity(); + tr.setOrigin(posr); + tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); + + col->setInterpolationWorldTransform(tr); + } + } +} + int btMultiBody::calculateSerializeBufferSize() const { int sz = sizeof(btMultiBodyData); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h index c0b0d003be..afed669a7b 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h @@ -193,12 +193,24 @@ public: const btQuaternion &getWorldToBaseRot() const { return m_baseQuat; - } // rotates world vectors into base frame + } + + const btVector3 &getInterpolateBasePos() const + { + return m_basePos_interpolate; + } // in world frame + const btQuaternion &getInterpolateWorldToBaseRot() const + { + return m_baseQuat_interpolate; + } + + // rotates world vectors into base frame btVector3 getBaseOmega() const { return btVector3(m_realBuf[0], m_realBuf[1], m_realBuf[2]); } // in world frame void setBasePos(const btVector3 &pos) { m_basePos = pos; + m_basePos_interpolate = pos; } void setBaseWorldTransform(const btTransform &tr) @@ -224,6 +236,7 @@ public: void setWorldToBaseRot(const btQuaternion &rot) { m_baseQuat = rot; //m_baseQuat asumed to ba alias!? + m_baseQuat_interpolate = rot; } void setBaseOmega(const btVector3 &omega) { @@ -260,6 +273,11 @@ public: { return &m_realBuf[0]; } + + const btScalar *getDeltaVelocityVector() const + { + return &m_deltaV[0]; + } /* btScalar * getVelocityVector() { return &real_buf[0]; @@ -273,6 +291,8 @@ public: const btVector3 &getRVector(int i) const; // vector from COM(parent(i)) to COM(i), in frame i's coords const btQuaternion &getParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to vectors in frame i. + const btVector3 &getInterpolateRVector(int i) const; // vector from COM(parent(i)) to COM(i), in frame i's coords + const btQuaternion &getInterpolateParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to vectors in frame i. // // transform vectors in local frame of link i to world frame (or vice versa) @@ -421,6 +441,9 @@ public: // timestep the positions (given current velocities). void stepPositionsMultiDof(btScalar dt, btScalar *pq = 0, btScalar *pqd = 0); + + // predict the positions + void predictPositionsMultiDof(btScalar dt); // // contacts @@ -581,6 +604,7 @@ public: void compTreeLinkVelocities(btVector3 * omega, btVector3 * vel) const; void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion> & world_to_local, btAlignedObjectArray<btVector3> & local_origin); + void updateCollisionObjectInterpolationWorldTransforms(btAlignedObjectArray<btQuaternion> & world_to_local, btAlignedObjectArray<btVector3> & local_origin); virtual int calculateSerializeBufferSize() const; @@ -664,7 +688,9 @@ private: const char *m_baseName; //memory needs to be manager by user! btVector3 m_basePos; // position of COM of base (world frame) + btVector3 m_basePos_interpolate; // position of interpolated COM of base (world frame) btQuaternion m_baseQuat; // rotates world points into base frame + btQuaternion m_baseQuat_interpolate; btScalar m_baseMass; // mass of the base btVector3 m_baseInertia; // inertia of the base (in local frame; diagonal) diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp index e17ab94d98..d7ed05ce57 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp @@ -342,40 +342,6 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra solverConstraint.m_friction = 0.f; //cp.m_combinedFriction; } - ///warm starting (or zero if disabled) - /* - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; - - if (solverConstraint.m_appliedImpulse) - { - if (multiBodyA) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; - multiBodyA->applyDeltaVee(deltaV,impulse); - applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA); - } else - { - if (rb0) - bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); - } - if (multiBodyB) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; - multiBodyB->applyDeltaVee(deltaV,impulse); - applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB); - } else - { - if (rb1) - bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse); - } - } - } else - */ - solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedPushImpulse = 0.f; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index 23e163f0e8..ffae5300f0 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -22,6 +22,8 @@ subject to the following restrictions: #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" #include "LinearMath/btQuickprof.h" +#include "BulletDynamics/Featherstone/btMultiBodySolverConstraint.h" +#include "LinearMath/btScalar.h" btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { @@ -491,11 +493,7 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt return deltaVel; } -void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, - const btVector3& contactNormal, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, - btScalar& relaxation, - bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) +void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, const btVector3& contactNormal, const btScalar& appliedImpulse, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) { BT_PROFILE("setupMultiBodyContactConstraint"); btVector3 rel_pos1; @@ -781,48 +779,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol } } - ///warm starting (or zero if disabled) - //disable warmstarting for btMultiBody, it has issues gaining energy (==explosion) - if (0) //infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; - - if (solverConstraint.m_appliedImpulse) - { - if (multiBodyA) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; - multiBodyA->applyDeltaVeeMultiDof(deltaV, impulse); - - applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); - } - else - { - if (rb0) - bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse); - } - if (multiBodyB) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; - multiBodyB->applyDeltaVeeMultiDof(deltaV, impulse); - applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); - } - else - { - if (rb1) - bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse); - } - } - } - else - { - solverConstraint.m_appliedImpulse = 0.f; - } - - solverConstraint.m_appliedPushImpulse = 0.f; - { btScalar positionalError = 0.f; btScalar velocityError = restitution - rel_vel; // * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction @@ -874,6 +830,54 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv; } + + if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING) + { + if (btFabs(cp.m_prevRHS) > 1e-5 && cp.m_prevRHS < 2* solverConstraint.m_rhs && solverConstraint.m_rhs < 2*cp.m_prevRHS) + { + solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse / cp.m_prevRHS * solverConstraint.m_rhs * infoGlobal.m_articulatedWarmstartingFactor; + if (solverConstraint.m_appliedImpulse < 0) + solverConstraint.m_appliedImpulse = 0; + } + else + { + solverConstraint.m_appliedImpulse = 0.f; + } + + if (solverConstraint.m_appliedImpulse) + { + if (multiBodyA) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse); + + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); + } + else + { + if (rb0) + bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse); + } + if (multiBodyB) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); + } + else + { + if (rb1) + bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse); + } + } + } + else + { + solverConstraint.m_appliedImpulse = 0.f; + solverConstraint.m_appliedPushImpulse = 0.f; + } } void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint, @@ -944,13 +948,13 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex], delta, m_data.scratch_r, m_data.scratch_v); - btVector3 torqueAxis0 = -constraintNormal; + btVector3 torqueAxis0 = constraintNormal; solverConstraint.m_relpos1CrossNormal = torqueAxis0; solverConstraint.m_contactNormal1 = btVector3(0, 0, 0); } else { - btVector3 torqueAxis0 = -constraintNormal; + btVector3 torqueAxis0 = constraintNormal; solverConstraint.m_relpos1CrossNormal = torqueAxis0; solverConstraint.m_contactNormal1 = btVector3(0, 0, 0); solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0); @@ -986,13 +990,13 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu multiBodyB->fillConstraintJacobianMultiDof(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -constraintNormal, btVector3(0, 0, 0), &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m); multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex], &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v); - btVector3 torqueAxis1 = constraintNormal; + btVector3 torqueAxis1 = -constraintNormal; solverConstraint.m_relpos2CrossNormal = torqueAxis1; solverConstraint.m_contactNormal2 = -btVector3(0, 0, 0); } else { - btVector3 torqueAxis1 = constraintNormal; + btVector3 torqueAxis1 = -constraintNormal; solverConstraint.m_relpos2CrossNormal = torqueAxis1; solverConstraint.m_contactNormal2 = -btVector3(0, 0, 0); @@ -1130,7 +1134,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu } } -btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { BT_PROFILE("addMultiBodyFrictionConstraint"); btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing(); @@ -1161,7 +1165,7 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionCo solverConstraint.m_originalContactPoint = &cp; - setupMultiBodyContactConstraint(solverConstraint, normalAxis, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip); + setupMultiBodyContactConstraint(solverConstraint, normalAxis, 0, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip); return solverConstraint; } @@ -1297,7 +1301,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* solverConstraint.m_originalContactPoint = &cp; bool isFriction = false; - setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp, infoGlobal, relaxation, isFriction); + setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp.m_appliedImpulse, cp, infoGlobal, relaxation, isFriction); // const btVector3& pos1 = cp.getPositionWorldOnA(); // const btVector3& pos2 = cp.getPositionWorldOnB(); @@ -1371,13 +1375,13 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) @@ -1388,26 +1392,27 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* } else { - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); - - //setMultiBodyFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); - //todo: + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedPushImpulse = 0.f; - } + } #endif //ENABLE_FRICTION } + else + { + // Reset quantities related to warmstart as 0. + cp.m_appliedImpulse = 0; + cp.m_prevRHS = 0; + } } } void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) { - //btPersistentManifold* manifold = 0; - for (int i = 0; i < numManifolds; i++) { btPersistentManifold* manifold = manifoldPtr[i]; @@ -1434,6 +1439,51 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol c->createConstraintRows(m_multiBodyNonContactConstraints, m_data, infoGlobal); } + + // Warmstart for noncontact constraints + if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING) + { + for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++) + { + btMultiBodySolverConstraint& solverConstraint = + m_multiBodyNonContactConstraints[i]; + solverConstraint.m_appliedImpulse = + solverConstraint.m_orgConstraint->getAppliedImpulse(solverConstraint.m_orgDofIndex) * + infoGlobal.m_articulatedWarmstartingFactor; + + btMultiBody* multiBodyA = solverConstraint.m_multiBodyA; + btMultiBody* multiBodyB = solverConstraint.m_multiBodyB; + if (solverConstraint.m_appliedImpulse) + { + if (multiBodyA) + { + int ndofA = multiBodyA->getNumDofs() + 6; + btScalar* deltaV = + &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + btScalar impulse = solverConstraint.m_appliedImpulse; + multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); + } + if (multiBodyB) + { + int ndofB = multiBodyB->getNumDofs() + 6; + btScalar* deltaV = + &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + btScalar impulse = solverConstraint.m_appliedImpulse; + multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); + } + } + } + } + else + { + for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++) + { + btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i]; + solverConstraint.m_appliedImpulse = 0; + } + } } btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) @@ -1556,7 +1606,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep); } - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { BT_PROFILE("warm starting write back"); for (int j = 0; j < numPoolConstraints; j++) @@ -1565,6 +1615,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO btManifoldPoint* pt = (btManifoldPoint*)solverConstraint.m_originalContactPoint; btAssert(pt); pt->m_appliedImpulse = solverConstraint.m_appliedImpulse; + pt->m_prevRHS = solverConstraint.m_rhs; pt->m_appliedImpulseLateral1 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse; //printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1); @@ -1576,9 +1627,8 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO pt->m_appliedImpulseLateral2 = 0; } } - - //do a callback here? } + #if 0 //multibody joint feedback { diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h index abf5718839..f584360e2b 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h @@ -49,7 +49,7 @@ protected: void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); - btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); + btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, @@ -66,7 +66,9 @@ protected: void setupMultiBodyContactConstraint(btMultiBodySolverConstraint & solverConstraint, const btVector3& contactNormal, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, + const btScalar& appliedImpulse, + btManifoldPoint& cp, + const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); @@ -82,7 +84,6 @@ protected: void convertMultiBodyContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal); virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); // virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); - virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof); void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 1131e5378c..cd1bad089e 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -33,6 +33,12 @@ void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body) m_multiBodies.remove(body); } +void btMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); + predictMultiBodyTransforms(timeStep); + +} void btMultiBodyDynamicsWorld::calculateSimulationIslands() { BT_PROFILE("calculateSimulationIslands"); @@ -163,218 +169,6 @@ void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep) btDiscreteDynamicsWorld::updateActivationState(timeStep); } -SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs) -{ - int islandId; - - const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); - const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); - islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag(); - return islandId; -} - -class btSortConstraintOnIslandPredicate2 -{ -public: - bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const - { - int rIslandId0, lIslandId0; - rIslandId0 = btGetConstraintIslandId2(rhs); - lIslandId0 = btGetConstraintIslandId2(lhs); - return lIslandId0 < rIslandId0; - } -}; - -SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs) -{ - int islandId; - - int islandTagA = lhs->getIslandIdA(); - int islandTagB = lhs->getIslandIdB(); - islandId = islandTagA >= 0 ? islandTagA : islandTagB; - return islandId; -} - -class btSortMultiBodyConstraintOnIslandPredicate -{ -public: - bool operator()(const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs) const - { - int rIslandId0, lIslandId0; - rIslandId0 = btGetMultiBodyConstraintIslandId(rhs); - lIslandId0 = btGetMultiBodyConstraintIslandId(lhs); - return lIslandId0 < rIslandId0; - } -}; - - -struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback -{ - btContactSolverInfo* m_solverInfo; - btMultiBodyConstraintSolver* m_solver; - btMultiBodyConstraint** m_multiBodySortedConstraints; - int m_numMultiBodyConstraints; - - btTypedConstraint** m_sortedConstraints; - int m_numConstraints; - btIDebugDraw* m_debugDrawer; - btDispatcher* m_dispatcher; - - btAlignedObjectArray<btCollisionObject*> m_bodies; - btAlignedObjectArray<btPersistentManifold*> m_manifolds; - btAlignedObjectArray<btTypedConstraint*> m_constraints; - btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints; - - btAlignedObjectArray<btSolverAnalyticsData> m_islandAnalyticsData; - - MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver, - btDispatcher* dispatcher) - : m_solverInfo(NULL), - m_solver(solver), - m_multiBodySortedConstraints(NULL), - m_numConstraints(0), - m_debugDrawer(NULL), - m_dispatcher(dispatcher) - { - } - - MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other) - { - btAssert(0); - (void)other; - return *this; - } - - SIMD_FORCE_INLINE void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer) - { - m_islandAnalyticsData.clear(); - btAssert(solverInfo); - m_solverInfo = solverInfo; - - m_multiBodySortedConstraints = sortedMultiBodyConstraints; - m_numMultiBodyConstraints = numMultiBodyConstraints; - m_sortedConstraints = sortedConstraints; - m_numConstraints = numConstraints; - - m_debugDrawer = debugDrawer; - m_bodies.resize(0); - m_manifolds.resize(0); - m_constraints.resize(0); - m_multiBodyConstraints.resize(0); - } - - void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver) - { - m_solver = solver; - } - - virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId) - { - if (islandId < 0) - { - ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id - m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher); - if (m_solverInfo->m_reportSolverAnalytics&1) - { - m_solver->m_analyticsData.m_islandId = islandId; - m_islandAnalyticsData.push_back(m_solver->m_analyticsData); - } - } - else - { - //also add all non-contact constraints/joints for this island - btTypedConstraint** startConstraint = 0; - btMultiBodyConstraint** startMultiBodyConstraint = 0; - - int numCurConstraints = 0; - int numCurMultiBodyConstraints = 0; - - int i; - - //find the first constraint for this island - - for (i = 0; i < m_numConstraints; i++) - { - if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) - { - startConstraint = &m_sortedConstraints[i]; - break; - } - } - //count the number of constraints in this island - for (; i < m_numConstraints; i++) - { - if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) - { - numCurConstraints++; - } - } - - for (i = 0; i < m_numMultiBodyConstraints; i++) - { - if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) - { - startMultiBodyConstraint = &m_multiBodySortedConstraints[i]; - break; - } - } - //count the number of multi body constraints in this island - for (; i < m_numMultiBodyConstraints; i++) - { - if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) - { - numCurMultiBodyConstraints++; - } - } - - //if (m_solverInfo->m_minimumSolverBatchSize<=1) - //{ - // m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); - //} else - { - for (i = 0; i < numBodies; i++) - m_bodies.push_back(bodies[i]); - for (i = 0; i < numManifolds; i++) - m_manifolds.push_back(manifolds[i]); - for (i = 0; i < numCurConstraints; i++) - m_constraints.push_back(startConstraint[i]); - - for (i = 0; i < numCurMultiBodyConstraints; i++) - m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]); - - if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize) - { - processConstraints(islandId); - } - else - { - //printf("deferred\n"); - } - } - } - } - void processConstraints(int islandId=-1) - { - btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0; - btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0; - btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0; - btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; - - //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); - - m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher); - if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1)) - { - m_solver->m_analyticsData.m_islandId = islandId; - m_islandAnalyticsData.push_back(m_solver->m_analyticsData); - } - m_bodies.resize(0); - m_manifolds.resize(0); - m_constraints.resize(0); - m_multiBodyConstraints.resize(0); - } -}; - void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray<btSolverAnalyticsData>& islandAnalyticsData) const { islandAnalyticsData = m_solverMultiBodyIslandCallback->m_islandAnalyticsData; @@ -421,350 +215,364 @@ void btMultiBodyDynamicsWorld::forwardKinematics() } void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { - forwardKinematics(); - - BT_PROFILE("solveConstraints"); - - clearMultiBodyConstraintForces(); - - m_sortedConstraints.resize(m_constraints.size()); - int i; - for (i = 0; i < getNumConstraints(); i++) - { - m_sortedConstraints[i] = m_constraints[i]; - } - m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); - btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; - - m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); - for (i = 0; i < m_multiBodyConstraints.size(); i++) - { - m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; - } - m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); + solveExternalForces(solverInfo); + buildIslands(); + solveInternalConstraints(solverInfo); +} - btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; +void btMultiBodyDynamicsWorld::buildIslands() +{ + m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); +} - m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); - m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); +void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo) +{ + /// solve all the constraints for this island + m_solverMultiBodyIslandCallback->processConstraints(); + m_constraintSolver->allSolved(solverInfo, m_debugDrawer); + { + BT_PROFILE("btMultiBody stepVelocities"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + if (bod->internalNeedsJointFeedback()) + { + if (!bod->isUsingRK4Integration()) + { + if (bod->internalNeedsJointFeedback()) + { + bool isConstraintPass = true; + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + } + } + } + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + bod->processDeltaVeeMultiDof2(); + } +} +void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo) +{ + forwardKinematics(); + + BT_PROFILE("solveConstraints"); + + clearMultiBodyConstraintForces(); + + m_sortedConstraints.resize(m_constraints.size()); + int i; + for (i = 0; i < getNumConstraints(); i++) + { + m_sortedConstraints[i] = m_constraints[i]; + } + m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); + btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; + + m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); + for (i = 0; i < m_multiBodyConstraints.size(); i++) + { + m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; + } + m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); + + btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; + + m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); + m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); + #ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - { - BT_PROFILE("btMultiBody addForce"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - - bod->addBaseForce(m_gravity * bod->getBaseMass()); - - for (int j = 0; j < bod->getNumLinks(); ++j) - { - bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); - } - } //if (!isSleeping) - } - } + { + BT_PROFILE("btMultiBody addForce"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + bod->addBaseForce(m_gravity * bod->getBaseMass()); + + for (int j = 0; j < bod->getNumLinks(); ++j) + { + bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); + } + } //if (!isSleeping) + } + } #endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - - { - BT_PROFILE("btMultiBody stepVelocities"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - bool doNotUpdatePos = false; + + { + BT_PROFILE("btMultiBody stepVelocities"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + bool doNotUpdatePos = false; bool isConstraintPass = false; - { - if (!bod->isUsingRK4Integration()) - { - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, - m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, - getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - else - { - // - int numDofs = bod->getNumDofs() + 6; - int numPosVars = bod->getNumPosVars() + 7; - btAlignedObjectArray<btScalar> scratch_r2; - scratch_r2.resize(2 * numPosVars + 8 * numDofs); - //convenience - btScalar* pMem = &scratch_r2[0]; - btScalar* scratch_q0 = pMem; - pMem += numPosVars; - btScalar* scratch_qx = pMem; - pMem += numPosVars; - btScalar* scratch_qd0 = pMem; - pMem += numDofs; - btScalar* scratch_qd1 = pMem; - pMem += numDofs; - btScalar* scratch_qd2 = pMem; - pMem += numDofs; - btScalar* scratch_qd3 = pMem; - pMem += numDofs; - btScalar* scratch_qdd0 = pMem; - pMem += numDofs; - btScalar* scratch_qdd1 = pMem; - pMem += numDofs; - btScalar* scratch_qdd2 = pMem; - pMem += numDofs; - btScalar* scratch_qdd3 = pMem; - pMem += numDofs; - btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]); - - ///// - //copy q0 to scratch_q0 and qd0 to scratch_qd0 - scratch_q0[0] = bod->getWorldToBaseRot().x(); - scratch_q0[1] = bod->getWorldToBaseRot().y(); - scratch_q0[2] = bod->getWorldToBaseRot().z(); - scratch_q0[3] = bod->getWorldToBaseRot().w(); - scratch_q0[4] = bod->getBasePos().x(); - scratch_q0[5] = bod->getBasePos().y(); - scratch_q0[6] = bod->getBasePos().z(); - // - for (int link = 0; link < bod->getNumLinks(); ++link) - { - for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof) - scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof]; - } - // - for (int dof = 0; dof < numDofs; ++dof) - scratch_qd0[dof] = bod->getVelocityVector()[dof]; - //// - struct - { - btMultiBody* bod; - btScalar *scratch_qx, *scratch_q0; - - void operator()() - { - for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof) - scratch_qx[dof] = scratch_q0[dof]; - } - } pResetQx = {bod, scratch_qx, scratch_q0}; - // - struct - { - void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size) - { - for (int i = 0; i < size; ++i) - pVal[i] = pCurVal[i] + dt * pDer[i]; - } - - } pEulerIntegrate; - // - struct - { - void operator()(btMultiBody* pBody, const btScalar* pData) - { - btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector()); - - for (int i = 0; i < pBody->getNumDofs() + 6; ++i) - pVel[i] = pData[i]; - } - } pCopyToVelocityVector; - // - struct - { - void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size) - { - for (int i = 0; i < size; ++i) - pDst[i] = pSrc[start + i]; - } - } pCopy; - // - - btScalar h = solverInfo.m_timeStep; + { + if (!bod->isUsingRK4Integration()) + { + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, + m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + else + { + // + int numDofs = bod->getNumDofs() + 6; + int numPosVars = bod->getNumPosVars() + 7; + btAlignedObjectArray<btScalar> scratch_r2; + scratch_r2.resize(2 * numPosVars + 8 * numDofs); + //convenience + btScalar* pMem = &scratch_r2[0]; + btScalar* scratch_q0 = pMem; + pMem += numPosVars; + btScalar* scratch_qx = pMem; + pMem += numPosVars; + btScalar* scratch_qd0 = pMem; + pMem += numDofs; + btScalar* scratch_qd1 = pMem; + pMem += numDofs; + btScalar* scratch_qd2 = pMem; + pMem += numDofs; + btScalar* scratch_qd3 = pMem; + pMem += numDofs; + btScalar* scratch_qdd0 = pMem; + pMem += numDofs; + btScalar* scratch_qdd1 = pMem; + pMem += numDofs; + btScalar* scratch_qdd2 = pMem; + pMem += numDofs; + btScalar* scratch_qdd3 = pMem; + pMem += numDofs; + btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]); + + ///// + //copy q0 to scratch_q0 and qd0 to scratch_qd0 + scratch_q0[0] = bod->getWorldToBaseRot().x(); + scratch_q0[1] = bod->getWorldToBaseRot().y(); + scratch_q0[2] = bod->getWorldToBaseRot().z(); + scratch_q0[3] = bod->getWorldToBaseRot().w(); + scratch_q0[4] = bod->getBasePos().x(); + scratch_q0[5] = bod->getBasePos().y(); + scratch_q0[6] = bod->getBasePos().z(); + // + for (int link = 0; link < bod->getNumLinks(); ++link) + { + for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof) + scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof]; + } + // + for (int dof = 0; dof < numDofs; ++dof) + scratch_qd0[dof] = bod->getVelocityVector()[dof]; + //// + struct + { + btMultiBody* bod; + btScalar *scratch_qx, *scratch_q0; + + void operator()() + { + for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof) + scratch_qx[dof] = scratch_q0[dof]; + } + } pResetQx = {bod, scratch_qx, scratch_q0}; + // + struct + { + void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size) + { + for (int i = 0; i < size; ++i) + pVal[i] = pCurVal[i] + dt * pDer[i]; + } + + } pEulerIntegrate; + // + struct + { + void operator()(btMultiBody* pBody, const btScalar* pData) + { + btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector()); + + for (int i = 0; i < pBody->getNumDofs() + 6; ++i) + pVel[i] = pData[i]; + } + } pCopyToVelocityVector; + // + struct + { + void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size) + { + for (int i = 0; i < size; ++i) + pDst[i] = pSrc[start + i]; + } + } pCopy; + // + + btScalar h = solverInfo.m_timeStep; #define output &m_scratch_r[bod->getNumDofs()] - //calc qdd0 from: q0 & qd0 - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd0, 0, numDofs); - //calc q1 = q0 + h/2 * qd0 - pResetQx(); - bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0); - //calc qd1 = qd0 + h/2 * qdd0 - pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs); - // - //calc qdd1 from: q1 & qd1 - pCopyToVelocityVector(bod, scratch_qd1); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd1, 0, numDofs); - //calc q2 = q0 + h/2 * qd1 - pResetQx(); - bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1); - //calc qd2 = qd0 + h/2 * qdd1 - pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs); - // - //calc qdd2 from: q2 & qd2 - pCopyToVelocityVector(bod, scratch_qd2); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd2, 0, numDofs); - //calc q3 = q0 + h * qd2 - pResetQx(); - bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2); - //calc qd3 = qd0 + h * qdd2 - pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs); - // - //calc qdd3 from: q3 & qd3 - pCopyToVelocityVector(bod, scratch_qd3); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd3, 0, numDofs); - - // - //calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3) - //calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3) - btAlignedObjectArray<btScalar> delta_q; - delta_q.resize(numDofs); - btAlignedObjectArray<btScalar> delta_qd; - delta_qd.resize(numDofs); - for (int i = 0; i < numDofs; ++i) - { - delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]); - delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]); - //delta_q[i] = h*scratch_qd0[i]; - //delta_qd[i] = h*scratch_qdd0[i]; - } - // - pCopyToVelocityVector(bod, scratch_qd0); - bod->applyDeltaVeeMultiDof(&delta_qd[0], 1); - // - if (!doNotUpdatePos) - { - btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); - pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); - - for (int i = 0; i < numDofs; ++i) - pRealBuf[i] = delta_q[i]; - - //bod->stepPositionsMultiDof(1, 0, &delta_q[0]); - bod->setPosUpdated(true); - } - - //ugly hack which resets the cached data to t0 (needed for constraint solver) - { - for (int link = 0; link < bod->getNumLinks(); ++link) - bod->getLink(link).updateCacheMultiDof(); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - } - } - + //calc qdd0 from: q0 & qd0 + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd0, 0, numDofs); + //calc q1 = q0 + h/2 * qd0 + pResetQx(); + bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0); + //calc qd1 = qd0 + h/2 * qdd0 + pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs); + // + //calc qdd1 from: q1 & qd1 + pCopyToVelocityVector(bod, scratch_qd1); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd1, 0, numDofs); + //calc q2 = q0 + h/2 * qd1 + pResetQx(); + bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1); + //calc qd2 = qd0 + h/2 * qdd1 + pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs); + // + //calc qdd2 from: q2 & qd2 + pCopyToVelocityVector(bod, scratch_qd2); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd2, 0, numDofs); + //calc q3 = q0 + h * qd2 + pResetQx(); + bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2); + //calc qd3 = qd0 + h * qdd2 + pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs); + // + //calc qdd3 from: q3 & qd3 + pCopyToVelocityVector(bod, scratch_qd3); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd3, 0, numDofs); + + // + //calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3) + //calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3) + btAlignedObjectArray<btScalar> delta_q; + delta_q.resize(numDofs); + btAlignedObjectArray<btScalar> delta_qd; + delta_qd.resize(numDofs); + for (int i = 0; i < numDofs; ++i) + { + delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]); + delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]); + //delta_q[i] = h*scratch_qd0[i]; + //delta_qd[i] = h*scratch_qdd0[i]; + } + // + pCopyToVelocityVector(bod, scratch_qd0); + bod->applyDeltaVeeMultiDof(&delta_qd[0], 1); + // + if (!doNotUpdatePos) + { + btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); + pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); + + for (int i = 0; i < numDofs; ++i) + pRealBuf[i] = delta_q[i]; + + //bod->stepPositionsMultiDof(1, 0, &delta_q[0]); + bod->setPosUpdated(true); + } + + //ugly hack which resets the cached data to t0 (needed for constraint solver) + { + for (int link = 0; link < bod->getNumLinks(); ++link) + bod->getLink(link).updateCacheMultiDof(); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + #ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - bod->clearForcesAndTorques(); + bod->clearForcesAndTorques(); #endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - } //if (!isSleeping) - } - } - - /// solve all the constraints for this island - m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); - - m_solverMultiBodyIslandCallback->processConstraints(); - - m_constraintSolver->allSolved(solverInfo, m_debugDrawer); - - { - BT_PROFILE("btMultiBody stepVelocities"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - - if (bod->internalNeedsJointFeedback()) - { - if (!bod->isUsingRK4Integration()) - { - if (bod->internalNeedsJointFeedback()) - { - bool isConstraintPass = true; - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, - getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - } - } - } - } - } - - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - bod->processDeltaVeeMultiDof2(); - } + } //if (!isSleeping) + } + } } + void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { btDiscreteDynamicsWorld::integrateTransforms(timeStep); + integrateMultiBodyTransforms(timeStep); +} - { +void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep) +{ BT_PROFILE("btMultiBody stepPositions"); //integrate and update the Featherstone hierarchies @@ -787,31 +595,61 @@ void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) int nLinks = bod->getNumLinks(); ///base + num m_links + if (!bod->isPosUpdated()) + bod->stepPositionsMultiDof(timeStep); + else + { + btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); + pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); - { - if (!bod->isPosUpdated()) - bod->stepPositionsMultiDof(timeStep); - else - { - btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); - pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); + bod->stepPositionsMultiDof(1, 0, pRealBuf); + bod->setPosUpdated(false); + } - bod->stepPositionsMultiDof(1, 0, pRealBuf); - bod->setPosUpdated(false); - } - } m_scratch_world_to_local.resize(nLinks + 1); m_scratch_local_origin.resize(nLinks + 1); - - bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); + bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); } else { bod->clearVelocities(); } } - } +} + +void btMultiBodyDynamicsWorld::predictMultiBodyTransforms(btScalar timeStep) +{ + BT_PROFILE("btMultiBody stepPositions"); + //integrate and update the Featherstone hierarchies + + for (int b = 0; b < m_multiBodies.size(); b++) + { + btMultiBody* bod = m_multiBodies[b]; + bool isSleeping = false; + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + int nLinks = bod->getNumLinks(); + bod->predictPositionsMultiDof(timeStep); + m_scratch_world_to_local.resize(nLinks + 1); + m_scratch_local_origin.resize(nLinks + 1); + bod->updateCollisionObjectInterpolationWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); + } + else + { + bod->clearVelocities(); + } + } } void btMultiBodyDynamicsWorld::addMultiBodyConstraint(btMultiBodyConstraint* constraint) @@ -1029,3 +867,8 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer) } } } +// +//void btMultiBodyDynamicsWorld::setSplitIslands(bool split) +//{ +// m_islandManager->setSplitIslands(split); +//} diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index e36c2f7aad..9ac46f4b64 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -17,6 +17,7 @@ subject to the following restrictions: #define BT_MULTIBODY_DYNAMICS_WORLD_H #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#include "BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h" #define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY @@ -47,7 +48,7 @@ protected: virtual void calculateSimulationIslands(); virtual void updateActivationState(btScalar timeStep); - virtual void solveConstraints(btContactSolverInfo& solverInfo); + virtual void serializeMultiBodies(btSerializer* serializer); @@ -55,7 +56,9 @@ public: btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration); virtual ~btMultiBodyDynamicsWorld(); - + + virtual void solveConstraints(btContactSolverInfo& solverInfo); + virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter); virtual void removeMultiBody(btMultiBody* body); @@ -95,7 +98,10 @@ public: virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint); virtual void integrateTransforms(btScalar timeStep); - + void integrateMultiBodyTransforms(btScalar timeStep); + void predictMultiBodyTransforms(btScalar timeStep); + + virtual void predictUnconstraintMotion(btScalar timeStep); virtual void debugDrawWorld(); virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint); @@ -110,6 +116,9 @@ public: virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver); virtual void setConstraintSolver(btConstraintSolver* solver); virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const; - + + virtual void solveExternalForces(btContactSolverInfo& solverInfo); + virtual void solveInternalConstraints(btContactSolverInfo& solverInfo); + void buildIslands(); }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h new file mode 100644 index 0000000000..3169b86e61 --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h @@ -0,0 +1,247 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H +#define BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H + +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" +#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" +#include "btMultiBodyConstraintSolver.h" + +SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs) +{ + int islandId; + + const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); + const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); + islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag(); + return islandId; +} +class btSortConstraintOnIslandPredicate2 +{ +public: + bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const + { + int rIslandId0, lIslandId0; + rIslandId0 = btGetConstraintIslandId2(rhs); + lIslandId0 = btGetConstraintIslandId2(lhs); + return lIslandId0 < rIslandId0; + } +}; + +SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs) +{ + int islandId; + + int islandTagA = lhs->getIslandIdA(); + int islandTagB = lhs->getIslandIdB(); + islandId = islandTagA >= 0 ? islandTagA : islandTagB; + return islandId; +} + +class btSortMultiBodyConstraintOnIslandPredicate +{ +public: + bool operator()(const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs) const + { + int rIslandId0, lIslandId0; + rIslandId0 = btGetMultiBodyConstraintIslandId(rhs); + lIslandId0 = btGetMultiBodyConstraintIslandId(lhs); + return lIslandId0 < rIslandId0; + } +}; + +struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback +{ + + btContactSolverInfo* m_solverInfo; + btMultiBodyConstraintSolver* m_solver; + btMultiBodyConstraint** m_multiBodySortedConstraints; + int m_numMultiBodyConstraints; + + btTypedConstraint** m_sortedConstraints; + int m_numConstraints; + btIDebugDraw* m_debugDrawer; + btDispatcher* m_dispatcher; + + btAlignedObjectArray<btCollisionObject*> m_bodies; + btAlignedObjectArray<btCollisionObject*> m_softBodies; + btAlignedObjectArray<btPersistentManifold*> m_manifolds; + btAlignedObjectArray<btTypedConstraint*> m_constraints; + btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints; + + btAlignedObjectArray<btSolverAnalyticsData> m_islandAnalyticsData; + + MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver, + btDispatcher* dispatcher) + : m_solverInfo(NULL), + m_solver(solver), + m_multiBodySortedConstraints(NULL), + m_numConstraints(0), + m_debugDrawer(NULL), + m_dispatcher(dispatcher) + { + } + + MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other) + { + btAssert(0); + (void)other; + return *this; + } + + SIMD_FORCE_INLINE virtual void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer) + { + m_islandAnalyticsData.clear(); + btAssert(solverInfo); + m_solverInfo = solverInfo; + + m_multiBodySortedConstraints = sortedMultiBodyConstraints; + m_numMultiBodyConstraints = numMultiBodyConstraints; + m_sortedConstraints = sortedConstraints; + m_numConstraints = numConstraints; + + m_debugDrawer = debugDrawer; + m_bodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + m_multiBodyConstraints.resize(0); + } + + void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver) + { + m_solver = solver; + } + + virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId) + { + if (islandId < 0) + { + ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id + m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_solverInfo->m_reportSolverAnalytics&1) + { + m_solver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } + } + else + { + //also add all non-contact constraints/joints for this island + btTypedConstraint** startConstraint = 0; + btMultiBodyConstraint** startMultiBodyConstraint = 0; + + int numCurConstraints = 0; + int numCurMultiBodyConstraints = 0; + + int i; + + //find the first constraint for this island + + for (i = 0; i < m_numConstraints; i++) + { + if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) + { + startConstraint = &m_sortedConstraints[i]; + break; + } + } + //count the number of constraints in this island + for (; i < m_numConstraints; i++) + { + if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) + { + numCurConstraints++; + } + } + + for (i = 0; i < m_numMultiBodyConstraints; i++) + { + if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) + { + startMultiBodyConstraint = &m_multiBodySortedConstraints[i]; + break; + } + } + //count the number of multi body constraints in this island + for (; i < m_numMultiBodyConstraints; i++) + { + if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) + { + numCurMultiBodyConstraints++; + } + } + + //if (m_solverInfo->m_minimumSolverBatchSize<=1) + //{ + // m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); + //} else + { + for (i = 0; i < numBodies; i++) + { + bool isSoftBodyType = (bodies[i]->getInternalType() & btCollisionObject::CO_SOFT_BODY); + if (!isSoftBodyType) + { + m_bodies.push_back(bodies[i]); + } + else + { + m_softBodies.push_back(bodies[i]); + } + } + for (i = 0; i < numManifolds; i++) + m_manifolds.push_back(manifolds[i]); + for (i = 0; i < numCurConstraints; i++) + m_constraints.push_back(startConstraint[i]); + + for (i = 0; i < numCurMultiBodyConstraints; i++) + m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]); + + if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize) + { + processConstraints(islandId); + } + else + { + //printf("deferred\n"); + } + } + } + } + + virtual void processConstraints(int islandId=-1) + { + btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0; + btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0; + btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0; + btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; + + //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); + + m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1)) + { + m_solver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } + m_bodies.resize(0); + m_softBodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + m_multiBodyConstraints.resize(0); + } +}; + + +#endif /*BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H */ diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h index 92d41dfac2..01d5583c2f 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h @@ -111,6 +111,10 @@ struct btMultibodyLink btQuaternion m_cachedRotParentToThis; // rotates vectors in parent frame to vectors in local frame btVector3 m_cachedRVector; // vector from COM of parent to COM of this link, in local frame. + + // predicted verstion + btQuaternion m_cachedRotParentToThis_interpolate; // rotates vectors in parent frame to vectors in local frame + btVector3 m_cachedRVector_interpolate; // vector from COM of parent to COM of this link, in local frame. btVector3 m_appliedForce; // In WORLD frame btVector3 m_appliedTorque; // In WORLD frame @@ -119,6 +123,7 @@ struct btMultibodyLink btVector3 m_appliedConstraintTorque; // In WORLD frame btScalar m_jointPos[7]; + btScalar m_jointPos_interpolate[7]; //m_jointTorque is the joint torque applied by the user using 'addJointTorque'. //It gets set to zero after each internal stepSimulation call @@ -152,6 +157,7 @@ struct btMultibodyLink m_parent(-1), m_zeroRotParentToThis(0, 0, 0, 1), m_cachedRotParentToThis(0, 0, 0, 1), + m_cachedRotParentToThis_interpolate(0, 0, 0, 1), m_collider(0), m_flags(0), m_dofCount(0), @@ -174,6 +180,7 @@ struct btMultibodyLink m_dVector.setValue(0, 0, 0); m_eVector.setValue(0, 0, 0); m_cachedRVector.setValue(0, 0, 0); + m_cachedRVector_interpolate.setValue(0, 0, 0); m_appliedForce.setValue(0, 0, 0); m_appliedTorque.setValue(0, 0, 0); m_appliedConstraintForce.setValue(0, 0, 0); @@ -188,42 +195,43 @@ struct btMultibodyLink // routine to update m_cachedRotParentToThis and m_cachedRVector void updateCacheMultiDof(btScalar *pq = 0) { - btScalar *pJointPos = (pq ? pq : &m_jointPos[0]); - + btScalar *pJointPos = (pq ? pq : &m_jointPos[0]); + btQuaternion& cachedRot = m_cachedRotParentToThis; + btVector3& cachedVector = m_cachedRVector; switch (m_jointType) { case eRevolute: { - m_cachedRotParentToThis = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); break; } case ePrismatic: { // m_cachedRotParentToThis never changes, so no need to update - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0); + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0); break; } case eSpherical: { - m_cachedRotParentToThis = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); break; } case ePlanar: { - m_cachedRotParentToThis = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; - m_cachedRVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(cachedRot, m_eVector); break; } case eFixed: { - m_cachedRotParentToThis = m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); break; } @@ -233,7 +241,60 @@ struct btMultibodyLink btAssert(0); } } + m_cachedRotParentToThis_interpolate = m_cachedRotParentToThis; + m_cachedRVector_interpolate = m_cachedRVector; } + + void updateInterpolationCacheMultiDof() + { + btScalar *pJointPos = &m_jointPos_interpolate[0]; + + btQuaternion& cachedRot = m_cachedRotParentToThis_interpolate; + btVector3& cachedVector = m_cachedRVector_interpolate; + switch (m_jointType) + { + case eRevolute: + { + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + + break; + } + case ePrismatic: + { + // m_cachedRotParentToThis never changes, so no need to update + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0); + + break; + } + case eSpherical: + { + cachedRot = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); + + break; + } + case ePlanar: + { + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(cachedRot, m_eVector); + + break; + } + case eFixed: + { + cachedRot = m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); + + break; + } + default: + { + //invalid type + btAssert(0); + } + } + } }; #endif //BT_MULTIBODY_LINK_H diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h index ac2fc46ab0..f18c4ea41b 100644 --- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h +++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h @@ -20,7 +20,7 @@ subject to the following restrictions: #include "btMLCPSolverInterface.h" #include "btLemkeAlgorithm.h" -///The btLemkeSolver is based on "Fast Implementation of Lemke's Algorithm for Rigid Body Contact Simulation (John E. Lloyd) " +///The btLemkeSolver is based on "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) " ///It is a slower but more accurate solver. Increase the m_maxLoops for better convergence, at the cost of more CPU time. ///The original implementation of the btLemkeAlgorithm was done by Kilian Grundl from the MBSim team class btLemkeSolver : public btMLCPSolverInterface diff --git a/thirdparty/bullet/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h b/thirdparty/bullet/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h new file mode 100644 index 0000000000..7b225701f6 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h @@ -0,0 +1,46 @@ +// +// DeformableBodyInplaceSolverIslandCallback.h +// BulletSoftBody +// +// Created by Xuchen Han on 12/16/19. +// + +#ifndef DeformableBodyInplaceSolverIslandCallback_h +#define DeformableBodyInplaceSolverIslandCallback_h + +struct DeformableBodyInplaceSolverIslandCallback : public MultiBodyInplaceSolverIslandCallback +{ + btDeformableMultiBodyConstraintSolver* m_deformableSolver; + + DeformableBodyInplaceSolverIslandCallback(btDeformableMultiBodyConstraintSolver* solver, + btDispatcher* dispatcher) + : MultiBodyInplaceSolverIslandCallback(solver, dispatcher), m_deformableSolver(solver) + { + } + + + virtual void processConstraints(int islandId=-1) + { + btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0; + btCollisionObject** softBodies = m_softBodies.size() ? &m_softBodies[0] : 0; + btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0; + btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0; + btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; + + //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); + + m_deformableSolver->solveDeformableBodyGroup(bodies, m_bodies.size(), softBodies, m_softBodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1)) + { + m_deformableSolver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } + m_bodies.resize(0); + m_softBodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + m_multiBodyConstraints.resize(0); + } +}; + +#endif /* DeformableBodyInplaceSolverIslandCallback_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btCGProjection.h b/thirdparty/bullet/BulletSoftBody/btCGProjection.h new file mode 100644 index 0000000000..d047e6d3d9 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btCGProjection.h @@ -0,0 +1,106 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_CG_PROJECTION_H +#define BT_CG_PROJECTION_H + +#include "btSoftBody.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" + +struct DeformableContactConstraint +{ + const btSoftBody::Node* m_node; + btAlignedObjectArray<const btSoftBody::RContact*> m_contact; + btAlignedObjectArray<btVector3> m_total_normal_dv; + btAlignedObjectArray<btVector3> m_total_tangent_dv; + btAlignedObjectArray<bool> m_static; + btAlignedObjectArray<bool> m_can_be_dynamic; + + DeformableContactConstraint(const btSoftBody::RContact& rcontact): m_node(rcontact.m_node) + { + append(rcontact); + } + + DeformableContactConstraint(): m_node(NULL) + { + m_contact.push_back(NULL); + } + + void append(const btSoftBody::RContact& rcontact) + { + m_contact.push_back(&rcontact); + m_total_normal_dv.push_back(btVector3(0,0,0)); + m_total_tangent_dv.push_back(btVector3(0,0,0)); + m_static.push_back(false); + m_can_be_dynamic.push_back(true); + } + + void replace(const btSoftBody::RContact& rcontact) + { + m_contact.clear(); + m_total_normal_dv.clear(); + m_total_tangent_dv.clear(); + m_static.clear(); + m_can_be_dynamic.clear(); + append(rcontact); + } + + ~DeformableContactConstraint() + { + } +}; + +class btCGProjection +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack; + typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack; + btAlignedObjectArray<btSoftBody *>& m_softBodies; + const btScalar& m_dt; + // map from node indices to node pointers + const btAlignedObjectArray<btSoftBody::Node*>* m_nodes; + + btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt) + : m_softBodies(softBodies) + , m_dt(dt) + { + } + + virtual ~btCGProjection() + { + } + + // apply the constraints + virtual void project(TVStack& x) = 0; + + virtual void setConstraints() = 0; + + // update the constraints + virtual btScalar update() = 0; + + virtual void reinitialize(bool nodeUpdated) + { + } + + virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes) + { + m_nodes = nodes; + } +}; + + +#endif /* btCGProjection_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h b/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h new file mode 100644 index 0000000000..bd51e584b9 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h @@ -0,0 +1,158 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_CONJUGATE_GRADIENT_H +#define BT_CONJUGATE_GRADIENT_H +#include <iostream> +#include <cmath> +#include <limits> +#include <LinearMath/btAlignedObjectArray.h> +#include <LinearMath/btVector3.h> +#include "LinearMath/btQuickprof.h" +template <class MatrixX> +class btConjugateGradient +{ + typedef btAlignedObjectArray<btVector3> TVStack; + TVStack r,p,z,temp; + int max_iterations; + btScalar tolerance_squared; +public: + btConjugateGradient(const int max_it_in) + : max_iterations(max_it_in) + { + tolerance_squared = 1e-5; + } + + virtual ~btConjugateGradient(){} + + // return the number of iterations taken + int solve(MatrixX& A, TVStack& x, const TVStack& b, bool verbose = false) + { + BT_PROFILE("CGSolve"); + btAssert(x.size() == b.size()); + reinitialize(b); + // r = b - A * x --with assigned dof zeroed out + A.multiply(x, temp); + r = sub(b, temp); + A.project(r); + // z = M^(-1) * r + A.precondition(r, z); + A.project(z); + btScalar r_dot_z = dot(z,r); + if (r_dot_z <= tolerance_squared) { + if (verbose) + { + std::cout << "Iteration = 0" << std::endl; + std::cout << "Two norm of the residual = " << r_dot_z << std::endl; + } + return 0; + } + p = z; + btScalar r_dot_z_new = r_dot_z; + for (int k = 1; k <= max_iterations; k++) { + // temp = A*p + A.multiply(p, temp); + A.project(temp); + if (dot(p,temp) < SIMD_EPSILON) + { + if (verbose) + std::cout << "Encountered negative direction in CG!" << std::endl; + if (k == 1) + { + x = b; + } + return k; + } + // alpha = r^T * z / (p^T * A * p) + btScalar alpha = r_dot_z_new / dot(p, temp); + // x += alpha * p; + multAndAddTo(alpha, p, x); + // r -= alpha * temp; + multAndAddTo(-alpha, temp, r); + // z = M^(-1) * r + A.precondition(r, z); + r_dot_z = r_dot_z_new; + r_dot_z_new = dot(r,z); + if (r_dot_z_new < tolerance_squared) { + if (verbose) + { + std::cout << "ConjugateGradient iterations " << k << std::endl; + } + return k; + } + + btScalar beta = r_dot_z_new/r_dot_z; + p = multAndAdd(beta, p, z); + } + if (verbose) + { + std::cout << "ConjugateGradient max iterations reached " << max_iterations << std::endl; + } + return max_iterations; + } + + void reinitialize(const TVStack& b) + { + r.resize(b.size()); + p.resize(b.size()); + z.resize(b.size()); + temp.resize(b.size()); + } + + TVStack sub(const TVStack& a, const TVStack& b) + { + // c = a-b + btAssert(a.size() == b.size()); + TVStack c; + c.resize(a.size()); + for (int i = 0; i < a.size(); ++i) + { + c[i] = a[i] - b[i]; + } + return c; + } + + btScalar squaredNorm(const TVStack& a) + { + return dot(a,a); + } + + btScalar dot(const TVStack& a, const TVStack& b) + { + btScalar ans(0); + for (int i = 0; i < a.size(); ++i) + ans += a[i].dot(b[i]); + return ans; + } + + void multAndAddTo(btScalar s, const TVStack& a, TVStack& result) + { +// result += s*a + btAssert(a.size() == result.size()); + for (int i = 0; i < a.size(); ++i) + result[i] += s * a[i]; + } + + TVStack multAndAdd(btScalar s, const TVStack& a, const TVStack& b) + { + // result = a*s + b + TVStack result; + result.resize(a.size()); + for (int i = 0; i < a.size(); ++i) + result[i] = s * a[i] + b[i]; + return result; + } +}; +#endif /* btConjugateGradient_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp index 8b7ff9abcd..5a79ef86e2 100644 --- a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp +++ b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp @@ -60,7 +60,7 @@ bool btDefaultSoftBodySolver::checkInitialized() return true; } -void btDefaultSoftBodySolver::solveConstraints(float solverdt) +void btDefaultSoftBodySolver::solveConstraints(btScalar solverdt) { // Solve constraints for non-solver softbodies for (int i = 0; i < m_softBodySet.size(); ++i) @@ -132,7 +132,7 @@ void btDefaultSoftBodySolver::processCollision(btSoftBody *softBody, const btCol softBody->defaultCollisionHandler(collisionObjectWrap); } // btDefaultSoftBodySolver::processCollision -void btDefaultSoftBodySolver::predictMotion(float timeStep) +void btDefaultSoftBodySolver::predictMotion(btScalar timeStep) { for (int i = 0; i < m_softBodySet.size(); ++i) { diff --git a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h index 50bd735165..3965b07c58 100644 --- a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h +++ b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h @@ -46,9 +46,9 @@ public: virtual void copyBackToSoftBodies(bool bMove = true); - virtual void solveConstraints(float solverdt); + virtual void solveConstraints(btScalar solverdt); - virtual void predictMotion(float solverdt); + virtual void predictMotion(btScalar solverdt); virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer); diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp new file mode 100644 index 0000000000..1b247641aa --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -0,0 +1,197 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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. + */ + +#include "btDeformableBackwardEulerObjective.h" +#include "btPreconditioner.h" +#include "LinearMath/btQuickprof.h" + +btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v) +: m_softBodies(softBodies) +, m_projection(softBodies) +, m_backupVelocity(backup_v) +, m_implicit(false) +{ + m_preconditioner = new MassPreconditioner(m_softBodies); +} + +btDeformableBackwardEulerObjective::~btDeformableBackwardEulerObjective() +{ + delete m_preconditioner; +} + +void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt) +{ + BT_PROFILE("reinitialize"); + if (dt > 0) + { + setDt(dt); + } + if(nodeUpdated) + { + updateId(); + } + for (int i = 0; i < m_lf.size(); ++i) + { + m_lf[i]->reinitialize(nodeUpdated); + } + m_projection.reinitialize(nodeUpdated); + m_preconditioner->reinitialize(nodeUpdated); +} + +void btDeformableBackwardEulerObjective::setDt(btScalar dt) +{ + m_dt = dt; +} + +void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) const +{ + BT_PROFILE("multiply"); + // add in the mass term + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + b[counter] = (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im; + ++counter; + } + } + + for (int i = 0; i < m_lf.size(); ++i) + { + // add damping matrix + m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b); + if (m_implicit) + { + m_lf[i]->addScaledElasticForceDifferential(-m_dt*m_dt, x, b); + } + } +} + +void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btSoftBody::Node& node = psb->m_nodes[j]; + node.m_v = m_backupVelocity[node.index] + dv[node.index]; + } + } +} + +void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero) +{ + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + counter += psb->m_nodes.size(); + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btScalar one_over_mass = (psb->m_nodes[j].m_im == 0) ? 0 : psb->m_nodes[j].m_im; + psb->m_nodes[j].m_v += one_over_mass * force[counter++]; + } + } + if (setZero) + { + for (int i = 0; i < force.size(); ++i) + force[i].setZero(); + } +} + +void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual) +{ + BT_PROFILE("computeResidual"); + // add implicit force + for (int i = 0; i < m_lf.size(); ++i) + { + if (m_implicit) + { + m_lf[i]->addScaledForces(dt, residual); + } + else + { + m_lf[i]->addScaledDampingForce(dt, residual); + } + } + m_projection.project(residual); +} + +btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const +{ + btScalar mag = 0; + for (int i = 0; i < residual.size(); ++i) + { + mag += residual[i].length2(); + } + return std::sqrt(mag); +} + +btScalar btDeformableBackwardEulerObjective::totalEnergy(btScalar dt) +{ + btScalar e = 0; + for (int i = 0; i < m_lf.size(); ++i) + { + e += m_lf[i]->totalEnergy(dt); + } + return e; +} + +void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + m_softBodies[i]->advanceDeformation(); + } + + for (int i = 0; i < m_lf.size(); ++i) + { + m_lf[i]->addScaledExplicitForce(m_dt, force); + } + applyForce(force, true); +} + +void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack& residual) +{ + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + dv[counter] = psb->m_nodes[j].m_im * residual[counter]; + ++counter; + } + } +} + +//set constraints as projections +void btDeformableBackwardEulerObjective::setConstraints() +{ + m_projection.setConstraints(); +} + +void btDeformableBackwardEulerObjective::applyDynamicFriction(TVStack& r) +{ + m_projection.applyDynamicFriction(r); +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h new file mode 100644 index 0000000000..05ab42ff0a --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -0,0 +1,134 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_BACKWARD_EULER_OBJECTIVE_H +#define BT_BACKWARD_EULER_OBJECTIVE_H +#include "btConjugateGradient.h" +#include "btDeformableLagrangianForce.h" +#include "btDeformableMassSpringForce.h" +#include "btDeformableGravityForce.h" +#include "btDeformableCorotatedForce.h" +#include "btDeformableLinearElasticityForce.h" +#include "btDeformableNeoHookeanForce.h" +#include "btDeformableContactProjection.h" +#include "btPreconditioner.h" +#include "btDeformableMultiBodyDynamicsWorld.h" +#include "LinearMath/btQuickprof.h" + +class btDeformableBackwardEulerObjective +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btScalar m_dt; + btAlignedObjectArray<btDeformableLagrangianForce*> m_lf; + btAlignedObjectArray<btSoftBody *>& m_softBodies; + Preconditioner* m_preconditioner; + btDeformableContactProjection m_projection; + const TVStack& m_backupVelocity; + btAlignedObjectArray<btSoftBody::Node* > m_nodes; + bool m_implicit; + + btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v); + + virtual ~btDeformableBackwardEulerObjective(); + + void initialize(){} + + // compute the rhs for CG solve, i.e, add the dt scaled implicit force to residual + void computeResidual(btScalar dt, TVStack& residual); + + // add explicit force to the velocity + void applyExplicitForce(TVStack& force); + + // apply force to velocity and optionally reset the force to zero + void applyForce(TVStack& force, bool setZero); + + // compute the norm of the residual + btScalar computeNorm(const TVStack& residual) const; + + // compute one step of the solve (there is only one solve if the system is linear) + void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt); + + // perform A*x = b + void multiply(const TVStack& x, TVStack& b) const; + + // set initial guess for CG solve + void initialGuess(TVStack& dv, const TVStack& residual); + + // reset data structure and reset dt + void reinitialize(bool nodeUpdated, btScalar dt); + + void setDt(btScalar dt); + + // add friction force to residual + void applyDynamicFriction(TVStack& r); + + // add dv to velocity + void updateVelocity(const TVStack& dv); + + //set constraints as projections + void setConstraints(); + + // update the projections and project the residual + void project(TVStack& r) + { + BT_PROFILE("project"); + m_projection.project(r); + } + + // perform precondition M^(-1) x = b + void precondition(const TVStack& x, TVStack& b) + { + m_preconditioner->operator()(x,b); + } + + // reindex all the vertices + virtual void updateId() + { + size_t node_id = 0; + size_t face_id = 0; + m_nodes.clear(); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].index = node_id; + m_nodes.push_back(&psb->m_nodes[j]); + ++node_id; + } + for (int j = 0; j < psb->m_faces.size(); ++j) + { + psb->m_faces[j].m_index = face_id; + ++face_id; + } + } + } + + const btAlignedObjectArray<btSoftBody::Node*>* getIndices() const + { + return &m_nodes; + } + + void setImplicit(bool implicit) + { + m_implicit = implicit; + } + + // Calculate the total potential energy in the system + btScalar totalEnergy(btScalar dt); +}; + +#endif /* btBackwardEulerObjective_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.cpp new file mode 100644 index 0000000000..7724a8ec69 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.cpp @@ -0,0 +1,485 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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. + */ + +#include <stdio.h> +#include <limits> +#include "btDeformableBodySolver.h" +#include "btSoftBodyInternals.h" +#include "LinearMath/btQuickprof.h" +static const int kMaxConjugateGradientIterations = 50; +btDeformableBodySolver::btDeformableBodySolver() +: m_numNodes(0) +, m_cg(kMaxConjugateGradientIterations) +, m_maxNewtonIterations(5) +, m_newtonTolerance(1e-4) +, m_lineSearch(false) +{ + m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity); +} + +btDeformableBodySolver::~btDeformableBodySolver() +{ + delete m_objective; +} + +void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) +{ + BT_PROFILE("solveDeformableConstraints"); + if (!m_implicit) + { + m_objective->computeResidual(solverdt, m_residual); + m_objective->applyDynamicFriction(m_residual); + computeStep(m_dv, m_residual); + updateVelocity(); + } + else + { + for (int i = 0; i < m_maxNewtonIterations; ++i) + { + updateState(); + // add the inertia term in the residual + int counter = 0; + for (int k = 0; k < m_softBodies.size(); ++k) + { + btSoftBody* psb = m_softBodies[k]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (psb->m_nodes[j].m_im > 0) + { + m_residual[counter] = (-1./psb->m_nodes[j].m_im) * m_dv[counter]; + } + ++counter; + } + } + + m_objective->computeResidual(solverdt, m_residual); + if (m_objective->computeNorm(m_residual) < m_newtonTolerance && i > 0) + { + break; + } + // todo xuchenhan@: this really only needs to be calculated once + m_objective->applyDynamicFriction(m_residual); + if (m_lineSearch) + { + btScalar inner_product = computeDescentStep(m_ddv,m_residual); + btScalar alpha = 0.01, beta = 0.5; // Boyd & Vandenberghe suggested alpha between 0.01 and 0.3, beta between 0.1 to 0.8 + btScalar scale = 2; + btScalar f0 = m_objective->totalEnergy(solverdt)+kineticEnergy(), f1, f2; + backupDv(); + do { + scale *= beta; + if (scale < 1e-8) { + return; + } + updateEnergy(scale); + f1 = m_objective->totalEnergy(solverdt)+kineticEnergy(); + f2 = f0 - alpha * scale * inner_product; + } while (!(f1 < f2+SIMD_EPSILON)); // if anything here is nan then the search continues + revertDv(); + updateDv(scale); + } + else + { + computeStep(m_ddv, m_residual); + updateDv(); + } + for (int j = 0; j < m_numNodes; ++j) + { + m_ddv[j].setZero(); + m_residual[j].setZero(); + } + } + updateVelocity(); + } +} + +btScalar btDeformableBodySolver::kineticEnergy() +{ + btScalar ke = 0; + for (int i = 0; i < m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size();++j) + { + btSoftBody::Node& node = psb->m_nodes[j]; + if (node.m_im > 0) + { + ke += m_dv[node.index].length2() * 0.5 / node.m_im; + } + } + } + return ke; +} + +void btDeformableBodySolver::backupDv() +{ + m_backup_dv.resize(m_dv.size()); + for (int i = 0; i<m_backup_dv.size(); ++i) + { + m_backup_dv[i] = m_dv[i]; + } +} + +void btDeformableBodySolver::revertDv() +{ + for (int i = 0; i<m_backup_dv.size(); ++i) + { + m_dv[i] = m_backup_dv[i]; + } +} + +void btDeformableBodySolver::updateEnergy(btScalar scale) +{ + for (int i = 0; i<m_dv.size(); ++i) + { + m_dv[i] = m_backup_dv[i] + scale * m_ddv[i]; + } + updateState(); +} + + +btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& residual, bool verbose) +{ + m_cg.solve(*m_objective, ddv, residual, false); + btScalar inner_product = m_cg.dot(residual, m_ddv); + btScalar res_norm = m_objective->computeNorm(residual); + btScalar tol = 1e-5 * res_norm * m_objective->computeNorm(m_ddv); + if (inner_product < -tol) + { + if (verbose) + { + std::cout << "Looking backwards!" << std::endl; + } + for (int i = 0; i < m_ddv.size();++i) + { + m_ddv[i] = -m_ddv[i]; + } + inner_product = -inner_product; + } + else if (std::abs(inner_product) < tol) + { + if (verbose) + { + std::cout << "Gradient Descent!" << std::endl; + } + btScalar scale = m_objective->computeNorm(m_ddv) / res_norm; + for (int i = 0; i < m_ddv.size();++i) + { + m_ddv[i] = scale * residual[i]; + } + inner_product = scale * res_norm * res_norm; + } + return inner_product; +} + +void btDeformableBodySolver::updateState() +{ + updateVelocity(); + updateTempPosition(); +} + +void btDeformableBodySolver::updateDv(btScalar scale) +{ + for (int i = 0; i < m_numNodes; ++i) + { + m_dv[i] += scale * m_ddv[i]; + } +} + +void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual) +{ + m_cg.solve(*m_objective, ddv, residual); +} + +void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt) +{ + m_softBodies.copyFromArray(softBodies); + bool nodeUpdated = updateNodes(); + + if (nodeUpdated) + { + m_dv.resize(m_numNodes, btVector3(0,0,0)); + m_ddv.resize(m_numNodes, btVector3(0,0,0)); + m_residual.resize(m_numNodes, btVector3(0,0,0)); + m_backupVelocity.resize(m_numNodes, btVector3(0,0,0)); + } + + // need to setZero here as resize only set value for newly allocated items + for (int i = 0; i < m_numNodes; ++i) + { + m_dv[i].setZero(); + m_ddv[i].setZero(); + m_residual[i].setZero(); + } + + m_dt = dt; + m_objective->reinitialize(nodeUpdated, dt); +} + +void btDeformableBodySolver::setConstraints() +{ + BT_PROFILE("setConstraint"); + m_objective->setConstraints(); +} + +btScalar btDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies) +{ + BT_PROFILE("solveContactConstraints"); + btScalar maxSquaredResidual = m_objective->m_projection.update(deformableBodies,numDeformableBodies); + return maxSquaredResidual; +} + +btScalar btDeformableBodySolver::solveSplitImpulse(const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("solveSplitImpulse"); + return m_objective->m_projection.solveSplitImpulse(infoGlobal); +} + +void btDeformableBodySolver::splitImpulseSetup(const btContactSolverInfo& infoGlobal) +{ + m_objective->m_projection.splitImpulseSetup(infoGlobal); +} + +void btDeformableBodySolver::updateVelocity() +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + psb->m_maxSpeedSquared = 0; + if (!psb->isActive()) + { + counter += psb->m_nodes.size(); + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + // set NaN to zero; + if (m_dv[counter] != m_dv[counter]) + { + m_dv[counter].setZero(); + } + psb->m_nodes[j].m_v = m_backupVelocity[counter]+m_dv[counter]; + psb->m_maxSpeedSquared = btMax(psb->m_maxSpeedSquared, psb->m_nodes[j].m_v.length2()); + ++counter; + } + } +} + +void btDeformableBodySolver::updateTempPosition() +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + counter += psb->m_nodes.size(); + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + m_dt * psb->m_nodes[j].m_v; + ++counter; + } + psb->updateDeformation(); + } +} + +void btDeformableBodySolver::backupVelocity() +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + m_backupVelocity[counter++] = psb->m_nodes[j].m_v; + } + } +} + +void btDeformableBodySolver::setupDeformableSolve(bool implicit) +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + counter += psb->m_nodes.size(); + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (implicit) + { + if ((psb->m_nodes[j].m_v - m_backupVelocity[counter]).norm() < SIMD_EPSILON) + m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; + else + m_dv[counter] = psb->m_nodes[j].m_v - psb->m_nodes[j].m_vn; + m_backupVelocity[counter] = psb->m_nodes[j].m_vn; + } + else + m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; + psb->m_nodes[j].m_v = m_backupVelocity[counter] + psb->m_nodes[j].m_vsplit; + ++counter; + } + } +} + +void btDeformableBodySolver::revertVelocity() +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_v = m_backupVelocity[counter++]; + } + } +} + +bool btDeformableBodySolver::updateNodes() +{ + int numNodes = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + numNodes += m_softBodies[i]->m_nodes.size(); + if (numNodes != m_numNodes) + { + m_numNodes = numNodes; + return true; + } + return false; +} + + +void btDeformableBodySolver::predictMotion(btScalar solverdt) +{ + // apply explicit forces to velocity + m_objective->applyExplicitForce(m_residual); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody *psb = m_softBodies[i]; + + if (psb->isActive()) + { + // predict motion for collision detection + predictDeformableMotion(psb, solverdt); + } + } +} + +void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar dt) +{ + int i, ni; + + /* Update */ + if (psb->m_bUpdateRtCst) + { + psb->m_bUpdateRtCst = false; + psb->updateConstants(); + psb->m_fdbvt.clear(); + if (psb->m_cfg.collisions & btSoftBody::fCollision::SDF_RD) + { + psb->initializeFaceTree(); + } + } + + /* Prepare */ + psb->m_sst.sdt = dt * psb->m_cfg.timescale; + psb->m_sst.isdt = 1 / psb->m_sst.sdt; + psb->m_sst.velmrg = psb->m_sst.sdt * 3; + psb->m_sst.radmrg = psb->getCollisionShape()->getMargin(); + psb->m_sst.updmrg = psb->m_sst.radmrg * (btScalar)0.25; + /* Bounds */ + psb->updateBounds(); + + /* Integrate */ + // do not allow particles to move more than the bounding box size + btScalar max_v = (psb->m_bounds[1]-psb->m_bounds[0]).norm() / dt; + for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) + { + btSoftBody::Node& n = psb->m_nodes[i]; + // apply drag + n.m_v *= (1 - psb->m_cfg.drag); + // scale velocity back + if (n.m_v.norm() > max_v) + { + n.m_v.safeNormalize(); + n.m_v *= max_v; + } + n.m_q = n.m_x + n.m_v * dt; + } + + /* Nodes */ + ATTRIBUTE_ALIGNED16(btDbvtVolume) + vol; + for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) + { + btSoftBody::Node& n = psb->m_nodes[i]; + btVector3 points[2] = {n.m_x, n.m_q}; + vol = btDbvtVolume::FromPoints(points, 2); + vol.Expand(btVector3(psb->m_sst.radmrg, psb->m_sst.radmrg, psb->m_sst.radmrg)); + psb->m_ndbvt.update(n.m_leaf, vol); + } + + if (!psb->m_fdbvt.empty()) + { + for (int i = 0; i < psb->m_faces.size(); ++i) + { + btSoftBody::Face& f = psb->m_faces[i]; + btVector3 points[6] = {f.m_n[0]->m_x, f.m_n[0]->m_q, + f.m_n[1]->m_x, f.m_n[1]->m_q, + f.m_n[2]->m_x, f.m_n[2]->m_q}; + vol = btDbvtVolume::FromPoints(points, 6); + vol.Expand(btVector3(psb->m_sst.radmrg, psb->m_sst.radmrg, psb->m_sst.radmrg)); + psb->m_fdbvt.update(f.m_leaf, vol); + } + } + /* Clear contacts */ + psb->m_nodeRigidContacts.resize(0); + psb->m_faceRigidContacts.resize(0); + psb->m_faceNodeContacts.resize(0); + /* Optimize dbvt's */ + psb->m_ndbvt.optimizeIncremental(1); + psb->m_fdbvt.optimizeIncremental(1); +} + + +void btDeformableBodySolver::updateSoftBodies() +{ + BT_PROFILE("updateSoftBodies"); + for (int i = 0; i < m_softBodies.size(); i++) + { + btSoftBody *psb = (btSoftBody *)m_softBodies[i]; + if (psb->isActive()) + { + psb->updateNormals(); + } + } +} + +void btDeformableBodySolver::setImplicit(bool implicit) +{ + m_implicit = implicit; + m_objective->setImplicit(implicit); +} + +void btDeformableBodySolver::setLineSearch(bool lineSearch) +{ + m_lineSearch = lineSearch; +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h new file mode 100644 index 0000000000..f78a8f696b --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h @@ -0,0 +1,164 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_DEFORMABLE_BODY_SOLVERS_H +#define BT_DEFORMABLE_BODY_SOLVERS_H + + +#include "btSoftBodySolvers.h" +#include "btDeformableBackwardEulerObjective.h" +#include "btDeformableMultiBodyDynamicsWorld.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" + +struct btCollisionObjectWrapper; +class btDeformableBackwardEulerObjective; +class btDeformableMultiBodyDynamicsWorld; + +class btDeformableBodySolver : public btSoftBodySolver +{ + typedef btAlignedObjectArray<btVector3> TVStack; +protected: + int m_numNodes; // total number of deformable body nodes + TVStack m_dv; // v_{n+1} - v_n + TVStack m_backup_dv; // backed up dv + TVStack m_ddv; // incremental dv + TVStack m_residual; // rhs of the linear solve + btAlignedObjectArray<btSoftBody *> m_softBodies; // all deformable bodies + TVStack m_backupVelocity; // backed up v, equals v_n for implicit, equals v_{n+1}^* for explicit + btScalar m_dt; // dt + btConjugateGradient<btDeformableBackwardEulerObjective> m_cg; // CG solver + bool m_implicit; // use implicit scheme if true, explicit scheme if false + int m_maxNewtonIterations; // max number of newton iterations + btScalar m_newtonTolerance; // stop newton iterations if f(x) < m_newtonTolerance + bool m_lineSearch; // If true, use newton's method with line search under implicit scheme + +public: + // handles data related to objective function + btDeformableBackwardEulerObjective* m_objective; + + btDeformableBodySolver(); + + virtual ~btDeformableBodySolver(); + + virtual SolverTypes getSolverType() const + { + return DEFORMABLE_SOLVER; + } + + // update soft body normals + virtual void updateSoftBodies(); + + // solve the momentum equation + virtual void solveDeformableConstraints(btScalar solverdt); + + // solve the contact between deformable and rigid as well as among deformables + btScalar solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies); + + // solve the position error between deformable and rigid as well as among deformables; + btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); + + // set up the position error in split impulse + void splitImpulseSetup(const btContactSolverInfo& infoGlobal); + + // resize/clear data structures + void reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt); + + // set up contact constraints + void setConstraints(); + + // add in elastic forces and gravity to obtain v_{n+1}^* and calls predictDeformableMotion + virtual void predictMotion(btScalar solverdt); + + // move to temporary position x_{n+1}^* = x_n + dt * v_{n+1}^* + // x_{n+1}^* is stored in m_q + void predictDeformableMotion(btSoftBody* psb, btScalar dt); + + // save the current velocity to m_backupVelocity + void backupVelocity(); + + // set m_dv and m_backupVelocity to desired value to prepare for momentum solve + void setupDeformableSolve(bool implicit); + + // set the current velocity to that backed up in m_backupVelocity + void revertVelocity(); + + // set velocity to m_dv + m_backupVelocity + void updateVelocity(); + + // update the node count + bool updateNodes(); + + // calculate the change in dv resulting from the momentum solve + void computeStep(TVStack& ddv, const TVStack& residual); + + // calculate the change in dv resulting from the momentum solve when line search is turned on + btScalar computeDescentStep(TVStack& ddv, const TVStack& residual, bool verbose=false); + + virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {} + + // process collision between deformable and rigid + virtual void processCollision(btSoftBody * softBody, const btCollisionObjectWrapper * collisionObjectWrap) + { + softBody->defaultCollisionHandler(collisionObjectWrap); + } + + // process collision between deformable and deformable + virtual void processCollision(btSoftBody * softBody, btSoftBody * otherSoftBody) { + softBody->defaultCollisionHandler(otherSoftBody); + } + + // If true, implicit time stepping scheme is used. + // Otherwise, explicit time stepping scheme is used + void setImplicit(bool implicit); + + // If true, newton's method with line search is used when implicit time stepping scheme is turned on + void setLineSearch(bool lineSearch); + + // set temporary position x^* = x_n + dt * v + // update the deformation gradient at position x^* + void updateState(); + + // set dv = dv + scale * ddv + void updateDv(btScalar scale = 1); + + // set temporary position x^* = x_n + dt * v^* + void updateTempPosition(); + + // save the current dv to m_backup_dv; + void backupDv(); + + // set dv to the backed-up value + void revertDv(); + + // set dv = dv + scale * ddv + // set v^* = v_n + dv + // set temporary position x^* = x_n + dt * v^* + // update the deformation gradient at position x^* + void updateEnergy(btScalar scale); + + // calculates the appropriately scaled kinetic energy in the system, which is + // 1/2 * dv^T * M * dv + // used in line search + btScalar kineticEnergy(); + + // unused functions + virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false){} + virtual void solveConstraints(btScalar dt){} + virtual bool checkInitialized(){return true;} + virtual void copyBackToSoftBodies(bool bMove = true) {} +}; + +#endif /* btDeformableBodySolver_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.cpp new file mode 100644 index 0000000000..e8219dc50e --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.cpp @@ -0,0 +1,591 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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. + */ + +#include "btDeformableContactConstraint.h" +/* ================ Deformable Node Anchor =================== */ +btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a) +: m_anchor(&a) +, btDeformableContactConstraint(a.m_cti.m_normal) +{ +} + +btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other) +: m_anchor(other.m_anchor) +, btDeformableContactConstraint(other) +{ +} + +btVector3 btDeformableNodeAnchorConstraint::getVa() const +{ + const btSoftBody::sCti& cti = m_anchor->m_cti; + btVector3 va(0, 0, 0); + if (cti.m_colObj->hasContactResponse()) + { + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(m_anchor->m_c1)) : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + const btScalar* J_n = &m_anchor->jacobianData_normal.m_jacobians[0]; + const btScalar* J_t1 = &m_anchor->jacobianData_t1.m_jacobians[0]; + const btScalar* J_t2 = &m_anchor->jacobianData_t2.m_jacobians[0]; + const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); + const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector(); + // add in the normal component of the va + btScalar vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_n[k]; + } + va = cti.m_normal * vel; + // add in the tangential components of the va + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t1[k]; + } + va += m_anchor->t1 * vel; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t2[k]; + } + va += m_anchor->t2 * vel; + } + } + } + return va; +} + +btScalar btDeformableNodeAnchorConstraint::solveConstraint() +{ + const btSoftBody::sCti& cti = m_anchor->m_cti; + btVector3 va = getVa(); + btVector3 vb = getVb(); + btVector3 vr = (vb - va); + // + (m_anchor->m_node->m_x - cti.m_colObj->getWorldTransform() * m_anchor->m_local) * 10.0 + const btScalar dn = btDot(vr, cti.m_normal); + // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + btScalar residualSquare = dn*dn; + btVector3 impulse = m_anchor->m_c0 * vr; + // apply impulse to deformable nodes involved and change their velocities + applyImpulse(impulse); + + // apply impulse to the rigid/multibodies involved and change their velocities + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + btRigidBody* rigidCol = 0; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + if (rigidCol) + { + rigidCol->applyImpulse(impulse, m_anchor->m_c1); + } + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = 0; + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const btScalar* deltaV_normal = &m_anchor->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + // apply normal component of the impulse + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal)); + // apply tangential component of the impulse + const btScalar* deltaV_t1 = &m_anchor->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(m_anchor->t1)); + const btScalar* deltaV_t2 = &m_anchor->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(m_anchor->t2)); + } + } + return residualSquare; +} + +btVector3 btDeformableNodeAnchorConstraint::getVb() const +{ + return m_anchor->m_node->m_v; +} + +void btDeformableNodeAnchorConstraint::applyImpulse(const btVector3& impulse) +{ + btVector3 dv = impulse * m_anchor->m_c2; + m_anchor->m_node->m_v -= dv; +} + +/* ================ Deformable vs. Rigid =================== */ +btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c) +: m_contact(&c) +, btDeformableContactConstraint(c.m_cti.m_normal) +{ + m_total_normal_dv.setZero(); + m_total_tangent_dv.setZero(); + // penetration is non-positive. The magnitude of penetration is the depth of penetration. + m_penetration = btMin(btScalar(0), c.m_cti.m_offset); +} + +btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other) +: m_contact(other.m_contact) +, btDeformableContactConstraint(other) +, m_penetration(other.m_penetration) +{ + m_total_normal_dv = other.m_total_normal_dv; + m_total_tangent_dv = other.m_total_tangent_dv; +} + + +btVector3 btDeformableRigidContactConstraint::getVa() const +{ + const btSoftBody::sCti& cti = m_contact->m_cti; + btVector3 va(0, 0, 0); + if (cti.m_colObj->hasContactResponse()) + { + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(m_contact->m_c1)) : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + const btScalar* J_n = &m_contact->jacobianData_normal.m_jacobians[0]; + const btScalar* J_t1 = &m_contact->jacobianData_t1.m_jacobians[0]; + const btScalar* J_t2 = &m_contact->jacobianData_t2.m_jacobians[0]; + const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); + const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector(); + // add in the normal component of the va + btScalar vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_n[k]; + } + va = cti.m_normal * vel; + // add in the tangential components of the va + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t1[k]; + } + va += m_contact->t1 * vel; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t2[k]; + } + va += m_contact->t2 * vel; + } + } + } + return va; +} + +btScalar btDeformableRigidContactConstraint::solveConstraint() +{ + const btSoftBody::sCti& cti = m_contact->m_cti; + btVector3 va = getVa(); + btVector3 vb = getVb(); + btVector3 vr = vb - va; + const btScalar dn = btDot(vr, cti.m_normal); + // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + btScalar residualSquare = dn*dn; + btVector3 impulse = m_contact->m_c0 * vr; + const btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn); + btVector3 impulse_tangent = impulse - impulse_normal; + btVector3 old_total_tangent_dv = m_total_tangent_dv; + // m_c2 is the inverse mass of the deformable node/face + m_total_normal_dv -= impulse_normal * m_contact->m_c2; + m_total_tangent_dv -= impulse_tangent * m_contact->m_c2; + + if (m_total_normal_dv.dot(cti.m_normal) < 0) + { + // separating in the normal direction + m_static = false; + m_total_tangent_dv = btVector3(0,0,0); + impulse_tangent.setZero(); + } + else + { + if (m_total_normal_dv.norm() * m_contact->m_c3 < m_total_tangent_dv.norm()) + { + // dynamic friction + // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. + m_static = false; + if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON) + { + m_total_tangent_dv = btVector3(0,0,0); + } + else + { + m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_c3; + } + impulse_tangent = -btScalar(1)/m_contact->m_c2 * (m_total_tangent_dv - old_total_tangent_dv); + } + else + { + // static friction + m_static = true; + } + } + impulse = impulse_normal + impulse_tangent; + // apply impulse to deformable nodes involved and change their velocities + applyImpulse(impulse); + // apply impulse to the rigid/multibodies involved and change their velocities + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + btRigidBody* rigidCol = 0; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + if (rigidCol) + { + rigidCol->applyImpulse(impulse, m_contact->m_c1); + } + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = 0; + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const btScalar* deltaV_normal = &m_contact->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + // apply normal component of the impulse + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal)); + if (impulse_tangent.norm() > SIMD_EPSILON) + { + // apply tangential component of the impulse + const btScalar* deltaV_t1 = &m_contact->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(m_contact->t1)); + const btScalar* deltaV_t2 = &m_contact->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(m_contact->t2)); + } + } + } + return residualSquare; +} + +btScalar btDeformableRigidContactConstraint::solveSplitImpulse(const btContactSolverInfo& infoGlobal) +{ + const btSoftBody::sCti& cti = m_contact->m_cti; + const btScalar dn = m_penetration; + if (dn != 0) + { + const btVector3 impulse = (m_contact->m_c0 * (cti.m_normal * dn / infoGlobal.m_timeStep)); + // one iteration of the position impulse corrects all the position error at this timestep + m_penetration -= dn; + // apply impulse to deformable nodes involved and change their position + applySplitImpulse(impulse); + // apply impulse to the rigid/multibodies involved and change their position + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + btRigidBody* rigidCol = 0; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + if (rigidCol) + { + rigidCol->applyPushImpulse(impulse, m_contact->m_c1); + } + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + // todo xuchenhan@ + } + return (m_penetration/infoGlobal.m_timeStep) * (m_penetration/infoGlobal.m_timeStep); + } + return 0; +} + +/* ================ Node vs. Rigid =================== */ +btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact) + : m_node(contact.m_node) + , btDeformableRigidContactConstraint(contact) + { + } + +btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other) +: m_node(other.m_node) +, btDeformableRigidContactConstraint(other) +{ +} + +btVector3 btDeformableNodeRigidContactConstraint::getVb() const +{ + return m_node->m_v; +} + + +btVector3 btDeformableNodeRigidContactConstraint::getDv(const btSoftBody::Node* node) const +{ + return m_total_normal_dv + m_total_tangent_dv; +} + +void btDeformableNodeRigidContactConstraint::applyImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableNodeRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + contact->m_node->m_v -= dv; +} + +void btDeformableNodeRigidContactConstraint::applySplitImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableNodeRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + contact->m_node->m_vsplit -= dv; +}; + +/* ================ Face vs. Rigid =================== */ +btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact) +: m_face(contact.m_face) +, btDeformableRigidContactConstraint(contact) +{ +} + +btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other) +: m_face(other.m_face) +, btDeformableRigidContactConstraint(other) +{ +} + +btVector3 btDeformableFaceRigidContactConstraint::getVb() const +{ + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2]; + return vb; +} + + +btVector3 btDeformableFaceRigidContactConstraint::getDv(const btSoftBody::Node* node) const +{ + btVector3 face_dv = m_total_normal_dv + m_total_tangent_dv; + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + if (m_face->m_n[0] == node) + { + return face_dv * contact->m_weights[0]; + } + if (m_face->m_n[1] == node) + { + return face_dv * contact->m_weights[1]; + } + btAssert(node == m_face->m_n[2]); + return face_dv * contact->m_weights[2]; +} + +void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + btSoftBody::Face* face = contact->m_face; + + btVector3& v0 = face->m_n[0]->m_v; + btVector3& v1 = face->m_n[1]->m_v; + btVector3& v2 = face->m_n[2]->m_v; + const btScalar& im0 = face->m_n[0]->m_im; + const btScalar& im1 = face->m_n[1]->m_im; + const btScalar& im2 = face->m_n[2]->m_im; + if (im0 > 0) + v0 -= dv * contact->m_weights[0]; + if (im1 > 0) + v1 -= dv * contact->m_weights[1]; + if (im2 > 0) + v2 -= dv * contact->m_weights[2]; + + // apply strain limiting to prevent undamped modes + btScalar m01 = (btScalar(1)/(im0 + im1)); + btScalar m02 = (btScalar(1)/(im0 + im2)); + btScalar m12 = (btScalar(1)/(im1 + im2)); + + btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); + btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); + btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); + + v0 += dv0; + v1 += dv1; + v2 += dv2; +} + +void btDeformableFaceRigidContactConstraint::applySplitImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + btSoftBody::Face* face = contact->m_face; + + btVector3& v0 = face->m_n[0]->m_vsplit; + btVector3& v1 = face->m_n[1]->m_vsplit; + btVector3& v2 = face->m_n[2]->m_vsplit; + const btScalar& im0 = face->m_n[0]->m_im; + const btScalar& im1 = face->m_n[1]->m_im; + const btScalar& im2 = face->m_n[2]->m_im; + if (im0 > 0) + v0 -= dv * contact->m_weights[0]; + if (im1 > 0) + v1 -= dv * contact->m_weights[1]; + if (im2 > 0) + v2 -= dv * contact->m_weights[2]; +} + +/* ================ Face vs. Node =================== */ +btDeformableFaceNodeContactConstraint::btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact) +: m_node(contact.m_node) +, m_face(contact.m_face) +, m_contact(&contact) +, btDeformableContactConstraint(contact.m_normal) +{ + m_total_normal_dv.setZero(); + m_total_tangent_dv.setZero(); +} + +btVector3 btDeformableFaceNodeContactConstraint::getVa() const +{ + return m_node->m_v; +} + +btVector3 btDeformableFaceNodeContactConstraint::getVb() const +{ + const btSoftBody::DeformableFaceNodeContact* contact = getContact(); + btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2]; + return vb; +} + +btVector3 btDeformableFaceNodeContactConstraint::getDv(const btSoftBody::Node* n) const +{ + btVector3 dv = m_total_normal_dv + m_total_tangent_dv; + if (n == m_node) + return dv; + const btSoftBody::DeformableFaceNodeContact* contact = getContact(); + if (m_face->m_n[0] == n) + { + return dv * contact->m_weights[0]; + } + if (m_face->m_n[1] == n) + { + return dv * contact->m_weights[1]; + } + btAssert(n == m_face->m_n[2]); + return dv * contact->m_weights[2]; +} + +btScalar btDeformableFaceNodeContactConstraint::solveConstraint() +{ + btVector3 va = getVa(); + btVector3 vb = getVb(); + btVector3 vr = vb - va; + const btScalar dn = btDot(vr, m_contact->m_normal); + // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + btScalar residualSquare = dn*dn; + btVector3 impulse = m_contact->m_c0 * vr; + const btVector3 impulse_normal = m_contact->m_c0 * (m_contact->m_normal * dn); + btVector3 impulse_tangent = impulse - impulse_normal; + + btVector3 old_total_tangent_dv = m_total_tangent_dv; + // m_c2 is the inverse mass of the deformable node/face + if (m_node->m_im > 0) + { + m_total_normal_dv -= impulse_normal * m_node->m_im; + m_total_tangent_dv -= impulse_tangent * m_node->m_im; + } + else + { + m_total_normal_dv -= impulse_normal * m_contact->m_imf; + m_total_tangent_dv -= impulse_tangent * m_contact->m_imf; + } + + if (m_total_normal_dv.dot(m_contact->m_normal) > 0) + { + // separating in the normal direction + m_static = false; + m_total_tangent_dv = btVector3(0,0,0); + impulse_tangent.setZero(); + } + else + { + if (m_total_normal_dv.norm() * m_contact->m_friction < m_total_tangent_dv.norm()) + { + // dynamic friction + // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. + m_static = false; + if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON) + { + m_total_tangent_dv = btVector3(0,0,0); + } + else + { + m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_friction; + } + impulse_tangent = -btScalar(1)/m_node->m_im * (m_total_tangent_dv - old_total_tangent_dv); + } + else + { + // static friction + m_static = true; + } + } + impulse = impulse_normal + impulse_tangent; + // apply impulse to deformable nodes involved and change their velocities + applyImpulse(impulse); + return residualSquare; +} + +void btDeformableFaceNodeContactConstraint::applyImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableFaceNodeContact* contact = getContact(); + btVector3 dva = impulse * contact->m_node->m_im; + btVector3 dvb = impulse * contact->m_imf; + if (contact->m_node->m_im > 0) + { + contact->m_node->m_v += dva; + } + + btSoftBody::Face* face = contact->m_face; + btVector3& v0 = face->m_n[0]->m_v; + btVector3& v1 = face->m_n[1]->m_v; + btVector3& v2 = face->m_n[2]->m_v; + const btScalar& im0 = face->m_n[0]->m_im; + const btScalar& im1 = face->m_n[1]->m_im; + const btScalar& im2 = face->m_n[2]->m_im; + if (im0 > 0) + { + v0 -= dvb * contact->m_weights[0]; + } + if (im1 > 0) + { + v1 -= dvb * contact->m_weights[1]; + } + if (im2 > 0) + { + v2 -= dvb * contact->m_weights[2]; + } + // todo: Face node constraints needs more work +// btScalar m01 = (btScalar(1)/(im0 + im1)); +// btScalar m02 = (btScalar(1)/(im0 + im2)); +// btScalar m12 = (btScalar(1)/(im1 + im2)); +// +// btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); +// btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); +// btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); +// v0 += dv0; +// v1 += dv1; +// v2 += dv2; +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h new file mode 100644 index 0000000000..912119e7c3 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h @@ -0,0 +1,302 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_DEFORMABLE_CONTACT_CONSTRAINT_H +#define BT_DEFORMABLE_CONTACT_CONSTRAINT_H +#include "btSoftBody.h" + +// btDeformableContactConstraint is an abstract class specifying the method that each type of contact constraint needs to implement +class btDeformableContactConstraint +{ +public: + // True if the friction is static + // False if the friction is dynamic + bool m_static; + + // normal of the contact + btVector3 m_normal; + + btDeformableContactConstraint(const btVector3& normal): m_static(false), m_normal(normal) + { + } + + btDeformableContactConstraint(bool isStatic, const btVector3& normal): m_static(isStatic), m_normal(normal) + { + } + + btDeformableContactConstraint(const btDeformableContactConstraint& other) + : m_static(other.m_static) + , m_normal(other.m_normal) + { + + } + btDeformableContactConstraint(){} + + virtual ~btDeformableContactConstraint(){} + + // solve the constraint with inelastic impulse and return the error, which is the square of normal component of velocity diffrerence + // the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse to both objects involved in the contact + virtual btScalar solveConstraint() = 0; + + // solve the position error by applying an inelastic impulse that changes only the position (not velocity) + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) = 0; + + // get the velocity of the object A in the contact + virtual btVector3 getVa() const = 0; + + // get the velocity of the object B in the contact + virtual btVector3 getVb() const = 0; + + // get the velocity change of the soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const = 0; + + // apply impulse to the soft body node and/or face involved + virtual void applyImpulse(const btVector3& impulse) = 0; + + // apply position based impulse to the soft body node and/or face involved + virtual void applySplitImpulse(const btVector3& impulse) = 0; + + // scale the penetration depth by erp + virtual void setPenetrationScale(btScalar scale) = 0; +}; + +// +// Constraint that a certain node in the deformable objects cannot move +class btDeformableStaticConstraint : public btDeformableContactConstraint +{ +public: + const btSoftBody::Node* m_node; + + btDeformableStaticConstraint(){} + + btDeformableStaticConstraint(const btSoftBody::Node* node): m_node(node), btDeformableContactConstraint(false, btVector3(0,0,0)) + { + } + + btDeformableStaticConstraint(const btDeformableStaticConstraint& other) + : m_node(other.m_node) + , btDeformableContactConstraint(other) + { + + } + + virtual ~btDeformableStaticConstraint(){} + + virtual btScalar solveConstraint() + { + return 0; + } + + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) + { + return 0; + } + + virtual btVector3 getVa() const + { + return btVector3(0,0,0); + } + + virtual btVector3 getVb() const + { + return btVector3(0,0,0); + } + + virtual btVector3 getDv(const btSoftBody::Node* n) const + { + return btVector3(0,0,0); + } + + virtual void applyImpulse(const btVector3& impulse){} + virtual void applySplitImpulse(const btVector3& impulse){} + virtual void setPenetrationScale(btScalar scale){} +}; + +// +// Anchor Constraint between rigid and deformable node +class btDeformableNodeAnchorConstraint : public btDeformableContactConstraint +{ +public: + const btSoftBody::DeformableNodeRigidAnchor* m_anchor; + + btDeformableNodeAnchorConstraint(){} + btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c); + btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other); + virtual ~btDeformableNodeAnchorConstraint() + { + } + virtual btScalar solveConstraint(); + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) + { + // todo xuchenhan@ + return 0; + } + // object A is the rigid/multi body, and object B is the deformable node/face + virtual btVector3 getVa() const; + // get the velocity of the deformable node in contact + virtual btVector3 getVb() const; + virtual btVector3 getDv(const btSoftBody::Node* n) const + { + return btVector3(0,0,0); + } + virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse) + { + // todo xuchenhan@ + }; + virtual void setPenetrationScale(btScalar scale){} +}; + + +// +// Constraint between rigid/multi body and deformable objects +class btDeformableRigidContactConstraint : public btDeformableContactConstraint +{ +public: + btVector3 m_total_normal_dv; + btVector3 m_total_tangent_dv; + btScalar m_penetration; + const btSoftBody::DeformableRigidContact* m_contact; + + btDeformableRigidContactConstraint(){} + btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c); + btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other); + virtual ~btDeformableRigidContactConstraint() + { + } + + // object A is the rigid/multi body, and object B is the deformable node/face + virtual btVector3 getVa() const; + + virtual btScalar solveConstraint(); + + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); + + virtual void setPenetrationScale(btScalar scale) + { + m_penetration *= scale; + } +}; + +// +// Constraint between rigid/multi body and deformable objects nodes +class btDeformableNodeRigidContactConstraint : public btDeformableRigidContactConstraint +{ +public: + // the deformable node in contact + const btSoftBody::Node* m_node; + + btDeformableNodeRigidContactConstraint(){} + btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact); + btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other); + + virtual ~btDeformableNodeRigidContactConstraint() + { + } + + // get the velocity of the deformable node in contact + virtual btVector3 getVb() const; + + // get the velocity change of the input soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const; + + // cast the contact to the desired type + const btSoftBody::DeformableNodeRigidContact* getContact() const + { + return static_cast<const btSoftBody::DeformableNodeRigidContact*>(m_contact); + } + + virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse); +}; + +// +// Constraint between rigid/multi body and deformable objects faces +class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactConstraint +{ +public: + const btSoftBody::Face* m_face; + btDeformableFaceRigidContactConstraint(){} + btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact); + btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other); + + virtual ~btDeformableFaceRigidContactConstraint() + { + } + + // get the velocity of the deformable face at the contact point + virtual btVector3 getVb() const; + + // get the velocity change of the input soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const; + + // cast the contact to the desired type + const btSoftBody::DeformableFaceRigidContact* getContact() const + { + return static_cast<const btSoftBody::DeformableFaceRigidContact*>(m_contact); + } + + virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse); +}; + +// +// Constraint between deformable objects faces and deformable objects nodes +class btDeformableFaceNodeContactConstraint : public btDeformableContactConstraint +{ +public: + btSoftBody::Node* m_node; + btSoftBody::Face* m_face; + const btSoftBody::DeformableFaceNodeContact* m_contact; + btVector3 m_total_normal_dv; + btVector3 m_total_tangent_dv; + + btDeformableFaceNodeContactConstraint(){} + + btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact); + + virtual ~btDeformableFaceNodeContactConstraint(){} + + virtual btScalar solveConstraint(); + + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) + { + // todo: xuchenhan@ + return 0; + } + + // get the velocity of the object A in the contact + virtual btVector3 getVa() const; + + // get the velocity of the object B in the contact + virtual btVector3 getVb() const; + + // get the velocity change of the input soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const; + + // cast the contact to the desired type + const btSoftBody::DeformableFaceNodeContact* getContact() const + { + return static_cast<const btSoftBody::DeformableFaceNodeContact*>(m_contact); + } + + virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse) + { + // todo xuchenhan@ + } + virtual void setPenetrationScale(btScalar scale){} +}; +#endif /* BT_DEFORMABLE_CONTACT_CONSTRAINT_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp new file mode 100644 index 0000000000..5a4f3241b4 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp @@ -0,0 +1,509 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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. + */ + +#include "btDeformableContactProjection.h" +#include "btDeformableMultiBodyDynamicsWorld.h" +#include <algorithm> +#include <cmath> +btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies) +{ + btScalar residualSquare = 0; + for (int i = 0; i < numDeformableBodies; ++i) + { + for (int j = 0; j < m_softBodies.size(); ++j) + { + btCollisionObject* psb = m_softBodies[j]; + if (psb != deformableBodies[i]) + { + continue; + } + for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_nodeAnchorConstraints[j].size(); ++k) + { + btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_faceRigidConstraints[j].size(); ++k) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_deformableConstraints[j].size(); ++k) + { + btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + } + } + return residualSquare; +} + +void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo& infoGlobal) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + // node constraints + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j]; + constraint.setPenetrationScale(infoGlobal.m_deformable_erp); + } + // face constraints + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; + constraint.setPenetrationScale(infoGlobal.m_deformable_erp); + } + } +} + +btScalar btDeformableContactProjection::solveSplitImpulse(const btContactSolverInfo& infoGlobal) +{ + btScalar residualSquare = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + // node constraints + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j]; + btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + // anchor constraints + for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j) + { + btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[i][j]; + btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + // face constraints + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; + btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + + } + return residualSquare; +} + +void btDeformableContactProjection::setConstraints() +{ + BT_PROFILE("setConstraints"); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + + // set Dirichlet constraint + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (psb->m_nodes[j].m_im == 0) + { + btDeformableStaticConstraint static_constraint(&psb->m_nodes[j]); + m_staticConstraints[i].push_back(static_constraint); + } + } + + // set up deformable anchors + for (int j = 0; j < psb->m_deformableAnchors.size(); ++j) + { + btSoftBody::DeformableNodeRigidAnchor& anchor = psb->m_deformableAnchors[j]; + // skip fixed points + if (anchor.m_node->m_im == 0) + { + continue; + } + anchor.m_c1 = anchor.m_cti.m_colObj->getWorldTransform().getBasis() * anchor.m_local; + btDeformableNodeAnchorConstraint constraint(anchor); + m_nodeAnchorConstraints[i].push_back(constraint); + } + + // set Deformable Node vs. Rigid constraint + for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j) + { + const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j]; + // skip fixed points + if (contact.m_node->m_im == 0) + { + continue; + } + btDeformableNodeRigidContactConstraint constraint(contact); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btSoftBody::sCti& cti = contact.m_cti; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) + { + m_nodeRigidConstraints[i].push_back(constraint); + } + } + + // set Deformable Face vs. Rigid constraint + for (int j = 0; j < psb->m_faceRigidContacts.size(); ++j) + { + const btSoftBody::DeformableFaceRigidContact& contact = psb->m_faceRigidContacts[j]; + // skip fixed faces + if (contact.m_c2 == 0) + { + continue; + } + btDeformableFaceRigidContactConstraint constraint(contact); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btSoftBody::sCti& cti = contact.m_cti; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) + { + m_faceRigidConstraints[i].push_back(constraint); + } + } + + // set Deformable Face vs. Deformable Node constraint + for (int j = 0; j < psb->m_faceNodeContacts.size(); ++j) + { + const btSoftBody::DeformableFaceNodeContact& contact = psb->m_faceNodeContacts[j]; + + btDeformableFaceNodeContactConstraint constraint(contact); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, contact.m_normal); + if (dn > -SIMD_EPSILON) + { + m_deformableConstraints[i].push_back(constraint); + } + } + } +} + +void btDeformableContactProjection::project(TVStack& x) +{ + const int dim = 3; + for (int index = 0; index < m_projectionsDict.size(); ++index) + { + btAlignedObjectArray<btVector3>& projectionDirs = *m_projectionsDict.getAtIndex(index); + size_t i = m_projectionsDict.getKeyAtIndex(index).getUid1(); + if (projectionDirs.size() >= dim) + { + // static node + x[i].setZero(); + continue; + } + else if (projectionDirs.size() == 2) + { + btVector3 dir0 = projectionDirs[0]; + btVector3 dir1 = projectionDirs[1]; + btVector3 free_dir = btCross(dir0, dir1); + if (free_dir.safeNorm() < SIMD_EPSILON) + { + x[i] -= x[i].dot(dir0) * dir0; + x[i] -= x[i].dot(dir1) * dir1; + } + else + { + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; + } + } + else + { + btAssert(projectionDirs.size() == 1); + btVector3 dir0 = projectionDirs[0]; + x[i] -= x[i].dot(dir0) * dir0; + } + } +} + +void btDeformableContactProjection::setProjection() +{ + btAlignedObjectArray<btVector3> units; + units.push_back(btVector3(1,0,0)); + units.push_back(btVector3(0,1,0)); + units.push_back(btVector3(0,0,1)); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < m_staticConstraints[i].size(); ++j) + { + int index = m_staticConstraints[i][j].m_node->index; + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j) + { + int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index; + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + int index = m_nodeRigidConstraints[i][j].m_node->index; + if (m_nodeRigidConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray<btVector3> projections; + projections.push_back(m_nodeRigidConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_nodeRigidConstraints[i][j].m_normal); + } + } + } + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face; + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + int index = node->index; + if (m_faceRigidConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray<btVector3> projections; + projections.push_back(m_faceRigidConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_faceRigidConstraints[i][j].m_normal); + } + } + } + } + for (int j = 0; j < m_deformableConstraints[i].size(); ++j) + { + const btSoftBody::Face* face = m_deformableConstraints[i][j].m_face; + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + int index = node->index; + if (m_deformableConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray<btVector3> projections; + projections.push_back(m_deformableConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_deformableConstraints[i][j].m_normal); + } + } + } + + const btSoftBody::Node* node = m_deformableConstraints[i][j].m_node; + int index = node->index; + if (m_deformableConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray<btVector3> projections; + projections.push_back(m_deformableConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_deformableConstraints[i][j].m_normal); + } + } + } + } +} + + +void btDeformableContactProjection::applyDynamicFriction(TVStack& f) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + const btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j]; + const btSoftBody::Node* node = constraint.m_node; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + } + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + const btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; + const btSoftBody::Face* face = constraint.getContact()->m_face; + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + } + } + for (int j = 0; j < m_deformableConstraints[i].size(); ++j) + { + const btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[i][j]; + const btSoftBody::Face* face = constraint.getContact()->m_face; + const btSoftBody::Node* node = constraint.getContact()->m_node; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + } + } + } +} + +void btDeformableContactProjection::reinitialize(bool nodeUpdated) +{ + int N = m_softBodies.size(); + if (nodeUpdated) + { + m_staticConstraints.resize(N); + m_nodeAnchorConstraints.resize(N); + m_nodeRigidConstraints.resize(N); + m_faceRigidConstraints.resize(N); + m_deformableConstraints.resize(N); + + } + for (int i = 0 ; i < N; ++i) + { + m_staticConstraints[i].clear(); + m_nodeAnchorConstraints[i].clear(); + m_nodeRigidConstraints[i].clear(); + m_faceRigidConstraints[i].clear(); + m_deformableConstraints[i].clear(); + } + m_projectionsDict.clear(); +} + + + diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h new file mode 100644 index 0000000000..3c4490765e --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h @@ -0,0 +1,90 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_CONTACT_PROJECTION_H +#define BT_CONTACT_PROJECTION_H +#include "btCGProjection.h" +#include "btSoftBody.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" +#include "btDeformableContactConstraint.h" +#include "LinearMath/btHashMap.h" +#include <vector> +class btDeformableContactProjection +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btAlignedObjectArray<btSoftBody *>& m_softBodies; + +// // map from node index to static constraint +// btHashMap<btHashInt, btDeformableStaticConstraint> m_staticConstraints; +// // map from node index to node rigid constraint +// btHashMap<btHashInt, btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints; +// // map from node index to face rigid constraint +// btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceRigidContactConstraint*> > m_faceRigidConstraints; +// // map from node index to deformable constraint +// btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceNodeContactConstraint*> > m_deformableConstraints; +// // map from node index to node anchor constraint +// btHashMap<btHashInt, btDeformableNodeAnchorConstraint> m_nodeAnchorConstraints; + + // all constraints involving face + btAlignedObjectArray<btDeformableContactConstraint*> m_allFaceConstraints; + + // map from node index to projection directions + btHashMap<btHashInt, btAlignedObjectArray<btVector3> > m_projectionsDict; + + // map from node index to static constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableStaticConstraint> > m_staticConstraints; + // map from node index to node rigid constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints; + // map from node index to face rigid constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceRigidContactConstraint> > m_faceRigidConstraints; + // map from node index to deformable constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceNodeContactConstraint> > m_deformableConstraints; + // map from node index to node anchor constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeAnchorConstraint> > m_nodeAnchorConstraints; + + btDeformableContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies) + : m_softBodies(softBodies) + { + } + + virtual ~btDeformableContactProjection() + { + } + + // apply the constraints to the rhs of the linear solve + virtual void project(TVStack& x); + + // add friction force to the rhs of the linear solve + virtual void applyDynamicFriction(TVStack& f); + + // update and solve the constraints + virtual btScalar update(btCollisionObject** deformableBodies,int numDeformableBodies); + + // solve the position error using split impulse + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); + + // Add constraints to m_constraints. In addition, the constraints that each vertex own are recorded in m_constraintsDict. + virtual void setConstraints(); + + // Set up projections for each vertex by adding the projection direction to + virtual void setProjection(); + + virtual void reinitialize(bool nodeUpdated); + + virtual void splitImpulseSetup(const btContactSolverInfo& infoGlobal); +}; +#endif /* btDeformableContactProjection_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableCorotatedForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableCorotatedForce.h new file mode 100644 index 0000000000..c2a26338e7 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableCorotatedForce.h @@ -0,0 +1,125 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_COROTATED_H +#define BT_COROTATED_H + +#include "btDeformableLagrangianForce.h" +#include "LinearMath/btPolarDecomposition.h" + +static inline int PolarDecomposition(const btMatrix3x3& m, btMatrix3x3& q, btMatrix3x3& s) +{ + static const btPolarDecomposition polar; + return polar.decompose(m, q, s); +} + +class btDeformableCorotatedForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btScalar m_mu, m_lambda; + btDeformableCorotatedForce(): m_mu(1), m_lambda(1) + { + + } + + btDeformableCorotatedForce(btScalar mu, btScalar lambda): m_mu(mu), m_lambda(lambda) + { + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btMatrix3x3 P; + firstPiola(tetra.m_F,P); + btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); + + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + + // elastic force + // explicit elastic force + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * force_on_node0; + force[id1] -= scale1 * force_on_node123.getColumn(0); + force[id2] -= scale1 * force_on_node123.getColumn(1); + force[id3] -= scale1 * force_on_node123.getColumn(2); + } + } + } + + void firstPiola(const btMatrix3x3& F, btMatrix3x3& P) + { + // btMatrix3x3 JFinvT = F.adjoint(); + btScalar J = F.determinant(); + P = F.adjoint().transpose() * (m_lambda * (J-1)); + if (m_mu > SIMD_EPSILON) + { + btMatrix3x3 R,S; + if (J < 1024 * SIMD_EPSILON) + R.setIdentity(); + else + PolarDecomposition(F, R, S); // this QR is not robust, consider using implicit shift svd + /*https://fuchuyuan.github.io/research/svd/paper.pdf*/ + P += (F-R) * 2 * m_mu; + } + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + } + + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_COROTATED_FORCE; + } + +}; + + +#endif /* btCorotated_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableGravityForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableGravityForce.h new file mode 100644 index 0000000000..33e5a8564a --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableGravityForce.h @@ -0,0 +1,105 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_DEFORMABLE_GRAVITY_FORCE_H +#define BT_DEFORMABLE_GRAVITY_FORCE_H + +#include "btDeformableLagrangianForce.h" + +class btDeformableGravityForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btVector3 m_gravity; + + btDeformableGravityForce(const btVector3& g) : m_gravity(g) + { + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledGravityForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledGravityForce(scale, force); + } + + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + } + + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + } + + virtual void addScaledGravityForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btSoftBody::Node& n = psb->m_nodes[j]; + size_t id = n.index; + btScalar mass = (n.m_im == 0) ? 0 : 1. / n.m_im; + btVector3 scaled_force = scale * m_gravity * mass; + force[id] += scaled_force; + } + } + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_GRAVITY_FORCE; + } + + // the gravitational potential energy + virtual double totalEnergy(btScalar dt) + { + double e = 0; + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + if (node.m_im > 0) + { + e -= m_gravity.dot(node.m_q)/node.m_im; + } + } + } + return e; + } + + +}; +#endif /* BT_DEFORMABLE_GRAVITY_FORCE_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableLagrangianForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableLagrangianForce.h new file mode 100644 index 0000000000..64e80e23b3 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableLagrangianForce.h @@ -0,0 +1,364 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_DEFORMABLE_LAGRANGIAN_FORCE_H +#define BT_DEFORMABLE_LAGRANGIAN_FORCE_H + +#include "btSoftBody.h" +#include <LinearMath/btHashMap.h> +#include <iostream> + +enum btDeformableLagrangianForceType +{ + BT_GRAVITY_FORCE = 1, + BT_MASSSPRING_FORCE = 2, + BT_COROTATED_FORCE = 3, + BT_NEOHOOKEAN_FORCE = 4, + BT_LINEAR_ELASTICITY_FORCE = 5 +}; + +static inline double randomDouble(double low, double high) +{ + return low + static_cast<double>(rand()) / RAND_MAX * (high - low); +} + +class btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btAlignedObjectArray<btSoftBody *> m_softBodies; + const btAlignedObjectArray<btSoftBody::Node*>* m_nodes; + + btDeformableLagrangianForce() + { + } + + virtual ~btDeformableLagrangianForce(){} + + // add all forces + virtual void addScaledForces(btScalar scale, TVStack& force) = 0; + + // add damping df + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) = 0; + + // add elastic df + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) = 0; + + // add all forces that are explicit in explicit solve + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) = 0; + + // add all damping forces + virtual void addScaledDampingForce(btScalar scale, TVStack& force) = 0; + + virtual btDeformableLagrangianForceType getForceType() = 0; + + virtual void reinitialize(bool nodeUpdated) + { + } + + // get number of nodes that have the force + virtual int getNumNodes() + { + int numNodes = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + numNodes += m_softBodies[i]->m_nodes.size(); + } + return numNodes; + } + + // add a soft body to be affected by the particular lagrangian force + virtual void addSoftBody(btSoftBody* psb) + { + m_softBodies.push_back(psb); + } + + virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes) + { + m_nodes = nodes; + } + + // Calculate the incremental deformable generated from the input dx + virtual btMatrix3x3 Ds(int id0, int id1, int id2, int id3, const TVStack& dx) + { + btVector3 c1 = dx[id1] - dx[id0]; + btVector3 c2 = dx[id2] - dx[id0]; + btVector3 c3 = dx[id3] - dx[id0]; + return btMatrix3x3(c1,c2,c3).transpose(); + } + + // Calculate the incremental deformable generated from the current velocity + virtual btMatrix3x3 DsFromVelocity(const btSoftBody::Node* n0, const btSoftBody::Node* n1, const btSoftBody::Node* n2, const btSoftBody::Node* n3) + { + btVector3 c1 = n1->m_v - n0->m_v; + btVector3 c2 = n2->m_v - n0->m_v; + btVector3 c3 = n3->m_v - n0->m_v; + return btMatrix3x3(c1,c2,c3).transpose(); + } + + // test for addScaledElasticForce function + virtual void testDerivative() + { + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q += btVector3(randomDouble(-.1, .1), randomDouble(-.1, .1), randomDouble(-.1, .1)); + } + psb->updateDeformation(); + } + + TVStack dx; + dx.resize(getNumNodes()); + TVStack dphi_dx; + dphi_dx.resize(dx.size()); + for (int i =0; i < dphi_dx.size();++i) + { + dphi_dx[i].setZero(); + } + addScaledForces(-1, dphi_dx); + + // write down the current position + TVStack x; + x.resize(dx.size()); + int counter = 0; + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + x[counter] = psb->m_nodes[j].m_q; + counter++; + } + } + counter = 0; + + // populate dx with random vectors + for (int i = 0; i < dx.size(); ++i) + { + dx[i].setX(randomDouble(-1, 1)); + dx[i].setY(randomDouble(-1, 1)); + dx[i].setZ(randomDouble(-1, 1)); + } + + btAlignedObjectArray<double> errors; + for (int it = 0; it < 10; ++it) + { + for (int i = 0; i < dx.size(); ++i) + { + dx[i] *= 0.5; + } + + // get dphi/dx * dx + double dphi = 0; + for (int i = 0; i < dx.size(); ++i) + { + dphi += dphi_dx[i].dot(dx[i]); + } + + + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] + dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + double f1 = totalElasticEnergy(0); + + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] - dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + + double f2 = totalElasticEnergy(0); + + //restore m_q + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + double error = f1-f2-2*dphi; + errors.push_back(error); + std::cout << "Iteration = " << it <<", f1 = " << f1 << ", f2 = " << f2 << ", error = " << error << std::endl; + } + for (int i = 1; i < errors.size(); ++i) + { + std::cout << "Iteration = " << i << ", ratio = " << errors[i-1]/errors[i] << std::endl; + } + } + + // test for addScaledElasticForce function + virtual void testHessian() + { + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q += btVector3(randomDouble(-.1, .1), randomDouble(-.1, .1), randomDouble(-.1, .1)); + } + psb->updateDeformation(); + } + + + TVStack dx; + dx.resize(getNumNodes()); + TVStack df; + df.resize(dx.size()); + TVStack f1; + f1.resize(dx.size()); + TVStack f2; + f2.resize(dx.size()); + + + // write down the current position + TVStack x; + x.resize(dx.size()); + int counter = 0; + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + x[counter] = psb->m_nodes[j].m_q; + counter++; + } + } + counter = 0; + + // populate dx with random vectors + for (int i = 0; i < dx.size(); ++i) + { + dx[i].setX(randomDouble(-1, 1)); + dx[i].setY(randomDouble(-1, 1)); + dx[i].setZ(randomDouble(-1, 1)); + } + + btAlignedObjectArray<double> errors; + for (int it = 0; it < 10; ++it) + { + for (int i = 0; i < dx.size(); ++i) + { + dx[i] *= 0.5; + } + + // get df + for (int i =0; i < df.size();++i) + { + df[i].setZero(); + f1[i].setZero(); + f2[i].setZero(); + } + + //set df + addScaledElasticForceDifferential(-1, dx, df); + + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] + dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + + //set f1 + addScaledForces(-1, f1); + + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] - dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + + //set f2 + addScaledForces(-1, f2); + + //restore m_q + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + double error = 0; + for (int i = 0; i < df.size();++i) + { + btVector3 error_vector = f1[i]-f2[i]-2*df[i]; + error += error_vector.length2(); + } + error = btSqrt(error); + errors.push_back(error); + std::cout << "Iteration = " << it << ", error = " << error << std::endl; + } + for (int i = 1; i < errors.size(); ++i) + { + std::cout << "Iteration = " << i << ", ratio = " << errors[i-1]/errors[i] << std::endl; + } + } + + // + virtual double totalElasticEnergy(btScalar dt) + { + return 0; + } + + // + virtual double totalDampingEnergy(btScalar dt) + { + return 0; + } + + // total Energy takes dt as input because certain energies depend on dt + virtual double totalEnergy(btScalar dt) + { + return totalElasticEnergy(dt) + totalDampingEnergy(dt); + } +}; +#endif /* BT_DEFORMABLE_LAGRANGIAN_FORCE */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableLinearElasticityForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableLinearElasticityForce.h new file mode 100644 index 0000000000..106dc10ad6 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableLinearElasticityForce.h @@ -0,0 +1,340 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_LINEAR_ELASTICITY_H +#define BT_LINEAR_ELASTICITY_H + +#include "btDeformableLagrangianForce.h" +#include "LinearMath/btQuickprof.h" +class btDeformableLinearElasticityForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btScalar m_mu, m_lambda; + btScalar m_mu_damp, m_lambda_damp; + btDeformableLinearElasticityForce(): m_mu(1), m_lambda(1) + { + btScalar damping = 0.05; + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + btDeformableLinearElasticityForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda) + { + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledDampingForce(scale, force); + addScaledElasticForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; + // firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); + btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * df_on_node0; + force[id1] -= scale1 * df_on_node123.getColumn(0); + force[id2] -= scale1 * df_on_node123.getColumn(1); + force[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual double totalElasticEnergy(btScalar dt) + { + double energy = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetraScratches.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::TetraScratch& s = psb->m_tetraScratches[j]; + energy += tetra.m_element_measure * elasticEnergyDensity(s); + } + } + return energy; + } + + // The damping energy is formulated as in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual double totalDampingEnergy(btScalar dt) + { + double energy = 0; + int sz = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + sz = btMax(sz, psb->m_nodes[j].index); + } + } + TVStack dampingForce; + dampingForce.resize(sz+1); + for (int i = 0; i < dampingForce.size(); ++i) + dampingForce[i].setZero(); + addScaledDampingForce(0.5, dampingForce); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + energy -= dampingForce[node.index].dot(node.m_v) / dt; + } + } + return energy; + } + + double elasticEnergyDensity(const btSoftBody::TetraScratch& s) + { + double density = 0; + btMatrix3x3 epsilon = (s.m_F + s.m_F.transpose()) * 0.5 - btMatrix3x3::getIdentity(); + btScalar trace = epsilon[0][0] + epsilon[1][1] + epsilon[2][2]; + density += m_mu * (epsilon[0].length2() + epsilon[1].length2() + epsilon[2].length2()); + density += m_lambda * trace * trace * 0.5; + return density; + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + btScalar max_p = psb->m_cfg.m_maxStress; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btMatrix3x3 P; + firstPiola(psb->m_tetraScratches[j],P); +#if USE_SVD + if (max_p > 0) + { + // since we want to clamp the principal stress to max_p, we only need to + // calculate SVD when sigma_0^2 + sigma_1^2 + sigma_2^2 > max_p * max_p + btScalar trPTP = (P[0].length2() + P[1].length2() + P[2].length2()); + if (trPTP > max_p * max_p) + { + btMatrix3x3 U, V; + btVector3 sigma; + singularValueDecomposition(P, U, sigma, V); + sigma[0] = btMin(sigma[0], max_p); + sigma[1] = btMin(sigma[1], max_p); + sigma[2] = btMin(sigma[2], max_p); + sigma[0] = btMax(sigma[0], -max_p); + sigma[1] = btMax(sigma[1], -max_p); + sigma[2] = btMax(sigma[2], -max_p); + btMatrix3x3 Sigma; + Sigma.setIdentity(); + Sigma[0][0] = sigma[0]; + Sigma[1][1] = sigma[1]; + Sigma[2][2] = sigma[2]; + P = U * Sigma * V.transpose(); + } + } +#endif + // btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); + btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col; + + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + + // elastic force + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * force_on_node0; + force[id1] -= scale1 * force_on_node123.getColumn(0); + force[id2] -= scale1 * force_on_node123.getColumn(1); + force[id3] -= scale1 * force_on_node123.getColumn(2); + } + } + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; + // firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); + // btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dx) * tetra.m_Dm_inverse; + btMatrix3x3 dP; + firstPiolaDifferential(psb->m_tetraScratches[j], dF, dP); + // btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // elastic force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + void firstPiola(const btSoftBody::TetraScratch& s, btMatrix3x3& P) + { + btMatrix3x3 epsilon = (s.m_F + s.m_F.transpose()) * 0.5 - btMatrix3x3::getIdentity(); + btScalar trace = epsilon[0][0] + epsilon[1][1] + epsilon[2][2]; + P = epsilon * btScalar(2) * m_mu + btMatrix3x3::getIdentity() * m_lambda * trace; + } + + // Let P be the first piola stress. + // This function calculates the dP = dP/dF * dF + void firstPiolaDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar trace = (dF[0][0] + dF[1][1] + dF[2][2]); + dP = (dF + dF.transpose()) * m_mu + btMatrix3x3::getIdentity() * m_lambda * trace; + } + + // Let Q be the damping stress. + // This function calculates the dP = dQ/dF * dF + void firstPiolaDampingDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar trace = (dF[0][0] + dF[1][1] + dF[2][2]); + dP = (dF + dF.transpose()) * m_mu_damp + btMatrix3x3::getIdentity() * m_lambda_damp * trace; + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_LINEAR_ELASTICITY_FORCE; + } + +}; +#endif /* BT_LINEAR_ELASTICITY_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMassSpringForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableMassSpringForce.h new file mode 100644 index 0000000000..54b4e4481d --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMassSpringForce.h @@ -0,0 +1,255 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_MASS_SPRING_H +#define BT_MASS_SPRING_H + +#include "btDeformableLagrangianForce.h" + +class btDeformableMassSpringForce : public btDeformableLagrangianForce +{ + // If true, the damping force will be in the direction of the spring + // If false, the damping force will be in the direction of the velocity + bool m_momentum_conserving; + btScalar m_elasticStiffness, m_dampingStiffness, m_bendingStiffness; +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btDeformableMassSpringForce() : m_momentum_conserving(false), m_elasticStiffness(1), m_dampingStiffness(0.05) + { + } + btDeformableMassSpringForce(btScalar k, btScalar d, bool conserve_angular = true, double bending_k = -1) : m_momentum_conserving(conserve_angular), m_elasticStiffness(k), m_dampingStiffness(d), m_bendingStiffness(bending_k) + { + if (m_bendingStiffness < btScalar(0)) + { + m_bendingStiffness = m_elasticStiffness; + } + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledDampingForce(scale, force); + addScaledElasticForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + size_t id1 = node1->index; + size_t id2 = node2->index; + + // damping force + btVector3 v_diff = (node2->m_v - node1->m_v); + btVector3 scaled_force = scale * m_dampingStiffness * v_diff; + if (m_momentum_conserving) + { + if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON) + { + btVector3 dir = (node2->m_x - node1->m_x).normalized(); + scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir; + } + } + force[id1] += scaled_force; + force[id2] -= scaled_force; + } + } + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + btScalar r = link.m_rl; + size_t id1 = node1->index; + size_t id2 = node2->index; + + // elastic force + btVector3 dir = (node2->m_q - node1->m_q); + btVector3 dir_normalized = (dir.norm() > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); + btScalar scaled_stiffness = scale * (link.m_bbending ? m_bendingStiffness : m_elasticStiffness); + btVector3 scaled_force = scaled_stiffness * (dir - dir_normalized * r); + force[id1] += scaled_force; + force[id2] -= scaled_force; + } + } + } + + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + // implicit damping force differential + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + btScalar scaled_k_damp = m_dampingStiffness * scale; + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + size_t id1 = node1->index; + size_t id2 = node2->index; + + btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]); + if (m_momentum_conserving) + { + if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON) + { + btVector3 dir = (node2->m_x - node1->m_x).normalized(); + local_scaled_df= scaled_k_damp * (dv[id2] - dv[id1]).dot(dir) * dir; + } + } + df[id1] += local_scaled_df; + df[id2] -= local_scaled_df; + } + } + } + + virtual double totalElasticEnergy(btScalar dt) + { + double energy = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + btScalar r = link.m_rl; + + // elastic force + btVector3 dir = (node2->m_q - node1->m_q); + energy += 0.5 * m_elasticStiffness * (dir.norm() - r) * (dir.norm() -r); + } + } + return energy; + } + + virtual double totalDampingEnergy(btScalar dt) + { + double energy = 0; + int sz = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + sz = btMax(sz, psb->m_nodes[j].index); + } + } + TVStack dampingForce; + dampingForce.resize(sz+1); + for (int i = 0; i < dampingForce.size(); ++i) + dampingForce[i].setZero(); + addScaledDampingForce(0.5, dampingForce); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + energy -= dampingForce[node.index].dot(node.m_v) / dt; + } + } + return energy; + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + // implicit damping force differential + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + size_t id1 = node1->index; + size_t id2 = node2->index; + btScalar r = link.m_rl; + + btVector3 dir = (node1->m_q - node2->m_q); + btScalar dir_norm = dir.norm(); + btVector3 dir_normalized = (dir_norm > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); + btVector3 dx_diff = dx[id1] - dx[id2]; + btVector3 scaled_df = btVector3(0,0,0); + btScalar scaled_k = scale * (link.m_bbending ? m_bendingStiffness : m_elasticStiffness); + if (dir_norm > SIMD_EPSILON) + { + scaled_df -= scaled_k * dir_normalized.dot(dx_diff) * dir_normalized; + scaled_df += scaled_k * dir_normalized.dot(dx_diff) * ((dir_norm-r)/dir_norm) * dir_normalized; + scaled_df -= scaled_k * ((dir_norm-r)/dir_norm) * dx_diff; + } + + df[id1] += scaled_df; + df[id2] -= scaled_df; + } + } + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_MASSSPRING_FORCE; + } + +}; + +#endif /* btMassSpring_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp new file mode 100644 index 0000000000..06f95d69f6 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -0,0 +1,143 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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. + */ + + +#include "btDeformableMultiBodyConstraintSolver.h" +#include <iostream> +// override the iterations method to include deformable/multibody contact +btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(btCollisionObject** bodies,int numBodies,btCollisionObject** deformableBodies,int numDeformableBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) +{ + { + ///this is a special step to resolve penetrations (just for contacts) + solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + + int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; + for (int iteration = 0; iteration < maxIterations; iteration++) + { + // rigid bodies are solved using solver body velocity, but rigid/deformable contact directly uses the velocity of the actual rigid body. So we have to do the following: Solve one iteration of the rigid/rigid contact, get the updated velocity in the solver body and update the velocity of the underlying rigid body. Then solve the rigid/deformable contact. Finally, grab the (once again) updated rigid velocity and update the velocity of the wrapping solver body + + // solve rigid/rigid in solver body + m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + // solver body velocity -> rigid body velocity + solverBodyWriteBack(infoGlobal); + btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies,numDeformableBodies); + // update rigid body velocity in rigid/deformable contact + m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual); + // solver body velocity <- rigid body velocity + writeToSolverBody(bodies, numBodies, infoGlobal); + + if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1))) + { +#ifdef VERBOSE_RESIDUAL_PRINTF + printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration); +#endif + m_analyticsData.m_numSolverCalls++; + m_analyticsData.m_numIterationsUsed = iteration+1; + m_analyticsData.m_islandId = -2; + if (numBodies>0) + m_analyticsData.m_islandId = bodies[0]->getCompanionId(); + m_analyticsData.m_numBodies = numBodies; + m_analyticsData.m_numContactManifolds = numManifolds; + m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual; + break; + } + } + } + return 0.f; +} + +void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup(btCollisionObject * *bodies, int numBodies, btCollisionObject * *deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) +{ + m_tmpMultiBodyConstraints = multiBodyConstraints; + m_tmpNumMultiBodyConstraints = numMultiBodyConstraints; + + // inherited from MultiBodyConstraintSolver + solveGroupCacheFriendlySetup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer); + + // overriden + solveDeformableGroupIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer); + + // inherited from MultiBodyConstraintSolver + solveGroupCacheFriendlyFinish(bodies, numBodies, info); + + m_tmpMultiBodyConstraints = 0; + m_tmpNumMultiBodyConstraints = 0; +} + +void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +{ + for (int i = 0; i < numBodies; i++) + { + int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); + + btRigidBody* body = btRigidBody::upcast(bodies[i]); + if (body && body->getInvMass()) + { + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; + solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity; + solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity; + } + } +} + +void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactSolverInfo& infoGlobal) +{ + for (int i = 0; i < m_tmpSolverBodyPool.size(); i++) + { + btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; + if (body) + { + m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity + m_tmpSolverBodyPool[i].m_deltaLinearVelocity); + m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity+m_tmpSolverBodyPool[i].m_deltaAngularVelocity); + } + } +} + +void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) +{ + BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); + int iteration; + if (infoGlobal.m_splitImpulse) + { + { + m_deformableSolver->splitImpulseSetup(infoGlobal); + for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++) + { + btScalar leastSquaresResidual = 0.f; + { + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + int j; + for (j = 0; j < numPoolConstraints; j++) + { + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; + + btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); + } + // solve the position correction between deformable and rigid/multibody + btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal); + leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); + } + if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1)) + { +#ifdef VERBOSE_RESIDUAL_PRINTF + printf("residual = %f at iteration #%d\n", leastSquaresResidual, iteration); +#endif + break; + } + } + } + } +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h new file mode 100644 index 0000000000..0c7cc26a83 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h @@ -0,0 +1,61 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H +#define BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H + +#include "btDeformableBodySolver.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" + +class btDeformableBodySolver; + +// btDeformableMultiBodyConstraintSolver extendsn btMultiBodyConstraintSolver to solve for the contact among rigid/multibody and deformable bodies. Notice that the following constraints +// 1. rigid/multibody against rigid/multibody +// 2. rigid/multibody against deforamble +// 3. deformable against deformable +// 4. deformable self collision +// 5. joint constraints +// are all coupled in this solve. +ATTRIBUTE_ALIGNED16(class) +btDeformableMultiBodyConstraintSolver : public btMultiBodyConstraintSolver +{ + btDeformableBodySolver* m_deformableSolver; + +protected: + // override the iterations method to include deformable/multibody contact +// virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + + // write the velocity of the the solver body to the underlying rigid body + void solverBodyWriteBack(const btContactSolverInfo& infoGlobal); + + // write the velocity of the underlying rigid body to the the the solver body + void writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); + + virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); + + virtual btScalar solveDeformableGroupIterations(btCollisionObject** bodies,int numBodies,btCollisionObject** deformableBodies,int numDeformableBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + void setDeformableSolver(btDeformableBodySolver* deformableSolver) + { + m_deformableSolver = deformableSolver; + } + + virtual void solveDeformableBodyGroup(btCollisionObject * *bodies, int numBodies, btCollisionObject * *deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); +}; + +#endif /* BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp new file mode 100644 index 0000000000..618e5c0d7b --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -0,0 +1,653 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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. + */ + +/* ====== Overview of the Deformable Algorithm ====== */ + +/* +A single step of the deformable body simulation contains the following main components: +Call internalStepSimulation multiple times, to achieve 240Hz (4 steps of 60Hz). +1. Deformable maintaintenance of rest lengths and volume preservation. Forces only depend on position: Update velocity to a temporary state v_{n+1}^* = v_n + explicit_force * dt / mass, where explicit forces include gravity and elastic forces. +2. Detect discrete collisions between rigid and deformable bodies at position x_{n+1}^* = x_n + dt * v_{n+1}^*. + +3a. Solve all constraints, including LCP. Contact, position correction due to numerical drift, friction, and anchors for deformable. + TODO: add option for positional drift correction (using vel_target += erp * pos_error/dt + +3b. 5 Newton steps (multiple step). Conjugent Gradient solves linear system. Deformable Damping: Then velocities of deformable bodies v_{n+1} are solved in + M(v_{n+1} - v_{n+1}^*) = damping_force * dt / mass, + by a conjugate gradient solver, where the damping force is implicit and depends on v_{n+1}. + Make sure contact constraints are not violated in step b by performing velocity projections as in the paper by Baraff and Witkin https://www.cs.cmu.edu/~baraff/papers/sig98.pdf. Dynamic frictions are treated as a force and added to the rhs of the CG solve, whereas static frictions are treated as constraints similar to contact. +4. Position is updated via x_{n+1} = x_n + dt * v_{n+1}. + + +The algorithm also closely resembles the one in http://physbam.stanford.edu/~fedkiw/papers/stanford2008-03.pdf + */ + +#include <stdio.h> +#include "btDeformableMultiBodyDynamicsWorld.h" +#include "DeformableBodyInplaceSolverIslandCallback.h" +#include "btDeformableBodySolver.h" +#include "LinearMath/btQuickprof.h" +#include "btSoftBodyInternals.h" +btDeformableMultiBodyDynamicsWorld::btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver) +: btMultiBodyDynamicsWorld(dispatcher, pairCache, (btMultiBodyConstraintSolver*)constraintSolver, collisionConfiguration), +m_deformableBodySolver(deformableBodySolver), m_solverCallback(0) +{ + m_drawFlags = fDrawFlags::Std; + m_drawNodeTree = true; + m_drawFaceTree = false; + m_drawClusterTree = false; + m_sbi.m_broadphase = pairCache; + m_sbi.m_dispatcher = dispatcher; + m_sbi.m_sparsesdf.Initialize(); + m_sbi.m_sparsesdf.setDefaultVoxelsz(0.005); + m_sbi.m_sparsesdf.Reset(); + + m_sbi.air_density = (btScalar)1.2; + m_sbi.water_density = 0; + m_sbi.water_offset = 0; + m_sbi.water_normal = btVector3(0, 0, 0); + m_sbi.m_gravity.setValue(0, -10, 0); + m_internalTime = 0.0; + m_implicit = false; + m_lineSearch = false; + m_selfCollision = true; + m_solverDeformableBodyIslandCallback = new DeformableBodyInplaceSolverIslandCallback(constraintSolver, dispatcher); +} + +void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) +{ + BT_PROFILE("internalSingleStepSimulation"); + if (0 != m_internalPreTickCallback) + { + (*m_internalPreTickCallback)(this, timeStep); + } + reinitialize(timeStep); + // add gravity to velocity of rigid and multi bodys + applyRigidBodyGravity(timeStep); + + ///apply gravity and explicit force to velocity, predict motion + predictUnconstraintMotion(timeStep); + + ///perform collision detection + btMultiBodyDynamicsWorld::performDiscreteCollisionDetection(); + + if (m_selfCollision) + { + softBodySelfCollision(); + } + + btMultiBodyDynamicsWorld::calculateSimulationIslands(); + + beforeSolverCallbacks(timeStep); + + ///solve contact constraints and then deformable bodies momemtum equation + solveConstraints(timeStep); + + afterSolverCallbacks(timeStep); + + integrateTransforms(timeStep); + + ///update vehicle simulation + btMultiBodyDynamicsWorld::updateActions(timeStep); + + updateActivationState(timeStep); + // End solver-wise simulation step + // /////////////////////////////// +} + +void btDeformableMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep) +{ + for (int i = 0; i < m_softBodies.size(); i++) + { + btSoftBody* psb = m_softBodies[i]; + psb->updateDeactivation(timeStep); + if (psb->wantsSleeping()) + { + if (psb->getActivationState() == ACTIVE_TAG) + psb->setActivationState(WANTS_DEACTIVATION); + if (psb->getActivationState() == ISLAND_SLEEPING) + { + psb->setZeroVelocity(); + } + } + else + { + if (psb->getActivationState() != DISABLE_DEACTIVATION) + psb->setActivationState(ACTIVE_TAG); + } + } + btMultiBodyDynamicsWorld::updateActivationState(timeStep); +} + + +void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision() +{ + m_deformableBodySolver->updateSoftBodies(); + for (int i = 0; i < m_softBodies.size(); i++) + { + btSoftBody* psb = m_softBodies[i]; + if (psb->isActive()) + { + psb->defaultCollisionHandler(psb); + } + } +} + +void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep) +{ + // correct the position of rigid bodies with temporary velocity generated from split impulse + btContactSolverInfo infoGlobal; + btVector3 zero(0,0,0); + for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i) + { + btRigidBody* rb = m_nonStaticRigidBodies[i]; + //correct the position/orientation based on push/turn recovery + btTransform newTransform; + btVector3 pushVelocity = rb->getPushVelocity(); + btVector3 turnVelocity = rb->getTurnVelocity(); + if (pushVelocity[0] != 0.f || pushVelocity[1] != 0 || pushVelocity[2] != 0 || turnVelocity[0] != 0.f || turnVelocity[1] != 0 || turnVelocity[2] != 0) + { + btTransformUtil::integrateTransform(rb->getWorldTransform(), pushVelocity, turnVelocity * infoGlobal.m_splitImpulseTurnErp, timeStep, newTransform); + rb->setWorldTransform(newTransform); + rb->setPushVelocity(zero); + rb->setTurnVelocity(zero); + } + } +} + +void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) +{ + BT_PROFILE("integrateTransforms"); + positionCorrection(timeStep); + btMultiBodyDynamicsWorld::integrateTransforms(timeStep); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btSoftBody::Node& node = psb->m_nodes[j]; + btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement; + btScalar clampDeltaV = maxDisplacement / timeStep; + for (int c = 0; c < 3; c++) + { + if (node.m_v[c] > clampDeltaV) + { + node.m_v[c] = clampDeltaV; + } + if (node.m_v[c] < -clampDeltaV) + { + node.m_v[c] = -clampDeltaV; + } + } + node.m_x = node.m_x + timeStep * node.m_v; + node.m_v -= node.m_vsplit; + node.m_vsplit.setZero(); + node.m_q = node.m_x; + node.m_vn = node.m_v; + } + // enforce anchor constraints + for (int j = 0; j < psb->m_deformableAnchors.size();++j) + { + btSoftBody::DeformableNodeRigidAnchor& a = psb->m_deformableAnchors[j]; + btSoftBody::Node* n = a.m_node; + n->m_x = a.m_cti.m_colObj->getWorldTransform() * a.m_local; + + // update multibody anchor info + if (a.m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(a.m_cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 nrm; + const btCollisionShape* shp = multibodyLinkCol->getCollisionShape(); + const btTransform& wtr = multibodyLinkCol->getWorldTransform(); + psb->m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(n->m_x), + shp, + nrm, + 0); + a.m_cti.m_normal = wtr.getBasis() * nrm; + btVector3 normal = a.m_cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, a.m_node->m_x, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, a.m_node->m_x, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, a.m_node->m_x, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(n->m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + a.m_c0 = rot.transpose() * local_impulse_matrix * rot; + a.jacobianData_normal = jacobianData_normal; + a.jacobianData_t1 = jacobianData_t1; + a.jacobianData_t2 = jacobianData_t2; + a.t1 = t1; + a.t2 = t2; + } + } + } + psb->interpolateRenderMesh(); + } +} + +void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) +{ + // save v_{n+1}^* velocity after explicit forces + m_deformableBodySolver->backupVelocity(); + + // set up constraints among multibodies and between multibodies and deformable bodies + setupConstraints(); + + // solve contact constraints + solveContactConstraints(); + + // set up the directions in which the velocity does not change in the momentum solve + m_deformableBodySolver->m_objective->m_projection.setProjection(); + + // for explicit scheme, m_backupVelocity = v_{n+1}^* + // for implicit scheme, m_backupVelocity = v_n + // Here, set dv = v_{n+1} - v_n for nodes in contact + m_deformableBodySolver->setupDeformableSolve(m_implicit); + + // At this point, dv should be golden for nodes in contact + // proceed to solve deformable momentum equation + m_deformableBodySolver->solveDeformableConstraints(timeStep); +} + +void btDeformableMultiBodyDynamicsWorld::setupConstraints() +{ + // set up constraints between multibody and deformable bodies + m_deformableBodySolver->setConstraints(); + + // set up constraints among multibodies + { + sortConstraints(); + // setup the solver callback + btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; + btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; + m_solverDeformableBodyIslandCallback->setup(&m_solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); + + // build islands + m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld()); + } +} + +void btDeformableMultiBodyDynamicsWorld::sortConstraints() +{ + m_sortedConstraints.resize(m_constraints.size()); + int i; + for (i = 0; i < getNumConstraints(); i++) + { + m_sortedConstraints[i] = m_constraints[i]; + } + m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); + + m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); + for (i = 0; i < m_multiBodyConstraints.size(); i++) + { + m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; + } + m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); +} + + +void btDeformableMultiBodyDynamicsWorld::solveContactConstraints() +{ + // process constraints on each island + m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverDeformableBodyIslandCallback); + + // process deferred + m_solverDeformableBodyIslandCallback->processConstraints(); + m_constraintSolver->allSolved(m_solverInfo, m_debugDrawer); + + // write joint feedback + { + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + if (bod->internalNeedsJointFeedback()) + { + if (!bod->isUsingRK4Integration()) + { + if (bod->internalNeedsJointFeedback()) + { + bool isConstraintPass = true; + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(m_solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + } + } + } + + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + bod->processDeltaVeeMultiDof2(); + } +} + +void btDeformableMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) +{ + m_softBodies.push_back(body); + + // Set the soft body solver that will deal with this body + // to be the world's solver + body->setSoftBodySolver(m_deformableBodySolver); + + btCollisionWorld::addCollisionObject(body, + collisionFilterGroup, + collisionFilterMask); +} + +void btDeformableMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + BT_PROFILE("predictUnconstraintMotion"); + btMultiBodyDynamicsWorld::predictUnconstraintMotion(timeStep); + m_deformableBodySolver->predictMotion(timeStep); +} + +void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) +{ + m_internalTime += timeStep; + m_deformableBodySolver->setImplicit(m_implicit); + m_deformableBodySolver->setLineSearch(m_lineSearch); + m_deformableBodySolver->reinitialize(m_softBodies, timeStep); + btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo(); + dispatchInfo.m_timeStep = timeStep; + dispatchInfo.m_stepCount = 0; + dispatchInfo.m_debugDraw = btMultiBodyDynamicsWorld::getDebugDrawer(); + btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep; +} + + +void btDeformableMultiBodyDynamicsWorld::debugDrawWorld() +{ + + btMultiBodyDynamicsWorld::debugDrawWorld(); + + for (int i = 0; i < getSoftBodyArray().size(); i++) + { + btSoftBody* psb = (btSoftBody*)getSoftBodyArray()[i]; + { + btSoftBodyHelpers::DrawFrame(psb, getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, getDebugDrawer(), getDrawFlags()); + } + } + + +} + +void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(btScalar timeStep) +{ + // Gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again + // so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep + // when there are multiple substeps + btMultiBodyDynamicsWorld::applyGravity(); + // integrate rigid body gravity + for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i) + { + btRigidBody* rb = m_nonStaticRigidBodies[i]; + rb->integrateVelocities(timeStep); + } + + // integrate multibody gravity + { + forwardKinematics(); + clearMultiBodyConstraintForces(); + { + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + m_scratch_r.resize(bod->getNumLinks() + 1); + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + bool isConstraintPass = false; + { + if (!bod->isUsingRK4Integration()) + { + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(m_solverInfo.m_timeStep, + m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + else + { + btAssert(" RK4Integration is not supported" ); + } + } + } + } + } + } + clearGravity(); +} + +void btDeformableMultiBodyDynamicsWorld::clearGravity() +{ + BT_PROFILE("btMultiBody clearGravity"); + // clear rigid body gravity + for (int i = 0; i < m_nonStaticRigidBodies.size(); i++) + { + btRigidBody* body = m_nonStaticRigidBodies[i]; + if (body->isActive()) + { + body->clearGravity(); + } + } + // clear multibody gravity + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + bod->addBaseForce(-m_gravity * bod->getBaseMass()); + + for (int j = 0; j < bod->getNumLinks(); ++j) + { + bod->addLinkForce(j, -m_gravity * bod->getLinkMass(j)); + } + } + } +} + +void btDeformableMultiBodyDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) +{ + if (0 != m_internalTickCallback) + { + (*m_internalTickCallback)(this, timeStep); + } + + if (0 != m_solverCallback) + { + (*m_solverCallback)(m_internalTime, this); + } +} + +void btDeformableMultiBodyDynamicsWorld::afterSolverCallbacks(btScalar timeStep) +{ + if (0 != m_solverCallback) + { + (*m_solverCallback)(m_internalTime, this); + } +} + +void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force) +{ + btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf; + bool added = false; + for (int i = 0; i < forces.size(); ++i) + { + if (forces[i]->getForceType() == force->getForceType()) + { + forces[i]->addSoftBody(psb); + added = true; + break; + } + } + if (!added) + { + force->addSoftBody(psb); + force->setIndices(m_deformableBodySolver->m_objective->getIndices()); + forces.push_back(force); + } +} + +void btDeformableMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body) +{ + m_softBodies.remove(body); + btCollisionWorld::removeCollisionObject(body); + // force a reinitialize so that node indices get updated. + m_deformableBodySolver->reinitialize(m_softBodies, btScalar(-1)); +} + +void btDeformableMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject) +{ + btSoftBody* body = btSoftBody::upcast(collisionObject); + if (body) + removeSoftBody(body); + else + btDiscreteDynamicsWorld::removeCollisionObject(collisionObject); +} + + +int btDeformableMultiBodyDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) +{ + startProfiling(timeStep); + + int numSimulationSubSteps = 0; + + if (maxSubSteps) + { + //fixed timestep with interpolation + m_fixedTimeStep = fixedTimeStep; + m_localTime += timeStep; + if (m_localTime >= fixedTimeStep) + { + numSimulationSubSteps = int(m_localTime / fixedTimeStep); + m_localTime -= numSimulationSubSteps * fixedTimeStep; + } + } + else + { + //variable timestep + fixedTimeStep = timeStep; + m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep; + m_fixedTimeStep = 0; + if (btFuzzyZero(timeStep)) + { + numSimulationSubSteps = 0; + maxSubSteps = 0; + } + else + { + numSimulationSubSteps = 1; + maxSubSteps = 1; + } + } + + //process some debugging flags + if (getDebugDrawer()) + { + btIDebugDraw* debugDrawer = getDebugDrawer(); + gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0; + } + if (numSimulationSubSteps) + { + //clamp the number of substeps, to prevent simulation grinding spiralling down to a halt + int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps) ? maxSubSteps : numSimulationSubSteps; + + saveKinematicState(fixedTimeStep * clampedSimulationSteps); + + for (int i = 0; i < clampedSimulationSteps; i++) + { + internalSingleStepSimulation(fixedTimeStep); + synchronizeMotionStates(); + } + } + else + { + synchronizeMotionStates(); + } + + clearForces(); + +#ifndef BT_NO_PROFILE + CProfileManager::Increment_Frame_Counter(); +#endif //BT_NO_PROFILE + + return numSimulationSubSteps; +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h new file mode 100644 index 0000000000..7630385767 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -0,0 +1,165 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H +#define BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H + +#include "btSoftMultiBodyDynamicsWorld.h" +#include "btDeformableLagrangianForce.h" +#include "btDeformableMassSpringForce.h" +#include "btDeformableBodySolver.h" +#include "btDeformableMultiBodyConstraintSolver.h" +#include "btSoftBodyHelpers.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" +#include <functional> +typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray; + +class btDeformableBodySolver; +class btDeformableLagrangianForce; +struct MultiBodyInplaceSolverIslandCallback; +struct DeformableBodyInplaceSolverIslandCallback; +class btDeformableMultiBodyConstraintSolver; + +typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray; + +class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld +{ + typedef btAlignedObjectArray<btVector3> TVStack; + ///Solver classes that encapsulate multiple deformable bodies for solving + btDeformableBodySolver* m_deformableBodySolver; + btSoftBodyArray m_softBodies; + int m_drawFlags; + bool m_drawNodeTree; + bool m_drawFaceTree; + bool m_drawClusterTree; + btSoftBodyWorldInfo m_sbi; + btScalar m_internalTime; + int m_contact_iterations; + bool m_implicit; + bool m_lineSearch; + bool m_selfCollision; + DeformableBodyInplaceSolverIslandCallback* m_solverDeformableBodyIslandCallback; + + typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world); + btSolverCallback m_solverCallback; + +protected: + virtual void internalSingleStepSimulation(btScalar timeStep); + + virtual void integrateTransforms(btScalar timeStep); + + void positionCorrection(btScalar timeStep); + + void solveConstraints(btScalar timeStep); + + void updateActivationState(btScalar timeStep); + + void clearGravity(); + +public: + btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0); + + virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)); + + virtual void debugDrawWorld(); + + void setSolverCallback(btSolverCallback cb) + { + m_solverCallback = cb; + } + + virtual ~btDeformableMultiBodyDynamicsWorld() + { + } + + virtual btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() + { + return (btMultiBodyDynamicsWorld*)(this); + } + + virtual const btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() const + { + return (const btMultiBodyDynamicsWorld*)(this); + } + + virtual btDynamicsWorldType getWorldType() const + { + return BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD; + } + + virtual void predictUnconstraintMotion(btScalar timeStep); + + virtual void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter); + + btSoftBodyArray& getSoftBodyArray() + { + return m_softBodies; + } + + const btSoftBodyArray& getSoftBodyArray() const + { + return m_softBodies; + } + + btSoftBodyWorldInfo& getWorldInfo() + { + return m_sbi; + } + + const btSoftBodyWorldInfo& getWorldInfo() const + { + return m_sbi; + } + + void reinitialize(btScalar timeStep); + + void applyRigidBodyGravity(btScalar timeStep); + + void beforeSolverCallbacks(btScalar timeStep); + + void afterSolverCallbacks(btScalar timeStep); + + void addForce(btSoftBody* psb, btDeformableLagrangianForce* force); + + void removeSoftBody(btSoftBody* body); + + void removeCollisionObject(btCollisionObject* collisionObject); + + int getDrawFlags() const { return (m_drawFlags); } + void setDrawFlags(int f) { m_drawFlags = f; } + + void setupConstraints(); + + void solveMultiBodyConstraints(); + + void solveContactConstraints(); + + void sortConstraints(); + + void softBodySelfCollision(); + + void setImplicit(bool implicit) + { + m_implicit = implicit; + } + + void setLineSearch(bool lineSearch) + { + m_lineSearch = lineSearch; + } + +}; + +#endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableNeoHookeanForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableNeoHookeanForce.h new file mode 100644 index 0000000000..3d06e304d2 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -0,0 +1,375 @@ +/* +Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2019 Google 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 BT_NEOHOOKEAN_H +#define BT_NEOHOOKEAN_H + +#include "btDeformableLagrangianForce.h" +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btImplicitQRSVD.h" +// This energy is as described in https://graphics.pixar.com/library/StableElasticity/paper.pdf +class btDeformableNeoHookeanForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btScalar m_mu, m_lambda; + btScalar m_mu_damp, m_lambda_damp; + btDeformableNeoHookeanForce(): m_mu(1), m_lambda(1) + { + btScalar damping = 0.05; + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda) + { + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledDampingForce(scale, force); + addScaledElasticForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; +// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); + btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * df_on_node0; + force[id1] -= scale1 * df_on_node123.getColumn(0); + force[id2] -= scale1 * df_on_node123.getColumn(1); + force[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual double totalElasticEnergy(btScalar dt) + { + double energy = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetraScratches.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::TetraScratch& s = psb->m_tetraScratches[j]; + energy += tetra.m_element_measure * elasticEnergyDensity(s); + } + } + return energy; + } + + // The damping energy is formulated as in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual double totalDampingEnergy(btScalar dt) + { + double energy = 0; + int sz = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + sz = btMax(sz, psb->m_nodes[j].index); + } + } + TVStack dampingForce; + dampingForce.resize(sz+1); + for (int i = 0; i < dampingForce.size(); ++i) + dampingForce[i].setZero(); + addScaledDampingForce(0.5, dampingForce); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + energy -= dampingForce[node.index].dot(node.m_v) / dt; + } + } + return energy; + } + + double elasticEnergyDensity(const btSoftBody::TetraScratch& s) + { + double density = 0; + density += m_mu * 0.5 * (s.m_trace - 3.); + density += m_lambda * 0.5 * (s.m_J - 1. - 0.75 * m_mu / m_lambda)* (s.m_J - 1. - 0.75 * m_mu / m_lambda); + density -= m_mu * 0.5 * log(s.m_trace+1); + return density; + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + btScalar max_p = psb->m_cfg.m_maxStress; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btMatrix3x3 P; + firstPiola(psb->m_tetraScratches[j],P); +#ifdef USE_SVD + if (max_p > 0) + { + // since we want to clamp the principal stress to max_p, we only need to + // calculate SVD when sigma_0^2 + sigma_1^2 + sigma_2^2 > max_p * max_p + btScalar trPTP = (P[0].length2() + P[1].length2() + P[2].length2()); + if (trPTP > max_p * max_p) + { + btMatrix3x3 U, V; + btVector3 sigma; + singularValueDecomposition(P, U, sigma, V); + sigma[0] = btMin(sigma[0], max_p); + sigma[1] = btMin(sigma[1], max_p); + sigma[2] = btMin(sigma[2], max_p); + sigma[0] = btMax(sigma[0], -max_p); + sigma[1] = btMax(sigma[1], -max_p); + sigma[2] = btMax(sigma[2], -max_p); + btMatrix3x3 Sigma; + Sigma.setIdentity(); + Sigma[0][0] = sigma[0]; + Sigma[1][1] = sigma[1]; + Sigma[2][2] = sigma[2]; + P = U * Sigma * V.transpose(); + } + } +#endif +// btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); + btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col; + + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + + // elastic force + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * force_on_node0; + force[id1] -= scale1 * force_on_node123.getColumn(0); + force[id2] -= scale1 * force_on_node123.getColumn(1); + force[id3] -= scale1 * force_on_node123.getColumn(2); + } + } + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; +// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); +// btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dx) * tetra.m_Dm_inverse; + btMatrix3x3 dP; + firstPiolaDifferential(psb->m_tetraScratches[j], dF, dP); +// btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // elastic force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + void firstPiola(const btSoftBody::TetraScratch& s, btMatrix3x3& P) + { + btScalar c1 = (m_mu * ( 1. - 1. / (s.m_trace + 1.))); + btScalar c2 = (m_lambda * (s.m_J - 1.) - 0.75 * m_mu); + P = s.m_F * c1 + s.m_cofF * c2; + } + + // Let P be the first piola stress. + // This function calculates the dP = dP/dF * dF + void firstPiolaDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar c1 = m_mu * ( 1. - 1. / (s.m_trace + 1.)); + btScalar c2 = (2.*m_mu) * DotProduct(s.m_F, dF) * (1./((1.+s.m_trace)*(1.+s.m_trace))); + btScalar c3 = (m_lambda * DotProduct(s.m_cofF, dF)); + dP = dF * c1 + s.m_F * c2; + addScaledCofactorMatrixDifferential(s.m_F, dF, m_lambda*(s.m_J-1.) - 0.75*m_mu, dP); + dP += s.m_cofF * c3; + } + + // Let Q be the damping stress. + // This function calculates the dP = dQ/dF * dF + void firstPiolaDampingDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar c1 = (m_mu_damp * ( 1. - 1. / (s.m_trace + 1.))); + btScalar c2 = ((2.*m_mu_damp) * DotProduct(s.m_F, dF) *(1./((1.+s.m_trace)*(1.+s.m_trace)))); + btScalar c3 = (m_lambda_damp * DotProduct(s.m_cofF, dF)); + dP = dF * c1 + s.m_F * c2; + addScaledCofactorMatrixDifferential(s.m_F, dF, m_lambda_damp*(s.m_J-1.) - 0.75*m_mu_damp, dP); + dP += s.m_cofF * c3; + } + + btScalar DotProduct(const btMatrix3x3& A, const btMatrix3x3& B) + { + btScalar ans = 0; + for (int i = 0; i < 3; ++i) + { + ans += A[i].dot(B[i]); + } + return ans; + } + + // Let C(A) be the cofactor of the matrix A + // Let H = the derivative of C(A) with respect to A evaluated at F = A + // This function calculates H*dF + void addScaledCofactorMatrixDifferential(const btMatrix3x3& F, const btMatrix3x3& dF, btScalar scale, btMatrix3x3& M) + { + M[0][0] += scale * (dF[1][1] * F[2][2] + F[1][1] * dF[2][2] - dF[2][1] * F[1][2] - F[2][1] * dF[1][2]); + M[1][0] += scale * (dF[2][1] * F[0][2] + F[2][1] * dF[0][2] - dF[0][1] * F[2][2] - F[0][1] * dF[2][2]); + M[2][0] += scale * (dF[0][1] * F[1][2] + F[0][1] * dF[1][2] - dF[1][1] * F[0][2] - F[1][1] * dF[0][2]); + M[0][1] += scale * (dF[2][0] * F[1][2] + F[2][0] * dF[1][2] - dF[1][0] * F[2][2] - F[1][0] * dF[2][2]); + M[1][1] += scale * (dF[0][0] * F[2][2] + F[0][0] * dF[2][2] - dF[2][0] * F[0][2] - F[2][0] * dF[0][2]); + M[2][1] += scale * (dF[1][0] * F[0][2] + F[1][0] * dF[0][2] - dF[0][0] * F[1][2] - F[0][0] * dF[1][2]); + M[0][2] += scale * (dF[1][0] * F[2][1] + F[1][0] * dF[2][1] - dF[2][0] * F[1][1] - F[2][0] * dF[1][1]); + M[1][2] += scale * (dF[2][0] * F[0][1] + F[2][0] * dF[0][1] - dF[0][0] * F[2][1] - F[0][0] * dF[2][1]); + M[2][2] += scale * (dF[0][0] * F[1][1] + F[0][0] * dF[1][1] - dF[1][0] * F[0][1] - F[1][0] * dF[0][1]); + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_NEOHOOKEAN_FORCE; + } + +}; +#endif /* BT_NEOHOOKEAN_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btPreconditioner.h b/thirdparty/bullet/BulletSoftBody/btPreconditioner.h new file mode 100644 index 0000000000..d712420381 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btPreconditioner.h @@ -0,0 +1,79 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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 BT_PRECONDITIONER_H +#define BT_PRECONDITIONER_H + +class Preconditioner +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + virtual void operator()(const TVStack& x, TVStack& b) = 0; + virtual void reinitialize(bool nodeUpdated) = 0; + virtual ~Preconditioner(){} +}; + +class DefaultPreconditioner : public Preconditioner +{ +public: + virtual void operator()(const TVStack& x, TVStack& b) + { + btAssert(b.size() == x.size()); + for (int i = 0; i < b.size(); ++i) + b[i] = x[i]; + } + virtual void reinitialize(bool nodeUpdated) + { + } + + virtual ~DefaultPreconditioner(){} +}; + +class MassPreconditioner : public Preconditioner +{ + btAlignedObjectArray<btScalar> m_inv_mass; + const btAlignedObjectArray<btSoftBody *>& m_softBodies; +public: + MassPreconditioner(const btAlignedObjectArray<btSoftBody *>& softBodies) + : m_softBodies(softBodies) + { + } + + virtual void reinitialize(bool nodeUpdated) + { + if (nodeUpdated) + { + m_inv_mass.clear(); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + m_inv_mass.push_back(psb->m_nodes[j].m_im); + } + } + } + + virtual void operator()(const TVStack& x, TVStack& b) + { + btAssert(b.size() == x.size()); + btAssert(m_inv_mass.size() == x.size()); + for (int i = 0; i < b.size(); ++i) + { + b[i] = x[i] * m_inv_mass[i]; + } + } +}; + +#endif /* BT_PRECONDITIONER_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp index 7463bdc019..2a458b1d80 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp +++ b/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp @@ -18,9 +18,12 @@ subject to the following restrictions: #include "BulletSoftBody/btSoftBodySolvers.h" #include "btSoftBodyData.h" #include "LinearMath/btSerializer.h" +#include "LinearMath/btAlignedAllocator.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" - +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include <iostream> // btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m) : m_softBodySolver(0), m_worldInfo(worldInfo) @@ -86,6 +89,8 @@ void btSoftBody::initDefaults() m_cfg.piterations = 1; m_cfg.diterations = 0; m_cfg.citerations = 4; + m_cfg.drag = 0; + m_cfg.m_maxStress = 0; m_cfg.collisions = fCollision::Default; m_pose.m_bvolume = false; m_pose.m_bframe = false; @@ -110,6 +115,11 @@ void btSoftBody::initDefaults() m_windVelocity = btVector3(0, 0, 0); m_restLengthScale = btScalar(1.0); + m_dampingCoefficient = 1; + m_sleepingThreshold = 0.1; + m_useFaceContact = true; + m_useSelfCollision = false; + m_collisionFlags = 0; } // @@ -315,7 +325,7 @@ void btSoftBody::appendFace(int model, Material* mat) ZeroInitialize(f); f.m_material = mat ? mat : m_materials[0]; } - m_faces.push_back(f); + m_faces.push_back(f); } // @@ -402,6 +412,98 @@ void btSoftBody::appendAnchor(int node, btRigidBody* body, const btVector3& loca } // +void btSoftBody::appendDeformableAnchor(int node, btRigidBody* body) +{ + DeformableNodeRigidAnchor c; + btSoftBody::Node& n = m_nodes[node]; + const btScalar ima = n.m_im; + const btScalar imb = body->getInvMass(); + btVector3 nrm; + const btCollisionShape* shp = body->getCollisionShape(); + const btTransform& wtr = body->getWorldTransform(); + btScalar dst = + m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(m_nodes[node].m_x), + shp, + nrm, + 0); + + c.m_cti.m_colObj = body; + c.m_cti.m_normal = wtr.getBasis() * nrm; + c.m_cti.m_offset = dst; + c.m_node = &m_nodes[node]; + const btScalar fc = m_cfg.kDF * body->getFriction(); + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = body->isStaticOrKinematicObject() ? m_cfg.kKHR : m_cfg.kCHR; + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = body->getInvInertiaTensorWorld(); + const btVector3 ra = n.m_x - wtr.getOrigin(); + + c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); + c.m_c1 = ra; + c.m_local = body->getWorldTransform().inverse() * m_nodes[node].m_x; + c.m_node->m_battach = 1; + m_deformableAnchors.push_back(c); +} + +// +void btSoftBody::appendDeformableAnchor(int node, btMultiBodyLinkCollider* link) +{ + DeformableNodeRigidAnchor c; + btSoftBody::Node& n = m_nodes[node]; + const btScalar ima = n.m_im; + btVector3 nrm; + const btCollisionShape* shp = link->getCollisionShape(); + const btTransform& wtr = link->getWorldTransform(); + btScalar dst = + m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(m_nodes[node].m_x), + shp, + nrm, + 0); + c.m_cti.m_colObj = link; + c.m_cti.m_normal = wtr.getBasis() * nrm; + c.m_cti.m_offset = dst; + c.m_node = &m_nodes[node]; + const btScalar fc = m_cfg.kDF * link->getFriction(); + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = link->isStaticOrKinematicObject() ? m_cfg.kKHR : m_cfg.kCHR; + btVector3 normal = c.m_cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(link, jacobianData_normal, c.m_node->m_x, normal); + findJacobian(link, jacobianData_t1, c.m_node->m_x, t1); + findJacobian(link, jacobianData_t2, c.m_node->m_x, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = link->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + c.m_c0 = rot.transpose() * local_impulse_matrix * rot; + c.jacobianData_normal = jacobianData_normal; + c.jacobianData_t1 = jacobianData_t1; + c.jacobianData_t2 = jacobianData_t2; + c.t1 = t1; + c.t2 = t2; + const btVector3 ra = n.m_x - wtr.getOrigin(); + c.m_c1 = ra; + c.m_local = link->getWorldTransform().inverse() * m_nodes[node].m_x; + c.m_node->m_battach = 1; + m_deformableAnchors.push_back(c); +} +// void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, Cluster* body0, Body body1) { LJoint* pj = new (btAlignedAlloc(sizeof(LJoint), 16)) LJoint(); @@ -518,7 +620,7 @@ void btSoftBody::addAeroForceToNode(const btVector3& windVelocity, int nodeIndex fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm); // Check angle of attack - // cos(10°) = 0.98480 + // cos(10º) = 0.98480 if (0 < n_dot_v && n_dot_v < 0.98480f) fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm)); @@ -604,7 +706,7 @@ void btSoftBody::addAeroForceToFace(const btVector3& windVelocity, int faceIndex fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm); // Check angle of attack - // cos(10°) = 0.98480 + // cos(10º) = 0.98480 if (0 < n_dot_v && n_dot_v < 0.98480f) fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm)); @@ -853,6 +955,7 @@ void btSoftBody::scale(const btVector3& scl) updateNormals(); updateBounds(); updateConstants(); + initializeDmInverse(); } // @@ -1757,115 +1860,115 @@ void btSoftBody::setSolver(eSolverPresets::_ preset) } } -// void btSoftBody::predictMotion(btScalar dt) { - int i, ni; - - /* Update */ - if (m_bUpdateRtCst) - { - m_bUpdateRtCst = false; - updateConstants(); - m_fdbvt.clear(); - if (m_cfg.collisions & fCollision::VF_SS) - { - initializeFaceTree(); - } - } - - /* Prepare */ - m_sst.sdt = dt * m_cfg.timescale; - m_sst.isdt = 1 / m_sst.sdt; - m_sst.velmrg = m_sst.sdt * 3; - m_sst.radmrg = getCollisionShape()->getMargin(); - m_sst.updmrg = m_sst.radmrg * (btScalar)0.25; - /* Forces */ - addVelocity(m_worldInfo->m_gravity * m_sst.sdt); - applyForces(); - /* Integrate */ - for (i = 0, ni = m_nodes.size(); i < ni; ++i) - { - Node& n = m_nodes[i]; - n.m_q = n.m_x; - btVector3 deltaV = n.m_f * n.m_im * m_sst.sdt; - { - btScalar maxDisplacement = m_worldInfo->m_maxDisplacement; - btScalar clampDeltaV = maxDisplacement / m_sst.sdt; - for (int c = 0; c < 3; c++) - { - if (deltaV[c] > clampDeltaV) - { - deltaV[c] = clampDeltaV; - } - if (deltaV[c] < -clampDeltaV) - { - deltaV[c] = -clampDeltaV; - } - } - } - n.m_v += deltaV; - n.m_x += n.m_v * m_sst.sdt; - n.m_f = btVector3(0, 0, 0); - } - /* Clusters */ - updateClusters(); - /* Bounds */ - updateBounds(); - /* Nodes */ - ATTRIBUTE_ALIGNED16(btDbvtVolume) - vol; - for (i = 0, ni = m_nodes.size(); i < ni; ++i) - { - Node& n = m_nodes[i]; - vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg); - m_ndbvt.update(n.m_leaf, - vol, - n.m_v * m_sst.velmrg, - m_sst.updmrg); - } - /* Faces */ - if (!m_fdbvt.empty()) - { - for (int i = 0; i < m_faces.size(); ++i) - { - Face& f = m_faces[i]; - const btVector3 v = (f.m_n[0]->m_v + - f.m_n[1]->m_v + - f.m_n[2]->m_v) / - 3; - vol = VolumeOf(f, m_sst.radmrg); - m_fdbvt.update(f.m_leaf, - vol, - v * m_sst.velmrg, - m_sst.updmrg); - } - } - /* Pose */ - updatePose(); - /* Match */ - if (m_pose.m_bframe && (m_cfg.kMT > 0)) - { - const btMatrix3x3 posetrs = m_pose.m_rot; - for (int i = 0, ni = m_nodes.size(); i < ni; ++i) - { - Node& n = m_nodes[i]; - if (n.m_im > 0) - { - const btVector3 x = posetrs * m_pose.m_pos[i] + m_pose.m_com; - n.m_x = Lerp(n.m_x, x, m_cfg.kMT); - } - } - } - /* Clear contacts */ - m_rcontacts.resize(0); - m_scontacts.resize(0); - /* Optimize dbvt's */ - m_ndbvt.optimizeIncremental(1); - m_fdbvt.optimizeIncremental(1); - m_cdbvt.optimizeIncremental(1); + int i, ni; + + /* Update */ + if (m_bUpdateRtCst) + { + m_bUpdateRtCst = false; + updateConstants(); + m_fdbvt.clear(); + if (m_cfg.collisions & fCollision::VF_SS) + { + initializeFaceTree(); + } + } + + /* Prepare */ + m_sst.sdt = dt * m_cfg.timescale; + m_sst.isdt = 1 / m_sst.sdt; + m_sst.velmrg = m_sst.sdt * 3; + m_sst.radmrg = getCollisionShape()->getMargin(); + m_sst.updmrg = m_sst.radmrg * (btScalar)0.25; + /* Forces */ + addVelocity(m_worldInfo->m_gravity * m_sst.sdt); + applyForces(); + /* Integrate */ + for (i = 0, ni = m_nodes.size(); i < ni; ++i) + { + Node& n = m_nodes[i]; + n.m_q = n.m_x; + btVector3 deltaV = n.m_f * n.m_im * m_sst.sdt; + { + btScalar maxDisplacement = m_worldInfo->m_maxDisplacement; + btScalar clampDeltaV = maxDisplacement / m_sst.sdt; + for (int c = 0; c < 3; c++) + { + if (deltaV[c] > clampDeltaV) + { + deltaV[c] = clampDeltaV; + } + if (deltaV[c] < -clampDeltaV) + { + deltaV[c] = -clampDeltaV; + } + } + } + n.m_v += deltaV; + n.m_x += n.m_v * m_sst.sdt; + n.m_f = btVector3(0, 0, 0); + } + /* Clusters */ + updateClusters(); + /* Bounds */ + updateBounds(); + /* Nodes */ + ATTRIBUTE_ALIGNED16(btDbvtVolume) + vol; + for (i = 0, ni = m_nodes.size(); i < ni; ++i) + { + Node& n = m_nodes[i]; + vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg); + m_ndbvt.update(n.m_leaf, + vol, + n.m_v * m_sst.velmrg, + m_sst.updmrg); + } + /* Faces */ + if (!m_fdbvt.empty()) + { + for (int i = 0; i < m_faces.size(); ++i) + { + Face& f = m_faces[i]; + const btVector3 v = (f.m_n[0]->m_v + + f.m_n[1]->m_v + + f.m_n[2]->m_v) / + 3; + vol = VolumeOf(f, m_sst.radmrg); + m_fdbvt.update(f.m_leaf, + vol, + v * m_sst.velmrg, + m_sst.updmrg); + } + } + /* Pose */ + updatePose(); + /* Match */ + if (m_pose.m_bframe && (m_cfg.kMT > 0)) + { + const btMatrix3x3 posetrs = m_pose.m_rot; + for (int i = 0, ni = m_nodes.size(); i < ni; ++i) + { + Node& n = m_nodes[i]; + if (n.m_im > 0) + { + const btVector3 x = posetrs * m_pose.m_pos[i] + m_pose.m_com; + n.m_x = Lerp(n.m_x, x, m_cfg.kMT); + } + } + } + /* Clear contacts */ + m_rcontacts.resize(0); + m_scontacts.resize(0); + /* Optimize dbvt's */ + m_ndbvt.optimizeIncremental(1); + m_fdbvt.optimizeIncremental(1); + m_cdbvt.optimizeIncremental(1); } + // void btSoftBody::solveConstraints() { @@ -2261,36 +2364,195 @@ btVector3 btSoftBody::evaluateCom() const return (com); } -// bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, + const btVector3& x, + btScalar margin, + btSoftBody::sCti& cti) const +{ + btVector3 nrm; + const btCollisionShape* shp = colObjWrap->getCollisionShape(); + // const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); + //const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform(); + const btTransform& wtr = colObjWrap->getWorldTransform(); + //todo: check which transform is needed here + + btScalar dst = + m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(x), + shp, + nrm, + margin); + if (dst < 0) + { + cti.m_colObj = colObjWrap->getCollisionObject(); + cti.m_normal = wtr.getBasis() * nrm; + cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst); + return (true); + } + return (false); +} + +// +bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, - btSoftBody::sCti& cti) const + btSoftBody::sCti& cti, bool predict) const { btVector3 nrm; const btCollisionShape* shp = colObjWrap->getCollisionShape(); - // const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); - //const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform(); - const btTransform& wtr = colObjWrap->getWorldTransform(); - //todo: check which transform is needed here - + const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); + // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect + // but resolve contact at x_n +// btTransform wtr = (predict) ? +// (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) +// : colObjWrap->getWorldTransform(); + const btTransform& wtr = colObjWrap->getWorldTransform(); btScalar dst = m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(x), shp, nrm, margin); - if (dst < 0) + if (!predict) { cti.m_colObj = colObjWrap->getCollisionObject(); cti.m_normal = wtr.getBasis() * nrm; - cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst); - return (true); + cti.m_offset = dst; } + if (dst < 0) + return true; return (false); } // +// Compute barycentric coordinates (u, v, w) for +// point p with respect to triangle (a, b, c) +static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVector3& c, btVector3& bary) +{ + btVector3 v0 = b - a, v1 = c - a, v2 = p - a; + btScalar d00 = v0.dot(v0); + btScalar d01 = v0.dot(v1); + btScalar d11 = v1.dot(v1); + btScalar d20 = v2.dot(v0); + btScalar d21 = v2.dot(v1); + btScalar denom = d00 * d11 - d01 * d01; + bary.setY((d11 * d20 - d01 * d21) / denom); + bary.setZ((d00 * d21 - d01 * d20) / denom); + bary.setX(btScalar(1) - bary.getY() - bary.getZ()); +} + +// +bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, + Face& f, + btVector3& contact_point, + btVector3& bary, + btScalar margin, + btSoftBody::sCti& cti, bool predict) const +{ + btVector3 nrm; + const btCollisionShape* shp = colObjWrap->getCollisionShape(); + const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); + // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect + // but resolve contact at x_n + btTransform wtr = (predict) ? + (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) + : colObjWrap->getWorldTransform(); +// const btTransform& wtr = colObjWrap->getWorldTransform(); + btScalar dst; + +//#define USE_QUADRATURE 1 +//#define CACHE_PREV_COLLISION + + // use the contact position of the previous collision +#ifdef CACHE_PREV_COLLISION + if (f.m_pcontact[3] != 0) + { + for (int i = 0; i < 3; ++i) + bary[i] = f.m_pcontact[i]; + contact_point = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); + dst = m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(contact_point), + shp, + nrm, + margin); + nrm = wtr.getBasis() * nrm; + // use cached contact point + } + else + { + btGjkEpaSolver2::sResults results; + btTransform triangle_transform; + triangle_transform.setIdentity(); + triangle_transform.setOrigin(f.m_n[0]->m_x); + btTriangleShape triangle(btVector3(0,0,0), f.m_n[1]->m_x-f.m_n[0]->m_x, f.m_n[2]->m_x-f.m_n[0]->m_x); + btVector3 guess(0,0,0); + const btConvexShape* csh = static_cast<const btConvexShape*>(shp); + btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results); + dst = results.distance - margin; + contact_point = results.witnesses[0]; + getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); + nrm = results.normal; + for (int i = 0; i < 3; ++i) + f.m_pcontact[i] = bary[i]; + } + +#endif + + // use collision quadrature point +#ifdef USE_QUADRATURE + { + dst = SIMD_INFINITY; + btVector3 local_nrm; + for (int q = 0; q < m_quads.size(); ++q) + { + btVector3 p = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, m_quads[q]); + btScalar local_dst = m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(p), + shp, + local_nrm, + margin); + if (local_dst < dst) + { + dst = local_dst; + contact_point = p; + bary = m_quads[q]; + nrm = wtr.getBasis() * local_nrm; + } + } + } +#endif + + // regular face contact + { + btGjkEpaSolver2::sResults results; + btTransform triangle_transform; + triangle_transform.setIdentity(); + triangle_transform.setOrigin(f.m_n[0]->m_x); + btTriangleShape triangle(btVector3(0,0,0), f.m_n[1]->m_x-f.m_n[0]->m_x, f.m_n[2]->m_x-f.m_n[0]->m_x); + btVector3 guess(0,0,0); + const btConvexShape* csh = static_cast<const btConvexShape*>(shp); + btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results); + dst = results.distance - margin; + contact_point = results.witnesses[0]; + getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); + nrm = results.normal; + for (int i = 0; i < 3; ++i) + f.m_pcontact[i] = bary[i]; + } + + if (!predict) + { + cti.m_colObj = colObjWrap->getCollisionObject(); + cti.m_normal = nrm; + cti.m_offset = dst; + } + + if (dst < 0) + return true; + return (false); +} + +// void btSoftBody::updateNormals() { const btVector3 zv(0, 0, 0); @@ -2305,7 +2567,8 @@ void btSoftBody::updateNormals() btSoftBody::Face& f = m_faces[i]; const btVector3 n = btCross(f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x); - f.m_normal = n.normalized(); + f.m_normal = n; + f.m_normal.safeNormalize(); f.m_n[0]->m_n += n; f.m_n[1]->m_n += n; f.m_n[2]->m_n += n; @@ -2333,31 +2596,63 @@ void btSoftBody::updateBounds() m_bounds[1] = btVector3(1000, 1000, 1000); } else {*/ - if (m_ndbvt.m_root) - { - const btVector3& mins = m_ndbvt.m_root->volume.Mins(); - const btVector3& maxs = m_ndbvt.m_root->volume.Maxs(); - const btScalar csm = getCollisionShape()->getMargin(); - const btVector3 mrg = btVector3(csm, - csm, - csm) * - 1; // ??? to investigate... - m_bounds[0] = mins - mrg; - m_bounds[1] = maxs + mrg; - if (0 != getBroadphaseHandle()) - { - m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(), - m_bounds[0], - m_bounds[1], - m_worldInfo->m_dispatcher); - } - } - else - { - m_bounds[0] = - m_bounds[1] = btVector3(0, 0, 0); - } - //} +// if (m_ndbvt.m_root) +// { +// const btVector3& mins = m_ndbvt.m_root->volume.Mins(); +// const btVector3& maxs = m_ndbvt.m_root->volume.Maxs(); +// const btScalar csm = getCollisionShape()->getMargin(); +// const btVector3 mrg = btVector3(csm, +// csm, +// csm) * +// 1; // ??? to investigate... +// m_bounds[0] = mins - mrg; +// m_bounds[1] = maxs + mrg; +// if (0 != getBroadphaseHandle()) +// { +// m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(), +// m_bounds[0], +// m_bounds[1], +// m_worldInfo->m_dispatcher); +// } +// } +// else +// { +// m_bounds[0] = +// m_bounds[1] = btVector3(0, 0, 0); +// } + if (m_nodes.size()) + { + btVector3 mins = m_nodes[0].m_x; + btVector3 maxs = m_nodes[0].m_x; + for (int i = 1; i < m_nodes.size(); ++i) + { + for (int d = 0; d < 3; ++d) + { + if (m_nodes[i].m_x[d] > maxs[d]) + maxs[d] = m_nodes[i].m_x[d]; + if (m_nodes[i].m_x[d] < mins[d]) + mins[d] = m_nodes[i].m_x[d]; + } + } + const btScalar csm = getCollisionShape()->getMargin(); + const btVector3 mrg = btVector3(csm, + csm, + csm); + m_bounds[0] = mins - mrg; + m_bounds[1] = maxs + mrg; + if (0 != getBroadphaseHandle()) + { + m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(), + m_bounds[0], + m_bounds[1], + m_worldInfo->m_dispatcher); + } + } + else + { + m_bounds[0] = + m_bounds[1] = btVector3(0, 0, 0); + } } // @@ -2774,6 +3069,62 @@ void btSoftBody::dampClusters() } } +void btSoftBody::setSpringStiffness(btScalar k) +{ + for (int i = 0; i < m_links.size(); ++i) + { + m_links[i].Feature::m_material->m_kLST = k; + } +} + +void btSoftBody::initializeDmInverse() +{ + btScalar unit_simplex_measure = 1./6.; + + for (int i = 0; i < m_tetras.size(); ++i) + { + Tetra &t = m_tetras[i]; + btVector3 c1 = t.m_n[1]->m_x - t.m_n[0]->m_x; + btVector3 c2 = t.m_n[2]->m_x - t.m_n[0]->m_x; + btVector3 c3 = t.m_n[3]->m_x - t.m_n[0]->m_x; + btMatrix3x3 Dm(c1.getX(), c2.getX(), c3.getX(), + c1.getY(), c2.getY(), c3.getY(), + c1.getZ(), c2.getZ(), c3.getZ()); + t.m_element_measure = Dm.determinant() * unit_simplex_measure; + t.m_Dm_inverse = Dm.inverse(); + } +} + +void btSoftBody::updateDeformation() +{ + for (int i = 0; i < m_tetras.size(); ++i) + { + btSoftBody::Tetra& t = m_tetras[i]; + btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q; + btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q; + btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q; + btMatrix3x3 Ds(c1.getX(), c2.getX(), c3.getX(), + c1.getY(), c2.getY(), c3.getY(), + c1.getZ(), c2.getZ(), c3.getZ()); + t.m_F = Ds * t.m_Dm_inverse; + + btSoftBody::TetraScratch& s = m_tetraScratches[i]; + s.m_F = t.m_F; + s.m_J = t.m_F.determinant(); + btMatrix3x3 C = t.m_F.transpose()*t.m_F; + s.m_trace = C[0].getX() + C[1].getY() + C[2].getZ(); + s.m_cofF = t.m_F.adjoint().transpose(); + } +} + +void btSoftBody::advanceDeformation() +{ + updateDeformation(); + for (int i = 0; i < m_tetras.size(); ++i) + { + m_tetraScratchesTn[i] = m_tetraScratches[i]; + } +} // void btSoftBody::Joint::Prepare(btScalar dt, int) { @@ -3013,6 +3364,40 @@ void btSoftBody::applyForces() } // +void btSoftBody::setMaxStress(btScalar maxStress) +{ + m_cfg.m_maxStress = maxStress; +} + +// +void btSoftBody::interpolateRenderMesh() +{ + for (int i = 0; i < m_renderNodes.size(); ++i) + { + Node& n = m_renderNodes[i]; + n.m_x.setZero(); + for (int j = 0; j < 4; ++j) + { + if (m_renderNodesParents[i].size()) + { + n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j]; + } + } + } +} + +void btSoftBody::setCollisionQuadrature(int N) +{ + for (int i = 0; i <= N; ++i) + { + for (int j = 0; i+j <= N; ++j) + { + m_quads.push_back(btVector3(btScalar(i)/btScalar(N), btScalar(j)/btScalar(N), btScalar(N-i-j)/btScalar(N))); + } + } +} + +// void btSoftBody::PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti) { BT_PROFILE("PSolve_Anchors"); @@ -3214,6 +3599,16 @@ btSoftBody::vsolver_t btSoftBody::getSolver(eVSolver::_ solver) return (0); } +void btSoftBody::setSelfCollision(bool useSelfCollision) +{ + m_useSelfCollision = useSelfCollision; +} + +bool btSoftBody::useSelfCollision() +{ + return m_useSelfCollision; +} + // void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap) { @@ -3252,12 +3647,99 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap collider.ProcessColObj(this, pcoWrap); } break; + case fCollision::SDF_RD: + { + + btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject()); + if (pcoWrap->getCollisionObject()->isActive() || this->isActive()) + { + const btTransform wtr = pcoWrap->getWorldTransform(); +// const btTransform ctr = pcoWrap->getWorldTransform(); +// const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length(); + const btScalar timemargin = 0; + const btScalar basemargin = getCollisionShape()->getMargin(); + btVector3 mins; + btVector3 maxs; + ATTRIBUTE_ALIGNED16(btDbvtVolume) + volume; + pcoWrap->getCollisionShape()->getAabb(wtr, + mins, + maxs); + volume = btDbvtVolume::FromMM(mins, maxs); + volume.Expand(btVector3(basemargin, basemargin, basemargin)); + btSoftColliders::CollideSDF_RD docollideNode; + docollideNode.psb = this; + docollideNode.m_colObj1Wrap = pcoWrap; + docollideNode.m_rigidBody = prb1; + docollideNode.dynmargin = basemargin + timemargin; + docollideNode.stamargin = basemargin; + m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode); + + if (this->m_useFaceContact) + { + btSoftColliders::CollideSDF_RDF docollideFace; + docollideFace.psb = this; + docollideFace.m_colObj1Wrap = pcoWrap; + docollideFace.m_rigidBody = prb1; + docollideFace.dynmargin = basemargin + timemargin; + docollideFace.stamargin = basemargin; + m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); + } + } + } + break; } } +static inline btDbvntNode* copyToDbvnt(const btDbvtNode* n) +{ + if (n == 0) + return 0; + btDbvntNode* root = new btDbvntNode(n); + if (n->isinternal()) + { + btDbvntNode* c0 = copyToDbvnt(n->childs[0]); + root->childs[0] = c0; + btDbvntNode* c1 = copyToDbvnt(n->childs[1]); + root->childs[1] = c1; + } + return root; +} + +static inline void calculateNormalCone(btDbvntNode* root) +{ + if (!root) + return; + if (root->isleaf()) + { + const btSoftBody::Face* face = (btSoftBody::Face*)root->data; + root->normal = face->m_normal; + root->angle = 0; + } + else + { + btVector3 n0(0,0,0), n1(0,0,0); + btScalar a0 = 0, a1 = 0; + if (root->childs[0]) + { + calculateNormalCone(root->childs[0]); + n0 = root->childs[0]->normal; + a0 = root->childs[0]->angle; + } + if (root->childs[1]) + { + calculateNormalCone(root->childs[1]); + n1 = root->childs[1]->normal; + a1 = root->childs[1]->angle; + } + root->normal = (n0+n1).safeNormalize(); + root->angle = btMax(a0,a1) + btAngle(n0, n1)*0.5; + } +} // void btSoftBody::defaultCollisionHandler(btSoftBody* psb) { + BT_PROFILE("Deformable Collision"); const int cf = m_cfg.collisions & psb->m_cfg.collisions; switch (cf & fCollision::SVSmask) { @@ -3295,6 +3777,60 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb) } } break; + case fCollision::VF_DD: + { + if (psb->isActive() || this->isActive()) + { + if (this != psb) + { + btSoftColliders::CollideVF_DD docollide; + /* common */ + docollide.mrg = getCollisionShape()->getMargin() + + psb->getCollisionShape()->getMargin(); + /* psb0 nodes vs psb1 faces */ + if (psb->m_tetras.size() > 0) + docollide.useFaceNormal = true; + else + docollide.useFaceNormal = false; + docollide.psb[0] = this; + docollide.psb[1] = psb; + docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + /* psb1 nodes vs psb0 faces */ + if (this->m_tetras.size() > 0) + docollide.useFaceNormal = true; + else + docollide.useFaceNormal = false; + docollide.psb[0] = psb; + docollide.psb[1] = this; + docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + } + else + { + if (psb->useSelfCollision()) + { + btSoftColliders::CollideFF_DD docollide; + docollide.mrg = getCollisionShape()->getMargin() + + psb->getCollisionShape()->getMargin(); + docollide.psb[0] = this; + docollide.psb[1] = psb; + if (this->m_tetras.size() > 0) + docollide.useFaceNormal = true; + else + docollide.useFaceNormal = false; + /* psb0 faces vs psb0 faces */ + btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root); + calculateNormalCone(root); + this->m_fdbvt.selfCollideT(root,docollide); + delete root; + } + } + } + } + break; default: { } @@ -3434,7 +3970,7 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ for (int j = 0; j < 4; j++) { m_tetras[i].m_c0[j].serializeFloat(memPtr->m_c0[j]); - memPtr->m_nodeIndices[j] = m_tetras[j].m_n[j] ? m_tetras[j].m_n[j] - &m_nodes[0] : -1; + memPtr->m_nodeIndices[j] = m_tetras[i].m_n[j] ? m_tetras[i].m_n[j] - &m_nodes[0] : -1; } memPtr->m_c1 = m_tetras[i].m_c1; memPtr->m_c2 = m_tetras[i].m_c2; @@ -3697,3 +4233,47 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ return btSoftBodyDataName; } + +void btSoftBody::updateDeactivation(btScalar timeStep) +{ + if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION)) + return; + + if (m_maxSpeedSquared < m_sleepingThreshold * m_sleepingThreshold) + { + m_deactivationTime += timeStep; + } + else + { + m_deactivationTime = btScalar(0.); + setActivationState(0); + } +} + + +void btSoftBody::setZeroVelocity() +{ + for (int i = 0; i < m_nodes.size(); ++i) + { + m_nodes[i].m_v.setZero(); + } +} + +bool btSoftBody::wantsSleeping() +{ + if (getActivationState() == DISABLE_DEACTIVATION) + return false; + + //disable deactivation + if (gDisableDeactivation || (gDeactivationTime == btScalar(0.))) + return false; + + if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION)) + return true; + + if (m_deactivationTime > gDeactivationTime) + { + return true; + } + return false; +} diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBody.h b/thirdparty/bullet/BulletSoftBody/btSoftBody.h index 9b35b799d8..2b048c1118 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBody.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftBody.h @@ -20,13 +20,15 @@ subject to the following restrictions: #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btTransform.h" #include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btVector3.h" #include "BulletDynamics/Dynamics/btRigidBody.h" #include "BulletCollision/CollisionShapes/btConcaveShape.h" #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" #include "btSparseSDF.h" #include "BulletCollision/BroadphaseCollision/btDbvt.h" - +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" //#ifdef BT_USE_DOUBLE_PRECISION //#define btRigidBodyData btRigidBodyDoubleData //#define btRigidBodyDataName "btRigidBodyDoubleData" @@ -159,11 +161,14 @@ public: RVSmask = 0x000f, ///Rigid versus soft mask SDF_RS = 0x0001, ///SDF based rigid vs soft CL_RS = 0x0002, ///Cluster vs convex rigid vs soft + SDF_RD = 0x0003, ///DF based rigid vs deformable + SDF_RDF = 0x0004, ///DF based rigid vs deformable faces - SVSmask = 0x0030, ///Rigid versus soft mask + SVSmask = 0x00F0, ///Rigid versus soft mask VF_SS = 0x0010, ///Vertex vs face soft vs soft handling CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling CL_SELF = 0x0040, ///Cluster soft body self collision + VF_DD = 0x0050, ///Vertex vs face soft vs soft handling /* presets */ Default = SDF_RS, END @@ -215,6 +220,7 @@ public: const btCollisionObject* m_colObj; /* Rigid body */ btVector3 m_normal; /* Outward normal */ btScalar m_offset; /* Offset from origin */ + btVector3 m_bary; /* Barycentric weights for faces */ }; /* sMedium */ @@ -249,14 +255,17 @@ public: struct Node : Feature { btVector3 m_x; // Position - btVector3 m_q; // Previous step position + btVector3 m_q; // Previous step position/Test position btVector3 m_v; // Velocity + btVector3 m_vsplit; // Temporary Velocity in addintion to velocity used in split impulse + btVector3 m_vn; // Previous step velocity btVector3 m_f; // Force accumulator btVector3 m_n; // Normal btScalar m_im; // 1/mass btScalar m_area; // Area btDbvtNode* m_leaf; // Leaf data int m_battach : 1; // Attached + int index; }; /* Link */ ATTRIBUTE_ALIGNED16(struct) @@ -279,6 +288,8 @@ public: btVector3 m_normal; // Normal btScalar m_ra; // Rest area btDbvtNode* m_leaf; // Leaf data + btVector4 m_pcontact; // barycentric weights of the persistent contact + int m_index; }; /* Tetra */ struct Tetra : Feature @@ -289,7 +300,20 @@ public: btVector3 m_c0[4]; // gradients btScalar m_c1; // (4*kVST)/(im0+im1+im2+im3) btScalar m_c2; // m_c1/sum(|g0..3|^2) + btMatrix3x3 m_Dm_inverse; // rest Dm^-1 + btMatrix3x3 m_F; + btScalar m_element_measure; }; + + /* TetraScratch */ + struct TetraScratch + { + btMatrix3x3 m_F; // deformation gradient F + btScalar m_trace; // trace of F^T * F + btScalar m_J; // det(F) + btMatrix3x3 m_cofF; // cofactor of F + }; + /* RContact */ struct RContact { @@ -300,7 +324,67 @@ public: btScalar m_c2; // ima*dt btScalar m_c3; // Friction btScalar m_c4; // Hardness + + // jacobians and unit impulse responses for multibody + btMultiBodyJacobianData jacobianData_normal; + btMultiBodyJacobianData jacobianData_t1; + btMultiBodyJacobianData jacobianData_t2; + btVector3 t1; + btVector3 t2; }; + + class DeformableRigidContact + { + public: + sCti m_cti; // Contact infos + btMatrix3x3 m_c0; // Impulse matrix + btVector3 m_c1; // Relative anchor + btScalar m_c2; // inverse mass of node/face + btScalar m_c3; // Friction + btScalar m_c4; // Hardness + + // jacobians and unit impulse responses for multibody + btMultiBodyJacobianData jacobianData_normal; + btMultiBodyJacobianData jacobianData_t1; + btMultiBodyJacobianData jacobianData_t2; + btVector3 t1; + btVector3 t2; + }; + + class DeformableNodeRigidContact : public DeformableRigidContact + { + public: + Node* m_node; // Owner node + }; + + class DeformableNodeRigidAnchor : public DeformableNodeRigidContact + { + public: + btVector3 m_local; // Anchor position in body space + }; + + class DeformableFaceRigidContact : public DeformableRigidContact + { + public: + Face* m_face; // Owner face + btVector3 m_contactPoint; // Contact point + btVector3 m_bary; // Barycentric weights + btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v; + }; + + struct DeformableFaceNodeContact + { + Node* m_node; // Node + Face* m_face; // Face + btVector3 m_bary; // Barycentric weights + btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v; + btVector3 m_normal; // Normal + btScalar m_margin; // Margin + btScalar m_friction; // Friction + btScalar m_imf; // inverse mass of the face at contact point + btScalar m_c0; // scale of the impulse matrix; + }; + /* SContact */ struct SContact { @@ -627,6 +711,8 @@ public: tVSolverArray m_vsequence; // Velocity solvers sequence tPSolverArray m_psequence; // Position solvers sequence tPSolverArray m_dsequence; // Drift solvers sequence + btScalar drag; // deformable air drag + btScalar m_maxStress; // Maximum principle first Piola stress }; /* SolverState */ struct SolverState @@ -689,11 +775,19 @@ public: btSoftBodyWorldInfo* m_worldInfo; // World info tNoteArray m_notes; // Notes tNodeArray m_nodes; // Nodes + tNodeArray m_renderNodes; // Nodes tLinkArray m_links; // Links tFaceArray m_faces; // Faces + tFaceArray m_renderFaces; // Faces tTetraArray m_tetras; // Tetras + btAlignedObjectArray<TetraScratch> m_tetraScratches; + btAlignedObjectArray<TetraScratch> m_tetraScratchesTn; tAnchorArray m_anchors; // Anchors + btAlignedObjectArray<DeformableNodeRigidAnchor> m_deformableAnchors; tRContactArray m_rcontacts; // Rigid contacts + btAlignedObjectArray<DeformableNodeRigidContact> m_nodeRigidContacts; + btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContacts; + btAlignedObjectArray<DeformableFaceRigidContact> m_faceRigidContacts; tSContactArray m_scontacts; // Soft contacts tJointArray m_joints; // Joints tMaterialArray m_materials; // Materials @@ -704,6 +798,15 @@ public: btDbvt m_fdbvt; // Faces tree btDbvt m_cdbvt; // Clusters tree tClusterArray m_clusters; // Clusters + btScalar m_dampingCoefficient; // Damping Coefficient + btScalar m_sleepingThreshold; + btScalar m_maxSpeedSquared; + bool m_useFaceContact; + btAlignedObjectArray<btVector3> m_quads; // quadrature points for collision detection + + btAlignedObjectArray<btVector4> m_renderNodesInterpolationWeights; + btAlignedObjectArray<btAlignedObjectArray<const btSoftBody::Node*> > m_renderNodesParents; + bool m_useSelfCollision; btAlignedObjectArray<bool> m_clusterConnectivity; //cluster connectivity, for self-collision @@ -735,6 +838,16 @@ public: { return m_worldInfo; } + + void setDampingCoefficient(btScalar damping_coeff) + { + m_dampingCoefficient = damping_coeff; + } + + void setUseFaceContact(bool useFaceContact) + { + m_useFaceContact = false; + } ///@todo: avoid internal softbody shape hack and move collision code to collision library virtual void setCollisionShape(btCollisionShape* collisionShape) @@ -795,7 +908,9 @@ public: Material* mat = 0); /* Append anchor */ - void appendAnchor(int node, + void appendDeformableAnchor(int node, btRigidBody* body); + void appendDeformableAnchor(int node, btMultiBodyLinkCollider* link); + void appendAnchor(int node, btRigidBody* body, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1); void appendAnchor(int node, btRigidBody* body, const btVector3& localPivot, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1); /* Append linear joint */ @@ -862,6 +977,16 @@ public: /* Return the volume */ btScalar getVolume() const; /* Cluster count */ + btVector3 getCenterOfMass() const + { + btVector3 com(0, 0, 0); + for (int i = 0; i < m_nodes.size(); i++) + { + com += (m_nodes[i].m_x * this->getMass(i)); + } + com /= this->getTotalMass(); + return com; + } int clusterCount() const; /* Cluster center of mass */ static btVector3 clusterCom(const Cluster* cluster); @@ -915,6 +1040,11 @@ public: /* defaultCollisionHandlers */ void defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap); void defaultCollisionHandler(btSoftBody* psb); + void setSelfCollision(bool useSelfCollision); + bool useSelfCollision(); + void updateDeactivation(btScalar timeStep); + void setZeroVelocity(); + bool wantsSleeping(); // // Functionality to deal with new accelerated solvers. @@ -991,7 +1121,9 @@ public: btScalar& mint, eFeature::_& feature, int& index, bool bcountonly) const; void initializeFaceTree(); btVector3 evaluateCom() const; - bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; + bool checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, Face& f, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; void updateNormals(); void updateBounds(); void updatePose(); @@ -1005,7 +1137,14 @@ public: void solveClusters(btScalar sor); void applyClusters(bool drift); void dampClusters(); + void setSpringStiffness(btScalar k); + void initializeDmInverse(); + void updateDeformation(); + void advanceDeformation(); void applyForces(); + void setMaxStress(btScalar maxStress); + void interpolateRenderMesh(); + void setCollisionQuadrature(int N); static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_SContacts(btSoftBody* psb, btScalar, btScalar ti); @@ -1015,11 +1154,9 @@ public: static vsolver_t getSolver(eVSolver::_ solver); virtual int calculateSerializeBufferSize() const; - + ///fills the dataBuffer and returns the struct name (and 0 on failure) virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; - - //virtual void serializeSingleObject(class btSerializer* serializer) const; }; #endif //_BT_SOFT_BODY_H diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp index d0a9921d89..649d6f58cf 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp @@ -16,12 +16,17 @@ subject to the following restrictions: #include "btSoftBodyInternals.h" #include <stdio.h> +#include <string> +#include <iostream> +#include <sstream> #include <string.h> +#include <algorithm> #include "btSoftBodyHelpers.h" #include "LinearMath/btConvexHull.h" #include "LinearMath/btConvexHullComputer.h" +#include <map> +#include <vector> -// static void drawVertex(btIDebugDraw* idraw, const btVector3& x, btScalar s, const btVector3& c) { @@ -721,7 +726,8 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo, const int resx, int resy, int fixeds, - bool gendiags) + bool gendiags, + btScalar perturbation) { #define IDX(_x_, _y_) ((_y_)*rx + (_x_)) /* Create nodes */ @@ -741,7 +747,13 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo, const for (int ix = 0; ix < rx; ++ix) { const btScalar tx = ix / (btScalar)(rx - 1); - x[IDX(ix, iy)] = lerp(py0, py1, tx); + btScalar pert = perturbation * btScalar(rand())/RAND_MAX; + btVector3 temp1 = py1; + temp1.setY(py1.getY() + pert); + btVector3 temp = py0; + pert = perturbation * btScalar(rand())/RAND_MAX; + temp.setY(py0.getY() + pert); + x[IDX(ix, iy)] = lerp(temp, temp1, tx); m[IDX(ix, iy)] = 1; } } @@ -1221,9 +1233,314 @@ if(face&&face[0]) } } } + psb->initializeDmInverse(); + psb->m_tetraScratches.resize(psb->m_tetras.size()); + psb->m_tetraScratchesTn.resize(psb->m_tetras.size()); printf("Nodes: %u\r\n", psb->m_nodes.size()); printf("Links: %u\r\n", psb->m_links.size()); printf("Faces: %u\r\n", psb->m_faces.size()); printf("Tetras: %u\r\n", psb->m_tetras.size()); return (psb); } + +btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file) +{ + std::ifstream fs; + fs.open(vtk_file); + btAssert(fs); + + typedef btAlignedObjectArray<int> Index; + std::string line; + btAlignedObjectArray<btVector3> X; + btVector3 position; + btAlignedObjectArray<Index> indices; + bool reading_points = false; + bool reading_tets = false; + size_t n_points = 0; + size_t n_tets = 0; + size_t x_count = 0; + size_t indices_count = 0; + while (std::getline(fs, line)) + { + std::stringstream ss(line); + if (line.size() == (size_t)(0)) + { + } + else if (line.substr(0, 6) == "POINTS") + { + reading_points = true; + reading_tets = false; + ss.ignore(128, ' '); // ignore "POINTS" + ss >> n_points; + X.resize(n_points); + } + else if (line.substr(0, 5) == "CELLS") + { + reading_points = false; + reading_tets = true; + ss.ignore(128, ' '); // ignore "CELLS" + ss >> n_tets; + indices.resize(n_tets); + } + else if (line.substr(0, 10) == "CELL_TYPES") + { + reading_points = false; + reading_tets = false; + } + else if (reading_points) + { + btScalar p; + ss >> p; + position.setX(p); + ss >> p; + position.setY(p); + ss >> p; + position.setZ(p); + X[x_count++] = position; + } + else if (reading_tets) + { + ss.ignore(128, ' '); // ignore "4" + Index tet; + tet.resize(4); + for (size_t i = 0; i < 4; i++) + { + ss >> tet[i]; + } + indices[indices_count++] = tet; + } + } + btSoftBody* psb = new btSoftBody(&worldInfo, n_points, &X[0], 0); + + for (int i = 0; i < n_tets; ++i) + { + const Index& ni = indices[i]; + psb->appendTetra(ni[0], ni[1], ni[2], ni[3]); + { + psb->appendLink(ni[0], ni[1], 0, true); + psb->appendLink(ni[1], ni[2], 0, true); + psb->appendLink(ni[2], ni[0], 0, true); + psb->appendLink(ni[0], ni[3], 0, true); + psb->appendLink(ni[1], ni[3], 0, true); + psb->appendLink(ni[2], ni[3], 0, true); + } + } + + + generateBoundaryFaces(psb); + psb->initializeDmInverse(); + psb->m_tetraScratches.resize(psb->m_tetras.size()); + psb->m_tetraScratchesTn.resize(psb->m_tetras.size()); + printf("Nodes: %u\r\n", psb->m_nodes.size()); + printf("Links: %u\r\n", psb->m_links.size()); + printf("Faces: %u\r\n", psb->m_faces.size()); + printf("Tetras: %u\r\n", psb->m_tetras.size()); + + fs.close(); + return psb; +} + +void btSoftBodyHelpers::generateBoundaryFaces(btSoftBody* psb) +{ + int counter = 0; + for (int i = 0; i < psb->m_nodes.size(); ++i) + { + psb->m_nodes[i].index = counter++; + } + typedef btAlignedObjectArray<int> Index; + btAlignedObjectArray<Index> indices; + indices.resize(psb->m_tetras.size()); + for (int i = 0; i < indices.size(); ++i) + { + Index index; + index.push_back(psb->m_tetras[i].m_n[0]->index); + index.push_back(psb->m_tetras[i].m_n[1]->index); + index.push_back(psb->m_tetras[i].m_n[2]->index); + index.push_back(psb->m_tetras[i].m_n[3]->index); + indices[i] = index; + } + + std::map<std::vector<int>, std::vector<int> > dict; + for (int i = 0; i < indices.size(); ++i) + { + for (int j = 0; j < 4; ++j) + { + std::vector<int> f; + if (j == 0) + { + f.push_back(indices[i][1]); + f.push_back(indices[i][0]); + f.push_back(indices[i][2]); + } + if (j == 1) + { + f.push_back(indices[i][3]); + f.push_back(indices[i][0]); + f.push_back(indices[i][1]); + } + if (j == 2) + { + f.push_back(indices[i][3]); + f.push_back(indices[i][1]); + f.push_back(indices[i][2]); + } + if (j == 3) + { + f.push_back(indices[i][2]); + f.push_back(indices[i][0]); + f.push_back(indices[i][3]); + } + std::vector<int> f_sorted = f; + std::sort(f_sorted.begin(), f_sorted.end()); + if (dict.find(f_sorted) != dict.end()) + { + dict.erase(f_sorted); + } + else + { + dict.insert(std::make_pair(f_sorted, f)); + } + } + } + + for (std::map<std::vector<int>, std::vector<int> >::iterator it = dict.begin(); it != dict.end(); ++it) + { + std::vector<int> f = it->second; + psb->appendFace(f[0], f[1], f[2]); + } +} + +void btSoftBodyHelpers::writeObj(const char* filename, const btSoftBody* psb) +{ + std::ofstream fs; + fs.open(filename); + btAssert(fs); + for (int i = 0; i < psb->m_nodes.size(); ++i) + { + fs << "v"; + for (int d = 0; d < 3; d++) + { + fs << " " << psb->m_nodes[i].m_x[d]; + } + fs << "\n"; + } + + for (int i = 0; i < psb->m_faces.size(); ++i) + { + fs << "f"; + for (int n = 0; n < 3; n++) + { + fs << " " << psb->m_faces[i].m_n[n]->index + 1; + } + fs << "\n"; + } + fs.close(); +} + +void btSoftBodyHelpers::duplicateFaces(const char* filename, const btSoftBody* psb) +{ + std::ifstream fs_read; + fs_read.open(filename); + std::string line; + btVector3 pos; + btAlignedObjectArray<btAlignedObjectArray<int> > additional_faces; + while (std::getline(fs_read, line)) + { + std::stringstream ss(line); + if (line[0] == 'v') + { + } + else if (line[0] == 'f') + { + ss.ignore(); + int id0, id1, id2; + ss >> id0; + ss >> id1; + ss >> id2; + btAlignedObjectArray<int> new_face; + new_face.push_back(id1); + new_face.push_back(id0); + new_face.push_back(id2); + additional_faces.push_back(new_face); + } + } + fs_read.close(); + + std::ofstream fs_write; + fs_write.open(filename, std::ios_base::app); + for (int i = 0; i < additional_faces.size(); ++i) + { + fs_write << "f"; + for (int n = 0; n < 3; n++) + { + fs_write << " " << additional_faces[i][n]; + } + fs_write << "\n"; + } + fs_write.close(); +} + +// Given a simplex with vertices a,b,c,d, find the barycentric weights of p in this simplex +void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary) +{ + btVector3 vap = p - a; + btVector3 vbp = p - b; + + btVector3 vab = b - a; + btVector3 vac = c - a; + btVector3 vad = d - a; + + btVector3 vbc = c - b; + btVector3 vbd = d - b; + btScalar va6 = (vbp.cross(vbd)).dot(vbc); + btScalar vb6 = (vap.cross(vac)).dot(vad); + btScalar vc6 = (vap.cross(vad)).dot(vab); + btScalar vd6 = (vap.cross(vab)).dot(vac); + btScalar v6 = btScalar(1) / (vab.cross(vac).dot(vad)); + bary = btVector4(va6*v6, vb6*v6, vc6*v6, vd6*v6); +} + +// Iterate through all render nodes to find the simulation tetrahedron that contains the render node and record the barycentric weights +// If the node is not inside any tetrahedron, assign it to the tetrahedron in which the node has the least negative barycentric weight +void btSoftBodyHelpers::interpolateBarycentricWeights(btSoftBody* psb) +{ + psb->m_renderNodesInterpolationWeights.resize(psb->m_renderNodes.size()); + psb->m_renderNodesParents.resize(psb->m_renderNodes.size()); + for (int i = 0; i < psb->m_renderNodes.size(); ++i) + { + const btVector3& p = psb->m_renderNodes[i].m_x; + btVector4 bary; + btVector4 optimal_bary; + btScalar min_bary_weight = -1e3; + btAlignedObjectArray<const btSoftBody::Node*> optimal_parents; + bool found = false; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + const btSoftBody::Tetra& t = psb->m_tetras[j]; + getBarycentricWeights(t.m_n[0]->m_x, t.m_n[1]->m_x, t.m_n[2]->m_x, t.m_n[3]->m_x, p, bary); + btScalar new_min_bary_weight = bary[0]; + for (int k = 1; k < 4; ++k) + { + new_min_bary_weight = btMin(new_min_bary_weight, bary[k]); + } + if (new_min_bary_weight > min_bary_weight) + { + btAlignedObjectArray<const btSoftBody::Node*> parents; + parents.push_back(t.m_n[0]); + parents.push_back(t.m_n[1]); + parents.push_back(t.m_n[2]); + parents.push_back(t.m_n[3]); + optimal_parents = parents; + optimal_bary = bary; + min_bary_weight = new_min_bary_weight; + // stop searching if p is inside the tetrahedron at hand + if (bary[0]>=0. && bary[1]>=0. && bary[2]>=0. && bary[3]>=0.) + { + break; + } + } + } + psb->m_renderNodesInterpolationWeights[i] = optimal_bary; + psb->m_renderNodesParents[i] = optimal_parents; + } +} diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h index e433558c18..b20f2f6d62 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h @@ -17,7 +17,8 @@ subject to the following restrictions: #define BT_SOFT_BODY_HELPERS_H #include "btSoftBody.h" - +#include <fstream> +#include <string> // // Helpers // @@ -91,7 +92,8 @@ struct btSoftBodyHelpers int resx, int resy, int fixeds, - bool gendiags); + bool gendiags, + btScalar perturbation = 0.); /* Create a patch with UV Texture Coordinates */ static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo, const btVector3& corner00, @@ -140,7 +142,17 @@ struct btSoftBodyHelpers bool bfacelinks, bool btetralinks, bool bfacesfromtetras); + static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file); + static void writeObj(const char* file, const btSoftBody* psb); + + static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary); + + static void interpolateBarycentricWeights(btSoftBody* psb); + + static void generateBoundaryFaces(btSoftBody* psb); + + static void duplicateFaces(const char* filename, const btSoftBody* psb); /// Sort the list of links to move link calculations that are dependent upon earlier /// ones as far as possible away from the calculation of those values /// This tends to make adjacent loop iterations not dependent upon one another, diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h index 7efe514f38..cde4746d58 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h @@ -25,7 +25,43 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" #include "BulletCollision/CollisionShapes/btConvexInternalShape.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" #include <string.h> //for memset +#include <cmath> + +// Given a multibody link, a contact point and a contact direction, fill in the jacobian data needed to calculate the velocity change given an impulse in the contact direction +static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, + btMultiBodyJacobianData& jacobianData, + const btVector3& contact_point, + const btVector3& dir) +{ + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + jacobianData.m_jacobians.resize(ndof); + jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); + btScalar* jac = &jacobianData.m_jacobians[0]; + + multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, contact_point, dir, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); + multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], &jacobianData.m_deltaVelocitiesUnitImpulse[0], jacobianData.scratch_r, jacobianData.scratch_v); +} +static btVector3 generateUnitOrthogonalVector(const btVector3& u) +{ + btScalar ux = u.getX(); + btScalar uy = u.getY(); + btScalar uz = u.getZ(); + btScalar ax = std::abs(ux); + btScalar ay = std::abs(uy); + btScalar az = std::abs(uz); + btVector3 v; + if (ax <= ay && ax <= az) + v = btVector3(0, -uz, uy); + else if (ay <= ax && ay <= az) + v = btVector3(-uz, 0, ux); + else + v = btVector3(-uy, ux, 0); + v.normalize(); + return v; +} // // btSymMatrix // @@ -298,6 +334,46 @@ static inline btMatrix3x3 Diagonal(btScalar x) m[2] = btVector3(0, 0, x); return (m); } + +static inline btMatrix3x3 Diagonal(const btVector3& v) +{ + btMatrix3x3 m; + m[0] = btVector3(v.getX(), 0, 0); + m[1] = btVector3(0, v.getY(), 0); + m[2] = btVector3(0, 0, v.getZ()); + return (m); +} + +static inline btScalar Dot(const btScalar* a,const btScalar* b, int ndof) +{ + btScalar result = 0; + for (int i = 0; i < ndof; ++i) + result += a[i] * b[i]; + return result; +} + +static inline btMatrix3x3 OuterProduct(const btScalar* v1,const btScalar* v2,const btScalar* v3, + const btScalar* u1, const btScalar* u2, const btScalar* u3, int ndof) +{ + btMatrix3x3 m; + btScalar a11 = Dot(v1,u1,ndof); + btScalar a12 = Dot(v1,u2,ndof); + btScalar a13 = Dot(v1,u3,ndof); + + btScalar a21 = Dot(v2,u1,ndof); + btScalar a22 = Dot(v2,u2,ndof); + btScalar a23 = Dot(v2,u3,ndof); + + btScalar a31 = Dot(v3,u1,ndof); + btScalar a32 = Dot(v3,u2,ndof); + btScalar a33 = Dot(v3,u3,ndof); + m[0] = btVector3(a11, a12, a13); + m[1] = btVector3(a21, a22, a23); + m[2] = btVector3(a31, a32, a33); + return (m); +} + + // static inline btMatrix3x3 Add(const btMatrix3x3& a, const btMatrix3x3& b) @@ -428,6 +504,77 @@ static inline void ProjectOrigin(const btVector3& a, } // +static inline bool rayIntersectsTriangle(const btVector3& origin, const btVector3& dir, const btVector3& v0, const btVector3& v1, const btVector3& v2, btScalar& t) +{ + btScalar a, f, u, v; + + btVector3 e1 = v1 - v0; + btVector3 e2 = v2 - v0; + btVector3 h = dir.cross(e2); + a = e1.dot(h); + + if (a > -0.00001 && a < 0.00001) + return (false); + + f = btScalar(1) / a; + btVector3 s = origin - v0; + u = f * s.dot(h); + + if (u < 0.0 || u > 1.0) + return (false); + + btVector3 q = s.cross(e1); + v = f * dir.dot(q); + if (v < 0.0 || u + v > 1.0) + return (false); + // at this stage we can compute t to find out where + // the intersection point is on the line + t = f * e2.dot(q); + if (t > 0) // ray intersection + return (true); + else // this means that there is a line intersection + // but not a ray intersection + return (false); +} + +static inline bool lineIntersectsTriangle(const btVector3& rayStart, const btVector3& rayEnd, const btVector3& p1, const btVector3& p2, const btVector3& p3, btVector3& sect, btVector3& normal) +{ + btVector3 dir = rayEnd - rayStart; + btScalar dir_norm = dir.norm(); + if (dir_norm < SIMD_EPSILON) + return false; + dir.normalize(); + + btScalar t; + + bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t); + + if (ret) + { + if (t <= dir_norm) + { + sect = rayStart + dir * t; + } + else + { + ret = false; + } + } + + if (ret) + { + btVector3 n = (p3-p1).cross(p2-p1); + n.safeNormalize(); + if (n.dot(dir) < 0) + normal = n; + else + normal = -n; + } + return ret; +} + + +// template <typename T> static inline T BaryEval(const T& a, const T& b, @@ -854,10 +1001,62 @@ struct btSoftColliders psa->m_cdbvt.collideTT(psa->m_cdbvt.m_root, psb->m_cdbvt.m_root, *this); } }; + // + // CollideSDF_RS + // + struct CollideSDF_RS : btDbvt::ICollide + { + void Process(const btDbvtNode* leaf) + { + btSoftBody::Node* node = (btSoftBody::Node*)leaf->data; + DoNode(*node); + } + void DoNode(btSoftBody::Node& n) const + { + const btScalar m = n.m_im > 0 ? dynmargin : stamargin; + btSoftBody::RContact c; + + if ((!n.m_battach) && + psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti)) + { + const btScalar ima = n.m_im; + const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; + const btScalar ms = ima + imb; + if (ms > 0) + { + const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra = n.m_x - wtr.getOrigin(); + const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0); + const btVector3 vb = n.m_x - n.m_q; + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, c.m_cti.m_normal); + const btVector3 fv = vr - c.m_cti.m_normal * dn; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + c.m_node = &n; + c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); + c.m_c1 = ra; + c.m_c2 = ima * psb->m_sst.sdt; + c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc; + c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; + psb->m_rcontacts.push_back(c); + if (m_rigidBody) + m_rigidBody->activate(); + } + } + } + btSoftBody* psb; + const btCollisionObjectWrapper* m_colObj1Wrap; + btRigidBody* m_rigidBody; + btScalar dynmargin; + btScalar stamargin; + }; + // - // CollideSDF_RS + // CollideSDF_RD // - struct CollideSDF_RS : btDbvt::ICollide + struct CollideSDF_RD : btDbvt::ICollide { void Process(const btDbvtNode* leaf) { @@ -867,36 +1066,75 @@ struct btSoftColliders void DoNode(btSoftBody::Node& n) const { const btScalar m = n.m_im > 0 ? dynmargin : stamargin; - btSoftBody::RContact c; + btSoftBody::DeformableNodeRigidContact c; - if ((!n.m_battach) && - psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti)) - { - const btScalar ima = n.m_im; - const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; - const btScalar ms = ima + imb; - if (ms > 0) - { - const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); - static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); - const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; - const btVector3 ra = n.m_x - wtr.getOrigin(); - const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0); - const btVector3 vb = n.m_x - n.m_q; - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, c.m_cti.m_normal); - const btVector3 fv = vr - c.m_cti.m_normal * dn; - const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); - c.m_node = &n; - c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); - c.m_c1 = ra; - c.m_c2 = ima * psb->m_sst.sdt; - c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc; - c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; - psb->m_rcontacts.push_back(c); - if (m_rigidBody) - m_rigidBody->activate(); - } + if (!n.m_battach) + { + // check for collision at x_{n+1}^* as well at x_n + if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true) || psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true)) + { + const btScalar ima = n.m_im; + // todo: collision between multibody and fixed deformable node will be missed. + const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; + const btScalar ms = ima + imb; + if (ms > 0) + { + // resolve contact at x_n + psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ false); + btSoftBody::sCti& cti = c.m_cti; + c.m_node = &n; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; + + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra = n.m_x - wtr.getOrigin(); + + c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); + c.m_c1 = ra; + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 normal = cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_x, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_x, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_x, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + c.m_c0 = rot.transpose() * local_impulse_matrix * rot; + c.jacobianData_normal = jacobianData_normal; + c.jacobianData_t1 = jacobianData_t1; + c.jacobianData_t2 = jacobianData_t2; + c.t1 = t1; + c.t2 = t2; + } + } + psb->m_nodeRigidContacts.push_back(c); + } + } } } btSoftBody* psb; @@ -905,6 +1143,112 @@ struct btSoftColliders btScalar dynmargin; btScalar stamargin; }; + + // + // CollideSDF_RDF + // + struct CollideSDF_RDF : btDbvt::ICollide + { + void Process(const btDbvtNode* leaf) + { + btSoftBody::Face* face = (btSoftBody::Face*)leaf->data; + DoNode(*face); + } + void DoNode(btSoftBody::Face& f) const + { + btSoftBody::Node* n0 = f.m_n[0]; + btSoftBody::Node* n1 = f.m_n[1]; + btSoftBody::Node* n2 = f.m_n[2]; + + const btScalar m = (n0->m_im > 0 && n1->m_im > 0 && n2->m_im > 0 )? dynmargin : stamargin; + btSoftBody::DeformableFaceRigidContact c; + btVector3 contact_point; + btVector3 bary; + if (psb->checkDeformableFaceContact(m_colObj1Wrap, f, contact_point, bary, m, c.m_cti, true)) + { + f.m_pcontact[3] = 1; + btScalar ima = n0->m_im + n1->m_im + n2->m_im; + const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; + // todo: collision between multibody and fixed deformable face will be missed. + const btScalar ms = ima + imb; + if (ms > 0) + { + // resolve contact at x_n + psb->checkDeformableFaceContact(m_colObj1Wrap, f, contact_point, bary, m, c.m_cti, /*predict = */ false); + btSoftBody::sCti& cti = c.m_cti; + c.m_contactPoint = contact_point; + c.m_bary = bary; + // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices + c.m_weights = btScalar(2)/(btScalar(1) + bary.length2()) * bary; + c.m_face = &f; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + + // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf + ima = bary.getX()*c.m_weights.getX() * n0->m_im + bary.getY()*c.m_weights.getY() * n1->m_im + bary.getZ()*c.m_weights.getZ() * n2->m_im; + + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra = contact_point - wtr.getOrigin(); + + // we do not scale the impulse matrix by dt + c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); + c.m_c1 = ra; + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 normal = cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, contact_point, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, contact_point, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, contact_point, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(ima) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + c.m_c0 = rot.transpose() * local_impulse_matrix * rot; + c.jacobianData_normal = jacobianData_normal; + c.jacobianData_t1 = jacobianData_t1; + c.jacobianData_t2 = jacobianData_t2; + c.t1 = t1; + c.t2 = t2; + } + } + psb->m_faceRigidContacts.push_back(c); + } + } + else + { + f.m_pcontact[3] = 0; + } + } + btSoftBody* psb; + const btCollisionObjectWrapper* m_colObj1Wrap; + btRigidBody* m_rigidBody; + btScalar dynmargin; + btScalar stamargin; + }; + // // CollideVF_SS // @@ -915,6 +1259,12 @@ struct btSoftColliders { btSoftBody::Node* node = (btSoftBody::Node*)lnode->data; btSoftBody::Face* face = (btSoftBody::Face*)lface->data; + for (int i = 0; i < 3; ++i) + { + if (face->m_n[i] == node) + continue; + } + btVector3 o = node->m_x; btVector3 p; btScalar d = SIMD_INFINITY; @@ -944,7 +1294,7 @@ struct btSoftColliders c.m_node = node; c.m_face = face; c.m_weights = w; - c.m_friction = btMax(psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); + c.m_friction = btMax (psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); c.m_cfm[0] = ma / ms * psb[0]->m_cfg.kSHR; c.m_cfm[1] = mb / ms * psb[1]->m_cfg.kSHR; psb[0]->m_scontacts.push_back(c); @@ -954,6 +1304,137 @@ struct btSoftColliders btSoftBody* psb[2]; btScalar mrg; }; + + + // + // CollideVF_DD + // + struct CollideVF_DD : btDbvt::ICollide + { + void Process(const btDbvtNode* lnode, + const btDbvtNode* lface) + { + btSoftBody::Node* node = (btSoftBody::Node*)lnode->data; + btSoftBody::Face* face = (btSoftBody::Face*)lface->data; + + btVector3 o = node->m_x; + btVector3 p; + btScalar d = SIMD_INFINITY; + ProjectOrigin(face->m_n[0]->m_x - o, + face->m_n[1]->m_x - o, + face->m_n[2]->m_x - o, + p, d); + const btScalar m = mrg + (o - node->m_q).safeNorm() * 2; + if (d < (m * m)) + { + const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; + const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p + o); + const btScalar ma = node->m_im; + btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w); + if ((n[0]->m_im <= 0) || + (n[1]->m_im <= 0) || + (n[2]->m_im <= 0)) + { + mb = 0; + } + const btScalar ms = ma + mb; + if (ms > 0) + { + btSoftBody::DeformableFaceNodeContact c; + if (useFaceNormal) + c.m_normal = face->m_normal; + else + c.m_normal = p / -btSqrt(d); + c.m_margin = mrg; + c.m_node = node; + c.m_face = face; + c.m_bary = w; + // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices + c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; + c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF; + // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf + c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; + c.m_c0 = btScalar(1)/(ma + c.m_imf); + psb[0]->m_faceNodeContacts.push_back(c); + } + } + } + btSoftBody* psb[2]; + btScalar mrg; + bool useFaceNormal; + }; + + // + // CollideFF_DD + // + struct CollideFF_DD : btDbvt::ICollide + { + void Process(const btDbvntNode* lface1, + const btDbvntNode* lface2) + { + btSoftBody::Face* f = (btSoftBody::Face*)lface1->data; + btSoftBody::Face* face = (btSoftBody::Face*)lface2->data; + for (int node_id = 0; node_id < 3; ++node_id) + { + btSoftBody::Node* node = f->m_n[node_id]; + bool skip = false; + for (int i = 0; i < 3; ++i) + { + if (face->m_n[i] == node) + { + skip = true; + break; + } + } + if (skip) + continue; + btVector3 o = node->m_x; + btVector3 p; + btScalar d = SIMD_INFINITY; + ProjectOrigin(face->m_n[0]->m_x - o, + face->m_n[1]->m_x - o, + face->m_n[2]->m_x - o, + p, d); + const btScalar m = mrg + (o - node->m_q).safeNorm() * 2; + if (d < (m * m)) + { + const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; + const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p + o); + const btScalar ma = node->m_im; + btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w); + if ((n[0]->m_im <= 0) || + (n[1]->m_im <= 0) || + (n[2]->m_im <= 0)) + { + mb = 0; + } + const btScalar ms = ma + mb; + if (ms > 0) + { + btSoftBody::DeformableFaceNodeContact c; + if (useFaceNormal) + c.m_normal = face->m_normal; + else + c.m_normal = p / -btSqrt(d); + c.m_margin = mrg; + c.m_node = node; + c.m_face = face; + c.m_bary = w; + // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices + c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; + c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF; + // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf + c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; + c.m_c0 = btScalar(1)/(ma + c.m_imf); + psb[0]->m_faceNodeContacts.push_back(c); + } + } + } + } + btSoftBody* psb[2]; + btScalar mrg; + bool useFaceNormal; + }; }; #endif //_BT_SOFT_BODY_INTERNALS_H diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h b/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h index dcf5082650..c4ac4141aa 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h @@ -35,7 +35,8 @@ public: CL_SOLVER, CL_SIMD_SOLVER, DX_SOLVER, - DX_SIMD_SOLVER + DX_SIMD_SOLVER, + DEFORMABLE_SOLVER }; protected: @@ -71,10 +72,10 @@ public: virtual void copyBackToSoftBodies(bool bMove = true) = 0; /** Predict motion of soft bodies into next timestep */ - virtual void predictMotion(float solverdt) = 0; + virtual void predictMotion(btScalar solverdt) = 0; /** Solve constraints for a set of soft bodies */ - virtual void solveConstraints(float solverdt) = 0; + virtual void solveConstraints(btScalar solverdt) = 0; /** Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes */ virtual void updateSoftBodies() = 0; diff --git a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h b/thirdparty/bullet/BulletSoftBody/btSparseSDF.h index a52b2cb1cc..eb290a1dbd 100644 --- a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h +++ b/thirdparty/bullet/BulletSoftBody/btSparseSDF.h @@ -20,27 +20,38 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" -// Modified Paul Hsieh hash -template <const int DWORDLEN> -unsigned int HsiehHash(const void* pdata) -{ - const unsigned short* data = (const unsigned short*)pdata; - unsigned hash = DWORDLEN << 2, tmp; - for (int i = 0; i < DWORDLEN; ++i) - { - hash += data[0]; - tmp = (data[1] << 11) ^ hash; - hash = (hash << 16) ^ tmp; - data += 2; - hash += hash >> 11; - } - hash ^= hash << 3; - hash += hash >> 5; - hash ^= hash << 4; - hash += hash >> 17; - hash ^= hash << 25; - hash += hash >> 6; - return (hash); +// Fast Hash + +#if !defined (get16bits) +#define get16bits(d) ((((unsigned int)(((const unsigned char *)(d))[1])) << 8)\ ++(unsigned int)(((const unsigned char *)(d))[0]) ) +#endif +// +// super hash function by Paul Hsieh +// +inline unsigned int HsiehHash (const char * data, int len) { + unsigned int hash = len, tmp; + len>>=2; + + /* Main loop */ + for (;len > 0; len--) { + hash += get16bits (data); + tmp = (get16bits (data+2) << 11) ^ hash; + hash = (hash << 16) ^ tmp; + data += 2*sizeof (unsigned short); + hash += hash >> 11; + } + + + /* Force "avalanching" of final 127 bits */ + hash ^= hash << 3; + hash += hash >> 5; + hash ^= hash << 4; + hash += hash >> 17; + hash ^= hash << 25; + hash += hash >> 6; + + return hash; } template <const int CELLSIZE> @@ -70,12 +81,17 @@ struct btSparseSdf btAlignedObjectArray<Cell*> cells; btScalar voxelsz; + btScalar m_defaultVoxelsz; int puid; int ncells; int m_clampCells; int nprobes; int nqueries; + ~btSparseSdf() + { + Reset(); + } // // Methods // @@ -87,9 +103,16 @@ struct btSparseSdf //if this limit is reached, the SDF is reset (at the cost of some performance during the reset) m_clampCells = clampCells; cells.resize(hashsize, 0); + m_defaultVoxelsz = 0.25; Reset(); } // + + void setDefaultVoxelsz(btScalar sz) + { + m_defaultVoxelsz = sz; + } + void Reset() { for (int i = 0, ni = cells.size(); i < ni; ++i) @@ -103,7 +126,7 @@ struct btSparseSdf pc = pn; } } - voxelsz = 0.25; + voxelsz = m_defaultVoxelsz; puid = 0; ncells = 0; nprobes = 1; @@ -197,6 +220,9 @@ struct btSparseSdf } else { + // printf("c->hash/c[0][1][2]=%d,%d,%d,%d\n", c->hash, c->c[0], c->c[1],c->c[2]); + //printf("h,ixb,iyb,izb=%d,%d,%d,%d\n", h,ix.b, iy.b, iz.b); + c = c->next; } } @@ -248,7 +274,7 @@ struct btSparseSdf Lerp(gy[2], gy[3], ix.f), iz.f)); normal.setZ(Lerp(Lerp(gz[0], gz[1], ix.f), Lerp(gz[2], gz[3], ix.f), iy.f)); - normal = normal.normalized(); + normal.safeNormalize(); #else normal = btVector3(d[1] - d[0], d[3] - d[0], d[4] - d[0]).normalized(); #endif @@ -322,19 +348,22 @@ struct btSparseSdf { struct btS { - int x, y, z; + int x, y, z, w; void* p; }; btS myset; + //memset may be needed in case of additional (uninitialized) padding! + //memset(&myset, 0, sizeof(btS)); myset.x = x; myset.y = y; myset.z = z; + myset.w = 0; myset.p = (void*)shape; - const void* ptr = &myset; + const char* ptr = (const char*)&myset; - unsigned int result = HsiehHash<sizeof(btS) / 4>(ptr); + unsigned int result = HsiehHash(ptr, sizeof(btS) ); return result; } diff --git a/thirdparty/bullet/LinearMath/btImplicitQRSVD.h b/thirdparty/bullet/LinearMath/btImplicitQRSVD.h new file mode 100644 index 0000000000..7b4cfaf21e --- /dev/null +++ b/thirdparty/bullet/LinearMath/btImplicitQRSVD.h @@ -0,0 +1,916 @@ +/** + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google 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. + + Copyright (c) 2016 Theodore Gast, Chuyuan Fu, Chenfanfu Jiang, Joseph Teran + + Permission is hereby granted, free of charge, to any person obtaining a copy of + this software and associated documentation files (the "Software"), to deal in + the Software without restriction, including without limitation the rights to + use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies + of the Software, and to permit persons to whom the Software is furnished to do + so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all + copies or substantial portions of the Software. + + If the code is used in an article, the following paper shall be cited: + @techreport{qrsvd:2016, + title={Implicit-shifted Symmetric QR Singular Value Decomposition of 3x3 Matrices}, + author={Gast, Theodore and Fu, Chuyuan and Jiang, Chenfanfu and Teran, Joseph}, + year={2016}, + institution={University of California Los Angeles} + } + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + SOFTWARE. +**/ + +#ifndef btImplicitQRSVD_h +#define btImplicitQRSVD_h + +#include "btMatrix3x3.h" +class btMatrix2x2 +{ +public: + btScalar m_00, m_01, m_10, m_11; + btMatrix2x2(): m_00(0), m_10(0), m_01(0), m_11(0) + { + } + btMatrix2x2(const btMatrix2x2& other): m_00(other.m_00),m_01(other.m_01),m_10(other.m_10),m_11(other.m_11) + {} + btScalar& operator()(int i, int j) + { + if (i == 0 && j == 0) + return m_00; + if (i == 1 && j == 0) + return m_10; + if (i == 0 && j == 1) + return m_01; + if (i == 1 && j == 1) + return m_11; + btAssert(false); + return m_00; + } + const btScalar& operator()(int i, int j) const + { + if (i == 0 && j == 0) + return m_00; + if (i == 1 && j == 0) + return m_10; + if (i == 0 && j == 1) + return m_01; + if (i == 1 && j == 1) + return m_11; + btAssert(false); + return m_00; + } + void setIdentity() + { + m_00 = 1; + m_11 = 1; + m_01 = 0; + m_10 = 0; + } +}; + +static inline btScalar copySign(btScalar x, btScalar y) { + if ((x < 0 && y > 0) || (x > 0 && y < 0)) + return -x; + return x; +} + +/** + Class for givens rotation. + Row rotation G*A corresponds to something like + c -s 0 + ( s c 0 ) A + 0 0 1 + Column rotation A G' corresponds to something like + c -s 0 + A ( s c 0 ) + 0 0 1 + + c and s are always computed so that + ( c -s ) ( a ) = ( * ) + s c b ( 0 ) + + Assume rowi<rowk. + */ + +class GivensRotation { +public: + int rowi; + int rowk; + btScalar c; + btScalar s; + + inline GivensRotation(int rowi_in, int rowk_in) + : rowi(rowi_in) + , rowk(rowk_in) + , c(1) + , s(0) + { + } + + inline GivensRotation(btScalar a, btScalar b, int rowi_in, int rowk_in) + : rowi(rowi_in) + , rowk(rowk_in) + { + compute(a, b); + } + + ~GivensRotation() {} + + inline void transposeInPlace() + { + s = -s; + } + + /** + Compute c and s from a and b so that + ( c -s ) ( a ) = ( * ) + s c b ( 0 ) + */ + inline void compute(const btScalar a, const btScalar b) + { + btScalar d = a * a + b * b; + c = 1; + s = 0; + if (d > SIMD_EPSILON) { + btScalar sqrtd = btSqrt(d); + if (sqrtd>SIMD_EPSILON) + { + btScalar t = btScalar(1.0)/sqrtd; + c = a * t; + s = -b * t; + } + } + } + + /** + This function computes c and s so that + ( c -s ) ( a ) = ( 0 ) + s c b ( * ) + */ + inline void computeUnconventional(const btScalar a, const btScalar b) + { + btScalar d = a * a + b * b; + c = 0; + s = 1; + if (d > SIMD_EPSILON) { + btScalar t = btScalar(1.0)/btSqrt(d); + s = a * t; + c = b * t; + } + } + /** + Fill the R with the entries of this rotation + */ + inline void fill(const btMatrix3x3& R) const + { + btMatrix3x3& A = const_cast<btMatrix3x3&>(R); + A.setIdentity(); + A[rowi][rowi] = c; + A[rowk][rowi] = -s; + A[rowi][rowk] = s; + A[rowk][rowk] = c; + } + + inline void fill(const btMatrix2x2& R) const + { + btMatrix2x2& A = const_cast<btMatrix2x2&>(R); + A(rowi,rowi) = c; + A(rowk,rowi) = -s; + A(rowi,rowk) = s; + A(rowk,rowk) = c; + } + + /** + This function does something like + c -s 0 + ( s c 0 ) A -> A + 0 0 1 + It only affects row i and row k of A. + */ + inline void rowRotation(btMatrix3x3& A) const + { + for (int j = 0; j < 3; j++) { + btScalar tau1 = A[rowi][j]; + btScalar tau2 = A[rowk][j]; + A[rowi][j] = c * tau1 - s * tau2; + A[rowk][j] = s * tau1 + c * tau2; + } + } + inline void rowRotation(btMatrix2x2& A) const + { + for (int j = 0; j < 2; j++) { + btScalar tau1 = A(rowi,j); + btScalar tau2 = A(rowk,j); + A(rowi,j) = c * tau1 - s * tau2; + A(rowk,j) = s * tau1 + c * tau2; + } + } + + /** + This function does something like + c s 0 + A ( -s c 0 ) -> A + 0 0 1 + It only affects column i and column k of A. + */ + inline void columnRotation(btMatrix3x3& A) const + { + for (int j = 0; j < 3; j++) { + btScalar tau1 = A[j][rowi]; + btScalar tau2 = A[j][rowk]; + A[j][rowi] = c * tau1 - s * tau2; + A[j][rowk] = s * tau1 + c * tau2; + } + } + inline void columnRotation(btMatrix2x2& A) const + { + for (int j = 0; j < 2; j++) { + btScalar tau1 = A(j,rowi); + btScalar tau2 = A(j,rowk); + A(j,rowi) = c * tau1 - s * tau2; + A(j,rowk) = s * tau1 + c * tau2; + } + } + + /** + Multiply givens must be for same row and column + **/ + inline void operator*=(const GivensRotation& A) + { + btScalar new_c = c * A.c - s * A.s; + btScalar new_s = s * A.c + c * A.s; + c = new_c; + s = new_s; + } + + /** + Multiply givens must be for same row and column + **/ + inline GivensRotation operator*(const GivensRotation& A) const + { + GivensRotation r(*this); + r *= A; + return r; + } +}; + +/** + \brief zero chasing the 3X3 matrix to bidiagonal form + original form of H: x x 0 + x x x + 0 0 x + after zero chase: + x x 0 + 0 x x + 0 0 x + */ +inline void zeroChase(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V) +{ + + /** + Reduce H to of form + x x + + 0 x x + 0 0 x + */ + GivensRotation r1(H[0][0], H[1][0], 0, 1); + /** + Reduce H to of form + x x 0 + 0 x x + 0 + x + Can calculate r2 without multiplying by r1 since both entries are in first two + rows thus no need to divide by sqrt(a^2+b^2) + */ + GivensRotation r2(1, 2); + if (H[1][0] != 0) + r2.compute(H[0][0] * H[0][1] + H[1][0] * H[1][1], H[0][0] * H[0][2] + H[1][0] * H[1][2]); + else + r2.compute(H[0][1], H[0][2]); + + r1.rowRotation(H); + + /* GivensRotation<T> r2(H(0, 1), H(0, 2), 1, 2); */ + r2.columnRotation(H); + r2.columnRotation(V); + + /** + Reduce H to of form + x x 0 + 0 x x + 0 0 x + */ + GivensRotation r3(H[1][1], H[2][1], 1, 2); + r3.rowRotation(H); + + // Save this till end for better cache coherency + // r1.rowRotation(u_transpose); + // r3.rowRotation(u_transpose); + r1.columnRotation(U); + r3.columnRotation(U); +} + +/** + \brief make a 3X3 matrix to upper bidiagonal form + original form of H: x x x + x x x + x x x + after zero chase: + x x 0 + 0 x x + 0 0 x + */ +inline void makeUpperBidiag(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V) +{ + U.setIdentity(); + V.setIdentity(); + + /** + Reduce H to of form + x x x + x x x + 0 x x + */ + + GivensRotation r(H[1][0], H[2][0], 1, 2); + r.rowRotation(H); + // r.rowRotation(u_transpose); + r.columnRotation(U); + // zeroChase(H, u_transpose, V); + zeroChase(H, U, V); +} + +/** + \brief make a 3X3 matrix to lambda shape + original form of H: x x x + * x x x + * x x x + after : + * x 0 0 + * x x 0 + * x 0 x + */ +inline void makeLambdaShape(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V) +{ + U.setIdentity(); + V.setIdentity(); + + /** + Reduce H to of form + * x x 0 + * x x x + * x x x + */ + + GivensRotation r1(H[0][1], H[0][2], 1, 2); + r1.columnRotation(H); + r1.columnRotation(V); + + /** + Reduce H to of form + * x x 0 + * x x 0 + * x x x + */ + + r1.computeUnconventional(H[1][2], H[2][2]); + r1.rowRotation(H); + r1.columnRotation(U); + + /** + Reduce H to of form + * x x 0 + * x x 0 + * x 0 x + */ + + GivensRotation r2(H[2][0], H[2][1], 0, 1); + r2.columnRotation(H); + r2.columnRotation(V); + + /** + Reduce H to of form + * x 0 0 + * x x 0 + * x 0 x + */ + r2.computeUnconventional(H[0][1], H[1][1]); + r2.rowRotation(H); + r2.columnRotation(U); +} + +/** + \brief 2x2 polar decomposition. + \param[in] A matrix. + \param[out] R Robustly a rotation matrix. + \param[out] S_Sym Symmetric. Whole matrix is stored + + Polar guarantees negative sign is on the small magnitude singular value. + S is guaranteed to be the closest one to identity. + R is guaranteed to be the closest rotation to A. + */ +inline void polarDecomposition(const btMatrix2x2& A, + GivensRotation& R, + const btMatrix2x2& S_Sym) +{ + btScalar a = (A(0, 0) + A(1, 1)), b = (A(1, 0) - A(0, 1)); + btScalar denominator = btSqrt(a*a+b*b); + R.c = (btScalar)1; + R.s = (btScalar)0; + if (denominator > SIMD_EPSILON) { + /* + No need to use a tolerance here because x(0) and x(1) always have + smaller magnitude then denominator, therefore overflow never happens. + In Bullet, we use a tolerance anyway. + */ + R.c = a / denominator; + R.s = -b / denominator; + } + btMatrix2x2& S = const_cast<btMatrix2x2&>(S_Sym); + S = A; + R.rowRotation(S); +} + +inline void polarDecomposition(const btMatrix2x2& A, + const btMatrix2x2& R, + const btMatrix2x2& S_Sym) +{ + GivensRotation r(0, 1); + polarDecomposition(A, r, S_Sym); + r.fill(R); +} + +/** + \brief 2x2 SVD (singular value decomposition) A=USV' + \param[in] A Input matrix. + \param[out] U Robustly a rotation matrix in Givens form + \param[out] Sigma matrix of singular values sorted with decreasing magnitude. The second one can be negative. + \param[out] V Robustly a rotation matrix in Givens form + */ +inline void singularValueDecomposition( + const btMatrix2x2& A, + GivensRotation& U, + const btMatrix2x2& Sigma, + GivensRotation& V, + const btScalar tol = 64 * std::numeric_limits<btScalar>::epsilon()) +{ + btMatrix2x2& sigma = const_cast<btMatrix2x2&>(Sigma); + sigma.setIdentity(); + btMatrix2x2 S_Sym; + polarDecomposition(A, U, S_Sym); + btScalar cosine, sine; + btScalar x = S_Sym(0, 0); + btScalar y = S_Sym(0, 1); + btScalar z = S_Sym(1, 1); + if (y == 0) { + // S is already diagonal + cosine = 1; + sine = 0; + sigma(0,0) = x; + sigma(1,1) = z; + } + else { + btScalar tau = 0.5 * (x - z); + btScalar val = tau * tau + y * y; + if (val > SIMD_EPSILON) + { + btScalar w = btSqrt(val); + // w > y > 0 + btScalar t; + if (tau > 0) { + // tau + w > w > y > 0 ==> division is safe + t = y / (tau + w); + } + else { + // tau - w < -w < -y < 0 ==> division is safe + t = y / (tau - w); + } + cosine = btScalar(1) / btSqrt(t * t + btScalar(1)); + sine = -t * cosine; + /* + V = [cosine -sine; sine cosine] + Sigma = V'SV. Only compute the diagonals for efficiency. + Also utilize symmetry of S and don't form V yet. + */ + btScalar c2 = cosine * cosine; + btScalar csy = 2 * cosine * sine * y; + btScalar s2 = sine * sine; + sigma(0,0) = c2 * x - csy + s2 * z; + sigma(1,1) = s2 * x + csy + c2 * z; + } else + { + cosine = 1; + sine = 0; + sigma(0,0) = x; + sigma(1,1) = z; + } + } + + // Sorting + // Polar already guarantees negative sign is on the small magnitude singular value. + if (sigma(0,0) < sigma(1,1)) { + std::swap(sigma(0,0), sigma(1,1)); + V.c = -sine; + V.s = cosine; + } + else { + V.c = cosine; + V.s = sine; + } + U *= V; +} + +/** + \brief 2x2 SVD (singular value decomposition) A=USV' + \param[in] A Input matrix. + \param[out] U Robustly a rotation matrix. + \param[out] Sigma Vector of singular values sorted with decreasing magnitude. The second one can be negative. + \param[out] V Robustly a rotation matrix. + */ +inline void singularValueDecomposition( + const btMatrix2x2& A, + const btMatrix2x2& U, + const btMatrix2x2& Sigma, + const btMatrix2x2& V, + const btScalar tol = 64 * std::numeric_limits<btScalar>::epsilon()) +{ + GivensRotation gv(0, 1); + GivensRotation gu(0, 1); + singularValueDecomposition(A, gu, Sigma, gv); + + gu.fill(U); + gv.fill(V); +} + +/** + \brief compute wilkinsonShift of the block + a1 b1 + b1 a2 + based on the wilkinsonShift formula + mu = c + d - sign (d) \ sqrt (d*d + b*b), where d = (a-c)/2 + + */ +inline btScalar wilkinsonShift(const btScalar a1, const btScalar b1, const btScalar a2) +{ + btScalar d = (btScalar)0.5 * (a1 - a2); + btScalar bs = b1 * b1; + btScalar val = d * d + bs; + if (val>SIMD_EPSILON) + { + btScalar denom = btFabs(d) + btSqrt(val); + + btScalar mu = a2 - copySign(bs / (denom), d); + // T mu = a2 - bs / ( d + sign_d*sqrt (d*d + bs)); + return mu; + } + return a2; +} + +/** + \brief Helper function of 3X3 SVD for processing 2X2 SVD + */ +template <int t> +inline void process(btMatrix3x3& B, btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V) +{ + int other = (t == 1) ? 0 : 2; + GivensRotation u(0, 1); + GivensRotation v(0, 1); + sigma[other] = B[other][other]; + + btMatrix2x2 B_sub, sigma_sub; + if (t == 0) + { + B_sub.m_00 = B[0][0]; + B_sub.m_10 = B[1][0]; + B_sub.m_01 = B[0][1]; + B_sub.m_11 = B[1][1]; + sigma_sub.m_00 = sigma[0]; + sigma_sub.m_11 = sigma[1]; +// singularValueDecomposition(B.template block<2, 2>(t, t), u, sigma.template block<2, 1>(t, 0), v); + singularValueDecomposition(B_sub, u, sigma_sub, v); + B[0][0] = B_sub.m_00; + B[1][0] = B_sub.m_10; + B[0][1] = B_sub.m_01; + B[1][1] = B_sub.m_11; + sigma[0] = sigma_sub.m_00; + sigma[1] = sigma_sub.m_11; + } + else + { + B_sub.m_00 = B[1][1]; + B_sub.m_10 = B[2][1]; + B_sub.m_01 = B[1][2]; + B_sub.m_11 = B[2][2]; + sigma_sub.m_00 = sigma[1]; + sigma_sub.m_11 = sigma[2]; + // singularValueDecomposition(B.template block<2, 2>(t, t), u, sigma.template block<2, 1>(t, 0), v); + singularValueDecomposition(B_sub, u, sigma_sub, v); + B[1][1] = B_sub.m_00; + B[2][1] = B_sub.m_10; + B[1][2] = B_sub.m_01; + B[2][2] = B_sub.m_11; + sigma[1] = sigma_sub.m_00; + sigma[2] = sigma_sub.m_11; + } + u.rowi += t; + u.rowk += t; + v.rowi += t; + v.rowk += t; + u.columnRotation(U); + v.columnRotation(V); +} + +/** + \brief Helper function of 3X3 SVD for flipping signs due to flipping signs of sigma + */ +inline void flipSign(int i, btMatrix3x3& U, btVector3& sigma) +{ + sigma[i] = -sigma[i]; + U[0][i] = -U[0][i]; + U[1][i] = -U[1][i]; + U[2][i] = -U[2][i]; +} + +inline void flipSign(int i, btMatrix3x3& U) +{ + U[0][i] = -U[0][i]; + U[1][i] = -U[1][i]; + U[2][i] = -U[2][i]; +} + +inline void swapCol(btMatrix3x3& A, int i, int j) +{ + for (int d = 0; d < 3; ++d) + std::swap(A[d][i], A[d][j]); +} +/** + \brief Helper function of 3X3 SVD for sorting singular values + */ +inline void sort(btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V, int t) +{ + if (t == 0) + { + // Case: sigma(0) > |sigma(1)| >= |sigma(2)| + if (btFabs(sigma[1]) >= btFabs(sigma[2])) { + if (sigma[1] < 0) { + flipSign(1, U, sigma); + flipSign(2, U, sigma); + } + return; + } + + //fix sign of sigma for both cases + if (sigma[2] < 0) { + flipSign(1, U, sigma); + flipSign(2, U, sigma); + } + + //swap sigma(1) and sigma(2) for both cases + std::swap(sigma[1], sigma[2]); + // swap the col 1 and col 2 for U,V + swapCol(U,1,2); + swapCol(V,1,2); + + // Case: |sigma(2)| >= sigma(0) > |simga(1)| + if (sigma[1] > sigma[0]) { + std::swap(sigma[0], sigma[1]); + swapCol(U,0,1); + swapCol(V,0,1); + } + + // Case: sigma(0) >= |sigma(2)| > |simga(1)| + else { + flipSign(2, U); + flipSign(2, V); + } + } + else if (t == 1) + { + // Case: |sigma(0)| >= sigma(1) > |sigma(2)| + if (btFabs(sigma[0]) >= sigma[1]) { + if (sigma[0] < 0) { + flipSign(0, U, sigma); + flipSign(2, U, sigma); + } + return; + } + + //swap sigma(0) and sigma(1) for both cases + std::swap(sigma[0], sigma[1]); + swapCol(U, 0, 1); + swapCol(V, 0, 1); + + // Case: sigma(1) > |sigma(2)| >= |sigma(0)| + if (btFabs(sigma[1]) < btFabs(sigma[2])) { + std::swap(sigma[1], sigma[2]); + swapCol(U, 1, 2); + swapCol(V, 1, 2); + } + + // Case: sigma(1) >= |sigma(0)| > |sigma(2)| + else { + flipSign(1, U); + flipSign(1, V); + } + + // fix sign for both cases + if (sigma[1] < 0) { + flipSign(1, U, sigma); + flipSign(2, U, sigma); + } + } +} + +/** + \brief 3X3 SVD (singular value decomposition) A=USV' + \param[in] A Input matrix. + \param[out] U is a rotation matrix. + \param[out] sigma Diagonal matrix, sorted with decreasing magnitude. The third one can be negative. + \param[out] V is a rotation matrix. + */ +inline int singularValueDecomposition(const btMatrix3x3& A, + btMatrix3x3& U, + btVector3& sigma, + btMatrix3x3& V, + btScalar tol = 128*std::numeric_limits<btScalar>::epsilon()) +{ + using std::fabs; + btMatrix3x3 B = A; + U.setIdentity(); + V.setIdentity(); + + makeUpperBidiag(B, U, V); + + int count = 0; + btScalar mu = (btScalar)0; + GivensRotation r(0, 1); + + btScalar alpha_1 = B[0][0]; + btScalar beta_1 = B[0][1]; + btScalar alpha_2 = B[1][1]; + btScalar alpha_3 = B[2][2]; + btScalar beta_2 = B[1][2]; + btScalar gamma_1 = alpha_1 * beta_1; + btScalar gamma_2 = alpha_2 * beta_2; + btScalar val = alpha_1 * alpha_1 + alpha_2 * alpha_2 + alpha_3 * alpha_3 + beta_1 * beta_1 + beta_2 * beta_2; + if (val > SIMD_EPSILON) + { + tol *= btMax((btScalar)0.5 * btSqrt(val), (btScalar)1); + } + /** + Do implicit shift QR until A^T A is block diagonal + */ + int max_count = 100; + + while (btFabs(beta_2) > tol && btFabs(beta_1) > tol + && btFabs(alpha_1) > tol && btFabs(alpha_2) > tol + && btFabs(alpha_3) > tol + && count < max_count) { + mu = wilkinsonShift(alpha_2 * alpha_2 + beta_1 * beta_1, gamma_2, alpha_3 * alpha_3 + beta_2 * beta_2); + + r.compute(alpha_1 * alpha_1 - mu, gamma_1); + r.columnRotation(B); + + r.columnRotation(V); + zeroChase(B, U, V); + + alpha_1 = B[0][0]; + beta_1 = B[0][1]; + alpha_2 = B[1][1]; + alpha_3 = B[2][2]; + beta_2 = B[1][2]; + gamma_1 = alpha_1 * beta_1; + gamma_2 = alpha_2 * beta_2; + count++; + } + /** + Handle the cases of one of the alphas and betas being 0 + Sorted by ease of handling and then frequency + of occurrence + + If B is of form + x x 0 + 0 x 0 + 0 0 x + */ + if (btFabs(beta_2) <= tol) { + process<0>(B, U, sigma, V); + sort(U, sigma, V,0); + } + /** + If B is of form + x 0 0 + 0 x x + 0 0 x + */ + else if (btFabs(beta_1) <= tol) { + process<1>(B, U, sigma, V); + sort(U, sigma, V,1); + } + /** + If B is of form + x x 0 + 0 0 x + 0 0 x + */ + else if (btFabs(alpha_2) <= tol) { + /** + Reduce B to + x x 0 + 0 0 0 + 0 0 x + */ + GivensRotation r1(1, 2); + r1.computeUnconventional(B[1][2], B[2][2]); + r1.rowRotation(B); + r1.columnRotation(U); + + process<0>(B, U, sigma, V); + sort(U, sigma, V, 0); + } + /** + If B is of form + x x 0 + 0 x x + 0 0 0 + */ + else if (btFabs(alpha_3) <= tol) { + /** + Reduce B to + x x + + 0 x 0 + 0 0 0 + */ + GivensRotation r1(1, 2); + r1.compute(B[1][1], B[1][2]); + r1.columnRotation(B); + r1.columnRotation(V); + /** + Reduce B to + x x 0 + + x 0 + 0 0 0 + */ + GivensRotation r2(0, 2); + r2.compute(B[0][0], B[0][2]); + r2.columnRotation(B); + r2.columnRotation(V); + + process<0>(B, U, sigma, V); + sort(U, sigma, V, 0); + } + /** + If B is of form + 0 x 0 + 0 x x + 0 0 x + */ + else if (btFabs(alpha_1) <= tol) { + /** + Reduce B to + 0 0 + + 0 x x + 0 0 x + */ + GivensRotation r1(0, 1); + r1.computeUnconventional(B[0][1], B[1][1]); + r1.rowRotation(B); + r1.columnRotation(U); + + /** + Reduce B to + 0 0 0 + 0 x x + 0 + x + */ + GivensRotation r2(0, 2); + r2.computeUnconventional(B[0][2], B[2][2]); + r2.rowRotation(B); + r2.columnRotation(U); + + process<1>(B, U, sigma, V); + sort(U, sigma, V, 1); + } + + return count; +} +#endif /* btImplicitQRSVD_h */ diff --git a/thirdparty/bullet/LinearMath/btMatrix3x3.h b/thirdparty/bullet/LinearMath/btMatrix3x3.h index 0a08ae409a..cc33a68664 100644 --- a/thirdparty/bullet/LinearMath/btMatrix3x3.h +++ b/thirdparty/bullet/LinearMath/btMatrix3x3.h @@ -125,6 +125,13 @@ public: m_el[2] = other.m_el[2]; return *this; } + + 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; + } #endif diff --git a/thirdparty/bullet/LinearMath/btMatrixX.h b/thirdparty/bullet/LinearMath/btMatrixX.h index 388c57c2d7..961c94dc63 100644 --- a/thirdparty/bullet/LinearMath/btMatrixX.h +++ b/thirdparty/bullet/LinearMath/btMatrixX.h @@ -338,24 +338,23 @@ struct btMatrixX btMatrixX res(rows(), other.cols()); res.setZero(); // BT_PROFILE("btMatrixX mul"); - for (int j = 0; j < res.cols(); ++j) + for (int i = 0; i < rows(); ++i) { { - for (int i = 0; i < res.rows(); ++i) + for (int j = 0; j < other.cols(); ++j) { T dotProd = 0; - // T dotProd2=0; - //int waste=0,waste2=0; - { - // bool useOtherCol = true; { - for (int v = 0; v < rows(); v++) + int r = rows(); + int c = cols(); + + for (int k = 0; k < cols(); k++) { - T w = (*this)(i, v); - if (other(v, j) != 0.f) + T w = (*this)(i, k); + if (other(k, j) != 0.f) { - dotProd += w * other(v, j); + dotProd += w * other(k, j); } } } diff --git a/thirdparty/bullet/LinearMath/btScalar.h b/thirdparty/bullet/LinearMath/btScalar.h index ba49d6700b..86d94e8974 100644 --- a/thirdparty/bullet/LinearMath/btScalar.h +++ b/thirdparty/bullet/LinearMath/btScalar.h @@ -25,13 +25,23 @@ subject to the following restrictions: #include <float.h> /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 288 +#define BT_BULLET_VERSION 289 inline int btGetVersion() { return BT_BULLET_VERSION; } +inline int btIsDoublePrecision() +{ + #ifdef BT_USE_DOUBLE_PRECISION + return true; + #else + return false; + #endif +} + + // The following macro "BT_NOT_EMPTY_FILE" can be put into a file // in order suppress the MS Visual C++ Linker warning 4221 // @@ -63,7 +73,12 @@ inline int btGetVersion() #endif #ifdef _WIN32 - #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) + #if defined(__GNUC__) // it should handle both MINGW and CYGWIN + #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))) + #elif ( defined(_MSC_VER) && _MSC_VER < 1300 ) #define SIMD_FORCE_INLINE inline #define ATTRIBUTE_ALIGNED16(a) a #define ATTRIBUTE_ALIGNED64(a) a @@ -95,11 +110,16 @@ inline int btGetVersion() #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)) + +#ifdef __clang__ +#define __BT_DISABLE_SSE__ +#endif +#ifndef __BT_DISABLE_SSE__ #if _MSC_VER>1400 #define BT_USE_SIMD_VECTOR3 #endif - #define BT_USE_SSE +#endif//__BT_DISABLE_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) diff --git a/thirdparty/bullet/LinearMath/btSerializer.cpp b/thirdparty/bullet/LinearMath/btSerializer.cpp index 18683c8fa7..068836f2c4 100644 --- a/thirdparty/bullet/LinearMath/btSerializer.cpp +++ b/thirdparty/bullet/LinearMath/btSerializer.cpp @@ -1,6 +1,5 @@ -// clang-format off char sBulletDNAstr[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-74),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), @@ -87,606 +86,607 @@ 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+char(13),char(0),char(123),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(125),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(53),char(0), +char(92),char(0),char(19),char(0),char(50),char(0),char(-68),char(0),char(89),char(0),char(127),char(1),char(82),char(0),char(-128),char(1),char(83),char(0),char(-127),char(1), +char(84),char(0),char(-126),char(1),char(85),char(0),char(-125),char(1),char(86),char(0),char(-124),char(1),char(87),char(0),char(-123),char(1),char(90),char(0),char(-122),char(1), +char(91),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(-119),char(1),char(4),char(0),char(-118),char(1), +char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(4),char(0),char(-115),char(1),char(4),char(0),char(-114),char(1),char(88),char(0),char(-113),char(1), 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+char(0),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(48),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(94),char(0),char(28),char(0), +char(15),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),char(13),char(0),char(-108),char(1), +char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(13),char(0),char(-104),char(1),char(13),char(0),char(-103),char(1), +char(4),char(0),char(-100),char(1),char(7),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(7),char(0),char(-98),char(1), +char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(4),char(0),char(-99),char(1),char(7),char(0),char(-95),char(1),char(7),char(0),char(-94),char(1), +char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(7),char(0),char(-91),char(1),char(7),char(0),char(-90),char(1),char(0),char(0),char(-89),char(1), +char(0),char(0),char(-88),char(1),char(50),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-85),char(1), +char(16),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(14),char(0),char(-82),char(1),char(14),char(0),char(-81),char(1),char(8),char(0),char(-80),char(1), +char(4),char(0),char(-119),char(1),char(0),char(0),char(37),char(0),char(0),char(0),char(-79),char(1),char(93),char(0),char(-126),char(1),char(48),char(0),char(-78),char(1), +char(96),char(0),char(10),char(0),char(13),char(0),char(-85),char(1),char(15),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),char(13),char(0),char(-82),char(1), +char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1), +char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),char(98),char(0),char(4),char(0),char(48),char(0),char(-77),char(1),char(95),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),}; int sBulletDNAlen= sizeof(sBulletDNAstr); - -// clang-format on diff --git a/thirdparty/bullet/LinearMath/btSerializer.h b/thirdparty/bullet/LinearMath/btSerializer.h index ba34441615..2ee712047f 100644 --- a/thirdparty/bullet/LinearMath/btSerializer.h +++ b/thirdparty/bullet/LinearMath/btSerializer.h @@ -481,7 +481,7 @@ public: buffer[9] = '2'; buffer[10] = '8'; - buffer[11] = '8'; + buffer[11] = '9'; } virtual void startSerialization() diff --git a/thirdparty/bullet/LinearMath/btSerializer64.cpp b/thirdparty/bullet/LinearMath/btSerializer64.cpp index cf281cdb36..6c4bc7031f 100644 --- a/thirdparty/bullet/LinearMath/btSerializer64.cpp +++ b/thirdparty/bullet/LinearMath/btSerializer64.cpp @@ -1,6 +1,5 @@ -// clang-format off char sBulletDNAstr64[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-74),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), @@ -87,605 +86,607 @@ char(101),char(76),char(97),char(116),char(101),char(114),char(97),char(108),cha char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(68),char(105),char(115),char(116), char(97),char(110),char(99),char(101),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101), 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+char(7),char(0),char(61),char(1),char(7),char(0),char(62),char(1),char(7),char(0),char(63),char(1),char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1), +char(7),char(0),char(66),char(1),char(7),char(0),char(67),char(1),char(7),char(0),char(68),char(1),char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1), +char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),char(7),char(0),char(74),char(1),char(7),char(0),char(75),char(1), +char(7),char(0),char(76),char(1),char(4),char(0),char(77),char(1),char(4),char(0),char(78),char(1),char(4),char(0),char(79),char(1),char(4),char(0),char(80),char(1), +char(4),char(0),char(-99),char(0),char(89),char(0),char(12),char(0),char(17),char(0),char(81),char(1),char(17),char(0),char(82),char(1),char(17),char(0),char(83),char(1), +char(13),char(0),char(84),char(1),char(13),char(0),char(85),char(1),char(7),char(0),char(86),char(1),char(4),char(0),char(87),char(1),char(4),char(0),char(88),char(1), +char(4),char(0),char(89),char(1),char(4),char(0),char(90),char(1),char(7),char(0),char(50),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(27),char(0), +char(19),char(0),char(91),char(1),char(17),char(0),char(92),char(1),char(17),char(0),char(93),char(1),char(13),char(0),char(84),char(1),char(13),char(0),char(94),char(1), +char(13),char(0),char(95),char(1),char(13),char(0),char(96),char(1),char(13),char(0),char(97),char(1),char(13),char(0),char(98),char(1),char(4),char(0),char(99),char(1), +char(7),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(103),char(1),char(7),char(0),char(104),char(1), +char(7),char(0),char(105),char(1),char(4),char(0),char(106),char(1),char(4),char(0),char(107),char(1),char(7),char(0),char(108),char(1),char(7),char(0),char(109),char(1), +char(7),char(0),char(110),char(1),char(7),char(0),char(111),char(1),char(7),char(0),char(112),char(1),char(7),char(0),char(113),char(1),char(4),char(0),char(114),char(1), +char(4),char(0),char(115),char(1),char(4),char(0),char(116),char(1),char(91),char(0),char(12),char(0),char(9),char(0),char(117),char(1),char(9),char(0),char(118),char(1), +char(13),char(0),char(119),char(1),char(7),char(0),char(120),char(1),char(7),char(0),char(-85),char(0),char(7),char(0),char(121),char(1),char(4),char(0),char(122),char(1), +char(13),char(0),char(123),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(125),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(53),char(0), +char(92),char(0),char(19),char(0),char(50),char(0),char(-68),char(0),char(89),char(0),char(127),char(1),char(82),char(0),char(-128),char(1),char(83),char(0),char(-127),char(1), +char(84),char(0),char(-126),char(1),char(85),char(0),char(-125),char(1),char(86),char(0),char(-124),char(1),char(87),char(0),char(-123),char(1),char(90),char(0),char(-122),char(1), +char(91),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(-119),char(1),char(4),char(0),char(-118),char(1), +char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(4),char(0),char(-115),char(1),char(4),char(0),char(-114),char(1),char(88),char(0),char(-113),char(1), +char(93),char(0),char(28),char(0),char(16),char(0),char(-112),char(1),char(14),char(0),char(-111),char(1),char(14),char(0),char(-110),char(1),char(14),char(0),char(-109),char(1), +char(14),char(0),char(-108),char(1),char(14),char(0),char(-107),char(1),char(14),char(0),char(-106),char(1),char(14),char(0),char(-105),char(1),char(14),char(0),char(-104),char(1), +char(14),char(0),char(-103),char(1),char(8),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(-100),char(1), +char(4),char(0),char(-99),char(1),char(8),char(0),char(-98),char(1),char(8),char(0),char(-97),char(1),char(8),char(0),char(-96),char(1),char(8),char(0),char(-95),char(1), +char(8),char(0),char(-94),char(1),char(8),char(0),char(-93),char(1),char(8),char(0),char(-92),char(1),char(8),char(0),char(-91),char(1),char(8),char(0),char(-90),char(1), +char(0),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(48),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(94),char(0),char(28),char(0), +char(15),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),char(13),char(0),char(-108),char(1), +char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(13),char(0),char(-104),char(1),char(13),char(0),char(-103),char(1), +char(4),char(0),char(-100),char(1),char(7),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(7),char(0),char(-98),char(1), +char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(4),char(0),char(-99),char(1),char(7),char(0),char(-95),char(1),char(7),char(0),char(-94),char(1), +char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(7),char(0),char(-91),char(1),char(7),char(0),char(-90),char(1),char(0),char(0),char(-89),char(1), +char(0),char(0),char(-88),char(1),char(50),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-85),char(1), +char(16),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(14),char(0),char(-82),char(1),char(14),char(0),char(-81),char(1),char(8),char(0),char(-80),char(1), +char(4),char(0),char(-119),char(1),char(0),char(0),char(37),char(0),char(0),char(0),char(-79),char(1),char(93),char(0),char(-126),char(1),char(48),char(0),char(-78),char(1), +char(96),char(0),char(10),char(0),char(13),char(0),char(-85),char(1),char(15),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),char(13),char(0),char(-82),char(1), +char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1), +char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),char(98),char(0),char(4),char(0),char(48),char(0),char(-77),char(1),char(95),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),}; int sBulletDNAlen64= sizeof(sBulletDNAstr64); -// clang-format on diff --git a/thirdparty/enet/LICENSE b/thirdparty/enet/LICENSE index 39af84a8f6..78d9dcf613 100644 --- a/thirdparty/enet/LICENSE +++ b/thirdparty/enet/LICENSE @@ -1,4 +1,4 @@ -Copyright (c) 2002-2016 Lee Salzman +Copyright (c) 2002-2019 Lee Salzman Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: diff --git a/thirdparty/enet/enet/enet.h b/thirdparty/enet/enet/enet.h index 246cbb0a62..966e3a465d 100644 --- a/thirdparty/enet/enet/enet.h +++ b/thirdparty/enet/enet/enet.h @@ -22,7 +22,7 @@ extern "C" #define ENET_VERSION_MAJOR 1 #define ENET_VERSION_MINOR 3 -#define ENET_VERSION_PATCH 13 +#define ENET_VERSION_PATCH 14 #define ENET_VERSION_CREATE(major, minor, patch) (((major)<<16) | ((minor)<<8) | (patch)) #define ENET_VERSION_GET_MAJOR(version) (((version)>>16)&0xFF) #define ENET_VERSION_GET_MINOR(version) (((version)>>8)&0xFF) @@ -507,6 +507,17 @@ ENET_API int enet_socketset_select (ENetSocket, ENetSocketSet *, ENetSock /** @defgroup Address ENet address functions @{ */ + +/** Attempts to parse the printable form of the IP address in the parameter hostName + and sets the host field in the address parameter if successful. + @param address destination to store the parsed IP address + @param hostName IP address to parse + @retval 0 on success + @retval < 0 on failure + @returns the address of the given hostName in address on success +*/ +ENET_API int enet_address_set_host_ip (ENetAddress * address, const char * hostName); + /** Attempts to resolve the host named by the parameter hostName and sets the host field in the address parameter if successful. @param address destination to store resolved address diff --git a/thirdparty/enet/enet/godot.h b/thirdparty/enet/enet/godot.h index 9230af428b..4f25ea9c7b 100644 --- a/thirdparty/enet/enet/godot.h +++ b/thirdparty/enet/enet/godot.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/thirdparty/enet/godot.cpp b/thirdparty/enet/godot.cpp index 822a294781..63580b6d1a 100644 --- a/thirdparty/enet/godot.cpp +++ b/thirdparty/enet/godot.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/thirdparty/enet/patches/ipv6_support.patch b/thirdparty/enet/patches/ipv6_support.patch new file mode 100644 index 0000000000..1f79863645 --- /dev/null +++ b/thirdparty/enet/patches/ipv6_support.patch @@ -0,0 +1,105 @@ +diff --git a/thirdparty/enet/enet/enet.h b/thirdparty/enet/enet/enet.h +index 650b199ee5..246cbb0a62 100644 +--- a/thirdparty/enet/enet/enet.h ++++ b/thirdparty/enet/enet/enet.h +@@ -10,13 +10,10 @@ extern "C" + { + #endif + ++#include <stdint.h> + #include <stdlib.h> + +-#ifdef _WIN32 +-#include "enet/win32.h" +-#else +-#include "enet/unix.h" +-#endif ++#include "enet/godot.h" + + #include "enet/types.h" + #include "enet/protocol.h" +@@ -72,7 +69,6 @@ typedef enum _ENetSocketShutdown + ENET_SOCKET_SHUTDOWN_READ_WRITE = 2 + } ENetSocketShutdown; + +-#define ENET_HOST_ANY 0 + #define ENET_HOST_BROADCAST 0xFFFFFFFFU + #define ENET_PORT_ANY 0 + +@@ -88,9 +84,11 @@ typedef enum _ENetSocketShutdown + */ + typedef struct _ENetAddress + { +- enet_uint32 host; ++ uint8_t host[16]; + enet_uint16 port; ++ uint8_t wildcard; + } ENetAddress; ++#define enet_host_equal(host_a, host_b) (memcmp(&host_a, &host_b,16) == 0) + + /** + * Packet flag bit constants. +@@ -519,6 +517,16 @@ ENET_API int enet_socketset_select (ENetSocket, ENetSocketSet *, ENetSock + */ + ENET_API int enet_address_set_host (ENetAddress * address, const char * hostName); + ++/** Sets the host field in the address parameter from ip struct. ++ @param address destination to store resolved address ++ @param ip the ip struct to read from ++ @param size the size of the ip struct. ++ @retval 0 on success ++ @retval != 0 on failure ++ @returns the address of the given ip in address on success. ++*/ ++ENET_API void enet_address_set_ip(ENetAddress * address, const uint8_t * ip, size_t size); ++ + /** Gives the printable form of the IP address specified in the address parameter. + @param address address printed + @param hostName destination for name, must not be NULL +diff --git a/thirdparty/enet/host.c b/thirdparty/enet/host.c +index 3be6c0922c..fc4da4ca67 100644 +--- a/thirdparty/enet/host.c ++++ b/thirdparty/enet/host.c +@@ -87,7 +87,7 @@ enet_host_create (const ENetAddress * address, size_t peerCount, size_t channelL + host -> commandCount = 0; + host -> bufferCount = 0; + host -> checksum = NULL; +- host -> receivedAddress.host = ENET_HOST_ANY; ++ memset(host -> receivedAddress.host, 0, 16); + host -> receivedAddress.port = 0; + host -> receivedData = NULL; + host -> receivedDataLength = 0; +diff --git a/thirdparty/enet/protocol.c b/thirdparty/enet/protocol.c +index 29d648732d..ab26886de4 100644 +--- a/thirdparty/enet/protocol.c ++++ b/thirdparty/enet/protocol.c +@@ -298,7 +298,7 @@ enet_protocol_handle_connect (ENetHost * host, ENetProtocolHeader * header, ENet + } + else + if (currentPeer -> state != ENET_PEER_STATE_CONNECTING && +- currentPeer -> address.host == host -> receivedAddress.host) ++ enet_host_equal(currentPeer -> address.host, host -> receivedAddress.host)) + { + if (currentPeer -> address.port == host -> receivedAddress.port && + currentPeer -> connectID == command -> connect.connectID) +@@ -1010,9 +1010,8 @@ enet_protocol_handle_incoming_commands (ENetHost * host, ENetEvent * event) + + if (peer -> state == ENET_PEER_STATE_DISCONNECTED || + peer -> state == ENET_PEER_STATE_ZOMBIE || +- ((host -> receivedAddress.host != peer -> address.host || +- host -> receivedAddress.port != peer -> address.port) && +- peer -> address.host != ENET_HOST_BROADCAST) || ++ (!enet_host_equal(host -> receivedAddress.host, peer -> address.host) || ++ host -> receivedAddress.port != peer -> address.port) || + (peer -> outgoingPeerID < ENET_PROTOCOL_MAXIMUM_PEER_ID && + sessionID != peer -> incomingSessionID)) + return 0; +@@ -1054,7 +1053,7 @@ enet_protocol_handle_incoming_commands (ENetHost * host, ENetEvent * event) + + if (peer != NULL) + { +- peer -> address.host = host -> receivedAddress.host; ++ enet_address_set_ip(&(peer -> address), host -> receivedAddress.host, 16); + peer -> address.port = host -> receivedAddress.port; + peer -> incomingDataTotal += host -> receivedDataLength; + } diff --git a/thirdparty/enet/protocol.c b/thirdparty/enet/protocol.c index cbeea1a763..28ad5fc41c 100644 --- a/thirdparty/enet/protocol.c +++ b/thirdparty/enet/protocol.c @@ -9,7 +9,6 @@ #include "enet/time.h" #include "enet/enet.h" - static size_t commandSizes [ENET_PROTOCOL_COMMAND_COUNT] = { 0, @@ -164,7 +163,10 @@ enet_protocol_remove_sent_unreliable_commands (ENetPeer * peer) { ENetOutgoingCommand * outgoingCommand; - while (! enet_list_empty (& peer -> sentUnreliableCommands)) + if (enet_list_empty (& peer -> sentUnreliableCommands)) + return; + + do { outgoingCommand = (ENetOutgoingCommand *) enet_list_front (& peer -> sentUnreliableCommands); @@ -183,7 +185,13 @@ enet_protocol_remove_sent_unreliable_commands (ENetPeer * peer) } enet_free (outgoingCommand); - } + } while (! enet_list_empty (& peer -> sentUnreliableCommands)); + + if (peer -> state == ENET_PEER_STATE_DISCONNECT_LATER && + enet_list_empty (& peer -> outgoingReliableCommands) && + enet_list_empty (& peer -> outgoingUnreliableCommands) && + enet_list_empty (& peer -> sentReliableCommands)) + enet_peer_disconnect (peer, peer -> eventData); } static ENetProtocolCommand @@ -1406,7 +1414,8 @@ enet_protocol_send_unreliable_outgoing_commands (ENetHost * host, ENetPeer * pee if (peer -> state == ENET_PEER_STATE_DISCONNECT_LATER && enet_list_empty (& peer -> outgoingReliableCommands) && enet_list_empty (& peer -> outgoingUnreliableCommands) && - enet_list_empty (& peer -> sentReliableCommands)) + enet_list_empty (& peer -> sentReliableCommands) && + enet_list_empty (& peer -> sentUnreliableCommands)) enet_peer_disconnect (peer, peer -> eventData); } @@ -1691,7 +1700,7 @@ enet_protocol_send_outgoing_commands (ENetHost * host, ENetEvent * event, int ch & host -> buffers [1], host -> bufferCount - 1, originalSize, host -> packetData [1], - originalSize); + originalSize); if (compressedSize > 0 && compressedSize < originalSize) { host -> headerFlags |= ENET_PROTOCOL_HEADER_FLAG_COMPRESSED; diff --git a/thirdparty/libwebp/src/dec/frame_dec.c b/thirdparty/libwebp/src/dec/frame_dec.c index bda9e1a6f6..04609a8e56 100644 --- a/thirdparty/libwebp/src/dec/frame_dec.c +++ b/thirdparty/libwebp/src/dec/frame_dec.c @@ -732,7 +732,7 @@ static int AllocateMemory(VP8Decoder* const dec) { mem += f_info_size; dec->thread_ctx_.id_ = 0; dec->thread_ctx_.f_info_ = dec->f_info_; - if (dec->mt_method_ > 0) { + if (dec->filter_type_ > 0 && dec->mt_method_ > 0) { // secondary cache line. The deblocking process need to make use of the // filtering strength from previous macroblock row, while the new ones // are being decoded in parallel. We'll just swap the pointers. diff --git a/thirdparty/libwebp/src/dec/idec_dec.c b/thirdparty/libwebp/src/dec/idec_dec.c index 9bc9166808..9035df5659 100644 --- a/thirdparty/libwebp/src/dec/idec_dec.c +++ b/thirdparty/libwebp/src/dec/idec_dec.c @@ -166,9 +166,11 @@ static int AppendToMemBuffer(WebPIDecoder* const idec, VP8Decoder* const dec = (VP8Decoder*)idec->dec_; MemBuffer* const mem = &idec->mem_; const int need_compressed_alpha = NeedCompressedAlpha(idec); - const uint8_t* const old_start = mem->buf_ + mem->start_; + const uint8_t* const old_start = + (mem->buf_ == NULL) ? NULL : mem->buf_ + mem->start_; const uint8_t* const old_base = need_compressed_alpha ? dec->alpha_data_ : old_start; + assert(mem->buf_ != NULL || mem->start_ == 0); assert(mem->mode_ == MEM_MODE_APPEND); if (data_size > MAX_CHUNK_PAYLOAD) { // security safeguard: trying to allocate more than what the format @@ -184,7 +186,7 @@ static int AppendToMemBuffer(WebPIDecoder* const idec, uint8_t* const new_buf = (uint8_t*)WebPSafeMalloc(extra_size, sizeof(*new_buf)); if (new_buf == NULL) return 0; - memcpy(new_buf, old_base, current_size); + if (old_base != NULL) memcpy(new_buf, old_base, current_size); WebPSafeFree(mem->buf_); mem->buf_ = new_buf; mem->buf_size_ = (size_t)extra_size; @@ -192,6 +194,7 @@ static int AppendToMemBuffer(WebPIDecoder* const idec, mem->end_ = current_size; } + assert(mem->buf_ != NULL); memcpy(mem->buf_ + mem->end_, data, data_size); mem->end_ += data_size; assert(mem->end_ <= mem->buf_size_); @@ -204,7 +207,9 @@ static int RemapMemBuffer(WebPIDecoder* const idec, const uint8_t* const data, size_t data_size) { MemBuffer* const mem = &idec->mem_; const uint8_t* const old_buf = mem->buf_; - const uint8_t* const old_start = old_buf + mem->start_; + const uint8_t* const old_start = + (old_buf == NULL) ? NULL : old_buf + mem->start_; + assert(old_buf != NULL || mem->start_ == 0); assert(mem->mode_ == MEM_MODE_MAP); if (data_size < mem->buf_size_) return 0; // can't remap to a shorter buffer! diff --git a/thirdparty/libwebp/src/dec/vp8i_dec.h b/thirdparty/libwebp/src/dec/vp8i_dec.h index 3de8d86f90..600a684410 100644 --- a/thirdparty/libwebp/src/dec/vp8i_dec.h +++ b/thirdparty/libwebp/src/dec/vp8i_dec.h @@ -31,8 +31,8 @@ extern "C" { // version numbers #define DEC_MAJ_VERSION 1 -#define DEC_MIN_VERSION 0 -#define DEC_REV_VERSION 3 +#define DEC_MIN_VERSION 1 +#define DEC_REV_VERSION 0 // YUV-cache parameters. Cache is 32-bytes wide (= one cacheline). // Constraints are: We need to store one 16x16 block of luma samples (y), diff --git a/thirdparty/libwebp/src/dec/vp8l_dec.c b/thirdparty/libwebp/src/dec/vp8l_dec.c index d3e27119ea..93615d4ed2 100644 --- a/thirdparty/libwebp/src/dec/vp8l_dec.c +++ b/thirdparty/libwebp/src/dec/vp8l_dec.c @@ -754,11 +754,11 @@ static WEBP_INLINE HTreeGroup* GetHtreeGroupForPos(VP8LMetadata* const hdr, typedef void (*ProcessRowsFunc)(VP8LDecoder* const dec, int row); -static void ApplyInverseTransforms(VP8LDecoder* const dec, int num_rows, +static void ApplyInverseTransforms(VP8LDecoder* const dec, + int start_row, int num_rows, const uint32_t* const rows) { int n = dec->next_transform_; const int cache_pixs = dec->width_ * num_rows; - const int start_row = dec->last_row_; const int end_row = start_row + num_rows; const uint32_t* rows_in = rows; uint32_t* const rows_out = dec->argb_cache_; @@ -789,8 +789,7 @@ static void ProcessRows(VP8LDecoder* const dec, int row) { VP8Io* const io = dec->io_; uint8_t* rows_data = (uint8_t*)dec->argb_cache_; const int in_stride = io->width * sizeof(uint32_t); // in unit of RGBA - - ApplyInverseTransforms(dec, num_rows, rows); + ApplyInverseTransforms(dec, dec->last_row_, num_rows, rows); if (!SetCropWindow(io, dec->last_row_, row, &rows_data, in_stride)) { // Nothing to output (this time). } else { @@ -1193,6 +1192,7 @@ static int DecodeImageData(VP8LDecoder* const dec, uint32_t* const data, VP8LFillBitWindow(br); dist_code = GetCopyDistance(dist_symbol, br); dist = PlaneCodeToDistance(width, dist_code); + if (VP8LIsEndOfStream(br)) break; if (src - data < (ptrdiff_t)dist || src_end - src < (ptrdiff_t)length) { goto Error; @@ -1553,7 +1553,7 @@ static void ExtractAlphaRows(VP8LDecoder* const dec, int last_row) { const int cache_pixs = width * num_rows_to_process; uint8_t* const dst = output + width * cur_row; const uint32_t* const src = dec->argb_cache_; - ApplyInverseTransforms(dec, num_rows_to_process, in); + ApplyInverseTransforms(dec, cur_row, num_rows_to_process, in); WebPExtractGreen(src, dst, cache_pixs); AlphaApplyFilter(alph_dec, cur_row, cur_row + num_rows_to_process, dst, width); diff --git a/thirdparty/libwebp/src/dec/vp8li_dec.h b/thirdparty/libwebp/src/dec/vp8li_dec.h index 0a4d613f99..72b2e86120 100644 --- a/thirdparty/libwebp/src/dec/vp8li_dec.h +++ b/thirdparty/libwebp/src/dec/vp8li_dec.h @@ -37,7 +37,7 @@ struct VP8LTransform { int bits_; // subsampling bits defining transform window. int xsize_; // transform window X index. int ysize_; // transform window Y index. - uint32_t *data_; // transform data. + uint32_t* data_; // transform data. }; typedef struct { @@ -48,23 +48,23 @@ typedef struct { int huffman_mask_; int huffman_subsample_bits_; int huffman_xsize_; - uint32_t *huffman_image_; + uint32_t* huffman_image_; int num_htree_groups_; - HTreeGroup *htree_groups_; - HuffmanCode *huffman_tables_; + HTreeGroup* htree_groups_; + HuffmanCode* huffman_tables_; } VP8LMetadata; typedef struct VP8LDecoder VP8LDecoder; struct VP8LDecoder { VP8StatusCode status_; VP8LDecodeState state_; - VP8Io *io_; + VP8Io* io_; - const WebPDecBuffer *output_; // shortcut to io->opaque->output + const WebPDecBuffer* output_; // shortcut to io->opaque->output - uint32_t *pixels_; // Internal data: either uint8_t* for alpha + uint32_t* pixels_; // Internal data: either uint8_t* for alpha // or uint32_t* for BGRA. - uint32_t *argb_cache_; // Scratch buffer for temporary BGRA storage. + uint32_t* argb_cache_; // Scratch buffer for temporary BGRA storage. VP8LBitReader br_; int incremental_; // if true, incremental decoding is expected @@ -86,8 +86,8 @@ struct VP8LDecoder { // or'd bitset storing the transforms types. uint32_t transforms_seen_; - uint8_t *rescaler_memory; // Working memory for rescaling work. - WebPRescaler *rescaler; // Common rescaler for all channels. + uint8_t* rescaler_memory; // Working memory for rescaling work. + WebPRescaler* rescaler; // Common rescaler for all channels. }; //------------------------------------------------------------------------------ diff --git a/thirdparty/libwebp/src/demux/demux.c b/thirdparty/libwebp/src/demux/demux.c index ab6433e54b..1b3cc2e0a8 100644 --- a/thirdparty/libwebp/src/demux/demux.c +++ b/thirdparty/libwebp/src/demux/demux.c @@ -24,8 +24,8 @@ #include "src/webp/format_constants.h" #define DMUX_MAJ_VERSION 1 -#define DMUX_MIN_VERSION 0 -#define DMUX_REV_VERSION 3 +#define DMUX_MIN_VERSION 1 +#define DMUX_REV_VERSION 0 typedef struct { size_t start_; // start location of the data diff --git a/thirdparty/libwebp/src/dsp/dec_neon.c b/thirdparty/libwebp/src/dsp/dec_neon.c index ffa697fcf9..239ec4167e 100644 --- a/thirdparty/libwebp/src/dsp/dec_neon.c +++ b/thirdparty/libwebp/src/dsp/dec_neon.c @@ -1361,7 +1361,8 @@ static void RD4_NEON(uint8_t* dst) { // Down-right const uint32_t J = dst[-1 + 1 * BPS]; const uint32_t K = dst[-1 + 2 * BPS]; const uint32_t L = dst[-1 + 3 * BPS]; - const uint64x1_t LKJI____ = vcreate_u64(L | (K << 8) | (J << 16) | (I << 24)); + const uint64x1_t LKJI____ = + vcreate_u64((uint64_t)L | (K << 8) | (J << 16) | (I << 24)); const uint64x1_t LKJIXABC = vorr_u64(LKJI____, ____XABC); const uint8x8_t KJIXABC_ = vreinterpret_u8_u64(vshr_n_u64(LKJIXABC, 8)); const uint8x8_t JIXABC__ = vreinterpret_u8_u64(vshr_n_u64(LKJIXABC, 16)); @@ -1427,10 +1428,16 @@ static WEBP_INLINE void DC8_NEON(uint8_t* dst, int do_top, int do_left) { if (do_top) { const uint8x8_t A = vld1_u8(dst - BPS); // top row +#if defined(__aarch64__) + const uint16x8_t B = vmovl_u8(A); + const uint16_t p2 = vaddvq_u16(B); + sum_top = vdupq_n_u16(p2); +#else const uint16x4_t p0 = vpaddl_u8(A); // cascading summation of the top const uint16x4_t p1 = vpadd_u16(p0, p0); const uint16x4_t p2 = vpadd_u16(p1, p1); sum_top = vcombine_u16(p2, p2); +#endif } if (do_left) { diff --git a/thirdparty/libwebp/src/dsp/dsp.h b/thirdparty/libwebp/src/dsp/dsp.h index fafc2d05d3..a784de334a 100644 --- a/thirdparty/libwebp/src/dsp/dsp.h +++ b/thirdparty/libwebp/src/dsp/dsp.h @@ -246,9 +246,9 @@ extern VP8Fdct VP8FTransform2; // performs two transforms at a time extern VP8WHT VP8FTransformWHT; // Predictions // *dst is the destination block. *top and *left can be NULL. -typedef void (*VP8IntraPreds)(uint8_t *dst, const uint8_t* left, +typedef void (*VP8IntraPreds)(uint8_t* dst, const uint8_t* left, const uint8_t* top); -typedef void (*VP8Intra4Preds)(uint8_t *dst, const uint8_t* top); +typedef void (*VP8Intra4Preds)(uint8_t* dst, const uint8_t* top); extern VP8Intra4Preds VP8EncPredLuma4; extern VP8IntraPreds VP8EncPredLuma16; extern VP8IntraPreds VP8EncPredChroma8; diff --git a/thirdparty/libwebp/src/dsp/lossless.c b/thirdparty/libwebp/src/dsp/lossless.c index d05af84e7b..aad5f43ec9 100644 --- a/thirdparty/libwebp/src/dsp/lossless.c +++ b/thirdparty/libwebp/src/dsp/lossless.c @@ -81,7 +81,7 @@ static WEBP_INLINE uint32_t ClampedAddSubtractHalf(uint32_t c0, uint32_t c1, // gcc <= 4.9 on ARM generates incorrect code in Select() when Sub3() is // inlined. -#if defined(__arm__) && LOCAL_GCC_VERSION <= 0x409 +#if defined(__arm__) && defined(__GNUC__) && LOCAL_GCC_VERSION <= 0x409 # define LOCAL_INLINE __attribute__ ((noinline)) #else # define LOCAL_INLINE WEBP_INLINE @@ -167,15 +167,20 @@ static uint32_t Predictor13_C(uint32_t left, const uint32_t* const top) { return pred; } -GENERATE_PREDICTOR_ADD(Predictor0_C, PredictorAdd0_C) +static void PredictorAdd0_C(const uint32_t* in, const uint32_t* upper, + int num_pixels, uint32_t* out) { + int x; + (void)upper; + for (x = 0; x < num_pixels; ++x) out[x] = VP8LAddPixels(in[x], ARGB_BLACK); +} static void PredictorAdd1_C(const uint32_t* in, const uint32_t* upper, int num_pixels, uint32_t* out) { int i; uint32_t left = out[-1]; + (void)upper; for (i = 0; i < num_pixels; ++i) { out[i] = left = VP8LAddPixels(in[i], left); } - (void)upper; } GENERATE_PREDICTOR_ADD(Predictor2_C, PredictorAdd2_C) GENERATE_PREDICTOR_ADD(Predictor3_C, PredictorAdd3_C) diff --git a/thirdparty/libwebp/src/dsp/lossless_common.h b/thirdparty/libwebp/src/dsp/lossless_common.h index a2648d1737..9c2ebe6809 100644 --- a/thirdparty/libwebp/src/dsp/lossless_common.h +++ b/thirdparty/libwebp/src/dsp/lossless_common.h @@ -177,6 +177,7 @@ uint32_t VP8LSubPixels(uint32_t a, uint32_t b) { static void PREDICTOR_ADD(const uint32_t* in, const uint32_t* upper, \ int num_pixels, uint32_t* out) { \ int x; \ + assert(upper != NULL); \ for (x = 0; x < num_pixels; ++x) { \ const uint32_t pred = (PREDICTOR)(out[x - 1], upper + x); \ out[x] = VP8LAddPixels(in[x], pred); \ @@ -189,6 +190,7 @@ static void PREDICTOR_ADD(const uint32_t* in, const uint32_t* upper, \ static void PREDICTOR_SUB(const uint32_t* in, const uint32_t* upper, \ int num_pixels, uint32_t* out) { \ int x; \ + assert(upper != NULL); \ for (x = 0; x < num_pixels; ++x) { \ const uint32_t pred = (PREDICTOR)(in[x - 1], upper + x); \ out[x] = VP8LSubPixels(in[x], pred); \ diff --git a/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c b/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c index 8adc52139b..e676f6fdc9 100644 --- a/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c +++ b/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c @@ -455,8 +455,9 @@ static void PredictorSub0_SSE2(const uint32_t* in, const uint32_t* upper, _mm_storeu_si128((__m128i*)&out[i], res); } if (i != num_pixels) { - VP8LPredictorsSub_C[0](in + i, upper + i, num_pixels - i, out + i); + VP8LPredictorsSub_C[0](in + i, NULL, num_pixels - i, out + i); } + (void)upper; } #define GENERATE_PREDICTOR_1(X, IN) \ diff --git a/thirdparty/libwebp/src/dsp/lossless_sse2.c b/thirdparty/libwebp/src/dsp/lossless_sse2.c index 17d7576419..aef0cee1b3 100644 --- a/thirdparty/libwebp/src/dsp/lossless_sse2.c +++ b/thirdparty/libwebp/src/dsp/lossless_sse2.c @@ -191,8 +191,9 @@ static void PredictorAdd0_SSE2(const uint32_t* in, const uint32_t* upper, _mm_storeu_si128((__m128i*)&out[i], res); } if (i != num_pixels) { - VP8LPredictorsAdd_C[0](in + i, upper + i, num_pixels - i, out + i); + VP8LPredictorsAdd_C[0](in + i, NULL, num_pixels - i, out + i); } + (void)upper; } // Predictor1: left. diff --git a/thirdparty/libwebp/src/dsp/upsampling_msa.c b/thirdparty/libwebp/src/dsp/upsampling_msa.c index 99eea70e7d..f2e03e85e9 100644 --- a/thirdparty/libwebp/src/dsp/upsampling_msa.c +++ b/thirdparty/libwebp/src/dsp/upsampling_msa.c @@ -576,9 +576,9 @@ static void FUNC_NAME(const uint8_t* top_y, const uint8_t* bot_y, \ const uint32_t l_uv = ((cur_u[0]) | ((cur_v[0]) << 16)); \ const uint32_t uv0 = (3 * tl_uv + l_uv + 0x00020002u) >> 2; \ const uint8_t* ptop_y = &top_y[1]; \ - uint8_t *ptop_dst = top_dst + XSTEP; \ + uint8_t* ptop_dst = top_dst + XSTEP; \ const uint8_t* pbot_y = &bot_y[1]; \ - uint8_t *pbot_dst = bot_dst + XSTEP; \ + uint8_t* pbot_dst = bot_dst + XSTEP; \ \ FUNC(top_y[0], uv0 & 0xff, (uv0 >> 16), top_dst); \ if (bot_y != NULL) { \ diff --git a/thirdparty/libwebp/src/dsp/upsampling_neon.c b/thirdparty/libwebp/src/dsp/upsampling_neon.c index 17cbc9f911..6ba71a7de5 100644 --- a/thirdparty/libwebp/src/dsp/upsampling_neon.c +++ b/thirdparty/libwebp/src/dsp/upsampling_neon.c @@ -58,8 +58,8 @@ } while (0) // Turn the macro into a function for reducing code-size when non-critical -static void Upsample16Pixels_NEON(const uint8_t *r1, const uint8_t *r2, - uint8_t *out) { +static void Upsample16Pixels_NEON(const uint8_t* r1, const uint8_t* r2, + uint8_t* out) { UPSAMPLE_16PIXELS(r1, r2, out); } @@ -190,14 +190,14 @@ static const int16_t kCoeffs1[4] = { 19077, 26149, 6419, 13320 }; } #define NEON_UPSAMPLE_FUNC(FUNC_NAME, FMT, XSTEP) \ -static void FUNC_NAME(const uint8_t *top_y, const uint8_t *bottom_y, \ - const uint8_t *top_u, const uint8_t *top_v, \ - const uint8_t *cur_u, const uint8_t *cur_v, \ - uint8_t *top_dst, uint8_t *bottom_dst, int len) { \ +static void FUNC_NAME(const uint8_t* top_y, const uint8_t* bottom_y, \ + const uint8_t* top_u, const uint8_t* top_v, \ + const uint8_t* cur_u, const uint8_t* cur_v, \ + uint8_t* top_dst, uint8_t* bottom_dst, int len) { \ int block; \ /* 16 byte aligned array to cache reconstructed u and v */ \ uint8_t uv_buf[2 * 32 + 15]; \ - uint8_t *const r_uv = (uint8_t*)((uintptr_t)(uv_buf + 15) & ~15); \ + uint8_t* const r_uv = (uint8_t*)((uintptr_t)(uv_buf + 15) & ~15); \ const int uv_len = (len + 1) >> 1; \ /* 9 pixels must be read-able for each block */ \ const int num_blocks = (uv_len - 1) >> 3; \ diff --git a/thirdparty/libwebp/src/enc/histogram_enc.c b/thirdparty/libwebp/src/enc/histogram_enc.c index d89b98524a..a4e6bf3a98 100644 --- a/thirdparty/libwebp/src/enc/histogram_enc.c +++ b/thirdparty/libwebp/src/enc/histogram_enc.c @@ -641,7 +641,7 @@ static void HistogramAnalyzeEntropyBin(VP8LHistogramSet* const image_histo, // Merges some histograms with same bin_id together if it's advantageous. // Sets the remaining histograms to NULL. static void HistogramCombineEntropyBin(VP8LHistogramSet* const image_histo, - int *num_used, + int* num_used, const uint16_t* const clusters, uint16_t* const cluster_mappings, VP8LHistogram* cur_combo, diff --git a/thirdparty/libwebp/src/enc/picture_csp_enc.c b/thirdparty/libwebp/src/enc/picture_csp_enc.c index 02d9df76d5..718e014ed2 100644 --- a/thirdparty/libwebp/src/enc/picture_csp_enc.c +++ b/thirdparty/libwebp/src/enc/picture_csp_enc.c @@ -29,11 +29,15 @@ #define USE_INVERSE_ALPHA_TABLE #ifdef WORDS_BIGENDIAN -#define ALPHA_OFFSET 0 // uint32_t 0xff000000 is 0xff,00,00,00 in memory +// uint32_t 0xff000000 is 0xff,00,00,00 in memory +#define CHANNEL_OFFSET(i) (i) #else -#define ALPHA_OFFSET 3 // uint32_t 0xff000000 is 0x00,00,00,ff in memory +// uint32_t 0xff000000 is 0x00,00,00,ff in memory +#define CHANNEL_OFFSET(i) (3-(i)) #endif +#define ALPHA_OFFSET CHANNEL_OFFSET(0) + //------------------------------------------------------------------------------ // Detection of non-trivial transparency @@ -997,10 +1001,10 @@ static int PictureARGBToYUVA(WebPPicture* picture, WebPEncCSP colorspace, return WebPEncodingSetError(picture, VP8_ENC_ERROR_INVALID_CONFIGURATION); } else { const uint8_t* const argb = (const uint8_t*)picture->argb; - const uint8_t* const a = argb + (0 ^ ALPHA_OFFSET); - const uint8_t* const r = argb + (1 ^ ALPHA_OFFSET); - const uint8_t* const g = argb + (2 ^ ALPHA_OFFSET); - const uint8_t* const b = argb + (3 ^ ALPHA_OFFSET); + const uint8_t* const a = argb + CHANNEL_OFFSET(0); + const uint8_t* const r = argb + CHANNEL_OFFSET(1); + const uint8_t* const g = argb + CHANNEL_OFFSET(2); + const uint8_t* const b = argb + CHANNEL_OFFSET(3); picture->colorspace = WEBP_YUV420; return ImportYUVAFromRGBA(r, g, b, a, 4, 4 * picture->argb_stride, @@ -1050,7 +1054,7 @@ int WebPPictureYUVAToARGB(WebPPicture* picture) { const int height = picture->height; const int argb_stride = 4 * picture->argb_stride; uint8_t* dst = (uint8_t*)picture->argb; - const uint8_t *cur_u = picture->u, *cur_v = picture->v, *cur_y = picture->y; + const uint8_t* cur_u = picture->u, *cur_v = picture->v, *cur_y = picture->y; WebPUpsampleLinePairFunc upsample = WebPGetLinePairConverter(ALPHA_OFFSET > 0); diff --git a/thirdparty/libwebp/src/enc/vp8i_enc.h b/thirdparty/libwebp/src/enc/vp8i_enc.h index 24e1944610..fedcaeea27 100644 --- a/thirdparty/libwebp/src/enc/vp8i_enc.h +++ b/thirdparty/libwebp/src/enc/vp8i_enc.h @@ -31,8 +31,8 @@ extern "C" { // version numbers #define ENC_MAJ_VERSION 1 -#define ENC_MIN_VERSION 0 -#define ENC_REV_VERSION 3 +#define ENC_MIN_VERSION 1 +#define ENC_REV_VERSION 0 enum { MAX_LF_LEVELS = 64, // Maximum loop filter level MAX_VARIABLE_LEVEL = 67, // last (inclusive) level with variable cost @@ -249,7 +249,7 @@ typedef struct { int percent0_; // saved initial progress percent DError left_derr_; // left error diffusion (u/v) - DError *top_derr_; // top diffusion error - NULL if disabled + DError* top_derr_; // top diffusion error - NULL if disabled uint8_t* y_left_; // left luma samples (addressable from index -1 to 15). uint8_t* u_left_; // left u samples (addressable from index -1 to 7) diff --git a/thirdparty/libwebp/src/mux/muxi.h b/thirdparty/libwebp/src/mux/muxi.h index 7bc0b07e9b..ad3e1bdb97 100644 --- a/thirdparty/libwebp/src/mux/muxi.h +++ b/thirdparty/libwebp/src/mux/muxi.h @@ -28,8 +28,8 @@ extern "C" { // Defines and constants. #define MUX_MAJ_VERSION 1 -#define MUX_MIN_VERSION 0 -#define MUX_REV_VERSION 3 +#define MUX_MIN_VERSION 1 +#define MUX_REV_VERSION 0 // Chunk object. typedef struct WebPChunk WebPChunk; diff --git a/thirdparty/libwebp/src/mux/muxread.c b/thirdparty/libwebp/src/mux/muxread.c index 268f6acb53..ae3b876bc5 100644 --- a/thirdparty/libwebp/src/mux/muxread.c +++ b/thirdparty/libwebp/src/mux/muxread.c @@ -100,7 +100,7 @@ static int MuxImageParse(const WebPChunk* const chunk, int copy_data, WebPMuxImage* const wpi) { const uint8_t* bytes = chunk->data_.bytes; size_t size = chunk->data_.size; - const uint8_t* const last = bytes + size; + const uint8_t* const last = (bytes == NULL) ? NULL : bytes + size; WebPChunk subchunk; size_t subchunk_size; WebPChunk** unknown_chunk_list = &wpi->unknown_; diff --git a/thirdparty/libwebp/src/utils/color_cache_utils.h b/thirdparty/libwebp/src/utils/color_cache_utils.h index ec21d5199b..b45d47c2d5 100644 --- a/thirdparty/libwebp/src/utils/color_cache_utils.h +++ b/thirdparty/libwebp/src/utils/color_cache_utils.h @@ -26,7 +26,7 @@ extern "C" { // Main color cache struct. typedef struct { - uint32_t *colors_; // color entries + uint32_t* colors_; // color entries int hash_shift_; // Hash shift: 32 - hash_bits_. int hash_bits_; } VP8LColorCache; diff --git a/thirdparty/libwebp/src/utils/thread_utils.c b/thirdparty/libwebp/src/utils/thread_utils.c index 438296b45f..4e470e17ac 100644 --- a/thirdparty/libwebp/src/utils/thread_utils.c +++ b/thirdparty/libwebp/src/utils/thread_utils.c @@ -73,7 +73,7 @@ typedef struct { #endif static int pthread_create(pthread_t* const thread, const void* attr, - unsigned int (__stdcall *start)(void*), void* arg) { + unsigned int (__stdcall* start)(void*), void* arg) { (void)attr; #ifdef USE_CREATE_THREAD *thread = CreateThread(NULL, /* lpThreadAttributes */ diff --git a/thirdparty/libwebp/src/utils/utils.c b/thirdparty/libwebp/src/utils/utils.c index 44d5c14f01..764f752b82 100644 --- a/thirdparty/libwebp/src/utils/utils.c +++ b/thirdparty/libwebp/src/utils/utils.c @@ -216,9 +216,14 @@ void WebPSafeFree(void* const ptr) { free(ptr); } -// Public API function. +// Public API functions. + +void* WebPMalloc(size_t size) { + return WebPSafeMalloc(1, size); +} + void WebPFree(void* ptr) { - free(ptr); + WebPSafeFree(ptr); } //------------------------------------------------------------------------------ diff --git a/thirdparty/libwebp/src/webp/decode.h b/thirdparty/libwebp/src/webp/decode.h index ae8bfe840e..80dd0ef0cc 100644 --- a/thirdparty/libwebp/src/webp/decode.h +++ b/thirdparty/libwebp/src/webp/decode.h @@ -20,7 +20,7 @@ extern "C" { #endif -#define WEBP_DECODER_ABI_VERSION 0x0208 // MAJOR(8b) + MINOR(8b) +#define WEBP_DECODER_ABI_VERSION 0x0209 // MAJOR(8b) + MINOR(8b) // Note: forward declaring enumerations is not allowed in (strict) C and C++, // the types are left here for reference. @@ -91,9 +91,6 @@ WEBP_EXTERN uint8_t* WebPDecodeYUV(const uint8_t* data, size_t data_size, uint8_t** u, uint8_t** v, int* stride, int* uv_stride); -// Releases memory returned by the WebPDecode*() functions above. -WEBP_EXTERN void WebPFree(void* ptr); - // These five functions are variants of the above ones, that decode the image // directly into a pre-allocated buffer 'output_buffer'. The maximum storage // available in this buffer is indicated by 'output_buffer_size'. If this diff --git a/thirdparty/libwebp/src/webp/encode.h b/thirdparty/libwebp/src/webp/encode.h index 339f8810aa..655166e7d4 100644 --- a/thirdparty/libwebp/src/webp/encode.h +++ b/thirdparty/libwebp/src/webp/encode.h @@ -20,7 +20,7 @@ extern "C" { #endif -#define WEBP_ENCODER_ABI_VERSION 0x020e // MAJOR(8b) + MINOR(8b) +#define WEBP_ENCODER_ABI_VERSION 0x020f // MAJOR(8b) + MINOR(8b) // Note: forward declaring enumerations is not allowed in (strict) C and C++, // the types are left here for reference. @@ -79,9 +79,6 @@ WEBP_EXTERN size_t WebPEncodeLosslessBGRA(const uint8_t* bgra, int width, int height, int stride, uint8_t** output); -// Releases memory returned by the WebPEncode*() functions above. -WEBP_EXTERN void WebPFree(void* ptr); - //------------------------------------------------------------------------------ // Coding parameters @@ -306,7 +303,7 @@ struct WebPPicture { // YUV input (mostly used for input to lossy compression) WebPEncCSP colorspace; // colorspace: should be YUV420 for now (=Y'CbCr). int width, height; // dimensions (less or equal to WEBP_MAX_DIMENSION) - uint8_t *y, *u, *v; // pointers to luma/chroma planes. + uint8_t* y, *u, *v; // pointers to luma/chroma planes. int y_stride, uv_stride; // luma/chroma strides. uint8_t* a; // pointer to the alpha plane int a_stride; // stride of the alpha plane @@ -350,7 +347,7 @@ struct WebPPicture { uint32_t pad3[3]; // padding for later use // Unused for now - uint8_t *pad4, *pad5; + uint8_t* pad4, *pad5; uint32_t pad6[8]; // padding for later use // PRIVATE FIELDS diff --git a/thirdparty/libwebp/src/webp/mux.h b/thirdparty/libwebp/src/webp/mux.h index 66096a92e0..7d27489a40 100644 --- a/thirdparty/libwebp/src/webp/mux.h +++ b/thirdparty/libwebp/src/webp/mux.h @@ -57,7 +57,7 @@ extern "C" { WebPMuxGetChunk(mux, "ICCP", &icc_profile); // ... (Consume icc_data). WebPMuxDelete(mux); - free(data); + WebPFree(data); */ // Note: forward declaring enumerations is not allowed in (strict) C and C++, @@ -245,7 +245,7 @@ WEBP_EXTERN WebPMuxError WebPMuxPushFrame( WebPMux* mux, const WebPMuxFrameInfo* frame, int copy_data); // Gets the nth frame from the mux object. -// The content of 'frame->bitstream' is allocated using malloc(), and NOT +// The content of 'frame->bitstream' is allocated using WebPMalloc(), and NOT // owned by the 'mux' object. It MUST be deallocated by the caller by calling // WebPDataClear(). // nth=0 has a special meaning - last position. @@ -376,10 +376,10 @@ WEBP_EXTERN WebPMuxError WebPMuxNumChunks(const WebPMux* mux, // Assembles all chunks in WebP RIFF format and returns in 'assembled_data'. // This function also validates the mux object. // Note: The content of 'assembled_data' will be ignored and overwritten. -// Also, the content of 'assembled_data' is allocated using malloc(), and NOT -// owned by the 'mux' object. It MUST be deallocated by the caller by calling -// WebPDataClear(). It's always safe to call WebPDataClear() upon return, -// even in case of error. +// Also, the content of 'assembled_data' is allocated using WebPMalloc(), and +// NOT owned by the 'mux' object. It MUST be deallocated by the caller by +// calling WebPDataClear(). It's always safe to call WebPDataClear() upon +// return, even in case of error. // Parameters: // mux - (in/out) object whose chunks are to be assembled // assembled_data - (out) assembled WebP data diff --git a/thirdparty/libwebp/src/webp/mux_types.h b/thirdparty/libwebp/src/webp/mux_types.h index ceea77dfc6..2fe8195839 100644 --- a/thirdparty/libwebp/src/webp/mux_types.h +++ b/thirdparty/libwebp/src/webp/mux_types.h @@ -14,7 +14,6 @@ #ifndef WEBP_WEBP_MUX_TYPES_H_ #define WEBP_WEBP_MUX_TYPES_H_ -#include <stdlib.h> // free() #include <string.h> // memset() #include "./types.h" @@ -56,6 +55,7 @@ typedef enum WebPMuxAnimBlend { // Data type used to describe 'raw' data, e.g., chunk data // (ICC profile, metadata) and WebP compressed image data. +// 'bytes' memory must be allocated using WebPMalloc() and such. struct WebPData { const uint8_t* bytes; size_t size; @@ -68,11 +68,11 @@ static WEBP_INLINE void WebPDataInit(WebPData* webp_data) { } } -// Clears the contents of the 'webp_data' object by calling free(). Does not -// deallocate the object itself. +// Clears the contents of the 'webp_data' object by calling WebPFree(). +// Does not deallocate the object itself. static WEBP_INLINE void WebPDataClear(WebPData* webp_data) { if (webp_data != NULL) { - free((void*)webp_data->bytes); + WebPFree((void*)webp_data->bytes); WebPDataInit(webp_data); } } @@ -83,7 +83,7 @@ static WEBP_INLINE int WebPDataCopy(const WebPData* src, WebPData* dst) { if (src == NULL || dst == NULL) return 0; WebPDataInit(dst); if (src->bytes != NULL && src->size != 0) { - dst->bytes = (uint8_t*)malloc(src->size); + dst->bytes = (uint8_t*)WebPMalloc(src->size); if (dst->bytes == NULL) return 0; memcpy((void*)dst->bytes, src->bytes, src->size); dst->size = src->size; diff --git a/thirdparty/libwebp/src/webp/types.h b/thirdparty/libwebp/src/webp/types.h index 0ce2622e41..47f7f2b007 100644 --- a/thirdparty/libwebp/src/webp/types.h +++ b/thirdparty/libwebp/src/webp/types.h @@ -7,7 +7,7 @@ // be found in the AUTHORS file in the root of the source tree. // ----------------------------------------------------------------------------- // -// Common types +// Common types + memory wrappers // // Author: Skal (pascal.massimino@gmail.com) @@ -49,4 +49,20 @@ typedef long long int int64_t; // Macro to check ABI compatibility (same major revision number) #define WEBP_ABI_IS_INCOMPATIBLE(a, b) (((a) >> 8) != ((b) >> 8)) +#ifdef __cplusplus +extern "C" { +#endif + +// Allocates 'size' bytes of memory. Returns NULL upon error. Memory +// must be deallocated by calling WebPFree(). This function is made available +// by the core 'libwebp' library. +WEBP_EXTERN void* WebPMalloc(size_t size); + +// Releases memory returned by the WebPDecode*() functions (from decode.h). +WEBP_EXTERN void WebPFree(void* ptr); + +#ifdef __cplusplus +} // extern "C" +#endif + #endif // WEBP_WEBP_TYPES_H_ diff --git a/thirdparty/misc/ifaddrs-android.h b/thirdparty/misc/ifaddrs-android.h index 6e204af26f..8de94324b8 100644 --- a/thirdparty/misc/ifaddrs-android.h +++ b/thirdparty/misc/ifaddrs-android.h @@ -32,6 +32,11 @@ // Fills out a list of ifaddr structs (see below) which contain information // about every network interface available on the host. // See 'man getifaddrs' on Linux or OS X (nb: it is not a POSIX function). +// -- GODOT start -- +#ifdef __cplusplus +extern "C" { +#endif +// -- GODOT end -- struct ifaddrs { struct ifaddrs* ifa_next; char* ifa_name; @@ -40,7 +45,21 @@ struct ifaddrs { struct sockaddr* ifa_netmask; // Real ifaddrs has broadcast, point to point and data members. // We don't need them (yet?). + // -- GODOT start -- + // We never initialize the following members. We only define them to match the ifaddrs struct. + union + { + struct sockaddr *ifu_broadaddr; + struct sockaddr *ifu_dstaddr; + } ifa_ifu; + void *ifa_data; + // -- GODOT end -- }; +// -- GODOT start -- +#ifdef __cplusplus +} +#endif +// -- GODOT end -- int getifaddrs(struct ifaddrs** result); void freeifaddrs(struct ifaddrs* addrs); #endif // TALK_BASE_IFADDRS_ANDROID_H_ diff --git a/thirdparty/opus/analysis.c b/thirdparty/opus/analysis.c index cb46dec582..663431a436 100644 --- a/thirdparty/opus/analysis.c +++ b/thirdparty/opus/analysis.c @@ -29,29 +29,20 @@ #include "config.h" #endif -#define ANALYSIS_C - -#include <stdio.h> - -#include "mathops.h" #include "kiss_fft.h" #include "celt.h" #include "modes.h" #include "arch.h" #include "quant_bands.h" +#include <stdio.h> #include "analysis.h" #include "mlp.h" #include "stack_alloc.h" -#include "float_cast.h" #ifndef M_PI #define M_PI 3.141592653 #endif -#ifndef DISABLE_FLOAT_API - -#define TRANSITION_PENALTY 10 - static const float dct_table[128] = { 0.250000f, 0.250000f, 0.250000f, 0.250000f, 0.250000f, 0.250000f, 0.250000f, 0.250000f, 0.250000f, 0.250000f, 0.250000f, 0.250000f, 0.250000f, 0.250000f, 0.250000f, 0.250000f, @@ -105,118 +96,52 @@ static const float analysis_window[240] = { }; static const int tbands[NB_TBANDS+1] = { - 4, 8, 12, 16, 20, 24, 28, 32, 40, 48, 56, 64, 80, 96, 112, 136, 160, 192, 240 + 2, 4, 6, 8, 10, 12, 14, 16, 20, 24, 28, 32, 40, 48, 56, 68, 80, 96, 120 }; -#define NB_TONAL_SKIP_BANDS 9 +static const int extra_bands[NB_TOT_BANDS+1] = { + 1, 2, 4, 6, 8, 10, 12, 14, 16, 20, 24, 28, 32, 40, 48, 56, 68, 80, 96, 120, 160, 200 +}; -static opus_val32 silk_resampler_down2_hp( - opus_val32 *S, /* I/O State vector [ 2 ] */ - opus_val32 *out, /* O Output signal [ floor(len/2) ] */ - const opus_val32 *in, /* I Input signal [ len ] */ - int inLen /* I Number of input samples */ -) -{ - int k, len2 = inLen/2; - opus_val32 in32, out32, out32_hp, Y, X; - opus_val64 hp_ener = 0; - /* Internal variables and state are in Q10 format */ - for( k = 0; k < len2; k++ ) { - /* Convert to Q10 */ - in32 = in[ 2 * k ]; - - /* All-pass section for even input sample */ - Y = SUB32( in32, S[ 0 ] ); - X = MULT16_32_Q15(QCONST16(0.6074371f, 15), Y); - out32 = ADD32( S[ 0 ], X ); - S[ 0 ] = ADD32( in32, X ); - out32_hp = out32; - /* Convert to Q10 */ - in32 = in[ 2 * k + 1 ]; - - /* All-pass section for odd input sample, and add to output of previous section */ - Y = SUB32( in32, S[ 1 ] ); - X = MULT16_32_Q15(QCONST16(0.15063f, 15), Y); - out32 = ADD32( out32, S[ 1 ] ); - out32 = ADD32( out32, X ); - S[ 1 ] = ADD32( in32, X ); - - Y = SUB32( -in32, S[ 2 ] ); - X = MULT16_32_Q15(QCONST16(0.15063f, 15), Y); - out32_hp = ADD32( out32_hp, S[ 2 ] ); - out32_hp = ADD32( out32_hp, X ); - S[ 2 ] = ADD32( -in32, X ); - - hp_ener += out32_hp*(opus_val64)out32_hp; - /* Add, convert back to int16 and store to output */ - out[ k ] = HALF32(out32); - } -#ifdef FIXED_POINT - /* len2 can be up to 480, so we shift by 8 more to make it fit. */ - hp_ener = hp_ener >> (2*SIG_SHIFT + 8); -#endif - return (opus_val32)hp_ener; -} +/*static const float tweight[NB_TBANDS+1] = { + .3, .4, .5, .6, .7, .8, .9, 1., 1., 1., 1., 1., 1., 1., .8, .7, .6, .5 +};*/ -static opus_val32 downmix_and_resample(downmix_func downmix, const void *_x, opus_val32 *y, opus_val32 S[3], int subframe, int offset, int c1, int c2, int C, int Fs) -{ - VARDECL(opus_val32, tmp); - opus_val32 scale; - int j; - opus_val32 ret = 0; - SAVE_STACK; - - if (subframe==0) return 0; - if (Fs == 48000) - { - subframe *= 2; - offset *= 2; - } else if (Fs == 16000) { - subframe = subframe*2/3; - offset = offset*2/3; - } - ALLOC(tmp, subframe, opus_val32); +#define NB_TONAL_SKIP_BANDS 9 - downmix(_x, tmp, subframe, offset, c1, c2, C); -#ifdef FIXED_POINT - scale = (1<<SIG_SHIFT); -#else - scale = 1.f/32768; -#endif - if (c2==-2) - scale /= C; - else if (c2>-1) - scale /= 2; - for (j=0;j<subframe;j++) - tmp[j] *= scale; - if (Fs == 48000) +#define cA 0.43157974f +#define cB 0.67848403f +#define cC 0.08595542f +#define cE ((float)M_PI/2) +static OPUS_INLINE float fast_atan2f(float y, float x) { + float x2, y2; + /* Should avoid underflow on the values we'll get */ + if (ABS16(x)+ABS16(y)<1e-9f) { - ret = silk_resampler_down2_hp(S, y, tmp, subframe); - } else if (Fs == 24000) { - OPUS_COPY(y, tmp, subframe); - } else if (Fs == 16000) { - VARDECL(opus_val32, tmp3x); - ALLOC(tmp3x, 3*subframe, opus_val32); - /* Don't do this at home! This resampler is horrible and it's only (barely) - usable for the purpose of the analysis because we don't care about all - the aliasing between 8 kHz and 12 kHz. */ - for (j=0;j<subframe;j++) - { - tmp3x[3*j] = tmp[j]; - tmp3x[3*j+1] = tmp[j]; - tmp3x[3*j+2] = tmp[j]; - } - silk_resampler_down2_hp(S, y, tmp3x, 3*subframe); + x*=1e12f; + y*=1e12f; + } + x2 = x*x; + y2 = y*y; + if(x2<y2){ + float den = (y2 + cB*x2) * (y2 + cC*x2); + if (den!=0) + return -x*y*(y2 + cA*x2) / den + (y<0 ? -cE : cE); + else + return (y<0 ? -cE : cE); + }else{ + float den = (x2 + cB*y2) * (x2 + cC*y2); + if (den!=0) + return x*y*(x2 + cA*y2) / den + (y<0 ? -cE : cE) - (x*y<0 ? -cE : cE); + else + return (y<0 ? -cE : cE) - (x*y<0 ? -cE : cE); } - RESTORE_STACK; - return ret; } -void tonality_analysis_init(TonalityAnalysisState *tonal, opus_int32 Fs) +void tonality_analysis_init(TonalityAnalysisState *tonal) { /* Initialize reusable fields. */ tonal->arch = opus_select_arch(); - tonal->Fs = Fs; /* Clear remaining fields. */ tonality_analysis_reset(tonal); } @@ -232,34 +157,15 @@ void tonality_get_info(TonalityAnalysisState *tonal, AnalysisInfo *info_out, int { int pos; int curr_lookahead; - float tonality_max; - float tonality_avg; - int tonality_count; + float psum; int i; - int pos0; - float prob_avg; - float prob_count; - float prob_min, prob_max; - float vad_prob; - int mpos, vpos; - int bandwidth_span; pos = tonal->read_pos; curr_lookahead = tonal->write_pos-tonal->read_pos; if (curr_lookahead<0) curr_lookahead += DETECT_SIZE; - tonal->read_subframe += len/(tonal->Fs/400); - while (tonal->read_subframe>=8) - { - tonal->read_subframe -= 8; - tonal->read_pos++; - } - if (tonal->read_pos>=DETECT_SIZE) - tonal->read_pos-=DETECT_SIZE; - - /* On long frames, look at the second analysis window rather than the first. */ - if (len > tonal->Fs/50 && pos != tonal->write_pos) + if (len > 480 && pos != tonal->write_pos) { pos++; if (pos==DETECT_SIZE) @@ -269,177 +175,32 @@ void tonality_get_info(TonalityAnalysisState *tonal, AnalysisInfo *info_out, int pos--; if (pos<0) pos = DETECT_SIZE-1; - pos0 = pos; OPUS_COPY(info_out, &tonal->info[pos], 1); - if (!info_out->valid) - return; - tonality_max = tonality_avg = info_out->tonality; - tonality_count = 1; - /* Look at the neighbouring frames and pick largest bandwidth found (to be safe). */ - bandwidth_span = 6; - /* If possible, look ahead for a tone to compensate for the delay in the tone detector. */ - for (i=0;i<3;i++) - { - pos++; - if (pos==DETECT_SIZE) - pos = 0; - if (pos == tonal->write_pos) - break; - tonality_max = MAX32(tonality_max, tonal->info[pos].tonality); - tonality_avg += tonal->info[pos].tonality; - tonality_count++; - info_out->bandwidth = IMAX(info_out->bandwidth, tonal->info[pos].bandwidth); - bandwidth_span--; - } - pos = pos0; - /* Look back in time to see if any has a wider bandwidth than the current frame. */ - for (i=0;i<bandwidth_span;i++) - { - pos--; - if (pos < 0) - pos = DETECT_SIZE-1; - if (pos == tonal->write_pos) - break; - info_out->bandwidth = IMAX(info_out->bandwidth, tonal->info[pos].bandwidth); - } - info_out->tonality = MAX32(tonality_avg/tonality_count, tonality_max-.2f); - - mpos = vpos = pos0; - /* If we have enough look-ahead, compensate for the ~5-frame delay in the music prob and - ~1 frame delay in the VAD prob. */ - if (curr_lookahead > 15) + tonal->read_subframe += len/120; + while (tonal->read_subframe>=4) { - mpos += 5; - if (mpos>=DETECT_SIZE) - mpos -= DETECT_SIZE; - vpos += 1; - if (vpos>=DETECT_SIZE) - vpos -= DETECT_SIZE; - } - - /* The following calculations attempt to minimize a "badness function" - for the transition. When switching from speech to music, the badness - of switching at frame k is - b_k = S*v_k + \sum_{i=0}^{k-1} v_i*(p_i - T) - where - v_i is the activity probability (VAD) at frame i, - p_i is the music probability at frame i - T is the probability threshold for switching - S is the penalty for switching during active audio rather than silence - the current frame has index i=0 - - Rather than apply badness to directly decide when to switch, what we compute - instead is the threshold for which the optimal switching point is now. When - considering whether to switch now (frame 0) or at frame k, we have: - S*v_0 = S*v_k + \sum_{i=0}^{k-1} v_i*(p_i - T) - which gives us: - T = ( \sum_{i=0}^{k-1} v_i*p_i + S*(v_k-v_0) ) / ( \sum_{i=0}^{k-1} v_i ) - We take the min threshold across all positive values of k (up to the maximum - amount of lookahead we have) to give us the threshold for which the current - frame is the optimal switch point. - - The last step is that we need to consider whether we want to switch at all. - For that we use the average of the music probability over the entire window. - If the threshold is higher than that average we're not going to - switch, so we compute a min with the average as well. The result of all these - min operations is music_prob_min, which gives the threshold for switching to music - if we're currently encoding for speech. - - We do the exact opposite to compute music_prob_max which is used for switching - from music to speech. - */ - prob_min = 1.f; - prob_max = 0.f; - vad_prob = tonal->info[vpos].activity_probability; - prob_count = MAX16(.1f, vad_prob); - prob_avg = MAX16(.1f, vad_prob)*tonal->info[mpos].music_prob; - while (1) - { - float pos_vad; - mpos++; - if (mpos==DETECT_SIZE) - mpos = 0; - if (mpos == tonal->write_pos) - break; - vpos++; - if (vpos==DETECT_SIZE) - vpos = 0; - if (vpos == tonal->write_pos) - break; - pos_vad = tonal->info[vpos].activity_probability; - prob_min = MIN16((prob_avg - TRANSITION_PENALTY*(vad_prob - pos_vad))/prob_count, prob_min); - prob_max = MAX16((prob_avg + TRANSITION_PENALTY*(vad_prob - pos_vad))/prob_count, prob_max); - prob_count += MAX16(.1f, pos_vad); - prob_avg += MAX16(.1f, pos_vad)*tonal->info[mpos].music_prob; - } - info_out->music_prob = prob_avg/prob_count; - prob_min = MIN16(prob_avg/prob_count, prob_min); - prob_max = MAX16(prob_avg/prob_count, prob_max); - prob_min = MAX16(prob_min, 0.f); - prob_max = MIN16(prob_max, 1.f); - - /* If we don't have enough look-ahead, do our best to make a decent decision. */ - if (curr_lookahead < 10) - { - float pmin, pmax; - pmin = prob_min; - pmax = prob_max; - pos = pos0; - /* Look for min/max in the past. */ - for (i=0;i<IMIN(tonal->count-1, 15);i++) - { - pos--; - if (pos < 0) - pos = DETECT_SIZE-1; - pmin = MIN16(pmin, tonal->info[pos].music_prob); - pmax = MAX16(pmax, tonal->info[pos].music_prob); - } - /* Bias against switching on active audio. */ - pmin = MAX16(0.f, pmin - .1f*vad_prob); - pmax = MIN16(1.f, pmax + .1f*vad_prob); - prob_min += (1.f-.1f*curr_lookahead)*(pmin - prob_min); - prob_max += (1.f-.1f*curr_lookahead)*(pmax - prob_max); + tonal->read_subframe -= 4; + tonal->read_pos++; } - info_out->music_prob_min = prob_min; - info_out->music_prob_max = prob_max; - - /* printf("%f %f %f %f %f\n", prob_min, prob_max, prob_avg/prob_count, vad_prob, info_out->music_prob); */ -} - -static const float std_feature_bias[9] = { - 5.684947f, 3.475288f, 1.770634f, 1.599784f, 3.773215f, - 2.163313f, 1.260756f, 1.116868f, 1.918795f -}; - -#define LEAKAGE_OFFSET 2.5f -#define LEAKAGE_SLOPE 2.f - -#ifdef FIXED_POINT -/* For fixed-point, the input is +/-2^15 shifted up by SIG_SHIFT, so we need to - compensate for that in the energy. */ -#define SCALE_COMPENS (1.f/((opus_int32)1<<(15+SIG_SHIFT))) -#define SCALE_ENER(e) ((SCALE_COMPENS*SCALE_COMPENS)*(e)) -#else -#define SCALE_ENER(e) (e) -#endif - -#ifdef FIXED_POINT -static int is_digital_silence32(const opus_val32* pcm, int frame_size, int channels, int lsb_depth) -{ - int silence = 0; - opus_val32 sample_max = 0; -#ifdef MLP_TRAINING - return 0; -#endif - sample_max = celt_maxabs32(pcm, frame_size*channels); + if (tonal->read_pos>=DETECT_SIZE) + tonal->read_pos-=DETECT_SIZE; - silence = (sample_max == 0); - (void)lsb_depth; - return silence; + /* Compensate for the delay in the features themselves. + FIXME: Need a better estimate the 10 I just made up */ + curr_lookahead = IMAX(curr_lookahead-10, 0); + + psum=0; + /* Summing the probability of transition patterns that involve music at + time (DETECT_SIZE-curr_lookahead-1) */ + for (i=0;i<DETECT_SIZE-curr_lookahead;i++) + psum += tonal->pmusic[i]; + for (;i<DETECT_SIZE;i++) + psum += tonal->pspeech[i]; + psum = psum*tonal->music_confidence + (1-psum)*tonal->speech_confidence; + /*printf("%f %f %f\n", psum, info_out->music_prob, info_out->tonality);*/ + + info_out->music_prob = psum; } -#else -#define is_digital_silence32(pcm, frame_size, channels, lsb_depth) is_digital_silence(pcm, frame_size, channels, lsb_depth) -#endif static void tonality_analysis(TonalityAnalysisState *tonal, const CELTMode *celt_mode, const void *x, int len, int offset, int c1, int c2, int C, int lsb_depth, downmix_func downmix) { @@ -469,50 +230,24 @@ static void tonality_analysis(TonalityAnalysisState *tonal, const CELTMode *celt float alpha, alphaE, alphaE2; float frame_loudness; float bandwidth_mask; - int is_masked[NB_TBANDS+1]; int bandwidth=0; float maxE = 0; float noise_floor; int remaining; AnalysisInfo *info; - float hp_ener; - float tonality2[240]; - float midE[8]; - float spec_variability=0; - float band_log2[NB_TBANDS+1]; - float leakage_from[NB_TBANDS+1]; - float leakage_to[NB_TBANDS+1]; - float layer_out[MAX_NEURONS]; - float below_max_pitch; - float above_max_pitch; - int is_silence; SAVE_STACK; - if (!tonal->initialized) - { - tonal->mem_fill = 240; - tonal->initialized = 1; - } - alpha = 1.f/IMIN(10, 1+tonal->count); - alphaE = 1.f/IMIN(25, 1+tonal->count); - /* Noise floor related decay for bandwidth detection: -2.2 dB/second */ - alphaE2 = 1.f/IMIN(100, 1+tonal->count); - if (tonal->count <= 1) alphaE2 = 1; - - if (tonal->Fs == 48000) - { - /* len and offset are now at 24 kHz. */ - len/= 2; - offset /= 2; - } else if (tonal->Fs == 16000) { - len = 3*len/2; - offset = 3*offset/2; - } + tonal->last_transition++; + alpha = 1.f/IMIN(20, 1+tonal->count); + alphaE = 1.f/IMIN(50, 1+tonal->count); + alphaE2 = 1.f/IMIN(1000, 1+tonal->count); + if (tonal->count<4) + tonal->music_prob = .5; kfft = celt_mode->mdct.kfft[0]; - tonal->hp_ener_accum += (float)downmix_and_resample(downmix, x, - &tonal->inmem[tonal->mem_fill], tonal->downmix_state, - IMIN(len, ANALYSIS_BUF_SIZE-tonal->mem_fill), offset, c1, c2, C, tonal->Fs); + if (tonal->count==0) + tonal->mem_fill = 240; + downmix(x, &tonal->inmem[tonal->mem_fill], IMIN(len, ANALYSIS_BUF_SIZE-tonal->mem_fill), offset, c1, c2, C); if (tonal->mem_fill+len < ANALYSIS_BUF_SIZE) { tonal->mem_fill += len; @@ -520,13 +255,10 @@ static void tonality_analysis(TonalityAnalysisState *tonal, const CELTMode *celt RESTORE_STACK; return; } - hp_ener = tonal->hp_ener_accum; info = &tonal->info[tonal->write_pos++]; if (tonal->write_pos>=DETECT_SIZE) tonal->write_pos-=DETECT_SIZE; - is_silence = is_digital_silence32(tonal->inmem, ANALYSIS_BUF_SIZE, 1, lsb_depth); - ALLOC(in, 480, kiss_fft_cpx); ALLOC(out, 480, kiss_fft_cpx); ALLOC(tonality, 240, float); @@ -541,20 +273,8 @@ static void tonality_analysis(TonalityAnalysisState *tonal, const CELTMode *celt } OPUS_MOVE(tonal->inmem, tonal->inmem+ANALYSIS_BUF_SIZE-240, 240); remaining = len - (ANALYSIS_BUF_SIZE-tonal->mem_fill); - tonal->hp_ener_accum = (float)downmix_and_resample(downmix, x, - &tonal->inmem[240], tonal->downmix_state, remaining, - offset+ANALYSIS_BUF_SIZE-tonal->mem_fill, c1, c2, C, tonal->Fs); + downmix(x, &tonal->inmem[240], remaining, offset+ANALYSIS_BUF_SIZE-tonal->mem_fill, c1, c2, C); tonal->mem_fill = 240 + remaining; - if (is_silence) - { - /* On silence, copy the previous analysis. */ - int prev_pos = tonal->write_pos-2; - if (prev_pos < 0) - prev_pos += DETECT_SIZE; - OPUS_COPY(info, &tonal->info[prev_pos], 1); - RESTORE_STACK; - return; - } opus_fft(kfft, in, out, tonal->arch); #ifndef FIXED_POINT /* If there's any NaN on the input, the entire output will be NaN, so we only need to check one value. */ @@ -585,31 +305,24 @@ static void tonality_analysis(TonalityAnalysisState *tonal, const CELTMode *celt d_angle2 = angle2 - angle; d2_angle2 = d_angle2 - d_angle; - mod1 = d2_angle - (float)float2int(d2_angle); + mod1 = d2_angle - (float)floor(.5+d2_angle); noisiness[i] = ABS16(mod1); mod1 *= mod1; mod1 *= mod1; - mod2 = d2_angle2 - (float)float2int(d2_angle2); + mod2 = d2_angle2 - (float)floor(.5+d2_angle2); noisiness[i] += ABS16(mod2); mod2 *= mod2; mod2 *= mod2; - avg_mod = .25f*(d2A[i]+mod1+2*mod2); - /* This introduces an extra delay of 2 frames in the detection. */ + avg_mod = .25f*(d2A[i]+2.f*mod1+mod2); tonality[i] = 1.f/(1.f+40.f*16.f*pi4*avg_mod)-.015f; - /* No delay on this detection, but it's less reliable. */ - tonality2[i] = 1.f/(1.f+40.f*16.f*pi4*mod2)-.015f; A[i] = angle2; dA[i] = d_angle2; d2A[i] = mod2; } - for (i=2;i<N2-1;i++) - { - float tt = MIN32(tonality2[i], MAX32(tonality2[i-1], tonality2[i+1])); - tonality[i] = .9f*MAX32(tonality[i], tt-.1f); - } + frame_tonality = 0; max_frame_tonality = 0; /*tw_sum = 0;*/ @@ -626,22 +339,6 @@ static void tonality_analysis(TonalityAnalysisState *tonal, const CELTMode *celt } relativeE = 0; frame_loudness = 0; - /* The energy of the very first band is special because of DC. */ - { - float E = 0; - float X1r, X2r; - X1r = 2*(float)out[0].r; - X2r = 2*(float)out[0].i; - E = X1r*X1r + X2r*X2r; - for (i=1;i<4;i++) - { - float binE = out[i].r*(float)out[i].r + out[N-i].r*(float)out[N-i].r - + out[i].i*(float)out[i].i + out[N-i].i*(float)out[N-i].i; - E += binE; - } - E = SCALE_ENER(E); - band_log2[0] = .5f*1.442695f*(float)log(E+1e-10f); - } for (b=0;b<NB_TBANDS;b++) { float E=0, tE=0, nE=0; @@ -651,9 +348,12 @@ static void tonality_analysis(TonalityAnalysisState *tonal, const CELTMode *celt { float binE = out[i].r*(float)out[i].r + out[N-i].r*(float)out[N-i].r + out[i].i*(float)out[i].i + out[N-i].i*(float)out[N-i].i; - binE = SCALE_ENER(binE); +#ifdef FIXED_POINT + /* FIXME: It's probably best to change the BFCC filter initial state instead */ + binE *= 5.55e-17f; +#endif E += binE; - tE += binE*MAX32(0, tonality[i]); + tE += binE*tonality[i]; nE += binE*2.f*(.5f-noisiness[i]); } #ifndef FIXED_POINT @@ -671,27 +371,14 @@ static void tonality_analysis(TonalityAnalysisState *tonal, const CELTMode *celt frame_loudness += (float)sqrt(E+1e-10f); logE[b] = (float)log(E+1e-10f); - band_log2[b+1] = .5f*1.442695f*(float)log(E+1e-10f); - tonal->logE[tonal->E_count][b] = logE[b]; - if (tonal->count==0) - tonal->highE[b] = tonal->lowE[b] = logE[b]; - if (tonal->highE[b] > tonal->lowE[b] + 7.5) + tonal->lowE[b] = MIN32(logE[b], tonal->lowE[b]+.01f); + tonal->highE[b] = MAX32(logE[b], tonal->highE[b]-.1f); + if (tonal->highE[b] < tonal->lowE[b]+1.f) { - if (tonal->highE[b] - logE[b] > logE[b] - tonal->lowE[b]) - tonal->highE[b] -= .01f; - else - tonal->lowE[b] += .01f; + tonal->highE[b]+=.5f; + tonal->lowE[b]-=.5f; } - if (logE[b] > tonal->highE[b]) - { - tonal->highE[b] = logE[b]; - tonal->lowE[b] = MAX32(tonal->highE[b]-15, tonal->lowE[b]); - } else if (logE[b] < tonal->lowE[b]) - { - tonal->lowE[b] = logE[b]; - tonal->highE[b] = MIN32(tonal->lowE[b]+15, tonal->highE[b]); - } - relativeE += (logE[b]-tonal->lowE[b])/(1e-5f + (tonal->highE[b]-tonal->lowE[b])); + relativeE += (logE[b]-tonal->lowE[b])/(1e-15f+tonal->highE[b]-tonal->lowE[b]); L1=L2=0; for (i=0;i<NB_FRAMES;i++) @@ -723,135 +410,45 @@ static void tonality_analysis(TonalityAnalysisState *tonal, const CELTMode *celt tonal->prev_band_tonality[b] = band_tonality[b]; } - leakage_from[0] = band_log2[0]; - leakage_to[0] = band_log2[0] - LEAKAGE_OFFSET; - for (b=1;b<NB_TBANDS+1;b++) - { - float leak_slope = LEAKAGE_SLOPE*(tbands[b]-tbands[b-1])/4; - leakage_from[b] = MIN16(leakage_from[b-1]+leak_slope, band_log2[b]); - leakage_to[b] = MAX16(leakage_to[b-1]-leak_slope, band_log2[b]-LEAKAGE_OFFSET); - } - for (b=NB_TBANDS-2;b>=0;b--) - { - float leak_slope = LEAKAGE_SLOPE*(tbands[b+1]-tbands[b])/4; - leakage_from[b] = MIN16(leakage_from[b+1]+leak_slope, leakage_from[b]); - leakage_to[b] = MAX16(leakage_to[b+1]-leak_slope, leakage_to[b]); - } - celt_assert(NB_TBANDS+1 <= LEAK_BANDS); - for (b=0;b<NB_TBANDS+1;b++) - { - /* leak_boost[] is made up of two terms. The first, based on leakage_to[], - represents the boost needed to overcome the amount of analysis leakage - cause in a weaker band b by louder neighbouring bands. - The second, based on leakage_from[], applies to a loud band b for - which the quantization noise causes synthesis leakage to the weaker - neighbouring bands. */ - float boost = MAX16(0, leakage_to[b] - band_log2[b]) + - MAX16(0, band_log2[b] - (leakage_from[b]+LEAKAGE_OFFSET)); - info->leak_boost[b] = IMIN(255, (int)floor(.5 + 64.f*boost)); - } - for (;b<LEAK_BANDS;b++) info->leak_boost[b] = 0; - - for (i=0;i<NB_FRAMES;i++) - { - int j; - float mindist = 1e15f; - for (j=0;j<NB_FRAMES;j++) - { - int k; - float dist=0; - for (k=0;k<NB_TBANDS;k++) - { - float tmp; - tmp = tonal->logE[i][k] - tonal->logE[j][k]; - dist += tmp*tmp; - } - if (j!=i) - mindist = MIN32(mindist, dist); - } - spec_variability += mindist; - } - spec_variability = (float)sqrt(spec_variability/NB_FRAMES/NB_TBANDS); bandwidth_mask = 0; bandwidth = 0; maxE = 0; noise_floor = 5.7e-4f/(1<<(IMAX(0,lsb_depth-8))); +#ifdef FIXED_POINT + noise_floor *= 1<<(15+SIG_SHIFT); +#endif noise_floor *= noise_floor; - below_max_pitch=0; - above_max_pitch=0; - for (b=0;b<NB_TBANDS;b++) + for (b=0;b<NB_TOT_BANDS;b++) { float E=0; - float Em; int band_start, band_end; /* Keep a margin of 300 Hz for aliasing */ - band_start = tbands[b]; - band_end = tbands[b+1]; + band_start = extra_bands[b]; + band_end = extra_bands[b+1]; for (i=band_start;i<band_end;i++) { float binE = out[i].r*(float)out[i].r + out[N-i].r*(float)out[N-i].r + out[i].i*(float)out[i].i + out[N-i].i*(float)out[N-i].i; E += binE; } - E = SCALE_ENER(E); maxE = MAX32(maxE, E); - if (band_start < 64) - { - below_max_pitch += E; - } else { - above_max_pitch += E; - } tonal->meanE[b] = MAX32((1-alphaE2)*tonal->meanE[b], E); - Em = MAX32(E, tonal->meanE[b]); + E = MAX32(E, tonal->meanE[b]); + /* Use a simple follower with 13 dB/Bark slope for spreading function */ + bandwidth_mask = MAX32(.05f*bandwidth_mask, E); /* Consider the band "active" only if all these conditions are met: - 1) less than 90 dB below the peak band (maximal masking possible considering + 1) less than 10 dB below the simple follower + 2) less than 90 dB below the peak band (maximal masking possible considering both the ATH and the loudness-dependent slope of the spreading function) - 2) above the PCM quantization noise floor - We use b+1 because the first CELT band isn't included in tbands[] + 3) above the PCM quantization noise floor */ - if (E*1e9f > maxE && (Em > 3*noise_floor*(band_end-band_start) || E > noise_floor*(band_end-band_start))) - bandwidth = b+1; - /* Check if the band is masked (see below). */ - is_masked[b] = E < (tonal->prev_bandwidth >= b+1 ? .01f : .05f)*bandwidth_mask; - /* Use a simple follower with 13 dB/Bark slope for spreading function. */ - bandwidth_mask = MAX32(.05f*bandwidth_mask, E); + if (E>.1*bandwidth_mask && E*1e9f > maxE && E > noise_floor*(band_end-band_start)) + bandwidth = b; } - /* Special case for the last two bands, for which we don't have spectrum but only - the energy above 12 kHz. The difficulty here is that the high-pass we use - leaks some LF energy, so we need to increase the threshold without accidentally cutting - off the band. */ - if (tonal->Fs == 48000) { - float noise_ratio; - float Em; - float E = hp_ener*(1.f/(60*60)); - noise_ratio = tonal->prev_bandwidth==20 ? 10.f : 30.f; - -#ifdef FIXED_POINT - /* silk_resampler_down2_hp() shifted right by an extra 8 bits. */ - E *= 256.f*(1.f/Q15ONE)*(1.f/Q15ONE); -#endif - above_max_pitch += E; - tonal->meanE[b] = MAX32((1-alphaE2)*tonal->meanE[b], E); - Em = MAX32(E, tonal->meanE[b]); - if (Em > 3*noise_ratio*noise_floor*160 || E > noise_ratio*noise_floor*160) - bandwidth = 20; - /* Check if the band is masked (see below). */ - is_masked[b] = E < (tonal->prev_bandwidth == 20 ? .01f : .05f)*bandwidth_mask; - } - if (above_max_pitch > below_max_pitch) - info->max_pitch_ratio = below_max_pitch/above_max_pitch; - else - info->max_pitch_ratio = 1; - /* In some cases, resampling aliasing can create a small amount of energy in the first band - being cut. So if the last band is masked, we don't include it. */ - if (bandwidth == 20 && is_masked[NB_TBANDS]) - bandwidth-=2; - else if (bandwidth > 0 && bandwidth <= NB_TBANDS && is_masked[bandwidth-1]) - bandwidth--; if (tonal->count<=2) bandwidth = 20; frame_loudness = 20*(float)log10(frame_loudness); - tonal->Etracker = MAX32(tonal->Etracker-.003f, frame_loudness); + tonal->Etracker = MAX32(tonal->Etracker-.03f, frame_loudness); tonal->lowECount *= (1-alphaE); if (frame_loudness < tonal->Etracker-30) tonal->lowECount += alphaE; @@ -863,18 +460,11 @@ static void tonality_analysis(TonalityAnalysisState *tonal, const CELTMode *celt sum += dct_table[i*16+b]*logE[b]; BFCC[i] = sum; } - for (i=0;i<8;i++) - { - float sum=0; - for (b=0;b<16;b++) - sum += dct_table[i*16+b]*.5f*(tonal->highE[b]+tonal->lowE[b]); - midE[i] = sum; - } frame_stationarity /= NB_TBANDS; relativeE /= NB_TBANDS; if (tonal->count<10) - relativeE = .5f; + relativeE = .5; frame_noisiness /= NB_TBANDS; #if 1 info->activity = frame_noisiness + (1-frame_noisiness)*relativeE; @@ -889,7 +479,7 @@ static void tonality_analysis(TonalityAnalysisState *tonal, const CELTMode *celt info->tonality_slope = slope; tonal->E_count = (tonal->E_count+1)%NB_FRAMES; - tonal->count = IMIN(tonal->count+1, ANALYSIS_COUNT_MAX); + tonal->count++; info->tonality = frame_tonality; for (i=0;i<4;i++) @@ -908,8 +498,6 @@ static void tonality_analysis(TonalityAnalysisState *tonal, const CELTMode *celt for (i=0;i<9;i++) tonal->std[i] = (1-alpha)*tonal->std[i] + alpha*features[i]*features[i]; } - for (i=0;i<4;i++) - features[i] = BFCC[i]-midE[i]; for (i=0;i<8;i++) { @@ -919,31 +507,136 @@ static void tonality_analysis(TonalityAnalysisState *tonal, const CELTMode *celt tonal->mem[i] = BFCC[i]; } for (i=0;i<9;i++) - features[11+i] = (float)sqrt(tonal->std[i]) - std_feature_bias[i]; - features[18] = spec_variability - 0.78f; - features[20] = info->tonality - 0.154723f; - features[21] = info->activity - 0.724643f; - features[22] = frame_stationarity - 0.743717f; - features[23] = info->tonality_slope + 0.069216f; - features[24] = tonal->lowECount - 0.067930f; - - compute_dense(&layer0, layer_out, features); - compute_gru(&layer1, tonal->rnn_state, layer_out); - compute_dense(&layer2, frame_probs, tonal->rnn_state); - - /* Probability of speech or music vs noise */ - info->activity_probability = frame_probs[1]; - info->music_prob = frame_probs[0]; - - /*printf("%f %f %f\n", frame_probs[0], frame_probs[1], info->music_prob);*/ -#ifdef MLP_TRAINING - for (i=0;i<25;i++) - printf("%f ", features[i]); - printf("\n"); + features[11+i] = (float)sqrt(tonal->std[i]); + features[20] = info->tonality; + features[21] = info->activity; + features[22] = frame_stationarity; + features[23] = info->tonality_slope; + features[24] = tonal->lowECount; + +#ifndef DISABLE_FLOAT_API + mlp_process(&net, features, frame_probs); + frame_probs[0] = .5f*(frame_probs[0]+1); + /* Curve fitting between the MLP probability and the actual probability */ + frame_probs[0] = .01f + 1.21f*frame_probs[0]*frame_probs[0] - .23f*(float)pow(frame_probs[0], 10); + /* Probability of active audio (as opposed to silence) */ + frame_probs[1] = .5f*frame_probs[1]+.5f; + /* Consider that silence has a 50-50 probability. */ + frame_probs[0] = frame_probs[1]*frame_probs[0] + (1-frame_probs[1])*.5f; + + /*printf("%f %f ", frame_probs[0], frame_probs[1]);*/ + { + /* Probability of state transition */ + float tau; + /* Represents independence of the MLP probabilities, where + beta=1 means fully independent. */ + float beta; + /* Denormalized probability of speech (p0) and music (p1) after update */ + float p0, p1; + /* Probabilities for "all speech" and "all music" */ + float s0, m0; + /* Probability sum for renormalisation */ + float psum; + /* Instantaneous probability of speech and music, with beta pre-applied. */ + float speech0; + float music0; + float p, q; + + /* One transition every 3 minutes of active audio */ + tau = .00005f*frame_probs[1]; + /* Adapt beta based on how "unexpected" the new prob is */ + p = MAX16(.05f,MIN16(.95f,frame_probs[0])); + q = MAX16(.05f,MIN16(.95f,tonal->music_prob)); + beta = .01f+.05f*ABS16(p-q)/(p*(1-q)+q*(1-p)); + /* p0 and p1 are the probabilities of speech and music at this frame + using only information from previous frame and applying the + state transition model */ + p0 = (1-tonal->music_prob)*(1-tau) + tonal->music_prob *tau; + p1 = tonal->music_prob *(1-tau) + (1-tonal->music_prob)*tau; + /* We apply the current probability with exponent beta to work around + the fact that the probability estimates aren't independent. */ + p0 *= (float)pow(1-frame_probs[0], beta); + p1 *= (float)pow(frame_probs[0], beta); + /* Normalise the probabilities to get the Marokv probability of music. */ + tonal->music_prob = p1/(p0+p1); + info->music_prob = tonal->music_prob; + + /* This chunk of code deals with delayed decision. */ + psum=1e-20f; + /* Instantaneous probability of speech and music, with beta pre-applied. */ + speech0 = (float)pow(1-frame_probs[0], beta); + music0 = (float)pow(frame_probs[0], beta); + if (tonal->count==1) + { + tonal->pspeech[0]=.5; + tonal->pmusic [0]=.5; + } + /* Updated probability of having only speech (s0) or only music (m0), + before considering the new observation. */ + s0 = tonal->pspeech[0] + tonal->pspeech[1]; + m0 = tonal->pmusic [0] + tonal->pmusic [1]; + /* Updates s0 and m0 with instantaneous probability. */ + tonal->pspeech[0] = s0*(1-tau)*speech0; + tonal->pmusic [0] = m0*(1-tau)*music0; + /* Propagate the transition probabilities */ + for (i=1;i<DETECT_SIZE-1;i++) + { + tonal->pspeech[i] = tonal->pspeech[i+1]*speech0; + tonal->pmusic [i] = tonal->pmusic [i+1]*music0; + } + /* Probability that the latest frame is speech, when all the previous ones were music. */ + tonal->pspeech[DETECT_SIZE-1] = m0*tau*speech0; + /* Probability that the latest frame is music, when all the previous ones were speech. */ + tonal->pmusic [DETECT_SIZE-1] = s0*tau*music0; + + /* Renormalise probabilities to 1 */ + for (i=0;i<DETECT_SIZE;i++) + psum += tonal->pspeech[i] + tonal->pmusic[i]; + psum = 1.f/psum; + for (i=0;i<DETECT_SIZE;i++) + { + tonal->pspeech[i] *= psum; + tonal->pmusic [i] *= psum; + } + psum = tonal->pmusic[0]; + for (i=1;i<DETECT_SIZE;i++) + psum += tonal->pspeech[i]; + + /* Estimate our confidence in the speech/music decisions */ + if (frame_probs[1]>.75) + { + if (tonal->music_prob>.9) + { + float adapt; + adapt = 1.f/(++tonal->music_confidence_count); + tonal->music_confidence_count = IMIN(tonal->music_confidence_count, 500); + tonal->music_confidence += adapt*MAX16(-.2f,frame_probs[0]-tonal->music_confidence); + } + if (tonal->music_prob<.1) + { + float adapt; + adapt = 1.f/(++tonal->speech_confidence_count); + tonal->speech_confidence_count = IMIN(tonal->speech_confidence_count, 500); + tonal->speech_confidence += adapt*MIN16(.2f,frame_probs[0]-tonal->speech_confidence); + } + } else { + if (tonal->music_confidence_count==0) + tonal->music_confidence = .9f; + if (tonal->speech_confidence_count==0) + tonal->speech_confidence = .1f; + } + } + if (tonal->last_music != (tonal->music_prob>.5f)) + tonal->last_transition=0; + tonal->last_music = tonal->music_prob>.5f; +#else + info->music_prob = 0; #endif + /*for (i=0;i<25;i++) + printf("%f ", features[i]); + printf("\n");*/ info->bandwidth = bandwidth; - tonal->prev_bandwidth = bandwidth; /*printf("%d %d\n", info->bandwidth, info->opus_bandwidth);*/ info->noisiness = frame_noisiness; info->valid = 1; @@ -957,25 +650,23 @@ void run_analysis(TonalityAnalysisState *analysis, const CELTMode *celt_mode, co int offset; int pcm_len; - analysis_frame_size -= analysis_frame_size&1; if (analysis_pcm != NULL) { /* Avoid overflow/wrap-around of the analysis buffer */ - analysis_frame_size = IMIN((DETECT_SIZE-5)*Fs/50, analysis_frame_size); + analysis_frame_size = IMIN((DETECT_SIZE-5)*Fs/100, analysis_frame_size); pcm_len = analysis_frame_size - analysis->analysis_offset; offset = analysis->analysis_offset; - while (pcm_len>0) { - tonality_analysis(analysis, celt_mode, analysis_pcm, IMIN(Fs/50, pcm_len), offset, c1, c2, C, lsb_depth, downmix); - offset += Fs/50; - pcm_len -= Fs/50; - } + do { + tonality_analysis(analysis, celt_mode, analysis_pcm, IMIN(480, pcm_len), offset, c1, c2, C, lsb_depth, downmix); + offset += 480; + pcm_len -= 480; + } while (pcm_len>0); analysis->analysis_offset = analysis_frame_size; analysis->analysis_offset -= frame_size; } + analysis_info->valid = 0; tonality_get_info(analysis, analysis_info, frame_size); } - -#endif /* DISABLE_FLOAT_API */ diff --git a/thirdparty/opus/analysis.h b/thirdparty/opus/analysis.h index 0b66555f21..9eae56a525 100644 --- a/thirdparty/opus/analysis.h +++ b/thirdparty/opus/analysis.h @@ -30,24 +30,16 @@ #include "celt.h" #include "opus_private.h" -#include "mlp.h" #define NB_FRAMES 8 #define NB_TBANDS 18 -#define ANALYSIS_BUF_SIZE 720 /* 30 ms at 24 kHz */ +#define NB_TOT_BANDS 21 +#define ANALYSIS_BUF_SIZE 720 /* 15 ms at 48 kHz */ -/* At that point we can stop counting frames because it no longer matters. */ -#define ANALYSIS_COUNT_MAX 10000 - -#define DETECT_SIZE 100 - -/* Uncomment this to print the MLP features on stdout. */ -/*#define MLP_TRAINING*/ +#define DETECT_SIZE 200 typedef struct { int arch; - int application; - opus_int32 Fs; #define TONALITY_ANALYSIS_RESET_START angle float angle[240]; float d_angle[240]; @@ -56,27 +48,35 @@ typedef struct { int mem_fill; /* number of usable samples in the buffer */ float prev_band_tonality[NB_TBANDS]; float prev_tonality; - int prev_bandwidth; float E[NB_FRAMES][NB_TBANDS]; - float logE[NB_FRAMES][NB_TBANDS]; float lowE[NB_TBANDS]; float highE[NB_TBANDS]; - float meanE[NB_TBANDS+1]; + float meanE[NB_TOT_BANDS]; float mem[32]; float cmean[8]; float std[9]; + float music_prob; float Etracker; float lowECount; int E_count; + int last_music; + int last_transition; int count; + float subframe_mem[3]; int analysis_offset; + /** Probability of having speech for time i to DETECT_SIZE-1 (and music before). + pspeech[0] is the probability that all frames in the window are speech. */ + float pspeech[DETECT_SIZE]; + /** Probability of having music for time i to DETECT_SIZE-1 (and speech before). + pmusic[0] is the probability that all frames in the window are music. */ + float pmusic[DETECT_SIZE]; + float speech_confidence; + float music_confidence; + int speech_confidence_count; + int music_confidence_count; int write_pos; int read_pos; int read_subframe; - float hp_ener_accum; - int initialized; - float rnn_state[MAX_NEURONS]; - opus_val32 downmix_state[3]; AnalysisInfo info[DETECT_SIZE]; } TonalityAnalysisState; @@ -86,7 +86,7 @@ typedef struct { * not be repeated every analysis step. No allocated memory is retained * by the state struct, so no cleanup call is required. */ -void tonality_analysis_init(TonalityAnalysisState *analysis, opus_int32 Fs); +void tonality_analysis_init(TonalityAnalysisState *analysis); /** Reset a TonalityAnalysisState stuct. * diff --git a/thirdparty/opus/celt/_kiss_fft_guts.h b/thirdparty/opus/celt/_kiss_fft_guts.h index 17392b3e90..5e3d58fd66 100644 --- a/thirdparty/opus/celt/_kiss_fft_guts.h +++ b/thirdparty/opus/celt/_kiss_fft_guts.h @@ -58,12 +58,12 @@ # define S_MUL(a,b) MULT16_32_Q15(b, a) # define C_MUL(m,a,b) \ - do{ (m).r = SUB32_ovflw(S_MUL((a).r,(b).r) , S_MUL((a).i,(b).i)); \ - (m).i = ADD32_ovflw(S_MUL((a).r,(b).i) , S_MUL((a).i,(b).r)); }while(0) + do{ (m).r = SUB32(S_MUL((a).r,(b).r) , S_MUL((a).i,(b).i)); \ + (m).i = ADD32(S_MUL((a).r,(b).i) , S_MUL((a).i,(b).r)); }while(0) # define C_MULC(m,a,b) \ - do{ (m).r = ADD32_ovflw(S_MUL((a).r,(b).r) , S_MUL((a).i,(b).i)); \ - (m).i = SUB32_ovflw(S_MUL((a).i,(b).r) , S_MUL((a).r,(b).i)); }while(0) + do{ (m).r = ADD32(S_MUL((a).r,(b).r) , S_MUL((a).i,(b).i)); \ + (m).i = SUB32(S_MUL((a).i,(b).r) , S_MUL((a).r,(b).i)); }while(0) # define C_MULBYSCALAR( c, s ) \ do{ (c).r = S_MUL( (c).r , s ) ;\ @@ -77,17 +77,17 @@ DIVSCALAR( (c).i , div); }while (0) #define C_ADD( res, a,b)\ - do {(res).r=ADD32_ovflw((a).r,(b).r); (res).i=ADD32_ovflw((a).i,(b).i); \ + do {(res).r=ADD32((a).r,(b).r); (res).i=ADD32((a).i,(b).i); \ }while(0) #define C_SUB( res, a,b)\ - do {(res).r=SUB32_ovflw((a).r,(b).r); (res).i=SUB32_ovflw((a).i,(b).i); \ + do {(res).r=SUB32((a).r,(b).r); (res).i=SUB32((a).i,(b).i); \ }while(0) #define C_ADDTO( res , a)\ - do {(res).r = ADD32_ovflw((res).r, (a).r); (res).i = ADD32_ovflw((res).i,(a).i);\ + do {(res).r = ADD32((res).r, (a).r); (res).i = ADD32((res).i,(a).i);\ }while(0) #define C_SUBFROM( res , a)\ - do {(res).r = ADD32_ovflw((res).r,(a).r); (res).i = SUB32_ovflw((res).i,(a).i); \ + do {(res).r = ADD32((res).r,(a).r); (res).i = SUB32((res).i,(a).i); \ }while(0) #if defined(OPUS_ARM_INLINE_ASM) diff --git a/thirdparty/opus/celt/arch.h b/thirdparty/opus/celt/arch.h index 08b07db598..8ceab5fe10 100644 --- a/thirdparty/opus/celt/arch.h +++ b/thirdparty/opus/celt/arch.h @@ -46,50 +46,25 @@ # endif # endif -#if OPUS_GNUC_PREREQ(3, 0) -#define opus_likely(x) (__builtin_expect(!!(x), 1)) -#define opus_unlikely(x) (__builtin_expect(!!(x), 0)) -#else -#define opus_likely(x) (!!(x)) -#define opus_unlikely(x) (!!(x)) -#endif - #define CELT_SIG_SCALE 32768.f -#define CELT_FATAL(str) celt_fatal(str, __FILE__, __LINE__); - -#if defined(ENABLE_ASSERTIONS) || defined(ENABLE_HARDENING) -#ifdef __GNUC__ -__attribute__((noreturn)) -#endif -void celt_fatal(const char *str, const char *file, int line); - -#if defined(CELT_C) && !defined(OVERRIDE_celt_fatal) +#define celt_fatal(str) _celt_fatal(str, __FILE__, __LINE__); +#ifdef ENABLE_ASSERTIONS #include <stdio.h> #include <stdlib.h> #ifdef __GNUC__ __attribute__((noreturn)) #endif -void celt_fatal(const char *str, const char *file, int line) +static OPUS_INLINE void _celt_fatal(const char *str, const char *file, int line) { fprintf (stderr, "Fatal (internal) error in %s, line %d: %s\n", file, line, str); abort(); } -#endif - -#define celt_assert(cond) {if (!(cond)) {CELT_FATAL("assertion failed: " #cond);}} -#define celt_assert2(cond, message) {if (!(cond)) {CELT_FATAL("assertion failed: " #cond "\n" message);}} -#define MUST_SUCCEED(call) celt_assert((call) == OPUS_OK) +#define celt_assert(cond) {if (!(cond)) {celt_fatal("assertion failed: " #cond);}} +#define celt_assert2(cond, message) {if (!(cond)) {celt_fatal("assertion failed: " #cond "\n" message);}} #else #define celt_assert(cond) #define celt_assert2(cond, message) -#define MUST_SUCCEED(call) do {if((call) != OPUS_OK) {RESTORE_STACK; return OPUS_INTERNAL_ERROR;} } while (0) -#endif - -#if defined(ENABLE_ASSERTIONS) -#define celt_sig_assert(cond) {if (!(cond)) {CELT_FATAL("signal assertion failed: " #cond);}} -#else -#define celt_sig_assert(cond) #endif #define IMUL32(a,b) ((a)*(b)) @@ -118,20 +93,14 @@ void celt_fatal(const char *str, const char *file, int line) typedef opus_int16 opus_val16; typedef opus_int32 opus_val32; -typedef opus_int64 opus_val64; typedef opus_val32 celt_sig; typedef opus_val16 celt_norm; typedef opus_val32 celt_ener; -#define celt_isnan(x) 0 - #define Q15ONE 32767 #define SIG_SHIFT 12 -/* Safe saturation value for 32-bit signals. Should be less than - 2^31*(1-0.85) to avoid blowing up on DC at deemphasis.*/ -#define SIG_SAT (300000000) #define NORM_SCALING 16384 @@ -160,7 +129,7 @@ static OPUS_INLINE opus_int16 SAT16(opus_int32 x) { #ifdef OPUS_ARM_PRESUME_AARCH64_NEON_INTR #include "arm/fixed_arm64.h" -#elif defined (OPUS_ARM_INLINE_EDSP) +#elif OPUS_ARM_INLINE_EDSP #include "arm/fixed_armv5e.h" #elif defined (OPUS_ARM_INLINE_ASM) #include "arm/fixed_armv4.h" @@ -178,7 +147,6 @@ static OPUS_INLINE opus_int16 SAT16(opus_int32 x) { typedef float opus_val16; typedef float opus_val32; -typedef float opus_val64; typedef float celt_sig; typedef float celt_norm; @@ -218,7 +186,6 @@ static OPUS_INLINE int celt_isnan(float x) #define NEG16(x) (-(x)) #define NEG32(x) (-(x)) -#define NEG32_ovflw(x) (-(x)) #define EXTRACT16(x) (x) #define EXTEND32(x) (x) #define SHR16(a,shift) (a) @@ -235,7 +202,6 @@ static OPUS_INLINE int celt_isnan(float x) #define SATURATE16(x) (x) #define ROUND16(a,shift) (a) -#define SROUND16(a,shift) (a) #define HALF16(x) (.5f*(x)) #define HALF32(x) (.5f*(x)) @@ -243,8 +209,6 @@ static OPUS_INLINE int celt_isnan(float x) #define SUB16(a,b) ((a)-(b)) #define ADD32(a,b) ((a)+(b)) #define SUB32(a,b) ((a)-(b)) -#define ADD32_ovflw(a,b) ((a)+(b)) -#define SUB32_ovflw(a,b) ((a)-(b)) #define MULT16_16_16(a,b) ((a)*(b)) #define MULT16_16(a,b) ((opus_val32)(a)*(opus_val32)(b)) #define MAC16_16(c,a,b) ((c)+(opus_val32)(a)*(opus_val32)(b)) @@ -279,9 +243,9 @@ static OPUS_INLINE int celt_isnan(float x) #ifndef GLOBAL_STACK_SIZE #ifdef FIXED_POINT -#define GLOBAL_STACK_SIZE 120000 +#define GLOBAL_STACK_SIZE 100000 #else -#define GLOBAL_STACK_SIZE 120000 +#define GLOBAL_STACK_SIZE 100000 #endif #endif diff --git a/thirdparty/opus/celt/arm/arm2gnu.pl b/thirdparty/opus/celt/arm/arm2gnu.pl index a2895f7445..6c922ac819 100755 --- a/thirdparty/opus/celt/arm/arm2gnu.pl +++ b/thirdparty/opus/celt/arm/arm2gnu.pl @@ -164,11 +164,11 @@ while (<>) { $prefix = ""; if ($proc) { - $prefix = $prefix.sprintf("\t.type\t%s, %%function", $proc) unless ($apple); + $prefix = $prefix.sprintf("\t.type\t%s, %%function; ",$proc) unless ($apple); # Make sure we $prefix isn't empty here (for the $apple case). # We handle mangling the label here, make sure it doesn't match # the label handling below (if $prefix would be empty). - $prefix = $prefix."; "; + $prefix = "; "; push(@proc_stack, $proc); s/^[A-Za-z_\.]\w+/$symprefix$&:/; } diff --git a/thirdparty/opus/celt/arm/arm_celt_map.c b/thirdparty/opus/celt/arm/arm_celt_map.c index ca988b66f5..4d4d069a86 100644 --- a/thirdparty/opus/celt/arm/arm_celt_map.c +++ b/thirdparty/opus/celt/arm/arm_celt_map.c @@ -35,29 +35,12 @@ #if defined(OPUS_HAVE_RTCD) -# if defined(OPUS_ARM_MAY_HAVE_NEON_INTR) && !defined(OPUS_ARM_PRESUME_NEON_INTR) -opus_val32 (*const CELT_INNER_PROD_IMPL[OPUS_ARCHMASK+1])(const opus_val16 *x, const opus_val16 *y, int N) = { - celt_inner_prod_c, /* ARMv4 */ - celt_inner_prod_c, /* EDSP */ - celt_inner_prod_c, /* Media */ - celt_inner_prod_neon /* NEON */ -}; - -void (*const DUAL_INNER_PROD_IMPL[OPUS_ARCHMASK+1])(const opus_val16 *x, const opus_val16 *y01, const opus_val16 *y02, - int N, opus_val32 *xy1, opus_val32 *xy2) = { - dual_inner_prod_c, /* ARMv4 */ - dual_inner_prod_c, /* EDSP */ - dual_inner_prod_c, /* Media */ - dual_inner_prod_neon /* NEON */ -}; -# endif - # if defined(FIXED_POINT) # if ((defined(OPUS_ARM_MAY_HAVE_NEON) && !defined(OPUS_ARM_PRESUME_NEON)) || \ (defined(OPUS_ARM_MAY_HAVE_MEDIA) && !defined(OPUS_ARM_PRESUME_MEDIA)) || \ (defined(OPUS_ARM_MAY_HAVE_EDSP) && !defined(OPUS_ARM_PRESUME_EDSP))) opus_val32 (*const CELT_PITCH_XCORR_IMPL[OPUS_ARCHMASK+1])(const opus_val16 *, - const opus_val16 *, opus_val32 *, int, int, int) = { + const opus_val16 *, opus_val32 *, int , int) = { celt_pitch_xcorr_c, /* ARMv4 */ MAY_HAVE_EDSP(celt_pitch_xcorr), /* EDSP */ MAY_HAVE_MEDIA(celt_pitch_xcorr), /* Media */ @@ -68,7 +51,7 @@ opus_val32 (*const CELT_PITCH_XCORR_IMPL[OPUS_ARCHMASK+1])(const opus_val16 *, # else /* !FIXED_POINT */ # if defined(OPUS_ARM_MAY_HAVE_NEON_INTR) && !defined(OPUS_ARM_PRESUME_NEON_INTR) void (*const CELT_PITCH_XCORR_IMPL[OPUS_ARCHMASK+1])(const opus_val16 *, - const opus_val16 *, opus_val32 *, int, int, int) = { + const opus_val16 *, opus_val32 *, int, int) = { celt_pitch_xcorr_c, /* ARMv4 */ celt_pitch_xcorr_c, /* EDSP */ celt_pitch_xcorr_c, /* Media */ diff --git a/thirdparty/opus/celt/arm/celt_fft_ne10.c b/thirdparty/opus/celt/arm/celt_ne10_fft.c index ea5fd7808b..42d96a7117 100644 --- a/thirdparty/opus/celt/arm/celt_fft_ne10.c +++ b/thirdparty/opus/celt/arm/celt_ne10_fft.c @@ -1,7 +1,7 @@ /* Copyright (c) 2015 Xiph.Org Foundation Written by Viswanath Puttagunta */ /** - @file celt_fft_ne10.c + @file celt_ne10_fft.c @brief ARM Neon optimizations for fft using NE10 library */ @@ -36,6 +36,7 @@ #endif #endif +#include <NE10_init.h> #include <NE10_dsp.h> #include "os_support.h" #include "kiss_fft.h" diff --git a/thirdparty/opus/celt/arm/celt_mdct_ne10.c b/thirdparty/opus/celt/arm/celt_ne10_mdct.c index 3531d02d10..293c3efd7a 100644 --- a/thirdparty/opus/celt/arm/celt_mdct_ne10.c +++ b/thirdparty/opus/celt/arm/celt_ne10_mdct.c @@ -1,7 +1,7 @@ /* Copyright (c) 2015 Xiph.Org Foundation Written by Viswanath Puttagunta */ /** - @file celt_mdct_ne10.c + @file celt_ne10_mdct.c @brief ARM Neon optimizations for mdct using NE10 library */ diff --git a/thirdparty/opus/celt/arm/celt_neon_intr.c b/thirdparty/opus/celt/arm/celt_neon_intr.c index effda769d0..47bbe3dc22 100644 --- a/thirdparty/opus/celt/arm/celt_neon_intr.c +++ b/thirdparty/opus/celt/arm/celt_neon_intr.c @@ -191,21 +191,121 @@ static void xcorr_kernel_neon_float(const float32_t *x, const float32_t *y, vst1q_f32(sum, SUMM); } +/* + * Function: xcorr_kernel_neon_float_process1 + * --------------------------------- + * Computes single correlation values and stores in *sum + */ +static void xcorr_kernel_neon_float_process1(const float32_t *x, + const float32_t *y, float32_t *sum, int len) { + float32x4_t XX[4]; + float32x4_t YY[4]; + float32x2_t XX_2; + float32x2_t YY_2; + float32x4_t SUMM; + float32x2_t SUMM_2[2]; + const float32_t *xi = x; + const float32_t *yi = y; + + SUMM = vdupq_n_f32(0); + + /* Work on 16 values per iteration */ + while (len >= 16) { + XX[0] = vld1q_f32(xi); + xi += 4; + XX[1] = vld1q_f32(xi); + xi += 4; + XX[2] = vld1q_f32(xi); + xi += 4; + XX[3] = vld1q_f32(xi); + xi += 4; + + YY[0] = vld1q_f32(yi); + yi += 4; + YY[1] = vld1q_f32(yi); + yi += 4; + YY[2] = vld1q_f32(yi); + yi += 4; + YY[3] = vld1q_f32(yi); + yi += 4; + + SUMM = vmlaq_f32(SUMM, YY[0], XX[0]); + SUMM = vmlaq_f32(SUMM, YY[1], XX[1]); + SUMM = vmlaq_f32(SUMM, YY[2], XX[2]); + SUMM = vmlaq_f32(SUMM, YY[3], XX[3]); + len -= 16; + } + + /* Work on 8 values */ + if (len >= 8) { + XX[0] = vld1q_f32(xi); + xi += 4; + XX[1] = vld1q_f32(xi); + xi += 4; + + YY[0] = vld1q_f32(yi); + yi += 4; + YY[1] = vld1q_f32(yi); + yi += 4; + + SUMM = vmlaq_f32(SUMM, YY[0], XX[0]); + SUMM = vmlaq_f32(SUMM, YY[1], XX[1]); + len -= 8; + } + + /* Work on 4 values */ + if (len >= 4) { + XX[0] = vld1q_f32(xi); + xi += 4; + YY[0] = vld1q_f32(yi); + yi += 4; + SUMM = vmlaq_f32(SUMM, YY[0], XX[0]); + len -= 4; + } + + /* Start accumulating results */ + SUMM_2[0] = vget_low_f32(SUMM); + if (len >= 2) { + /* While at it, consume 2 more values if available */ + XX_2 = vld1_f32(xi); + xi += 2; + YY_2 = vld1_f32(yi); + yi += 2; + SUMM_2[0] = vmla_f32(SUMM_2[0], YY_2, XX_2); + len -= 2; + } + SUMM_2[1] = vget_high_f32(SUMM); + SUMM_2[0] = vadd_f32(SUMM_2[0], SUMM_2[1]); + SUMM_2[0] = vpadd_f32(SUMM_2[0], SUMM_2[0]); + /* Ok, now we have result accumulated in SUMM_2[0].0 */ + + if (len > 0) { + /* Case when you have one value left */ + XX_2 = vld1_dup_f32(xi); + YY_2 = vld1_dup_f32(yi); + SUMM_2[0] = vmla_f32(SUMM_2[0], XX_2, YY_2); + } + + vst1_lane_f32(sum, SUMM_2[0], 0); +} + void celt_pitch_xcorr_float_neon(const opus_val16 *_x, const opus_val16 *_y, - opus_val32 *xcorr, int len, int max_pitch, int arch) { + opus_val32 *xcorr, int len, int max_pitch) { int i; - (void)arch; celt_assert(max_pitch > 0); - celt_sig_assert((((unsigned char *)_x-(unsigned char *)NULL)&3)==0); + celt_assert((((unsigned char *)_x-(unsigned char *)NULL)&3)==0); for (i = 0; i < (max_pitch-3); i += 4) { xcorr_kernel_neon_float((const float32_t *)_x, (const float32_t *)_y+i, (float32_t *)xcorr+i, len); } - /* In case max_pitch isn't a multiple of 4, do non-unrolled version. */ + /* In case max_pitch isn't multiple of 4 + * compute single correlation value per iteration + */ for (; i < max_pitch; i++) { - xcorr[i] = celt_inner_prod_neon(_x, _y+i, len); + xcorr_kernel_neon_float_process1((const float32_t *)_x, + (const float32_t *)_y+i, (float32_t *)xcorr+i, len); } } #endif diff --git a/thirdparty/opus/celt/arm/celt_pitch_xcorr_arm-gnu.S b/thirdparty/opus/celt/arm/celt_pitch_xcorr_arm-gnu.S index 10668e54a5..5b2ee55a10 100644 --- a/thirdparty/opus/celt/arm/celt_pitch_xcorr_arm-gnu.S +++ b/thirdparty/opus/celt/arm/celt_pitch_xcorr_arm-gnu.S @@ -44,7 +44,7 @@ .if OPUS_ARM_MAY_HAVE_NEON @ Compute sum[k]=sum(x[j]*y[j+k],j=0...len-1), k=0...3 - .type xcorr_kernel_neon, %function; xcorr_kernel_neon: @ PROC +; xcorr_kernel_neon: @ PROC xcorr_kernel_neon_start: @ input: @ r3 = int len @@ -156,8 +156,8 @@ xcorr_kernel_neon_process1: .size xcorr_kernel_neon, .-xcorr_kernel_neon @ ENDP @ opus_val32 celt_pitch_xcorr_neon(opus_val16 *_x, opus_val16 *_y, -@ opus_val32 *xcorr, int len, int max_pitch, int arch) - .type celt_pitch_xcorr_neon, %function; celt_pitch_xcorr_neon: @ PROC +@ opus_val32 *xcorr, int len, int max_pitch) +; celt_pitch_xcorr_neon: @ PROC @ input: @ r0 = opus_val16 *_x @ r1 = opus_val16 *_y @@ -171,8 +171,6 @@ xcorr_kernel_neon_process1: @ r6 = int max_pitch @ r12 = int j @ q15 = int maxcorr[4] (q15 is not used by xcorr_kernel_neon()) - @ ignored: - @ int arch STMFD sp!, {r4-r6, lr} LDR r6, [sp, #16] VMOV.S32 q15, #1 @@ -262,7 +260,7 @@ celt_pitch_xcorr_neon_done: @ This will get used on ARMv7 devices without NEON, so it has been optimized @ to take advantage of dual-issuing where possible. - .type xcorr_kernel_edsp, %function; xcorr_kernel_edsp: @ PROC +; xcorr_kernel_edsp: @ PROC xcorr_kernel_edsp_start: @ input: @ r3 = int len @@ -346,7 +344,7 @@ xcorr_kernel_edsp_done: LDMFD sp!, {r2,r4,r5,pc} .size xcorr_kernel_edsp, .-xcorr_kernel_edsp @ ENDP - .type celt_pitch_xcorr_edsp, %function; celt_pitch_xcorr_edsp: @ PROC +; celt_pitch_xcorr_edsp: @ PROC @ input: @ r0 = opus_val16 *_x (must be 32-bit aligned) @ r1 = opus_val16 *_y (only needs to be 16-bit aligned) @@ -363,8 +361,6 @@ xcorr_kernel_edsp_done: @ r9 = opus_val32 sum3 @ r1 = int max_pitch @ r12 = int j - @ ignored: - @ int arch STMFD sp!, {r4-r11, lr} MOV r5, r1 LDR r1, [sp, #36] diff --git a/thirdparty/opus/celt/arm/celt_pitch_xcorr_arm.s b/thirdparty/opus/celt/arm/celt_pitch_xcorr_arm.s index 6e873afc37..f96e0a88bb 100644 --- a/thirdparty/opus/celt/arm/celt_pitch_xcorr_arm.s +++ b/thirdparty/opus/celt/arm/celt_pitch_xcorr_arm.s @@ -153,7 +153,7 @@ xcorr_kernel_neon_process1 ENDP ; opus_val32 celt_pitch_xcorr_neon(opus_val16 *_x, opus_val16 *_y, -; opus_val32 *xcorr, int len, int max_pitch, int arch) +; opus_val32 *xcorr, int len, int max_pitch) celt_pitch_xcorr_neon PROC ; input: ; r0 = opus_val16 *_x @@ -168,8 +168,6 @@ celt_pitch_xcorr_neon PROC ; r6 = int max_pitch ; r12 = int j ; q15 = int maxcorr[4] (q15 is not used by xcorr_kernel_neon()) - ; ignored: - ; int arch STMFD sp!, {r4-r6, lr} LDR r6, [sp, #16] VMOV.S32 q15, #1 @@ -360,8 +358,6 @@ celt_pitch_xcorr_edsp PROC ; r9 = opus_val32 sum3 ; r1 = int max_pitch ; r12 = int j - ; ignored: - ; int arch STMFD sp!, {r4-r11, lr} MOV r5, r1 LDR r1, [sp, #36] diff --git a/thirdparty/opus/celt/arm/fft_arm.h b/thirdparty/opus/celt/arm/fft_arm.h index 0b78175f3a..0cb55d8e22 100644 --- a/thirdparty/opus/celt/arm/fft_arm.h +++ b/thirdparty/opus/celt/arm/fft_arm.h @@ -34,6 +34,7 @@ #if !defined(FFT_ARM_H) #define FFT_ARM_H +#include "config.h" #include "kiss_fft.h" #if defined(HAVE_ARM_NE10) diff --git a/thirdparty/opus/celt/arm/fixed_armv4.h b/thirdparty/opus/celt/arm/fixed_armv4.h index d84888a772..efb3b1896a 100644 --- a/thirdparty/opus/celt/arm/fixed_armv4.h +++ b/thirdparty/opus/celt/arm/fixed_armv4.h @@ -37,7 +37,7 @@ static OPUS_INLINE opus_val32 MULT16_32_Q16_armv4(opus_val16 a, opus_val32 b) "#MULT16_32_Q16\n\t" "smull %0, %1, %2, %3\n\t" : "=&r"(rd_lo), "=&r"(rd_hi) - : "%r"(b),"r"(SHL32(a,16)) + : "%r"(b),"r"(a<<16) ); return rd_hi; } @@ -54,10 +54,10 @@ static OPUS_INLINE opus_val32 MULT16_32_Q15_armv4(opus_val16 a, opus_val32 b) "#MULT16_32_Q15\n\t" "smull %0, %1, %2, %3\n\t" : "=&r"(rd_lo), "=&r"(rd_hi) - : "%r"(b), "r"(SHL32(a,16)) + : "%r"(b), "r"(a<<16) ); /*We intentionally don't OR in the high bit of rd_lo for speed.*/ - return SHL32(rd_hi,1); + return rd_hi<<1; } #define MULT16_32_Q15(a, b) (MULT16_32_Q15_armv4(a, b)) diff --git a/thirdparty/opus/celt/arm/fixed_armv5e.h b/thirdparty/opus/celt/arm/fixed_armv5e.h index 6bf73cbace..36a6321101 100644 --- a/thirdparty/opus/celt/arm/fixed_armv5e.h +++ b/thirdparty/opus/celt/arm/fixed_armv5e.h @@ -59,7 +59,7 @@ static OPUS_INLINE opus_val32 MULT16_32_Q15_armv5e(opus_val16 a, opus_val32 b) : "=r"(res) : "r"(b), "r"(a) ); - return SHL32(res,1); + return res<<1; } #define MULT16_32_Q15(a, b) (MULT16_32_Q15_armv5e(a, b)) @@ -76,7 +76,7 @@ static OPUS_INLINE opus_val32 MAC16_32_Q15_armv5e(opus_val32 c, opus_val16 a, "#MAC16_32_Q15\n\t" "smlawb %0, %1, %2, %3;\n" : "=r"(res) - : "r"(SHL32(b,1)), "r"(a), "r"(c) + : "r"(b<<1), "r"(a), "r"(c) ); return res; } diff --git a/thirdparty/opus/celt/arm/mdct_arm.h b/thirdparty/opus/celt/arm/mdct_arm.h index 14200bac4b..49cbb44576 100644 --- a/thirdparty/opus/celt/arm/mdct_arm.h +++ b/thirdparty/opus/celt/arm/mdct_arm.h @@ -33,6 +33,7 @@ #if !defined(MDCT_ARM_H) #define MDCT_ARM_H +#include "config.h" #include "mdct.h" #if defined(HAVE_ARM_NE10) diff --git a/thirdparty/opus/celt/arm/pitch_arm.h b/thirdparty/opus/celt/arm/pitch_arm.h index bed8b04eac..14331169ee 100644 --- a/thirdparty/opus/celt/arm/pitch_arm.h +++ b/thirdparty/opus/celt/arm/pitch_arm.h @@ -30,47 +30,11 @@ # include "armcpu.h" -# if defined(OPUS_ARM_MAY_HAVE_NEON_INTR) -opus_val32 celt_inner_prod_neon(const opus_val16 *x, const opus_val16 *y, int N); -void dual_inner_prod_neon(const opus_val16 *x, const opus_val16 *y01, - const opus_val16 *y02, int N, opus_val32 *xy1, opus_val32 *xy2); - -# if !defined(OPUS_HAVE_RTCD) && defined(OPUS_ARM_PRESUME_NEON) -# define OVERRIDE_CELT_INNER_PROD (1) -# define OVERRIDE_DUAL_INNER_PROD (1) -# define celt_inner_prod(x, y, N, arch) ((void)(arch), PRESUME_NEON(celt_inner_prod)(x, y, N)) -# define dual_inner_prod(x, y01, y02, N, xy1, xy2, arch) ((void)(arch), PRESUME_NEON(dual_inner_prod)(x, y01, y02, N, xy1, xy2)) -# endif -# endif - -# if !defined(OVERRIDE_CELT_INNER_PROD) -# if defined(OPUS_HAVE_RTCD) && (defined(OPUS_ARM_MAY_HAVE_NEON_INTR) && !defined(OPUS_ARM_PRESUME_NEON_INTR)) -extern opus_val32 (*const CELT_INNER_PROD_IMPL[OPUS_ARCHMASK+1])(const opus_val16 *x, const opus_val16 *y, int N); -# define OVERRIDE_CELT_INNER_PROD (1) -# define celt_inner_prod(x, y, N, arch) ((*CELT_INNER_PROD_IMPL[(arch)&OPUS_ARCHMASK])(x, y, N)) -# elif defined(OPUS_ARM_PRESUME_NEON_INTR) -# define OVERRIDE_CELT_INNER_PROD (1) -# define celt_inner_prod(x, y, N, arch) ((void)(arch), celt_inner_prod_neon(x, y, N)) -# endif -# endif - -# if !defined(OVERRIDE_DUAL_INNER_PROD) -# if defined(OPUS_HAVE_RTCD) && (defined(OPUS_ARM_MAY_HAVE_NEON_INTR) && !defined(OPUS_ARM_PRESUME_NEON_INTR)) -extern void (*const DUAL_INNER_PROD_IMPL[OPUS_ARCHMASK+1])(const opus_val16 *x, - const opus_val16 *y01, const opus_val16 *y02, int N, opus_val32 *xy1, opus_val32 *xy2); -# define OVERRIDE_DUAL_INNER_PROD (1) -# define dual_inner_prod(x, y01, y02, N, xy1, xy2, arch) ((*DUAL_INNER_PROD_IMPL[(arch)&OPUS_ARCHMASK])(x, y01, y02, N, xy1, xy2)) -# elif defined(OPUS_ARM_PRESUME_NEON_INTR) -# define OVERRIDE_DUAL_INNER_PROD (1) -# define dual_inner_prod(x, y01, y02, N, xy1, xy2, arch) ((void)(arch), dual_inner_prod_neon(x, y01, y02, N, xy1, xy2)) -# endif -# endif - # if defined(FIXED_POINT) # if defined(OPUS_ARM_MAY_HAVE_NEON) opus_val32 celt_pitch_xcorr_neon(const opus_val16 *_x, const opus_val16 *_y, - opus_val32 *xcorr, int len, int max_pitch, int arch); + opus_val32 *xcorr, int len, int max_pitch); # endif # if defined(OPUS_ARM_MAY_HAVE_MEDIA) @@ -79,7 +43,7 @@ opus_val32 celt_pitch_xcorr_neon(const opus_val16 *_x, const opus_val16 *_y, # if defined(OPUS_ARM_MAY_HAVE_EDSP) opus_val32 celt_pitch_xcorr_edsp(const opus_val16 *_x, const opus_val16 *_y, - opus_val32 *xcorr, int len, int max_pitch, int arch); + opus_val32 *xcorr, int len, int max_pitch); # endif # if defined(OPUS_HAVE_RTCD) && \ @@ -88,17 +52,18 @@ opus_val32 celt_pitch_xcorr_edsp(const opus_val16 *_x, const opus_val16 *_y, (defined(OPUS_ARM_MAY_HAVE_EDSP) && !defined(OPUS_ARM_PRESUME_EDSP))) extern opus_val32 (*const CELT_PITCH_XCORR_IMPL[OPUS_ARCHMASK+1])(const opus_val16 *, - const opus_val16 *, opus_val32 *, int, int, int); + const opus_val16 *, opus_val32 *, int, int); # define OVERRIDE_PITCH_XCORR (1) # define celt_pitch_xcorr(_x, _y, xcorr, len, max_pitch, arch) \ ((*CELT_PITCH_XCORR_IMPL[(arch)&OPUS_ARCHMASK])(_x, _y, \ - xcorr, len, max_pitch, arch)) + xcorr, len, max_pitch)) # elif defined(OPUS_ARM_PRESUME_EDSP) || \ defined(OPUS_ARM_PRESUME_MEDIA) || \ defined(OPUS_ARM_PRESUME_NEON) # define OVERRIDE_PITCH_XCORR (1) -# define celt_pitch_xcorr (PRESUME_NEON(celt_pitch_xcorr)) +# define celt_pitch_xcorr(_x, _y, xcorr, len, max_pitch, arch) \ + ((void)(arch),PRESUME_NEON(celt_pitch_xcorr)(_x, _y, xcorr, len, max_pitch)) # endif @@ -134,24 +99,25 @@ extern void (*const XCORR_KERNEL_IMPL[OPUS_ARCHMASK + 1])( /* Float case */ #if defined(OPUS_ARM_MAY_HAVE_NEON_INTR) void celt_pitch_xcorr_float_neon(const opus_val16 *_x, const opus_val16 *_y, - opus_val32 *xcorr, int len, int max_pitch, int arch); + opus_val32 *xcorr, int len, int max_pitch); #endif # if defined(OPUS_HAVE_RTCD) && \ (defined(OPUS_ARM_MAY_HAVE_NEON_INTR) && !defined(OPUS_ARM_PRESUME_NEON_INTR)) extern void (*const CELT_PITCH_XCORR_IMPL[OPUS_ARCHMASK+1])(const opus_val16 *, - const opus_val16 *, opus_val32 *, int, int, int); + const opus_val16 *, opus_val32 *, int, int); # define OVERRIDE_PITCH_XCORR (1) # define celt_pitch_xcorr(_x, _y, xcorr, len, max_pitch, arch) \ ((*CELT_PITCH_XCORR_IMPL[(arch)&OPUS_ARCHMASK])(_x, _y, \ - xcorr, len, max_pitch, arch)) + xcorr, len, max_pitch)) # elif defined(OPUS_ARM_PRESUME_NEON_INTR) # define OVERRIDE_PITCH_XCORR (1) -# define celt_pitch_xcorr celt_pitch_xcorr_float_neon +# define celt_pitch_xcorr(_x, _y, xcorr, len, max_pitch, arch) \ + ((void)(arch),celt_pitch_xcorr_float_neon(_x, _y, xcorr, len, max_pitch)) # endif diff --git a/thirdparty/opus/celt/arm/pitch_neon_intr.c b/thirdparty/opus/celt/arm/pitch_neon_intr.c deleted file mode 100644 index 1ac38c433a..0000000000 --- a/thirdparty/opus/celt/arm/pitch_neon_intr.c +++ /dev/null @@ -1,290 +0,0 @@ -/*********************************************************************** -Copyright (c) 2017 Google Inc. -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: -- Redistributions of source code must retain the above copyright notice, -this list of conditions and the following disclaimer. -- Redistributions in binary form must reproduce the above copyright -notice, this list of conditions and the following disclaimer in the -documentation and/or other materials provided with the distribution. -- Neither the name of Internet Society, IETF or IETF Trust, nor the -names of specific contributors, may be used to endorse or promote -products derived from this software without specific prior written -permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. -***********************************************************************/ - -#ifdef HAVE_CONFIG_H -#include "config.h" -#endif - -#include <arm_neon.h> -#include "pitch.h" - -#ifdef FIXED_POINT - -opus_val32 celt_inner_prod_neon(const opus_val16 *x, const opus_val16 *y, int N) -{ - int i; - opus_val32 xy; - int16x8_t x_s16x8, y_s16x8; - int32x4_t xy_s32x4 = vdupq_n_s32(0); - int64x2_t xy_s64x2; - int64x1_t xy_s64x1; - - for (i = 0; i < N - 7; i += 8) { - x_s16x8 = vld1q_s16(&x[i]); - y_s16x8 = vld1q_s16(&y[i]); - xy_s32x4 = vmlal_s16(xy_s32x4, vget_low_s16 (x_s16x8), vget_low_s16 (y_s16x8)); - xy_s32x4 = vmlal_s16(xy_s32x4, vget_high_s16(x_s16x8), vget_high_s16(y_s16x8)); - } - - if (N - i >= 4) { - const int16x4_t x_s16x4 = vld1_s16(&x[i]); - const int16x4_t y_s16x4 = vld1_s16(&y[i]); - xy_s32x4 = vmlal_s16(xy_s32x4, x_s16x4, y_s16x4); - i += 4; - } - - xy_s64x2 = vpaddlq_s32(xy_s32x4); - xy_s64x1 = vadd_s64(vget_low_s64(xy_s64x2), vget_high_s64(xy_s64x2)); - xy = vget_lane_s32(vreinterpret_s32_s64(xy_s64x1), 0); - - for (; i < N; i++) { - xy = MAC16_16(xy, x[i], y[i]); - } - -#ifdef OPUS_CHECK_ASM - celt_assert(celt_inner_prod_c(x, y, N) == xy); -#endif - - return xy; -} - -void dual_inner_prod_neon(const opus_val16 *x, const opus_val16 *y01, const opus_val16 *y02, - int N, opus_val32 *xy1, opus_val32 *xy2) -{ - int i; - opus_val32 xy01, xy02; - int16x8_t x_s16x8, y01_s16x8, y02_s16x8; - int32x4_t xy01_s32x4 = vdupq_n_s32(0); - int32x4_t xy02_s32x4 = vdupq_n_s32(0); - int64x2_t xy01_s64x2, xy02_s64x2; - int64x1_t xy01_s64x1, xy02_s64x1; - - for (i = 0; i < N - 7; i += 8) { - x_s16x8 = vld1q_s16(&x[i]); - y01_s16x8 = vld1q_s16(&y01[i]); - y02_s16x8 = vld1q_s16(&y02[i]); - xy01_s32x4 = vmlal_s16(xy01_s32x4, vget_low_s16 (x_s16x8), vget_low_s16 (y01_s16x8)); - xy02_s32x4 = vmlal_s16(xy02_s32x4, vget_low_s16 (x_s16x8), vget_low_s16 (y02_s16x8)); - xy01_s32x4 = vmlal_s16(xy01_s32x4, vget_high_s16(x_s16x8), vget_high_s16(y01_s16x8)); - xy02_s32x4 = vmlal_s16(xy02_s32x4, vget_high_s16(x_s16x8), vget_high_s16(y02_s16x8)); - } - - if (N - i >= 4) { - const int16x4_t x_s16x4 = vld1_s16(&x[i]); - const int16x4_t y01_s16x4 = vld1_s16(&y01[i]); - const int16x4_t y02_s16x4 = vld1_s16(&y02[i]); - xy01_s32x4 = vmlal_s16(xy01_s32x4, x_s16x4, y01_s16x4); - xy02_s32x4 = vmlal_s16(xy02_s32x4, x_s16x4, y02_s16x4); - i += 4; - } - - xy01_s64x2 = vpaddlq_s32(xy01_s32x4); - xy02_s64x2 = vpaddlq_s32(xy02_s32x4); - xy01_s64x1 = vadd_s64(vget_low_s64(xy01_s64x2), vget_high_s64(xy01_s64x2)); - xy02_s64x1 = vadd_s64(vget_low_s64(xy02_s64x2), vget_high_s64(xy02_s64x2)); - xy01 = vget_lane_s32(vreinterpret_s32_s64(xy01_s64x1), 0); - xy02 = vget_lane_s32(vreinterpret_s32_s64(xy02_s64x1), 0); - - for (; i < N; i++) { - xy01 = MAC16_16(xy01, x[i], y01[i]); - xy02 = MAC16_16(xy02, x[i], y02[i]); - } - *xy1 = xy01; - *xy2 = xy02; - -#ifdef OPUS_CHECK_ASM - { - opus_val32 xy1_c, xy2_c; - dual_inner_prod_c(x, y01, y02, N, &xy1_c, &xy2_c); - celt_assert(xy1_c == *xy1); - celt_assert(xy2_c == *xy2); - } -#endif -} - -#else /* !FIXED_POINT */ - -/* ========================================================================== */ - -#ifdef OPUS_CHECK_ASM - -/* This part of code simulates floating-point NEON operations. */ - -/* celt_inner_prod_neon_float_c_simulation() simulates the floating-point */ -/* operations of celt_inner_prod_neon(), and both functions should have bit */ -/* exact output. */ -static opus_val32 celt_inner_prod_neon_float_c_simulation(const opus_val16 *x, const opus_val16 *y, int N) -{ - int i; - opus_val32 xy, xy0 = 0, xy1 = 0, xy2 = 0, xy3 = 0; - for (i = 0; i < N - 3; i += 4) { - xy0 = MAC16_16(xy0, x[i + 0], y[i + 0]); - xy1 = MAC16_16(xy1, x[i + 1], y[i + 1]); - xy2 = MAC16_16(xy2, x[i + 2], y[i + 2]); - xy3 = MAC16_16(xy3, x[i + 3], y[i + 3]); - } - xy0 += xy2; - xy1 += xy3; - xy = xy0 + xy1; - for (; i < N; i++) { - xy = MAC16_16(xy, x[i], y[i]); - } - return xy; -} - -/* dual_inner_prod_neon_float_c_simulation() simulates the floating-point */ -/* operations of dual_inner_prod_neon(), and both functions should have bit */ -/* exact output. */ -static void dual_inner_prod_neon_float_c_simulation(const opus_val16 *x, const opus_val16 *y01, const opus_val16 *y02, - int N, opus_val32 *xy1, opus_val32 *xy2) -{ - int i; - opus_val32 xy01, xy02, xy01_0 = 0, xy01_1 = 0, xy01_2 = 0, xy01_3 = 0, xy02_0 = 0, xy02_1 = 0, xy02_2 = 0, xy02_3 = 0; - for (i = 0; i < N - 3; i += 4) { - xy01_0 = MAC16_16(xy01_0, x[i + 0], y01[i + 0]); - xy01_1 = MAC16_16(xy01_1, x[i + 1], y01[i + 1]); - xy01_2 = MAC16_16(xy01_2, x[i + 2], y01[i + 2]); - xy01_3 = MAC16_16(xy01_3, x[i + 3], y01[i + 3]); - xy02_0 = MAC16_16(xy02_0, x[i + 0], y02[i + 0]); - xy02_1 = MAC16_16(xy02_1, x[i + 1], y02[i + 1]); - xy02_2 = MAC16_16(xy02_2, x[i + 2], y02[i + 2]); - xy02_3 = MAC16_16(xy02_3, x[i + 3], y02[i + 3]); - } - xy01_0 += xy01_2; - xy02_0 += xy02_2; - xy01_1 += xy01_3; - xy02_1 += xy02_3; - xy01 = xy01_0 + xy01_1; - xy02 = xy02_0 + xy02_1; - for (; i < N; i++) { - xy01 = MAC16_16(xy01, x[i], y01[i]); - xy02 = MAC16_16(xy02, x[i], y02[i]); - } - *xy1 = xy01; - *xy2 = xy02; -} - -#endif /* OPUS_CHECK_ASM */ - -/* ========================================================================== */ - -opus_val32 celt_inner_prod_neon(const opus_val16 *x, const opus_val16 *y, int N) -{ - int i; - opus_val32 xy; - float32x4_t xy_f32x4 = vdupq_n_f32(0); - float32x2_t xy_f32x2; - - for (i = 0; i < N - 7; i += 8) { - float32x4_t x_f32x4, y_f32x4; - x_f32x4 = vld1q_f32(&x[i]); - y_f32x4 = vld1q_f32(&y[i]); - xy_f32x4 = vmlaq_f32(xy_f32x4, x_f32x4, y_f32x4); - x_f32x4 = vld1q_f32(&x[i + 4]); - y_f32x4 = vld1q_f32(&y[i + 4]); - xy_f32x4 = vmlaq_f32(xy_f32x4, x_f32x4, y_f32x4); - } - - if (N - i >= 4) { - const float32x4_t x_f32x4 = vld1q_f32(&x[i]); - const float32x4_t y_f32x4 = vld1q_f32(&y[i]); - xy_f32x4 = vmlaq_f32(xy_f32x4, x_f32x4, y_f32x4); - i += 4; - } - - xy_f32x2 = vadd_f32(vget_low_f32(xy_f32x4), vget_high_f32(xy_f32x4)); - xy_f32x2 = vpadd_f32(xy_f32x2, xy_f32x2); - xy = vget_lane_f32(xy_f32x2, 0); - - for (; i < N; i++) { - xy = MAC16_16(xy, x[i], y[i]); - } - -#ifdef OPUS_CHECK_ASM - celt_assert(ABS32(celt_inner_prod_neon_float_c_simulation(x, y, N) - xy) <= VERY_SMALL); -#endif - - return xy; -} - -void dual_inner_prod_neon(const opus_val16 *x, const opus_val16 *y01, const opus_val16 *y02, - int N, opus_val32 *xy1, opus_val32 *xy2) -{ - int i; - opus_val32 xy01, xy02; - float32x4_t xy01_f32x4 = vdupq_n_f32(0); - float32x4_t xy02_f32x4 = vdupq_n_f32(0); - float32x2_t xy01_f32x2, xy02_f32x2; - - for (i = 0; i < N - 7; i += 8) { - float32x4_t x_f32x4, y01_f32x4, y02_f32x4; - x_f32x4 = vld1q_f32(&x[i]); - y01_f32x4 = vld1q_f32(&y01[i]); - y02_f32x4 = vld1q_f32(&y02[i]); - xy01_f32x4 = vmlaq_f32(xy01_f32x4, x_f32x4, y01_f32x4); - xy02_f32x4 = vmlaq_f32(xy02_f32x4, x_f32x4, y02_f32x4); - x_f32x4 = vld1q_f32(&x[i + 4]); - y01_f32x4 = vld1q_f32(&y01[i + 4]); - y02_f32x4 = vld1q_f32(&y02[i + 4]); - xy01_f32x4 = vmlaq_f32(xy01_f32x4, x_f32x4, y01_f32x4); - xy02_f32x4 = vmlaq_f32(xy02_f32x4, x_f32x4, y02_f32x4); - } - - if (N - i >= 4) { - const float32x4_t x_f32x4 = vld1q_f32(&x[i]); - const float32x4_t y01_f32x4 = vld1q_f32(&y01[i]); - const float32x4_t y02_f32x4 = vld1q_f32(&y02[i]); - xy01_f32x4 = vmlaq_f32(xy01_f32x4, x_f32x4, y01_f32x4); - xy02_f32x4 = vmlaq_f32(xy02_f32x4, x_f32x4, y02_f32x4); - i += 4; - } - - xy01_f32x2 = vadd_f32(vget_low_f32(xy01_f32x4), vget_high_f32(xy01_f32x4)); - xy02_f32x2 = vadd_f32(vget_low_f32(xy02_f32x4), vget_high_f32(xy02_f32x4)); - xy01_f32x2 = vpadd_f32(xy01_f32x2, xy01_f32x2); - xy02_f32x2 = vpadd_f32(xy02_f32x2, xy02_f32x2); - xy01 = vget_lane_f32(xy01_f32x2, 0); - xy02 = vget_lane_f32(xy02_f32x2, 0); - - for (; i < N; i++) { - xy01 = MAC16_16(xy01, x[i], y01[i]); - xy02 = MAC16_16(xy02, x[i], y02[i]); - } - *xy1 = xy01; - *xy2 = xy02; - -#ifdef OPUS_CHECK_ASM - { - opus_val32 xy1_c, xy2_c; - dual_inner_prod_neon_float_c_simulation(x, y01, y02, N, &xy1_c, &xy2_c); - celt_assert(ABS32(xy1_c - *xy1) <= VERY_SMALL); - celt_assert(ABS32(xy2_c - *xy2) <= VERY_SMALL); - } -#endif -} - -#endif /* FIXED_POINT */ diff --git a/thirdparty/opus/celt/bands.c b/thirdparty/opus/celt/bands.c index 2702963c37..87eaa6c031 100644 --- a/thirdparty/opus/celt/bands.c +++ b/thirdparty/opus/celt/bands.c @@ -65,19 +65,19 @@ opus_uint32 celt_lcg_rand(opus_uint32 seed) /* This is a cos() approximation designed to be bit-exact on any platform. Bit exactness with this approximation is important because it has an impact on the bit allocation */ -opus_int16 bitexact_cos(opus_int16 x) +static opus_int16 bitexact_cos(opus_int16 x) { opus_int32 tmp; opus_int16 x2; tmp = (4096+((opus_int32)(x)*(x)))>>13; - celt_sig_assert(tmp<=32767); + celt_assert(tmp<=32767); x2 = tmp; x2 = (32767-x2) + FRAC_MUL16(x2, (-7651 + FRAC_MUL16(x2, (8277 + FRAC_MUL16(-626, x2))))); - celt_sig_assert(x2<=32766); + celt_assert(x2<=32766); return 1+x2; } -int bitexact_log2tan(int isin,int icos) +static int bitexact_log2tan(int isin,int icos) { int lc; int ls; @@ -92,11 +92,10 @@ int bitexact_log2tan(int isin,int icos) #ifdef FIXED_POINT /* Compute the amplitude (sqrt energy) in each of the bands */ -void compute_band_energies(const CELTMode *m, const celt_sig *X, celt_ener *bandE, int end, int C, int LM, int arch) +void compute_band_energies(const CELTMode *m, const celt_sig *X, celt_ener *bandE, int end, int C, int LM) { int i, c, N; const opus_int16 *eBands = m->eBands; - (void)arch; N = m->shortMdctSize<<LM; c=0; do { for (i=0;i<end;i++) @@ -156,7 +155,7 @@ void normalise_bands(const CELTMode *m, const celt_sig * OPUS_RESTRICT freq, cel #else /* FIXED_POINT */ /* Compute the amplitude (sqrt energy) in each of the bands */ -void compute_band_energies(const CELTMode *m, const celt_sig *X, celt_ener *bandE, int end, int C, int LM, int arch) +void compute_band_energies(const CELTMode *m, const celt_sig *X, celt_ener *bandE, int end, int C, int LM) { int i, c, N; const opus_int16 *eBands = m->eBands; @@ -165,7 +164,7 @@ void compute_band_energies(const CELTMode *m, const celt_sig *X, celt_ener *band for (i=0;i<end;i++) { opus_val32 sum; - sum = 1e-27f + celt_inner_prod(&X[c*N+(eBands[i]<<LM)], &X[c*N+(eBands[i]<<LM)], (eBands[i+1]-eBands[i])<<LM, arch); + sum = 1e-27f + celt_inner_prod_c(&X[c*N+(eBands[i]<<LM)], &X[c*N+(eBands[i]<<LM)], (eBands[i+1]-eBands[i])<<LM); bandE[i+c*m->nbEBands] = celt_sqrt(sum); /*printf ("%f ", bandE[i+c*m->nbEBands]);*/ } @@ -225,9 +224,9 @@ void denormalise_bands(const CELTMode *m, const celt_norm * OPUS_RESTRICT X, #endif j=M*eBands[i]; band_end = M*eBands[i+1]; - lg = SATURATE16(ADD32(bandLogE[i], SHL32((opus_val32)eMeans[i],6))); + lg = ADD16(bandLogE[i], SHL16((opus_val16)eMeans[i],6)); #ifndef FIXED_POINT - g = celt_exp2(MIN32(32.f, lg)); + g = celt_exp2(lg); #else /* Handle the integer part of the log energy */ shift = 16-(lg>>DB_SHIFT); @@ -242,12 +241,12 @@ void denormalise_bands(const CELTMode *m, const celt_norm * OPUS_RESTRICT X, /* Handle extreme gains with negative shift. */ if (shift<0) { - /* For shift <= -2 and g > 16384 we'd be likely to overflow, so we're - capping the gain here, which is equivalent to a cap of 18 on lg. - This shouldn't trigger unless the bitstream is already corrupted. */ - if (shift <= -2) + /* For shift < -2 we'd be likely to overflow, so we're capping + the gain here. This shouldn't happen unless the bitstream is + already corrupted. */ + if (shift < -2) { - g = 16384; + g = 32767; shift = -2; } do { @@ -282,7 +281,7 @@ void anti_collapse(const CELTMode *m, celt_norm *X_, unsigned char *collapse_mas N0 = m->eBands[i+1]-m->eBands[i]; /* depth in 1/8 bits */ - celt_sig_assert(pulses[i]>=0); + celt_assert(pulses[i]>=0); depth = celt_udiv(1+pulses[i], (m->eBands[i+1]-m->eBands[i]))>>LM; #ifdef FIXED_POINT @@ -361,30 +360,6 @@ void anti_collapse(const CELTMode *m, celt_norm *X_, unsigned char *collapse_mas } } -/* Compute the weights to use for optimizing normalized distortion across - channels. We use the amplitude to weight square distortion, which means - that we use the square root of the value we would have been using if we - wanted to minimize the MSE in the non-normalized domain. This roughly - corresponds to some quick-and-dirty perceptual experiments I ran to - measure inter-aural masking (there doesn't seem to be any published data - on the topic). */ -static void compute_channel_weights(celt_ener Ex, celt_ener Ey, opus_val16 w[2]) -{ - celt_ener minE; -#ifdef FIXED_POINT - int shift; -#endif - minE = MIN32(Ex, Ey); - /* Adjustment to make the weights a bit more conservative. */ - Ex = ADD32(Ex, minE/3); - Ey = ADD32(Ey, minE/3); -#ifdef FIXED_POINT - shift = celt_ilog2(EPSILON+MAX32(Ex, Ey))-14; -#endif - w[0] = VSHR32(Ex, shift); - w[1] = VSHR32(Ey, shift); -} - static void intensity_stereo(const CELTMode *m, celt_norm * OPUS_RESTRICT X, const celt_norm * OPUS_RESTRICT Y, const celt_ener *bandE, int bandID, int N) { int i = bandID; @@ -478,7 +453,7 @@ static void stereo_merge(celt_norm * OPUS_RESTRICT X, celt_norm * OPUS_RESTRICT /* Decide whether we should spread the pulses in the current frame */ int spreading_decision(const CELTMode *m, const celt_norm *X, int *average, int last_decision, int *hf_average, int *tapset_decision, int update_hf, - int end, int C, int M, const int *spread_weight) + int end, int C, int M) { int i, c, N0; int sum = 0, nbBands=0; @@ -519,8 +494,8 @@ int spreading_decision(const CELTMode *m, const celt_norm *X, int *average, if (i>m->nbEBands-4) hf_sum += celt_udiv(32*(tcount[1]+tcount[0]), N); tmp = (2*tcount[2] >= N) + (2*tcount[1] >= N) + (2*tcount[0] >= N); - sum += tmp*spread_weight[i]; - nbBands+=spread_weight[i]; + sum += tmp*256; + nbBands++; } } while (++c<C); @@ -544,7 +519,7 @@ int spreading_decision(const CELTMode *m, const celt_norm *X, int *average, /*printf("%d %d %d\n", hf_sum, *hf_average, *tapset_decision);*/ celt_assert(nbBands>0); /* end has to be non-zero */ celt_assert(sum>=0); - sum = celt_udiv((opus_int32)sum<<8, nbBands); + sum = celt_udiv(sum, nbBands); /* Recursive averaging */ sum = (sum+*average)>>1; *average = sum; @@ -672,7 +647,6 @@ static int compute_qn(int N, int b, int offset, int pulse_cap, int stereo) struct band_ctx { int encode; - int resynth; const CELTMode *m; int i; int intensity; @@ -683,9 +657,6 @@ struct band_ctx { const celt_ener *bandE; opus_uint32 seed; int arch; - int theta_round; - int disable_inv; - int avoid_split_noise; }; struct split_ctx { @@ -743,35 +714,8 @@ static void compute_theta(struct band_ctx *ctx, struct split_ctx *sctx, if (qn!=1) { if (encode) - { - if (!stereo || ctx->theta_round == 0) - { - itheta = (itheta*(opus_int32)qn+8192)>>14; - if (!stereo && ctx->avoid_split_noise && itheta > 0 && itheta < qn) - { - /* Check if the selected value of theta will cause the bit allocation - to inject noise on one side. If so, make sure the energy of that side - is zero. */ - int unquantized = celt_udiv((opus_int32)itheta*16384, qn); - imid = bitexact_cos((opus_int16)unquantized); - iside = bitexact_cos((opus_int16)(16384-unquantized)); - delta = FRAC_MUL16((N-1)<<7,bitexact_log2tan(iside,imid)); - if (delta > *b) - itheta = qn; - else if (delta < -*b) - itheta = 0; - } - } else { - int down; - /* Bias quantization towards itheta=0 and itheta=16384. */ - int bias = itheta > 8192 ? 32767/qn : -32767/qn; - down = IMIN(qn-1, IMAX(0, (itheta*(opus_int32)qn + bias)>>14)); - if (ctx->theta_round < 0) - itheta = down; - else - itheta = down+1; - } - } + itheta = (itheta*(opus_int32)qn+8192)>>14; + /* Entropy coding of the angle. We use a uniform pdf for the time split, a step for stereo, and a triangular one for the rest. */ if (stereo && N>2) @@ -849,7 +793,7 @@ static void compute_theta(struct band_ctx *ctx, struct split_ctx *sctx, } else if (stereo) { if (encode) { - inv = itheta > 8192 && !ctx->disable_inv; + inv = itheta > 8192; if (inv) { int j; @@ -866,9 +810,6 @@ static void compute_theta(struct band_ctx *ctx, struct split_ctx *sctx, inv = ec_dec_bit_logp(ec, 2); } else inv = 0; - /* inv flag override to avoid problems with downmixing. */ - if (ctx->disable_inv) - inv = 0; itheta = 0; } qalloc = ec_tell_frac(ec) - tell; @@ -904,6 +845,11 @@ static void compute_theta(struct band_ctx *ctx, struct split_ctx *sctx, static unsigned quant_band_n1(struct band_ctx *ctx, celt_norm *X, celt_norm *Y, int b, celt_norm *lowband_out) { +#ifdef RESYNTH + int resynth = 1; +#else + int resynth = !ctx->encode; +#endif int c; int stereo; celt_norm *x = X; @@ -928,7 +874,7 @@ static unsigned quant_band_n1(struct band_ctx *ctx, celt_norm *X, celt_norm *Y, ctx->remaining_bits -= 1<<BITRES; b-=1<<BITRES; } - if (ctx->resynth) + if (resynth) x[0] = sign ? -NORM_SCALING : NORM_SCALING; x = Y; } while (++c<1+stereo); @@ -953,6 +899,11 @@ static unsigned quant_partition(struct band_ctx *ctx, celt_norm *X, int B0=B; opus_val16 mid=0, side=0; unsigned cm=0; +#ifdef RESYNTH + int resynth = 1; +#else + int resynth = !ctx->encode; +#endif celt_norm *Y=NULL; int encode; const CELTMode *m; @@ -984,7 +935,8 @@ static unsigned quant_partition(struct band_ctx *ctx, celt_norm *X, fill = (fill&1)|(fill<<1); B = (B+1)>>1; - compute_theta(ctx, &sctx, X, Y, N, &b, B, B0, LM, 0, &fill); + compute_theta(ctx, &sctx, X, Y, N, &b, B, B0, + LM, 0, &fill); imid = sctx.imid; iside = sctx.iside; delta = sctx.delta; @@ -1018,20 +970,24 @@ static unsigned quant_partition(struct band_ctx *ctx, celt_norm *X, rebalance = ctx->remaining_bits; if (mbits >= sbits) { - cm = quant_partition(ctx, X, N, mbits, B, lowband, LM, + cm = quant_partition(ctx, X, N, mbits, B, + lowband, LM, MULT16_16_P15(gain,mid), fill); rebalance = mbits - (rebalance-ctx->remaining_bits); if (rebalance > 3<<BITRES && itheta!=0) sbits += rebalance - (3<<BITRES); - cm |= quant_partition(ctx, Y, N, sbits, B, next_lowband2, LM, + cm |= quant_partition(ctx, Y, N, sbits, B, + next_lowband2, LM, MULT16_16_P15(gain,side), fill>>B)<<(B0>>1); } else { - cm = quant_partition(ctx, Y, N, sbits, B, next_lowband2, LM, + cm = quant_partition(ctx, Y, N, sbits, B, + next_lowband2, LM, MULT16_16_P15(gain,side), fill>>B)<<(B0>>1); rebalance = sbits - (rebalance-ctx->remaining_bits); if (rebalance > 3<<BITRES && itheta!=16384) mbits += rebalance - (3<<BITRES); - cm |= quant_partition(ctx, X, N, mbits, B, lowband, LM, + cm |= quant_partition(ctx, X, N, mbits, B, + lowband, LM, MULT16_16_P15(gain,mid), fill); } } else { @@ -1056,14 +1012,18 @@ static unsigned quant_partition(struct band_ctx *ctx, celt_norm *X, /* Finally do the actual quantization */ if (encode) { - cm = alg_quant(X, N, K, spread, B, ec, gain, ctx->resynth, ctx->arch); + cm = alg_quant(X, N, K, spread, B, ec +#ifdef RESYNTH + , gain +#endif + ); } else { cm = alg_unquant(X, N, K, spread, B, ec, gain); } } else { /* If there's no pulse, fill the band anyway */ int j; - if (ctx->resynth) + if (resynth) { unsigned cm_mask; /* B can be as large as 16, so this shift might overflow an int on a @@ -1120,6 +1080,11 @@ static unsigned quant_band(struct band_ctx *ctx, celt_norm *X, int recombine=0; int longBlocks; unsigned cm=0; +#ifdef RESYNTH + int resynth = 1; +#else + int resynth = !ctx->encode; +#endif int k; int encode; int tf_change; @@ -1186,10 +1151,11 @@ static unsigned quant_band(struct band_ctx *ctx, celt_norm *X, deinterleave_hadamard(lowband, N_B>>recombine, B0<<recombine, longBlocks); } - cm = quant_partition(ctx, X, N, b, B, lowband, LM, gain, fill); + cm = quant_partition(ctx, X, N, b, B, lowband, + LM, gain, fill); /* This code is used by the decoder and by the resynthesis-enabled encoder */ - if (ctx->resynth) + if (resynth) { /* Undo the sample reorganization going from time order to frequency order */ if (B0>1) @@ -1242,6 +1208,11 @@ static unsigned quant_band_stereo(struct band_ctx *ctx, celt_norm *X, celt_norm int inv = 0; opus_val16 mid=0, side=0; unsigned cm=0; +#ifdef RESYNTH + int resynth = 1; +#else + int resynth = !ctx->encode; +#endif int mbits, sbits, delta; int itheta; int qalloc; @@ -1261,7 +1232,8 @@ static unsigned quant_band_stereo(struct band_ctx *ctx, celt_norm *X, celt_norm orig_fill = fill; - compute_theta(ctx, &sctx, X, Y, N, &b, B, B, LM, 1, &fill); + compute_theta(ctx, &sctx, X, Y, N, &b, B, B, + LM, 1, &fill); inv = sctx.inv; imid = sctx.imid; iside = sctx.iside; @@ -1309,13 +1281,13 @@ static unsigned quant_band_stereo(struct band_ctx *ctx, celt_norm *X, celt_norm sign = 1-2*sign; /* We use orig_fill here because we want to fold the side, but if itheta==16384, we'll have cleared the low bits of fill. */ - cm = quant_band(ctx, x2, N, mbits, B, lowband, LM, lowband_out, Q15ONE, - lowband_scratch, orig_fill); + cm = quant_band(ctx, x2, N, mbits, B, lowband, + LM, lowband_out, Q15ONE, lowband_scratch, orig_fill); /* We don't split N=2 bands, so cm is either 1 or 0 (for a fold-collapse), and there's no need to worry about mixing with the other channel. */ y2[0] = -sign*x2[1]; y2[1] = sign*x2[0]; - if (ctx->resynth) + if (resynth) { celt_norm tmp; X[0] = MULT16_16_Q15(mid, X[0]); @@ -1342,32 +1314,38 @@ static unsigned quant_band_stereo(struct band_ctx *ctx, celt_norm *X, celt_norm { /* In stereo mode, we do not apply a scaling to the mid because we need the normalized mid for folding later. */ - cm = quant_band(ctx, X, N, mbits, B, lowband, LM, lowband_out, Q15ONE, - lowband_scratch, fill); + cm = quant_band(ctx, X, N, mbits, B, + lowband, LM, lowband_out, + Q15ONE, lowband_scratch, fill); rebalance = mbits - (rebalance-ctx->remaining_bits); if (rebalance > 3<<BITRES && itheta!=0) sbits += rebalance - (3<<BITRES); /* For a stereo split, the high bits of fill are always zero, so no folding will be done to the side. */ - cm |= quant_band(ctx, Y, N, sbits, B, NULL, LM, NULL, side, NULL, fill>>B); + cm |= quant_band(ctx, Y, N, sbits, B, + NULL, LM, NULL, + side, NULL, fill>>B); } else { /* For a stereo split, the high bits of fill are always zero, so no folding will be done to the side. */ - cm = quant_band(ctx, Y, N, sbits, B, NULL, LM, NULL, side, NULL, fill>>B); + cm = quant_band(ctx, Y, N, sbits, B, + NULL, LM, NULL, + side, NULL, fill>>B); rebalance = sbits - (rebalance-ctx->remaining_bits); if (rebalance > 3<<BITRES && itheta!=16384) mbits += rebalance - (3<<BITRES); /* In stereo mode, we do not apply a scaling to the mid because we need the normalized mid for folding later. */ - cm |= quant_band(ctx, X, N, mbits, B, lowband, LM, lowband_out, Q15ONE, - lowband_scratch, fill); + cm |= quant_band(ctx, X, N, mbits, B, + lowband, LM, lowband_out, + Q15ONE, lowband_scratch, fill); } } /* This code is used by the decoder and by the resynthesis-enabled encoder */ - if (ctx->resynth) + if (resynth) { if (N!=2) stereo_merge(X, Y, mid, N, ctx->arch); @@ -1381,38 +1359,19 @@ static unsigned quant_band_stereo(struct band_ctx *ctx, celt_norm *X, celt_norm return cm; } -static void special_hybrid_folding(const CELTMode *m, celt_norm *norm, celt_norm *norm2, int start, int M, int dual_stereo) -{ - int n1, n2; - const opus_int16 * OPUS_RESTRICT eBands = m->eBands; - n1 = M*(eBands[start+1]-eBands[start]); - n2 = M*(eBands[start+2]-eBands[start+1]); - /* Duplicate enough of the first band folding data to be able to fold the second band. - Copies no data for CELT-only mode. */ - OPUS_COPY(&norm[n1], &norm[2*n1 - n2], n2-n1); - if (dual_stereo) - OPUS_COPY(&norm2[n1], &norm2[2*n1 - n2], n2-n1); -} void quant_all_bands(int encode, const CELTMode *m, int start, int end, celt_norm *X_, celt_norm *Y_, unsigned char *collapse_masks, const celt_ener *bandE, int *pulses, int shortBlocks, int spread, int dual_stereo, int intensity, int *tf_res, opus_int32 total_bits, opus_int32 balance, ec_ctx *ec, int LM, int codedBands, - opus_uint32 *seed, int complexity, int arch, int disable_inv) + opus_uint32 *seed, int arch) { int i; opus_int32 remaining_bits; const opus_int16 * OPUS_RESTRICT eBands = m->eBands; celt_norm * OPUS_RESTRICT norm, * OPUS_RESTRICT norm2; VARDECL(celt_norm, _norm); - VARDECL(celt_norm, _lowband_scratch); - VARDECL(celt_norm, X_save); - VARDECL(celt_norm, Y_save); - VARDECL(celt_norm, X_save2); - VARDECL(celt_norm, Y_save2); - VARDECL(celt_norm, norm_save2); - int resynth_alloc; celt_norm *lowband_scratch; int B; int M; @@ -1420,11 +1379,10 @@ void quant_all_bands(int encode, const CELTMode *m, int start, int end, int update_lowband = 1; int C = Y_ != NULL ? 2 : 1; int norm_offset; - int theta_rdo = encode && Y_!=NULL && !dual_stereo && complexity>=8; #ifdef RESYNTH int resynth = 1; #else - int resynth = !encode || theta_rdo; + int resynth = !encode; #endif struct band_ctx ctx; SAVE_STACK; @@ -1437,24 +1395,9 @@ void quant_all_bands(int encode, const CELTMode *m, int start, int end, ALLOC(_norm, C*(M*eBands[m->nbEBands-1]-norm_offset), celt_norm); norm = _norm; norm2 = norm + M*eBands[m->nbEBands-1]-norm_offset; - - /* For decoding, we can use the last band as scratch space because we don't need that - scratch space for the last band and we don't care about the data there until we're - decoding the last band. */ - if (encode && resynth) - resynth_alloc = M*(eBands[m->nbEBands]-eBands[m->nbEBands-1]); - else - resynth_alloc = ALLOC_NONE; - ALLOC(_lowband_scratch, resynth_alloc, celt_norm); - if (encode && resynth) - lowband_scratch = _lowband_scratch; - else - lowband_scratch = X_+M*eBands[m->nbEBands-1]; - ALLOC(X_save, resynth_alloc, celt_norm); - ALLOC(Y_save, resynth_alloc, celt_norm); - ALLOC(X_save2, resynth_alloc, celt_norm); - ALLOC(Y_save2, resynth_alloc, celt_norm); - ALLOC(norm_save2, resynth_alloc, celt_norm); + /* We can use the last band as scratch space because we don't need that + scratch space for the last band. */ + lowband_scratch = X_+M*eBands[m->nbEBands-1]; lowband_offset = 0; ctx.bandE = bandE; @@ -1465,11 +1408,6 @@ void quant_all_bands(int encode, const CELTMode *m, int start, int end, ctx.seed = *seed; ctx.spread = spread; ctx.arch = arch; - ctx.disable_inv = disable_inv; - ctx.resynth = resynth; - ctx.theta_round = 0; - /* Avoid injecting noise in the first band on transients. */ - ctx.avoid_split_noise = B > 1; for (i=start;i<end;i++) { opus_int32 tell; @@ -1492,7 +1430,6 @@ void quant_all_bands(int encode, const CELTMode *m, int start, int end, else Y = NULL; N = M*eBands[i+1]-M*eBands[i]; - celt_assert(N > 0); tell = ec_tell_frac(ec); /* Compute how many bits we want to allocate to this band */ @@ -1508,15 +1445,8 @@ void quant_all_bands(int encode, const CELTMode *m, int start, int end, b = 0; } -#ifndef DISABLE_UPDATE_DRAFT - if (resynth && (M*eBands[i]-N >= M*eBands[start] || i==start+1) && (update_lowband || lowband_offset==0)) - lowband_offset = i; - if (i == start+1) - special_hybrid_folding(m, norm, norm2, start, M, dual_stereo); -#else if (resynth && M*eBands[i]-N >= M*eBands[start] && (update_lowband || lowband_offset==0)) lowband_offset = i; -#endif tf_change = tf_res[i]; ctx.tf_change = tf_change; @@ -1527,7 +1457,7 @@ void quant_all_bands(int encode, const CELTMode *m, int start, int end, Y = norm; lowband_scratch = NULL; } - if (last && !theta_rdo) + if (i==end-1) lowband_scratch = NULL; /* Get a conservative estimate of the collapse_mask's for the bands we're @@ -1542,11 +1472,7 @@ void quant_all_bands(int encode, const CELTMode *m, int start, int end, fold_start = lowband_offset; while(M*eBands[--fold_start] > effective_lowband+norm_offset); fold_end = lowband_offset-1; -#ifndef DISABLE_UPDATE_DRAFT - while(++fold_end < i && M*eBands[fold_end] < effective_lowband+norm_offset+N); -#else while(M*eBands[++fold_end] < effective_lowband+norm_offset+N); -#endif x_cm = y_cm = 0; fold_i = fold_start; do { x_cm |= collapse_masks[fold_i*C+0]; @@ -1579,79 +1505,13 @@ void quant_all_bands(int encode, const CELTMode *m, int start, int end, } else { if (Y!=NULL) { - if (theta_rdo && i < intensity) - { - ec_ctx ec_save, ec_save2; - struct band_ctx ctx_save, ctx_save2; - opus_val32 dist0, dist1; - unsigned cm, cm2; - int nstart_bytes, nend_bytes, save_bytes; - unsigned char *bytes_buf; - unsigned char bytes_save[1275]; - opus_val16 w[2]; - compute_channel_weights(bandE[i], bandE[i+m->nbEBands], w); - /* Make a copy. */ - cm = x_cm|y_cm; - ec_save = *ec; - ctx_save = ctx; - OPUS_COPY(X_save, X, N); - OPUS_COPY(Y_save, Y, N); - /* Encode and round down. */ - ctx.theta_round = -1; - x_cm = quant_band_stereo(&ctx, X, Y, N, b, B, - effective_lowband != -1 ? norm+effective_lowband : NULL, LM, - last?NULL:norm+M*eBands[i]-norm_offset, lowband_scratch, cm); - dist0 = MULT16_32_Q15(w[0], celt_inner_prod(X_save, X, N, arch)) + MULT16_32_Q15(w[1], celt_inner_prod(Y_save, Y, N, arch)); - - /* Save first result. */ - cm2 = x_cm; - ec_save2 = *ec; - ctx_save2 = ctx; - OPUS_COPY(X_save2, X, N); - OPUS_COPY(Y_save2, Y, N); - if (!last) - OPUS_COPY(norm_save2, norm+M*eBands[i]-norm_offset, N); - nstart_bytes = ec_save.offs; - nend_bytes = ec_save.storage; - bytes_buf = ec_save.buf+nstart_bytes; - save_bytes = nend_bytes-nstart_bytes; - OPUS_COPY(bytes_save, bytes_buf, save_bytes); - - /* Restore */ - *ec = ec_save; - ctx = ctx_save; - OPUS_COPY(X, X_save, N); - OPUS_COPY(Y, Y_save, N); -#ifndef DISABLE_UPDATE_DRAFT - if (i == start+1) - special_hybrid_folding(m, norm, norm2, start, M, dual_stereo); -#endif - /* Encode and round up. */ - ctx.theta_round = 1; - x_cm = quant_band_stereo(&ctx, X, Y, N, b, B, - effective_lowband != -1 ? norm+effective_lowband : NULL, LM, - last?NULL:norm+M*eBands[i]-norm_offset, lowband_scratch, cm); - dist1 = MULT16_32_Q15(w[0], celt_inner_prod(X_save, X, N, arch)) + MULT16_32_Q15(w[1], celt_inner_prod(Y_save, Y, N, arch)); - if (dist0 >= dist1) { - x_cm = cm2; - *ec = ec_save2; - ctx = ctx_save2; - OPUS_COPY(X, X_save2, N); - OPUS_COPY(Y, Y_save2, N); - if (!last) - OPUS_COPY(norm+M*eBands[i]-norm_offset, norm_save2, N); - OPUS_COPY(bytes_buf, bytes_save, save_bytes); - } - } else { - ctx.theta_round = 0; - x_cm = quant_band_stereo(&ctx, X, Y, N, b, B, - effective_lowband != -1 ? norm+effective_lowband : NULL, LM, - last?NULL:norm+M*eBands[i]-norm_offset, lowband_scratch, x_cm|y_cm); - } + x_cm = quant_band_stereo(&ctx, X, Y, N, b, B, + effective_lowband != -1 ? norm+effective_lowband : NULL, LM, + last?NULL:norm+M*eBands[i]-norm_offset, lowband_scratch, x_cm|y_cm); } else { x_cm = quant_band(&ctx, X, N, b, B, effective_lowband != -1 ? norm+effective_lowband : NULL, LM, - last?NULL:norm+M*eBands[i]-norm_offset, Q15ONE, lowband_scratch, x_cm|y_cm); + last?NULL:norm+M*eBands[i]-norm_offset, Q15ONE, lowband_scratch, x_cm|y_cm); } y_cm = x_cm; } @@ -1661,9 +1521,6 @@ void quant_all_bands(int encode, const CELTMode *m, int start, int end, /* Update the folding position only as long as we have 1 bit/sample depth. */ update_lowband = b>(N<<BITRES); - /* We only need to avoid noise on a split for the first band. After that, we - have folding. */ - ctx.avoid_split_noise = 0; } *seed = ctx.seed; diff --git a/thirdparty/opus/celt/bands.h b/thirdparty/opus/celt/bands.h index 422b32cf75..e8bef4bad0 100644 --- a/thirdparty/opus/celt/bands.h +++ b/thirdparty/opus/celt/bands.h @@ -36,15 +36,12 @@ #include "entdec.h" #include "rate.h" -opus_int16 bitexact_cos(opus_int16 x); -int bitexact_log2tan(int isin,int icos); - /** Compute the amplitude (sqrt energy) in each of the bands * @param m Mode data * @param X Spectrum * @param bandE Square root of the energy for each band (returned) */ -void compute_band_energies(const CELTMode *m, const celt_sig *X, celt_ener *bandE, int end, int C, int LM, int arch); +void compute_band_energies(const CELTMode *m, const celt_sig *X, celt_ener *bandE, int end, int C, int LM); /*void compute_noise_energies(const CELTMode *m, const celt_sig *X, const opus_val16 *tonality, celt_ener *bandE);*/ @@ -72,7 +69,7 @@ void denormalise_bands(const CELTMode *m, const celt_norm * OPUS_RESTRICT X, int spreading_decision(const CELTMode *m, const celt_norm *X, int *average, int last_decision, int *hf_average, int *tapset_decision, int update_hf, - int end, int C, int M, const int *spread_weight); + int end, int C, int M); #ifdef MEASURE_NORM_MSE void measure_norm_mse(const CELTMode *m, float *X, float *X0, float *bandE, float *bandE0, int M, int N, int C); @@ -108,7 +105,7 @@ void quant_all_bands(int encode, const CELTMode *m, int start, int end, const celt_ener *bandE, int *pulses, int shortBlocks, int spread, int dual_stereo, int intensity, int *tf_res, opus_int32 total_bits, opus_int32 balance, ec_ctx *ec, int M, int codedBands, opus_uint32 *seed, - int complexity, int arch, int disable_inv); + int arch); void anti_collapse(const CELTMode *m, celt_norm *X_, unsigned char *collapse_masks, int LM, int C, int size, int start, diff --git a/thirdparty/opus/celt/celt.c b/thirdparty/opus/celt/celt.c index 9ce234695c..b121c51a1f 100644 --- a/thirdparty/opus/celt/celt.c +++ b/thirdparty/opus/celt/celt.c @@ -111,31 +111,26 @@ void comb_filter_const_c(opus_val32 *y, opus_val32 *x, int T, int N, t = MAC16_32_Q16(x[i], g10, x2); t = MAC16_32_Q16(t, g11, ADD32(x1,x3)); t = MAC16_32_Q16(t, g12, ADD32(x0,x4)); - t = SATURATE(t, SIG_SAT); y[i] = t; x4=SHL32(x[i-T+3],1); t = MAC16_32_Q16(x[i+1], g10, x1); t = MAC16_32_Q16(t, g11, ADD32(x0,x2)); t = MAC16_32_Q16(t, g12, ADD32(x4,x3)); - t = SATURATE(t, SIG_SAT); y[i+1] = t; x3=SHL32(x[i-T+4],1); t = MAC16_32_Q16(x[i+2], g10, x0); t = MAC16_32_Q16(t, g11, ADD32(x4,x1)); t = MAC16_32_Q16(t, g12, ADD32(x3,x2)); - t = SATURATE(t, SIG_SAT); y[i+2] = t; x2=SHL32(x[i-T+5],1); t = MAC16_32_Q16(x[i+3], g10, x4); t = MAC16_32_Q16(t, g11, ADD32(x3,x0)); t = MAC16_32_Q16(t, g12, ADD32(x2,x1)); - t = SATURATE(t, SIG_SAT); y[i+3] = t; x1=SHL32(x[i-T+6],1); t = MAC16_32_Q16(x[i+4], g10, x3); t = MAC16_32_Q16(t, g11, ADD32(x2,x4)); t = MAC16_32_Q16(t, g12, ADD32(x1,x0)); - t = SATURATE(t, SIG_SAT); y[i+4] = t; } #ifdef CUSTOM_MODES @@ -146,7 +141,6 @@ void comb_filter_const_c(opus_val32 *y, opus_val32 *x, int T, int N, t = MAC16_32_Q16(x[i], g10, x2); t = MAC16_32_Q16(t, g11, ADD32(x1,x3)); t = MAC16_32_Q16(t, g12, ADD32(x0,x4)); - t = SATURATE(t, SIG_SAT); y[i] = t; x4=x3; x3=x2; @@ -175,7 +169,6 @@ void comb_filter_const_c(opus_val32 *y, opus_val32 *x, int T, int N, + MULT16_32_Q15(g10,x2) + MULT16_32_Q15(g11,ADD32(x1,x3)) + MULT16_32_Q15(g12,ADD32(x0,x4)); - y[i] = SATURATE(y[i], SIG_SAT); x4=x3; x3=x2; x2=x1; @@ -207,10 +200,6 @@ void comb_filter(opus_val32 *y, opus_val32 *x, int T0, int T1, int N, OPUS_MOVE(y, x, N); return; } - /* When the gain is zero, T0 and/or T1 is set to zero. We need - to have then be at least 2 to avoid processing garbage data. */ - T0 = IMAX(T0, COMBFILTER_MINPERIOD); - T1 = IMAX(T1, COMBFILTER_MINPERIOD); g00 = MULT16_16_P15(g0, gains[tapset0][0]); g01 = MULT16_16_P15(g0, gains[tapset0][1]); g02 = MULT16_16_P15(g0, gains[tapset0][2]); @@ -236,7 +225,6 @@ void comb_filter(opus_val32 *y, opus_val32 *x, int T0, int T1, int N, + MULT16_32_Q15(MULT16_16_Q15(f,g10),x2) + MULT16_32_Q15(MULT16_16_Q15(f,g11),ADD32(x1,x3)) + MULT16_32_Q15(MULT16_16_Q15(f,g12),ADD32(x0,x4)); - y[i] = SATURATE(y[i], SIG_SAT); x4=x3; x3=x2; x2=x1; @@ -256,16 +244,11 @@ void comb_filter(opus_val32 *y, opus_val32 *x, int T0, int T1, int N, } #endif /* OVERRIDE_comb_filter */ -/* TF change table. Positive values mean better frequency resolution (longer - effective window), whereas negative values mean better time resolution - (shorter effective window). The second index is computed as: - 4*isTransient + 2*tf_select + per_band_flag */ const signed char tf_select_table[4][8] = { - /*isTransient=0 isTransient=1 */ - {0, -1, 0, -1, 0,-1, 0,-1}, /* 2.5 ms */ - {0, -1, 0, -2, 1, 0, 1,-1}, /* 5 ms */ - {0, -2, 0, -3, 2, 0, 1,-1}, /* 10 ms */ - {0, -2, 0, -3, 3, 0, 1,-1}, /* 20 ms */ + {0, -1, 0, -1, 0,-1, 0,-1}, + {0, -1, 0, -2, 1, 0, 1,-1}, + {0, -2, 0, -3, 2, 0, 1,-1}, + {0, -2, 0, -3, 3, 0, 1,-1}, }; diff --git a/thirdparty/opus/celt/celt.h b/thirdparty/opus/celt/celt.h index 24b6b2b520..d1f7eb690d 100644 --- a/thirdparty/opus/celt/celt.h +++ b/thirdparty/opus/celt/celt.h @@ -50,8 +50,6 @@ extern "C" { #define CELTDecoder OpusCustomDecoder #define CELTMode OpusCustomMode -#define LEAK_BANDS 19 - typedef struct { int valid; float tonality; @@ -59,28 +57,18 @@ typedef struct { float noisiness; float activity; float music_prob; - float music_prob_min; - float music_prob_max; - int bandwidth; - float activity_probability; - float max_pitch_ratio; - /* Store as Q6 char to save space. */ - unsigned char leak_boost[LEAK_BANDS]; -} AnalysisInfo; - -typedef struct { - int signalType; - int offset; -} SILKInfo; + int bandwidth; +}AnalysisInfo; #define __celt_check_mode_ptr_ptr(ptr) ((ptr) + ((ptr) - (const CELTMode**)(ptr))) #define __celt_check_analysis_ptr(ptr) ((ptr) + ((ptr) - (const AnalysisInfo*)(ptr))) -#define __celt_check_silkinfo_ptr(ptr) ((ptr) + ((ptr) - (const SILKInfo*)(ptr))) - /* Encoder/decoder Requests */ +/* Expose this option again when variable framesize actually works */ +#define OPUS_FRAMESIZE_VARIABLE 5010 /**< Optimize the frame size dynamically */ + #define CELT_SET_PREDICTION_REQUEST 10002 /** Controls the use of interframe prediction. @@ -128,9 +116,6 @@ typedef struct { #define OPUS_SET_ENERGY_MASK_REQUEST 10026 #define OPUS_SET_ENERGY_MASK(x) OPUS_SET_ENERGY_MASK_REQUEST, __opus_check_val16_ptr(x) -#define CELT_SET_SILK_INFO_REQUEST 10028 -#define CELT_SET_SILK_INFO(x) CELT_SET_SILK_INFO_REQUEST, __celt_check_silkinfo_ptr(x) - /* Encoder stuff */ int celt_encoder_get_size(int channels); @@ -209,13 +194,6 @@ static OPUS_INLINE int fromOpus(unsigned char c) extern const signed char tf_select_table[4][8]; -#if defined(ENABLE_HARDENING) || defined(ENABLE_ASSERTIONS) -void validate_celt_decoder(CELTDecoder *st); -#define VALIDATE_CELT_DECODER(st) validate_celt_decoder(st) -#else -#define VALIDATE_CELT_DECODER(st) -#endif - int resampling_factor(opus_int32 rate); void celt_preemphasis(const opus_val16 * OPUS_RESTRICT pcmp, celt_sig * OPUS_RESTRICT inp, diff --git a/thirdparty/opus/celt/celt_decoder.c b/thirdparty/opus/celt/celt_decoder.c index e6efce9358..b978bb34d1 100644 --- a/thirdparty/opus/celt/celt_decoder.c +++ b/thirdparty/opus/celt/celt_decoder.c @@ -51,14 +51,6 @@ #include "celt_lpc.h" #include "vq.h" -/* The maximum pitch lag to allow in the pitch-based PLC. It's possible to save - CPU time in the PLC pitch search by making this smaller than MAX_PERIOD. The - current value corresponds to a pitch of 66.67 Hz. */ -#define PLC_PITCH_LAG_MAX (720) -/* The minimum pitch lag to allow in the pitch-based PLC. This corresponds to a - pitch of 480 Hz. */ -#define PLC_PITCH_LAG_MIN (100) - #if defined(SMALL_FOOTPRINT) && defined(FIXED_POINT) #define NORM_ALIASING_HACK #endif @@ -81,7 +73,6 @@ struct OpusCustomDecoder { int downsample; int start, end; int signalling; - int disable_inv; int arch; /* Everything beyond this point gets cleared on a reset */ @@ -109,38 +100,6 @@ struct OpusCustomDecoder { /* opus_val16 backgroundLogE[], Size = 2*mode->nbEBands */ }; -#if defined(ENABLE_HARDENING) || defined(ENABLE_ASSERTIONS) -/* Make basic checks on the CELT state to ensure we don't end - up writing all over memory. */ -void validate_celt_decoder(CELTDecoder *st) -{ -#ifndef CUSTOM_MODES - celt_assert(st->mode == opus_custom_mode_create(48000, 960, NULL)); - celt_assert(st->overlap == 120); -#endif - celt_assert(st->channels == 1 || st->channels == 2); - celt_assert(st->stream_channels == 1 || st->stream_channels == 2); - celt_assert(st->downsample > 0); - celt_assert(st->start == 0 || st->start == 17); - celt_assert(st->start < st->end); - celt_assert(st->end <= 21); -#ifdef OPUS_ARCHMASK - celt_assert(st->arch >= 0); - celt_assert(st->arch <= OPUS_ARCHMASK); -#endif - celt_assert(st->last_pitch_index <= PLC_PITCH_LAG_MAX); - celt_assert(st->last_pitch_index >= PLC_PITCH_LAG_MIN || st->last_pitch_index == 0); - celt_assert(st->postfilter_period < MAX_PERIOD); - celt_assert(st->postfilter_period >= COMBFILTER_MINPERIOD || st->postfilter_period == 0); - celt_assert(st->postfilter_period_old < MAX_PERIOD); - celt_assert(st->postfilter_period_old >= COMBFILTER_MINPERIOD || st->postfilter_period_old == 0); - celt_assert(st->postfilter_tapset <= 2); - celt_assert(st->postfilter_tapset >= 0); - celt_assert(st->postfilter_tapset_old <= 2); - celt_assert(st->postfilter_tapset_old >= 0); -} -#endif - int celt_decoder_get_size(int channels) { const CELTMode *mode = opus_custom_mode_create(48000, 960, NULL); @@ -204,11 +163,6 @@ OPUS_CUSTOM_NOSTATIC int opus_custom_decoder_init(CELTDecoder *st, const CELTMod st->start = 0; st->end = st->mode->effEBands; st->signalling = 1; -#ifndef DISABLE_UPDATE_DRAFT - st->disable_inv = channels == 1; -#else - st->disable_inv = 0; -#endif st->arch = opus_select_arch(); opus_custom_decoder_ctl(st, OPUS_RESET_STATE); @@ -223,36 +177,6 @@ void opus_custom_decoder_destroy(CELTDecoder *st) } #endif /* CUSTOM_MODES */ -#ifndef CUSTOM_MODES -/* Special case for stereo with no downsampling and no accumulation. This is - quite common and we can make it faster by processing both channels in the - same loop, reducing overhead due to the dependency loop in the IIR filter. */ -static void deemphasis_stereo_simple(celt_sig *in[], opus_val16 *pcm, int N, const opus_val16 coef0, - celt_sig *mem) -{ - celt_sig * OPUS_RESTRICT x0; - celt_sig * OPUS_RESTRICT x1; - celt_sig m0, m1; - int j; - x0=in[0]; - x1=in[1]; - m0 = mem[0]; - m1 = mem[1]; - for (j=0;j<N;j++) - { - celt_sig tmp0, tmp1; - /* Add VERY_SMALL to x[] first to reduce dependency chain. */ - tmp0 = x0[j] + VERY_SMALL + m0; - tmp1 = x1[j] + VERY_SMALL + m1; - m0 = MULT16_32_Q15(coef0, tmp0); - m1 = MULT16_32_Q15(coef0, tmp1); - pcm[2*j ] = SCALEOUT(SIG2WORD16(tmp0)); - pcm[2*j+1] = SCALEOUT(SIG2WORD16(tmp1)); - } - mem[0] = m0; - mem[1] = m1; -} -#endif #ifndef RESYNTH static @@ -266,14 +190,6 @@ void deemphasis(celt_sig *in[], opus_val16 *pcm, int N, int C, int downsample, c opus_val16 coef0; VARDECL(celt_sig, scratch); SAVE_STACK; -#ifndef CUSTOM_MODES - /* Short version for common case. */ - if (downsample == 1 && C == 2 && !accum) - { - deemphasis_stereo_simple(in, pcm, N, coef[0], mem); - return; - } -#endif #ifndef FIXED_POINT (void)accum; celt_assert(accum==0); @@ -309,7 +225,7 @@ void deemphasis(celt_sig *in[], opus_val16 *pcm, int N, int C, int downsample, c /* Shortcut for the standard (non-custom modes) case */ for (j=0;j<N;j++) { - celt_sig tmp = x[j] + VERY_SMALL + m; + celt_sig tmp = x[j] + m + VERY_SMALL; m = MULT16_32_Q15(coef0, tmp); scratch[j] = tmp; } @@ -330,7 +246,7 @@ void deemphasis(celt_sig *in[], opus_val16 *pcm, int N, int C, int downsample, c { for (j=0;j<N;j++) { - celt_sig tmp = x[j] + VERY_SMALL + m; + celt_sig tmp = x[j] + m + VERY_SMALL; m = MULT16_32_Q15(coef0, tmp); y[j*C] = SCALEOUT(SIG2WORD16(tmp)); } @@ -417,7 +333,7 @@ void celt_synthesis(const CELTMode *mode, celt_norm *X, celt_sig * out_syn[], denormalise_bands(mode, X+N, freq2, oldBandE+nbEBands, start, effEnd, M, downsample, silence); for (i=0;i<N;i++) - freq[i] = ADD32(HALF32(freq[i]), HALF32(freq2[i])); + freq[i] = HALF32(ADD32(freq[i],freq2[i])); for (b=0;b<B;b++) clt_mdct_backward(&mode->mdct, &freq[b], out_syn[0]+NB*b, mode->window, overlap, shift, B, arch); } else { @@ -429,12 +345,6 @@ void celt_synthesis(const CELTMode *mode, celt_norm *X, celt_sig * out_syn[], clt_mdct_backward(&mode->mdct, &freq[b], out_syn[c]+NB*b, mode->window, overlap, shift, B, arch); } while (++c<CC); } - /* Saturate IMDCT output so that we can't overflow in the pitch postfilter - or in the */ - c=0; do { - for (i=0;i<N;i++) - out_syn[c][i] = SATURATE(out_syn[c][i], SIG_SAT); - } while (++c<CC); RESTORE_STACK; } @@ -477,6 +387,14 @@ static void tf_decode(int start, int end, int isTransient, int *tf_res, int LM, } } +/* The maximum pitch lag to allow in the pitch-based PLC. It's possible to save + CPU time in the PLC pitch search by making this smaller than MAX_PERIOD. The + current value corresponds to a pitch of 66.67 Hz. */ +#define PLC_PITCH_LAG_MAX (720) +/* The minimum pitch lag to allow in the pitch-based PLC. This corresponds to a + pitch of 480 Hz. */ +#define PLC_PITCH_LAG_MIN (100) + static int celt_plc_pitch_search(celt_sig *decode_mem[2], int C, int arch) { int pitch_index; @@ -586,15 +504,12 @@ static void celt_decode_lost(CELTDecoder * OPUS_RESTRICT st, int N, int LM) celt_synthesis(mode, X, out_syn, oldBandE, start, effEnd, C, C, 0, LM, st->downsample, 0, st->arch); } else { - int exc_length; /* Pitch-based PLC */ const opus_val16 *window; - opus_val16 *exc; opus_val16 fade = Q15ONE; int pitch_index; VARDECL(opus_val32, etmp); - VARDECL(opus_val16, _exc); - VARDECL(opus_val16, fir_tmp); + VARDECL(opus_val16, exc); if (loss_count == 0) { @@ -604,14 +519,8 @@ static void celt_decode_lost(CELTDecoder * OPUS_RESTRICT st, int N, int LM) fade = QCONST16(.8f,15); } - /* We want the excitation for 2 pitch periods in order to look for a - decaying signal, but we can't get more than MAX_PERIOD. */ - exc_length = IMIN(2*pitch_index, MAX_PERIOD); - ALLOC(etmp, overlap, opus_val32); - ALLOC(_exc, MAX_PERIOD+LPC_ORDER, opus_val16); - ALLOC(fir_tmp, exc_length, opus_val16); - exc = _exc+LPC_ORDER; + ALLOC(exc, MAX_PERIOD, opus_val16); window = mode->window; c=0; do { opus_val16 decay; @@ -620,11 +529,13 @@ static void celt_decode_lost(CELTDecoder * OPUS_RESTRICT st, int N, int LM) celt_sig *buf; int extrapolation_offset; int extrapolation_len; + int exc_length; int j; buf = decode_mem[c]; - for (i=0;i<MAX_PERIOD+LPC_ORDER;i++) - exc[i-LPC_ORDER] = ROUND16(buf[DECODE_BUFFER_SIZE-MAX_PERIOD-LPC_ORDER+i], SIG_SHIFT); + for (i=0;i<MAX_PERIOD;i++) { + exc[i] = ROUND16(buf[DECODE_BUFFER_SIZE-MAX_PERIOD+i], SIG_SHIFT); + } if (loss_count == 0) { @@ -650,32 +561,22 @@ static void celt_decode_lost(CELTDecoder * OPUS_RESTRICT st, int N, int LM) #endif } _celt_lpc(lpc+c*LPC_ORDER, ac, LPC_ORDER); -#ifdef FIXED_POINT - /* For fixed-point, apply bandwidth expansion until we can guarantee that - no overflow can happen in the IIR filter. This means: - 32768*sum(abs(filter)) < 2^31 */ - while (1) { - opus_val16 tmp=Q15ONE; - opus_val32 sum=QCONST16(1., SIG_SHIFT); - for (i=0;i<LPC_ORDER;i++) - sum += ABS16(lpc[c*LPC_ORDER+i]); - if (sum < 65535) break; - for (i=0;i<LPC_ORDER;i++) - { - tmp = MULT16_16_Q15(QCONST16(.99f,15), tmp); - lpc[c*LPC_ORDER+i] = MULT16_16_Q15(lpc[c*LPC_ORDER+i], tmp); - } - } -#endif } + /* We want the excitation for 2 pitch periods in order to look for a + decaying signal, but we can't get more than MAX_PERIOD. */ + exc_length = IMIN(2*pitch_index, MAX_PERIOD); /* Initialize the LPC history with the samples just before the start of the region for which we're computing the excitation. */ { - /* Compute the excitation for exc_length samples before the loss. We need the copy - because celt_fir() cannot filter in-place. */ + opus_val16 lpc_mem[LPC_ORDER]; + for (i=0;i<LPC_ORDER;i++) + { + lpc_mem[i] = + ROUND16(buf[DECODE_BUFFER_SIZE-exc_length-1-i], SIG_SHIFT); + } + /* Compute the excitation for exc_length samples before the loss. */ celt_fir(exc+MAX_PERIOD-exc_length, lpc+c*LPC_ORDER, - fir_tmp, exc_length, LPC_ORDER, st->arch); - OPUS_COPY(exc+MAX_PERIOD-exc_length, fir_tmp, exc_length); + exc+MAX_PERIOD-exc_length, exc_length, LPC_ORDER, lpc_mem, st->arch); } /* Check if the waveform is decaying, and if so how fast. @@ -729,8 +630,9 @@ static void celt_decode_lost(CELTDecoder * OPUS_RESTRICT st, int N, int LM) tmp = ROUND16( buf[DECODE_BUFFER_SIZE-MAX_PERIOD-N+extrapolation_offset+j], SIG_SHIFT); - S1 += SHR32(MULT16_16(tmp, tmp), 10); + S1 += SHR32(MULT16_16(tmp, tmp), 8); } + { opus_val16 lpc_mem[LPC_ORDER]; /* Copy the last decoded samples (prior to the overlap region) to @@ -742,10 +644,6 @@ static void celt_decode_lost(CELTDecoder * OPUS_RESTRICT st, int N, int LM) celt_iir(buf+DECODE_BUFFER_SIZE-N, lpc+c*LPC_ORDER, buf+DECODE_BUFFER_SIZE-N, extrapolation_len, LPC_ORDER, lpc_mem, st->arch); -#ifdef FIXED_POINT - for (i=0; i < extrapolation_len; i++) - buf[DECODE_BUFFER_SIZE-N+i] = SATURATE(buf[DECODE_BUFFER_SIZE-N+i], SIG_SAT); -#endif } /* Check if the synthesis energy is higher than expected, which can @@ -756,7 +654,7 @@ static void celt_decode_lost(CELTDecoder * OPUS_RESTRICT st, int N, int LM) for (i=0;i<extrapolation_len;i++) { opus_val16 tmp = ROUND16(buf[DECODE_BUFFER_SIZE-N+i], SIG_SHIFT); - S2 += SHR32(MULT16_16(tmp, tmp), 10); + S2 += SHR32(MULT16_16(tmp, tmp), 8); } /* This checks for an "explosion" in the synthesis. */ #ifdef FIXED_POINT @@ -864,7 +762,6 @@ int celt_decode_with_ec(CELTDecoder * OPUS_RESTRICT st, const unsigned char *dat const opus_int16 *eBands; ALLOC_STACK; - VALIDATE_CELT_DECODER(st); mode = st->mode; nbEBands = mode->nbEBands; overlap = mode->overlap; @@ -1059,7 +956,7 @@ int celt_decode_with_ec(CELTDecoder * OPUS_RESTRICT st, const unsigned char *dat ALLOC(pulses, nbEBands, int); ALLOC(fine_priority, nbEBands, int); - codedBands = clt_compute_allocation(mode, start, end, offsets, cap, + codedBands = compute_allocation(mode, start, end, offsets, cap, alloc_trim, &intensity, &dual_stereo, bits, &balance, pulses, fine_quant, fine_priority, C, LM, dec, 0, 0, 0); @@ -1082,8 +979,7 @@ int celt_decode_with_ec(CELTDecoder * OPUS_RESTRICT st, const unsigned char *dat quant_all_bands(0, mode, start, end, X, C==2 ? X+N : NULL, collapse_masks, NULL, pulses, shortBlocks, spread_decision, dual_stereo, intensity, tf_res, - len*(8<<BITRES)-anti_collapse_rsv, balance, dec, LM, codedBands, &st->rng, 0, - st->arch, st->disable_inv); + len*(8<<BITRES)-anti_collapse_rsv, balance, dec, LM, codedBands, &st->rng, st->arch); if (anti_collapse_rsv > 0) { @@ -1338,26 +1234,6 @@ int opus_custom_decoder_ctl(CELTDecoder * OPUS_RESTRICT st, int request, ...) *value=st->rng; } break; - case OPUS_SET_PHASE_INVERSION_DISABLED_REQUEST: - { - opus_int32 value = va_arg(ap, opus_int32); - if(value<0 || value>1) - { - goto bad_arg; - } - st->disable_inv = value; - } - break; - case OPUS_GET_PHASE_INVERSION_DISABLED_REQUEST: - { - opus_int32 *value = va_arg(ap, opus_int32*); - if (!value) - { - goto bad_arg; - } - *value = st->disable_inv; - } - break; default: goto bad_request; } diff --git a/thirdparty/opus/celt/celt_encoder.c b/thirdparty/opus/celt/celt_encoder.c index 44cb0850ab..3ee7a4d3f7 100644 --- a/thirdparty/opus/celt/celt_encoder.c +++ b/thirdparty/opus/celt/celt_encoder.c @@ -73,8 +73,8 @@ struct OpusCustomEncoder { int constrained_vbr; /* If zero, VBR can do whatever it likes with the rate */ int loss_rate; int lsb_depth; + int variable_duration; int lfe; - int disable_inv; int arch; /* Everything beyond this point gets cleared on a reset */ @@ -98,7 +98,6 @@ struct OpusCustomEncoder { #endif int consec_transient; AnalysisInfo analysis; - SILKInfo silk_info; opus_val32 preemph_memE[2]; opus_val32 preemph_memD[2]; @@ -124,7 +123,6 @@ struct OpusCustomEncoder { /* opus_val16 oldBandE[], Size = channels*mode->nbEBands */ /* opus_val16 oldLogE[], Size = channels*mode->nbEBands */ /* opus_val16 oldLogE2[], Size = channels*mode->nbEBands */ - /* opus_val16 energyError[], Size = channels*mode->nbEBands */ }; int celt_encoder_get_size(int channels) @@ -138,10 +136,9 @@ OPUS_CUSTOM_NOSTATIC int opus_custom_encoder_get_size(const CELTMode *mode, int int size = sizeof(struct CELTEncoder) + (channels*mode->overlap-1)*sizeof(celt_sig) /* celt_sig in_mem[channels*mode->overlap]; */ + channels*COMBFILTER_MAXPERIOD*sizeof(celt_sig) /* celt_sig prefilter_mem[channels*COMBFILTER_MAXPERIOD]; */ - + 4*channels*mode->nbEBands*sizeof(opus_val16); /* opus_val16 oldBandE[channels*mode->nbEBands]; */ + + 3*channels*mode->nbEBands*sizeof(opus_val16); /* opus_val16 oldBandE[channels*mode->nbEBands]; */ /* opus_val16 oldLogE[channels*mode->nbEBands]; */ /* opus_val16 oldLogE2[channels*mode->nbEBands]; */ - /* opus_val16 energyError[channels*mode->nbEBands]; */ return size; } @@ -181,6 +178,7 @@ static int opus_custom_encoder_init_arch(CELTEncoder *st, const CELTMode *mode, st->start = 0; st->end = st->mode->effEBands; st->signalling = 1; + st->arch = arch; st->constrained_vbr = 1; @@ -225,8 +223,7 @@ void opus_custom_encoder_destroy(CELTEncoder *st) static int transient_analysis(const opus_val32 * OPUS_RESTRICT in, int len, int C, - opus_val16 *tf_estimate, int *tf_chan, int allow_weak_transients, - int *weak_transient) + opus_val16 *tf_estimate, int *tf_chan) { int i; VARDECL(opus_val16, tmp); @@ -236,12 +233,6 @@ static int transient_analysis(const opus_val32 * OPUS_RESTRICT in, int len, int int c; opus_val16 tf_max; int len2; - /* Forward masking: 6.7 dB/ms. */ -#ifdef FIXED_POINT - int forward_shift = 4; -#else - opus_val16 forward_decay = QCONST16(.0625f,15); -#endif /* Table of 6*64/x, trained on real data to minimize the average error */ static const unsigned char inv_table[128] = { 255,255,156,110, 86, 70, 59, 51, 45, 40, 37, 33, 31, 28, 26, 25, @@ -256,19 +247,6 @@ static int transient_analysis(const opus_val32 * OPUS_RESTRICT in, int len, int SAVE_STACK; ALLOC(tmp, len, opus_val16); - *weak_transient = 0; - /* For lower bitrates, let's be more conservative and have a forward masking - decay of 3.3 dB/ms. This avoids having to code transients at very low - bitrate (mostly for hybrid), which can result in unstable energy and/or - partial collapse. */ - if (allow_weak_transients) - { -#ifdef FIXED_POINT - forward_shift = 5; -#else - forward_decay = QCONST16(.03125f,15); -#endif - } len2=len/2; for (c=0;c<C;c++) { @@ -291,7 +269,7 @@ static int transient_analysis(const opus_val32 * OPUS_RESTRICT in, int len, int mem0 = mem1 + y - 2*x; mem1 = x - .5f*y; #endif - tmp[i] = SROUND16(y, 2); + tmp[i] = EXTRACT16(SHR32(y,2)); /*printf("%f ", tmp[i]);*/ } /*printf("\n");*/ @@ -302,7 +280,7 @@ static int transient_analysis(const opus_val32 * OPUS_RESTRICT in, int len, int /* Normalize tmp to max range */ { int shift=0; - shift = 14-celt_ilog2(MAX16(1, celt_maxabs16(tmp, len))); + shift = 14-celt_ilog2(1+celt_maxabs16(tmp, len)); if (shift!=0) { for (i=0;i<len;i++) @@ -321,9 +299,9 @@ static int transient_analysis(const opus_val32 * OPUS_RESTRICT in, int len, int mean += x2; #ifdef FIXED_POINT /* FIXME: Use PSHR16() instead */ - tmp[i] = mem0 + PSHR32(x2-mem0,forward_shift); + tmp[i] = mem0 + PSHR32(x2-mem0,4); #else - tmp[i] = mem0 + MULT16_16_P15(forward_decay,x2-mem0); + tmp[i] = mem0 + MULT16_16_P15(QCONST16(.0625f,15),x2-mem0); #endif mem0 = tmp[i]; } @@ -333,7 +311,6 @@ static int transient_analysis(const opus_val32 * OPUS_RESTRICT in, int len, int /* Backward pass to compute the pre-echo threshold */ for (i=len2-1;i>=0;i--) { - /* Backward masking: 13.9 dB/ms. */ #ifdef FIXED_POINT /* FIXME: Use PSHR16() instead */ tmp[i] = mem0 + PSHR32(tmp[i]-mem0,3); @@ -362,12 +339,6 @@ static int transient_analysis(const opus_val32 * OPUS_RESTRICT in, int len, int /* Compute harmonic mean discarding the unreliable boundaries The data is smooth, so we only take 1/4th of the samples */ unmask=0; - /* We should never see NaNs here. If we find any, then something really bad happened and we better abort - before it does any damage later on. If these asserts are disabled (no hardening), then the table - lookup a few lines below (id = ...) is likely to crash dur to an out-of-bounds read. DO NOT FIX - that crash on NaN since it could result in a worse issue later on. */ - celt_assert(!celt_isnan(tmp[0])); - celt_assert(!celt_isnan(norm)); for (i=12;i<len2-5;i+=4) { int id; @@ -388,12 +359,7 @@ static int transient_analysis(const opus_val32 * OPUS_RESTRICT in, int len, int } } is_transient = mask_metric>200; - /* For low bitrates, define "weak transients" that need to be - handled differently to avoid partial collapse. */ - if (allow_weak_transients && is_transient && mask_metric<600) { - is_transient = 0; - *weak_transient = 1; - } + /* Arbitrary metric for VBR boost */ tf_max = MAX16(0,celt_sqrt(27*mask_metric)-42); /* *tf_estimate = 1 + MIN16(1, sqrt(MAX16(0, tf_max-30))/20); */ @@ -583,7 +549,7 @@ static opus_val32 l1_metric(const celt_norm *tmp, int N, int LM, opus_val16 bias static int tf_analysis(const CELTMode *m, int len, int isTransient, int *tf_res, int lambda, celt_norm *X, int N0, int LM, - opus_val16 tf_estimate, int tf_chan, int *importance) + int *tf_sum, opus_val16 tf_estimate, int tf_chan) { int i; VARDECL(int, metric); @@ -608,6 +574,7 @@ static int tf_analysis(const CELTMode *m, int len, int isTransient, ALLOC(path0, len, int); ALLOC(path1, len, int); + *tf_sum = 0; for (i=0;i<len;i++) { int k, N; @@ -662,26 +629,27 @@ static int tf_analysis(const CELTMode *m, int len, int isTransient, metric[i] = 2*best_level; else metric[i] = -2*best_level; + *tf_sum += (isTransient ? LM : 0) - metric[i]/2; /* For bands that can't be split to -1, set the metric to the half-way point to avoid biasing the decision */ if (narrow && (metric[i]==0 || metric[i]==-2*LM)) metric[i]-=1; - /*printf("%d ", metric[i]/2 + (!isTransient)*LM);*/ + /*printf("%d ", metric[i]);*/ } /*printf("\n");*/ /* Search for the optimal tf resolution, including tf_select */ tf_select = 0; for (sel=0;sel<2;sel++) { - cost0 = importance[0]*abs(metric[0]-2*tf_select_table[LM][4*isTransient+2*sel+0]); - cost1 = importance[0]*abs(metric[0]-2*tf_select_table[LM][4*isTransient+2*sel+1]) + (isTransient ? 0 : lambda); + cost0 = 0; + cost1 = isTransient ? 0 : lambda; for (i=1;i<len;i++) { int curr0, curr1; curr0 = IMIN(cost0, cost1 + lambda); curr1 = IMIN(cost0 + lambda, cost1); - cost0 = curr0 + importance[i]*abs(metric[i]-2*tf_select_table[LM][4*isTransient+2*sel+0]); - cost1 = curr1 + importance[i]*abs(metric[i]-2*tf_select_table[LM][4*isTransient+2*sel+1]); + cost0 = curr0 + abs(metric[i]-2*tf_select_table[LM][4*isTransient+2*sel+0]); + cost1 = curr1 + abs(metric[i]-2*tf_select_table[LM][4*isTransient+2*sel+1]); } cost0 = IMIN(cost0, cost1); selcost[sel]=cost0; @@ -690,8 +658,8 @@ static int tf_analysis(const CELTMode *m, int len, int isTransient, * If tests confirm it's useful for non-transients, we could allow it. */ if (selcost[1]<selcost[0] && isTransient) tf_select=1; - cost0 = importance[0]*abs(metric[0]-2*tf_select_table[LM][4*isTransient+2*tf_select+0]); - cost1 = importance[0]*abs(metric[0]-2*tf_select_table[LM][4*isTransient+2*tf_select+1]) + (isTransient ? 0 : lambda); + cost0 = 0; + cost1 = isTransient ? 0 : lambda; /* Viterbi forward pass */ for (i=1;i<len;i++) { @@ -719,8 +687,8 @@ static int tf_analysis(const CELTMode *m, int len, int isTransient, curr1 = from1; path1[i]= 1; } - cost0 = curr0 + importance[i]*abs(metric[i]-2*tf_select_table[LM][4*isTransient+2*tf_select+0]); - cost1 = curr1 + importance[i]*abs(metric[i]-2*tf_select_table[LM][4*isTransient+2*tf_select+1]); + cost0 = curr0 + abs(metric[i]-2*tf_select_table[LM][4*isTransient+2*tf_select+0]); + cost1 = curr1 + abs(metric[i]-2*tf_select_table[LM][4*isTransient+2*tf_select+1]); } tf_res[len-1] = cost0 < cost1 ? 0 : 1; /* Viterbi backward pass to check the decisions */ @@ -786,7 +754,7 @@ static void tf_encode(int start, int end, int isTransient, int *tf_res, int LM, static int alloc_trim_analysis(const CELTMode *m, const celt_norm *X, const opus_val16 *bandLogE, int end, int LM, int C, int N0, AnalysisInfo *analysis, opus_val16 *stereo_saving, opus_val16 tf_estimate, - int intensity, opus_val16 surround_trim, opus_int32 equiv_rate, int arch) + int intensity, opus_val16 surround_trim, int arch) { int i; opus_val32 diff=0; @@ -794,14 +762,6 @@ static int alloc_trim_analysis(const CELTMode *m, const celt_norm *X, int trim_index; opus_val16 trim = QCONST16(5.f, 8); opus_val16 logXC, logXC2; - /* At low bitrate, reducing the trim seems to help. At higher bitrates, it's less - clear what's best, so we're keeping it as it was before, at least for now. */ - if (equiv_rate < 64000) { - trim = QCONST16(4.f, 8); - } else if (equiv_rate < 80000) { - opus_int32 frac = (equiv_rate-64000) >> 10; - trim = QCONST16(4.f, 8) + QCONST16(1.f/16.f, 8)*frac; - } if (C==2) { opus_val16 sum = 0; /* Q10 */ @@ -849,7 +809,7 @@ static int alloc_trim_analysis(const CELTMode *m, const celt_norm *X, } while (++c<C); diff /= C*(end-1); /*printf("%f\n", diff);*/ - trim -= MAX32(-QCONST16(2.f, 8), MIN32(QCONST16(2.f, 8), SHR32(diff+QCONST16(1.f, DB_SHIFT),DB_SHIFT-8)/6 )); + trim -= MAX16(-QCONST16(2.f, 8), MIN16(QCONST16(2.f, 8), SHR16(diff+QCONST16(1.f, DB_SHIFT),DB_SHIFT-8)/6 )); trim -= SHR16(surround_trim, DB_SHIFT-8); trim -= 2*SHR16(tf_estimate, 14-8); #ifndef DISABLE_FLOAT_API @@ -970,8 +930,7 @@ static opus_val16 median_of_3(const opus_val16 *x) static opus_val16 dynalloc_analysis(const opus_val16 *bandLogE, const opus_val16 *bandLogE2, int nbEBands, int start, int end, int C, int *offsets, int lsb_depth, const opus_int16 *logN, int isTransient, int vbr, int constrained_vbr, const opus_int16 *eBands, int LM, - int effectiveBytes, opus_int32 *tot_boost_, int lfe, opus_val16 *surround_dynalloc, - AnalysisInfo *analysis, int *importance, int *spread_weight) + int effectiveBytes, opus_int32 *tot_boost_, int lfe, opus_val16 *surround_dynalloc) { int i, c; opus_int32 tot_boost=0; @@ -997,42 +956,6 @@ static opus_val16 dynalloc_analysis(const opus_val16 *bandLogE, const opus_val16 for (i=0;i<end;i++) maxDepth = MAX16(maxDepth, bandLogE[c*nbEBands+i]-noise_floor[i]); } while (++c<C); - { - /* Compute a really simple masking model to avoid taking into account completely masked - bands when computing the spreading decision. */ - VARDECL(opus_val16, mask); - VARDECL(opus_val16, sig); - ALLOC(mask, nbEBands, opus_val16); - ALLOC(sig, nbEBands, opus_val16); - for (i=0;i<end;i++) - mask[i] = bandLogE[i]-noise_floor[i]; - if (C==2) - { - for (i=0;i<end;i++) - mask[i] = MAX16(mask[i], bandLogE[nbEBands+i]-noise_floor[i]); - } - OPUS_COPY(sig, mask, end); - for (i=1;i<end;i++) - mask[i] = MAX16(mask[i], mask[i-1] - QCONST16(2.f, DB_SHIFT)); - for (i=end-2;i>=0;i--) - mask[i] = MAX16(mask[i], mask[i+1] - QCONST16(3.f, DB_SHIFT)); - for (i=0;i<end;i++) - { - /* Compute SMR: Mask is never more than 72 dB below the peak and never below the noise floor.*/ - opus_val16 smr = sig[i]-MAX16(MAX16(0, maxDepth-QCONST16(12.f, DB_SHIFT)), mask[i]); - /* Clamp SMR to make sure we're not shifting by something negative or too large. */ -#ifdef FIXED_POINT - /* FIXME: Use PSHR16() instead */ - int shift = -PSHR32(MAX16(-QCONST16(5.f, DB_SHIFT), MIN16(0, smr)), DB_SHIFT); -#else - int shift = IMIN(5, IMAX(0, -(int)floor(.5f + smr))); -#endif - spread_weight[i] = 32 >> shift; - } - /*for (i=0;i<end;i++) - printf("%d ", spread_weight[i]); - printf("\n");*/ - } /* Make sure that dynamic allocation can't make us bust the budget */ if (effectiveBytes > 50 && LM>=1 && !lfe) { @@ -1089,14 +1012,6 @@ static opus_val16 dynalloc_analysis(const opus_val16 *bandLogE, const opus_val16 } for (i=start;i<end;i++) follower[i] = MAX16(follower[i], surround_dynalloc[i]); - for (i=start;i<end;i++) - { -#ifdef FIXED_POINT - importance[i] = PSHR32(13*celt_exp2(MIN16(follower[i], QCONST16(4.f, DB_SHIFT))), 16); -#else - importance[i] = (int)floor(.5f+13*celt_exp2(MIN16(follower[i], QCONST16(4.f, DB_SHIFT)))); -#endif - } /* For non-transient CBR/CVBR frames, halve the dynalloc contribution */ if ((!vbr || constrained_vbr)&&!isTransient) { @@ -1105,26 +1020,14 @@ static opus_val16 dynalloc_analysis(const opus_val16 *bandLogE, const opus_val16 } for (i=start;i<end;i++) { - if (i<8) - follower[i] *= 2; - if (i>=12) - follower[i] = HALF16(follower[i]); - } -#ifdef DISABLE_FLOAT_API - (void)analysis; -#else - if (analysis->valid) - { - for (i=start;i<IMIN(LEAK_BANDS, end);i++) - follower[i] = follower[i] + QCONST16(1.f/64.f, DB_SHIFT)*analysis->leak_boost[i]; - } -#endif - for (i=start;i<end;i++) - { int width; int boost; int boost_bits; + if (i<8) + follower[i] *= 2; + if (i>=12) + follower[i] = HALF16(follower[i]); follower[i] = MIN16(follower[i], QCONST16(4, DB_SHIFT)); width = C*(eBands[i+1]-eBands[i])<<LM; @@ -1139,11 +1042,11 @@ static opus_val16 dynalloc_analysis(const opus_val16 *bandLogE, const opus_val16 boost = (int)SHR32(EXTEND32(follower[i])*width/6,DB_SHIFT); boost_bits = boost*6<<BITRES; } - /* For CBR and non-transient CVBR frames, limit dynalloc to 2/3 of the bits */ + /* For CBR and non-transient CVBR frames, limit dynalloc to 1/4 of the bits */ if ((!vbr || (constrained_vbr&&!isTransient)) - && (tot_boost+boost_bits)>>BITRES>>3 > 2*effectiveBytes/3) + && (tot_boost+boost_bits)>>BITRES>>3 > effectiveBytes/4) { - opus_int32 cap = ((2*effectiveBytes/3)<<BITRES<<3); + opus_int32 cap = ((effectiveBytes/4)<<BITRES<<3); offsets[i] = cap-tot_boost; tot_boost = cap; break; @@ -1152,9 +1055,6 @@ static opus_val16 dynalloc_analysis(const opus_val16 *bandLogE, const opus_val16 tot_boost += boost_bits; } } - } else { - for (i=start;i<end;i++) - importance[i] = 13; } *tot_boost_ = tot_boost; RESTORE_STACK; @@ -1163,7 +1063,7 @@ static opus_val16 dynalloc_analysis(const opus_val16 *bandLogE, const opus_val16 static int run_prefilter(CELTEncoder *st, celt_sig *in, celt_sig *prefilter_mem, int CC, int N, - int prefilter_tapset, int *pitch, opus_val16 *gain, int *qgain, int enabled, int nbAvailableBytes, AnalysisInfo *analysis) + int prefilter_tapset, int *pitch, opus_val16 *gain, int *qgain, int enabled, int nbAvailableBytes) { int c; VARDECL(celt_sig, _pre); @@ -1219,12 +1119,7 @@ static int run_prefilter(CELTEncoder *st, celt_sig *in, celt_sig *prefilter_mem, gain1 = 0; pitch_index = COMBFILTER_MINPERIOD; } -#ifndef DISABLE_FLOAT_API - if (analysis->valid) - gain1 = (opus_val16)(gain1 * analysis->max_pitch_ratio); -#else - (void)analysis; -#endif + /* Gain threshold for enabling the prefilter/postfilter */ pf_threshold = QCONST16(.2f,15); @@ -1298,7 +1193,7 @@ static int compute_vbr(const CELTMode *mode, AnalysisInfo *analysis, opus_int32 int LM, opus_int32 bitrate, int lastCodedBands, int C, int intensity, int constrained_vbr, opus_val16 stereo_saving, int tot_boost, opus_val16 tf_estimate, int pitch_change, opus_val16 maxDepth, - int lfe, int has_surround_mask, opus_val16 surround_masking, + int variable_duration, int lfe, int has_surround_mask, opus_val16 surround_masking, opus_val16 temporal_vbr) { /* The target rate in 8th bits per frame */ @@ -1340,9 +1235,10 @@ static int compute_vbr(const CELTMode *mode, AnalysisInfo *analysis, opus_int32 SHR32(MULT16_16(stereo_saving-QCONST16(0.1f,8),(coded_stereo_dof<<BITRES)),8)); } /* Boost the rate according to dynalloc (minus the dynalloc average for calibration). */ - target += tot_boost-(19<<LM); + target += tot_boost-(16<<LM); /* Apply transient boost, compensating for average boost. */ - tf_calibration = QCONST16(0.044f,14); + tf_calibration = variable_duration==OPUS_FRAMESIZE_VARIABLE ? + QCONST16(0.02f,14) : QCONST16(0.04f,14); target += (opus_int32)SHL32(MULT16_32_Q15(tf_estimate-tf_calibration, target),1); #ifndef DISABLE_FLOAT_API @@ -1353,7 +1249,7 @@ static int compute_vbr(const CELTMode *mode, AnalysisInfo *analysis, opus_int32 float tonal; /* Tonality boost (compensating for the average). */ - tonal = MAX16(0.f,analysis->tonality-.15f)-0.12f; + tonal = MAX16(0.f,analysis->tonality-.15f)-0.09f; tonal_target = target + (opus_int32)((coded_bins<<BITRES)*1.2f*tonal); if (pitch_change) tonal_target += (opus_int32)((coded_bins<<BITRES)*.8f); @@ -1383,11 +1279,21 @@ static int compute_vbr(const CELTMode *mode, AnalysisInfo *analysis, opus_int32 /*printf("%f %d\n", maxDepth, floor_depth);*/ } - /* Make VBR less aggressive for constrained VBR because we can't keep a higher bitrate - for long. Needs tuning. */ - if ((!has_surround_mask||lfe) && constrained_vbr) + if ((!has_surround_mask||lfe) && (constrained_vbr || bitrate<64000)) { - target = base_target + (opus_int32)MULT16_32_Q15(QCONST16(0.67f, 15), target-base_target); + opus_val16 rate_factor = Q15ONE; + if (bitrate < 64000) + { +#ifdef FIXED_POINT + rate_factor = MAX16(0,(bitrate-32000)); +#else + rate_factor = MAX16(0,(1.f/32768)*(bitrate-32000)); +#endif + } + if (constrained_vbr) + rate_factor = MIN16(rate_factor, QCONST16(0.67f, 15)); + target = base_target + (opus_int32)MULT16_32_Q15(rate_factor, target-base_target); + } if (!has_surround_mask && tf_estimate < QCONST16(.2f, 14)) @@ -1421,13 +1327,11 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, VARDECL(int, pulses); VARDECL(int, cap); VARDECL(int, offsets); - VARDECL(int, importance); - VARDECL(int, spread_weight); VARDECL(int, fine_priority); VARDECL(int, tf_res); VARDECL(unsigned char, collapse_masks); celt_sig *prefilter_mem; - opus_val16 *oldBandE, *oldLogE, *oldLogE2, *energyError; + opus_val16 *oldBandE, *oldLogE, *oldLogE2; int shortBlocks=0; int isTransient=0; const int CC = st->channels; @@ -1439,6 +1343,7 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, int end; int effEnd; int codedBands; + int tf_sum; int alloc_trim; int pitch_index=COMBFILTER_MINPERIOD; opus_val16 gain1 = 0; @@ -1450,7 +1355,6 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, opus_int32 total_boost; opus_int32 balance; opus_int32 tell; - opus_int32 tell0_frac; int prefilter_tapset=0; int pf_on; int anti_collapse_rsv; @@ -1472,10 +1376,7 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, opus_val16 surround_masking=0; opus_val16 temporal_vbr=0; opus_val16 surround_trim = 0; - opus_int32 equiv_rate; - int hybrid; - int weak_transient = 0; - int enable_tf_analysis; + opus_int32 equiv_rate = 510000; VARDECL(opus_val16, surround_dynalloc); ALLOC_STACK; @@ -1485,7 +1386,6 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, eBands = mode->eBands; start = st->start; end = st->end; - hybrid = start != 0; tf_estimate = 0; if (nbCompressedBytes<2 || pcm==NULL) { @@ -1509,14 +1409,12 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, oldBandE = (opus_val16*)(st->in_mem+CC*(overlap+COMBFILTER_MAXPERIOD)); oldLogE = oldBandE + CC*nbEBands; oldLogE2 = oldLogE + CC*nbEBands; - energyError = oldLogE2 + CC*nbEBands; if (enc==NULL) { - tell0_frac=tell=1; + tell=1; nbFilledBytes=0; } else { - tell0_frac=ec_tell_frac(enc); tell=ec_tell(enc); nbFilledBytes=(tell+4)>>3; } @@ -1569,11 +1467,10 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, if (st->bitrate!=OPUS_BITRATE_MAX) nbCompressedBytes = IMAX(2, IMIN(nbCompressedBytes, (tmp+4*mode->Fs)/(8*mode->Fs)-!!st->signalling)); - effectiveBytes = nbCompressedBytes - nbFilledBytes; + effectiveBytes = nbCompressedBytes; } - equiv_rate = ((opus_int32)nbCompressedBytes*8*50 >> (3-LM)) - (40*C+20)*((400>>LM) - 50); if (st->bitrate != OPUS_BITRATE_MAX) - equiv_rate = IMIN(equiv_rate, st->bitrate - (40*C+20)*((400>>LM) - 50)); + equiv_rate = st->bitrate - (40*C+20)*((400>>LM) - 50); if (enc==NULL) { @@ -1661,17 +1558,17 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, { int enabled; int qg; - enabled = ((st->lfe&&nbAvailableBytes>3) || nbAvailableBytes>12*C) && !hybrid && !silence && !st->disable_pf - && st->complexity >= 5; + enabled = ((st->lfe&&nbAvailableBytes>3) || nbAvailableBytes>12*C) && start==0 && !silence && !st->disable_pf + && st->complexity >= 5 && !(st->consec_transient && LM!=3 && st->variable_duration==OPUS_FRAMESIZE_VARIABLE); prefilter_tapset = st->tapset_decision; - pf_on = run_prefilter(st, in, prefilter_mem, CC, N, prefilter_tapset, &pitch_index, &gain1, &qg, enabled, nbAvailableBytes, &st->analysis); + pf_on = run_prefilter(st, in, prefilter_mem, CC, N, prefilter_tapset, &pitch_index, &gain1, &qg, enabled, nbAvailableBytes); if ((gain1 > QCONST16(.4f,15) || st->prefilter_gain > QCONST16(.4f,15)) && (!st->analysis.valid || st->analysis.tonality > .3) && (pitch_index > 1.26*st->prefilter_period || pitch_index < .79*st->prefilter_period)) pitch_change = 1; if (pf_on==0) { - if(!hybrid && tell+16<=total_bits) + if(start==0 && tell+16<=total_bits) ec_enc_bit_logp(enc, 0, 1); } else { /*This block is not gated by a total bits check only because @@ -1692,12 +1589,8 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, shortBlocks = 0; if (st->complexity >= 1 && !st->lfe) { - /* Reduces the likelihood of energy instability on fricatives at low bitrate - in hybrid mode. It seems like we still want to have real transients on vowels - though (small SILK quantization offset value). */ - int allow_weak_transients = hybrid && effectiveBytes<15 && st->silk_info.signalType != 2; isTransient = transient_analysis(in, N+overlap, CC, - &tf_estimate, &tf_chan, allow_weak_transients, &weak_transient); + &tf_estimate, &tf_chan); } if (LM>0 && ec_tell(enc)+3<=total_bits) { @@ -1717,19 +1610,16 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, if (secondMdct) { compute_mdcts(mode, 0, in, freq, C, CC, LM, st->upsample, st->arch); - compute_band_energies(mode, freq, bandE, effEnd, C, LM, st->arch); + compute_band_energies(mode, freq, bandE, effEnd, C, LM); amp2Log2(mode, effEnd, end, bandE, bandLogE2, C); for (i=0;i<C*nbEBands;i++) bandLogE2[i] += HALF16(SHL16(LM, DB_SHIFT)); } compute_mdcts(mode, shortBlocks, in, freq, C, CC, LM, st->upsample, st->arch); - /* This should catch any NaN in the CELT input. Since we're not supposed to see any (they're filtered - at the Opus layer), just abort. */ - celt_assert(!celt_isnan(freq[0]) && (C==1 || !celt_isnan(freq[N]))); if (CC==2&&C==1) tf_chan = 0; - compute_band_energies(mode, freq, bandE, effEnd, C, LM, st->arch); + compute_band_energies(mode, freq, bandE, effEnd, C, LM); if (st->lfe) { @@ -1744,7 +1634,7 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, ALLOC(surround_dynalloc, C*nbEBands, opus_val16); OPUS_CLEAR(surround_dynalloc, end); /* This computes how much masking takes place between surround channels */ - if (!hybrid&&st->energy_mask&&!st->lfe) + if (start==0&&st->energy_mask&&!st->lfe) { int mask_end; int midband; @@ -1846,14 +1736,14 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, /* Last chance to catch any transient we might have missed in the time-domain analysis */ - if (LM>0 && ec_tell(enc)+3<=total_bits && !isTransient && st->complexity>=5 && !st->lfe && !hybrid) + if (LM>0 && ec_tell(enc)+3<=total_bits && !isTransient && st->complexity>=5 && !st->lfe) { if (patch_transient_decision(bandLogE, oldBandE, nbEBands, start, end, C)) { isTransient = 1; shortBlocks = M; compute_mdcts(mode, shortBlocks, in, freq, C, CC, LM, st->upsample, st->arch); - compute_band_energies(mode, freq, bandE, effEnd, C, LM, st->arch); + compute_band_energies(mode, freq, bandE, effEnd, C, LM); amp2Log2(mode, effEnd, end, bandE, bandLogE, C); /* Compensate for the scaling of short vs long mdcts */ for (i=0;i<C*nbEBands;i++) @@ -1870,59 +1760,31 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, /* Band normalisation */ normalise_bands(mode, freq, X, bandE, effEnd, C, M); - enable_tf_analysis = effectiveBytes>=15*C && !hybrid && st->complexity>=2 && !st->lfe; - - ALLOC(offsets, nbEBands, int); - ALLOC(importance, nbEBands, int); - ALLOC(spread_weight, nbEBands, int); - - maxDepth = dynalloc_analysis(bandLogE, bandLogE2, nbEBands, start, end, C, offsets, - st->lsb_depth, mode->logN, isTransient, st->vbr, st->constrained_vbr, - eBands, LM, effectiveBytes, &tot_boost, st->lfe, surround_dynalloc, &st->analysis, importance, spread_weight); - ALLOC(tf_res, nbEBands, int); /* Disable variable tf resolution for hybrid and at very low bitrate */ - if (enable_tf_analysis) + if (effectiveBytes>=15*C && start==0 && st->complexity>=2 && !st->lfe) { int lambda; - lambda = IMAX(80, 20480/effectiveBytes + 2); - tf_select = tf_analysis(mode, effEnd, isTransient, tf_res, lambda, X, N, LM, tf_estimate, tf_chan, importance); + if (effectiveBytes<40) + lambda = 12; + else if (effectiveBytes<60) + lambda = 6; + else if (effectiveBytes<100) + lambda = 4; + else + lambda = 3; + lambda*=2; + tf_select = tf_analysis(mode, effEnd, isTransient, tf_res, lambda, X, N, LM, &tf_sum, tf_estimate, tf_chan); for (i=effEnd;i<end;i++) tf_res[i] = tf_res[effEnd-1]; - } else if (hybrid && weak_transient) - { - /* For weak transients, we rely on the fact that improving time resolution using - TF on a long window is imperfect and will not result in an energy collapse at - low bitrate. */ - for (i=0;i<end;i++) - tf_res[i] = 1; - tf_select=0; - } else if (hybrid && effectiveBytes<15 && st->silk_info.signalType != 2) - { - /* For low bitrate hybrid, we force temporal resolution to 5 ms rather than 2.5 ms. */ - for (i=0;i<end;i++) - tf_res[i] = 0; - tf_select=isTransient; } else { + tf_sum = 0; for (i=0;i<end;i++) tf_res[i] = isTransient; tf_select=0; } ALLOC(error, C*nbEBands, opus_val16); - c=0; - do { - for (i=start;i<end;i++) - { - /* When the energy is stable, slightly bias energy quantization towards - the previous error to make the gain more stable (a constant offset is - better than fluctuations). */ - if (ABS32(SUB32(bandLogE[i+c*nbEBands], oldBandE[i+c*nbEBands])) < QCONST16(2.f, DB_SHIFT)) - { - bandLogE[i+c*nbEBands] -= MULT16_16_Q15(energyError[i+c*nbEBands], QCONST16(0.25f, 15)); - } - } - } while (++c < C); quant_coarse_energy(mode, start, end, effEnd, bandLogE, oldBandE, total_bits, error, enc, C, LM, nbAvailableBytes, st->force_intra, @@ -1936,15 +1798,7 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, { st->tapset_decision = 0; st->spread_decision = SPREAD_NORMAL; - } else if (hybrid) - { - if (st->complexity == 0) - st->spread_decision = SPREAD_NONE; - else if (isTransient) - st->spread_decision = SPREAD_NORMAL; - else - st->spread_decision = SPREAD_AGGRESSIVE; - } else if (shortBlocks || st->complexity < 3 || nbAvailableBytes < 10*C) + } else if (shortBlocks || st->complexity < 3 || nbAvailableBytes < 10*C || start != 0) { if (st->complexity == 0) st->spread_decision = SPREAD_NONE; @@ -1968,7 +1822,7 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, { st->spread_decision = spreading_decision(mode, X, &st->tonal_average, st->spread_decision, &st->hf_average, - &st->tapset_decision, pf_on&&!shortBlocks, effEnd, C, M, spread_weight); + &st->tapset_decision, pf_on&&!shortBlocks, effEnd, C, M); } /*printf("%d %d\n", st->tapset_decision, st->spread_decision);*/ /*printf("%f %d %f %d\n\n", st->analysis.tonality, st->spread_decision, st->analysis.tonality_slope, st->tapset_decision);*/ @@ -1976,6 +1830,11 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, ec_enc_icdf(enc, st->spread_decision, spread_icdf, 5); } + ALLOC(offsets, nbEBands, int); + + maxDepth = dynalloc_analysis(bandLogE, bandLogE2, nbEBands, start, end, C, offsets, + st->lsb_depth, mode->logN, isTransient, st->vbr, st->constrained_vbr, + eBands, LM, effectiveBytes, &tot_boost, st->lfe, surround_dynalloc); /* For LFE, everything interesting is in the first band */ if (st->lfe) offsets[0] = IMIN(8, effectiveBytes/3); @@ -2037,15 +1896,12 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, alloc_trim = 5; if (tell+(6<<BITRES) <= total_bits - total_boost) { - if (start > 0 || st->lfe) - { - st->stereo_saving = 0; + if (st->lfe) alloc_trim = 5; - } else { + else alloc_trim = alloc_trim_analysis(mode, X, bandLogE, end, LM, C, N, &st->analysis, &st->stereo_saving, tf_estimate, - st->intensity, surround_trim, equiv_rate, st->arch); - } + st->intensity, surround_trim, st->arch); ec_enc_icdf(enc, alloc_trim, trim_icdf, 7); tell = ec_tell_frac(enc); } @@ -2063,36 +1919,17 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, /* Don't attempt to use more than 510 kb/s, even for frames smaller than 20 ms. The CELT allocator will just not be able to use more than that anyway. */ nbCompressedBytes = IMIN(nbCompressedBytes,1275>>(3-LM)); - if (!hybrid) - { - base_target = vbr_rate - ((40*C+20)<<BITRES); - } else { - base_target = IMAX(0, vbr_rate - ((9*C+4)<<BITRES)); - } + base_target = vbr_rate - ((40*C+20)<<BITRES); if (st->constrained_vbr) base_target += (st->vbr_offset>>lm_diff); - if (!hybrid) - { - target = compute_vbr(mode, &st->analysis, base_target, LM, equiv_rate, + target = compute_vbr(mode, &st->analysis, base_target, LM, equiv_rate, st->lastCodedBands, C, st->intensity, st->constrained_vbr, st->stereo_saving, tot_boost, tf_estimate, pitch_change, maxDepth, - st->lfe, st->energy_mask!=NULL, surround_masking, + st->variable_duration, st->lfe, st->energy_mask!=NULL, surround_masking, temporal_vbr); - } else { - target = base_target; - /* Tonal frames (offset<100) need more bits than noisy (offset>100) ones. */ - if (st->silk_info.offset < 100) target += 12 << BITRES >> (3-LM); - if (st->silk_info.offset > 100) target -= 18 << BITRES >> (3-LM); - /* Boosting bitrate on transients and vowels with significant temporal - spikes. */ - target += (opus_int32)MULT16_16_Q14(tf_estimate-QCONST16(.25f,14), (50<<BITRES)); - /* If we have a strong transient, let's make sure it has enough bits to code - the first two bands, so that it can use folding rather than noise. */ - if (tf_estimate > QCONST16(.7f,14)) - target = IMAX(target, 50<<BITRES); - } + /* The current offset is removed from the target and the space used so far is added*/ target=target+tell; @@ -2100,16 +1937,11 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, result in the encoder running out of bits. The margin of 2 bytes ensures that none of the bust-prevention logic in the decoder will have triggered so far. */ - min_allowed = ((tell+total_boost+(1<<(BITRES+3))-1)>>(BITRES+3)) + 2; - /* Take into account the 37 bits we need to have left in the packet to - signal a redundant frame in hybrid mode. Creating a shorter packet would - create an entropy coder desync. */ - if (hybrid) - min_allowed = IMAX(min_allowed, (tell0_frac+(37<<BITRES)+total_boost+(1<<(BITRES+3))-1)>>(BITRES+3)); + min_allowed = ((tell+total_boost+(1<<(BITRES+3))-1)>>(BITRES+3)) + 2 - nbFilledBytes; nbAvailableBytes = (target+(1<<(BITRES+2)))>>(BITRES+3); nbAvailableBytes = IMAX(min_allowed,nbAvailableBytes); - nbAvailableBytes = IMIN(nbCompressedBytes,nbAvailableBytes); + nbAvailableBytes = IMIN(nbCompressedBytes,nbAvailableBytes+nbFilledBytes) - nbFilledBytes; /* By how much did we "miss" the target on that frame */ delta = target - vbr_rate; @@ -2156,7 +1988,7 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, st->vbr_reservoir = 0; /*printf ("+%d\n", adjust);*/ } - nbCompressedBytes = IMIN(nbCompressedBytes,nbAvailableBytes); + nbCompressedBytes = IMIN(nbCompressedBytes,nbAvailableBytes+nbFilledBytes); /*printf("%d\n", nbCompressedBytes*50*8);*/ /* This moves the raw bits to take into account the new compressed size */ ec_enc_shrink(enc, nbCompressedBytes); @@ -2191,7 +2023,7 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, #endif if (st->lfe) signalBandwidth = 1; - codedBands = clt_compute_allocation(mode, start, end, offsets, cap, + codedBands = compute_allocation(mode, start, end, offsets, cap, alloc_trim, &st->intensity, &dual_stereo, bits, &balance, pulses, fine_quant, fine_priority, C, LM, enc, 1, st->lastCodedBands, signalBandwidth); if (st->lastCodedBands) @@ -2206,7 +2038,7 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, quant_all_bands(1, mode, start, end, X, C==2 ? X+N : NULL, collapse_masks, bandE, pulses, shortBlocks, st->spread_decision, dual_stereo, st->intensity, tf_res, nbCompressedBytes*(8<<BITRES)-anti_collapse_rsv, - balance, enc, LM, codedBands, &st->rng, st->complexity, st->arch, st->disable_inv); + balance, enc, LM, codedBands, &st->rng, st->arch); if (anti_collapse_rsv > 0) { @@ -2217,14 +2049,6 @@ int celt_encode_with_ec(CELTEncoder * OPUS_RESTRICT st, const opus_val16 * pcm, ec_enc_bits(enc, anti_collapse_on, 1); } quant_energy_finalise(mode, start, end, oldBandE, error, fine_quant, fine_priority, nbCompressedBytes*8-ec_tell(enc), enc, C); - OPUS_CLEAR(energyError, nbEBands*CC); - c=0; - do { - for (i=start;i<end;i++) - { - energyError[i+c*nbEBands] = MAX16(-QCONST16(0.5f, 15), MIN16(QCONST16(0.5f, 15), error[i+c*nbEBands])); - } - } while (++c < C); if (silence) { @@ -2497,24 +2321,10 @@ int opus_custom_encoder_ctl(CELTEncoder * OPUS_RESTRICT st, int request, ...) *value=st->lsb_depth; } break; - case OPUS_SET_PHASE_INVERSION_DISABLED_REQUEST: + case OPUS_SET_EXPERT_FRAME_DURATION_REQUEST: { opus_int32 value = va_arg(ap, opus_int32); - if(value<0 || value>1) - { - goto bad_arg; - } - st->disable_inv = value; - } - break; - case OPUS_GET_PHASE_INVERSION_DISABLED_REQUEST: - { - opus_int32 *value = va_arg(ap, opus_int32*); - if (!value) - { - goto bad_arg; - } - *value = st->disable_inv; + st->variable_duration = value; } break; case OPUS_RESET_STATE: @@ -2558,13 +2368,6 @@ int opus_custom_encoder_ctl(CELTEncoder * OPUS_RESTRICT st, int request, ...) OPUS_COPY(&st->analysis, info, 1); } break; - case CELT_SET_SILK_INFO_REQUEST: - { - SILKInfo *info = va_arg(ap, SILKInfo *); - if (info) - OPUS_COPY(&st->silk_info, info, 1); - } - break; case CELT_GET_MODE_REQUEST: { const CELTMode ** value = va_arg(ap, const CELTMode**); diff --git a/thirdparty/opus/celt/celt_lpc.c b/thirdparty/opus/celt/celt_lpc.c index 8ecb693ee9..b410a21c5f 100644 --- a/thirdparty/opus/celt/celt_lpc.c +++ b/thirdparty/opus/celt/celt_lpc.c @@ -89,40 +89,58 @@ int p void celt_fir_c( - const opus_val16 *x, + const opus_val16 *_x, const opus_val16 *num, - opus_val16 *y, + opus_val16 *_y, int N, int ord, + opus_val16 *mem, int arch) { int i,j; VARDECL(opus_val16, rnum); + VARDECL(opus_val16, x); SAVE_STACK; - celt_assert(x != y); + ALLOC(rnum, ord, opus_val16); + ALLOC(x, N+ord, opus_val16); for(i=0;i<ord;i++) rnum[i] = num[ord-i-1]; + for(i=0;i<ord;i++) + x[i] = mem[ord-i-1]; + for (i=0;i<N;i++) + x[i+ord]=_x[i]; + for(i=0;i<ord;i++) + mem[i] = _x[N-i-1]; +#ifdef SMALL_FOOTPRINT + (void)arch; + for (i=0;i<N;i++) + { + opus_val32 sum = SHL32(EXTEND32(_x[i]), SIG_SHIFT); + for (j=0;j<ord;j++) + { + sum = MAC16_16(sum,rnum[j],x[i+j]); + } + _y[i] = SATURATE16(PSHR32(sum, SIG_SHIFT)); + } +#else for (i=0;i<N-3;i+=4) { - opus_val32 sum[4]; - sum[0] = SHL32(EXTEND32(x[i ]), SIG_SHIFT); - sum[1] = SHL32(EXTEND32(x[i+1]), SIG_SHIFT); - sum[2] = SHL32(EXTEND32(x[i+2]), SIG_SHIFT); - sum[3] = SHL32(EXTEND32(x[i+3]), SIG_SHIFT); - xcorr_kernel(rnum, x+i-ord, sum, ord, arch); - y[i ] = ROUND16(sum[0], SIG_SHIFT); - y[i+1] = ROUND16(sum[1], SIG_SHIFT); - y[i+2] = ROUND16(sum[2], SIG_SHIFT); - y[i+3] = ROUND16(sum[3], SIG_SHIFT); + opus_val32 sum[4]={0,0,0,0}; + xcorr_kernel(rnum, x+i, sum, ord, arch); + _y[i ] = SATURATE16(ADD32(EXTEND32(_x[i ]), PSHR32(sum[0], SIG_SHIFT))); + _y[i+1] = SATURATE16(ADD32(EXTEND32(_x[i+1]), PSHR32(sum[1], SIG_SHIFT))); + _y[i+2] = SATURATE16(ADD32(EXTEND32(_x[i+2]), PSHR32(sum[2], SIG_SHIFT))); + _y[i+3] = SATURATE16(ADD32(EXTEND32(_x[i+3]), PSHR32(sum[3], SIG_SHIFT))); } for (;i<N;i++) { - opus_val32 sum = SHL32(EXTEND32(x[i]), SIG_SHIFT); + opus_val32 sum = 0; for (j=0;j<ord;j++) - sum = MAC16_16(sum,rnum[j],x[i+j-ord]); - y[i] = ROUND16(sum, SIG_SHIFT); + sum = MAC16_16(sum,rnum[j],x[i+j]); + _y[i] = SATURATE16(ADD32(EXTEND32(_x[i]), PSHR32(sum, SIG_SHIFT))); } +#endif RESTORE_STACK; } @@ -148,7 +166,7 @@ void celt_iir(const opus_val32 *_x, { mem[j]=mem[j-1]; } - mem[0] = SROUND16(sum, SIG_SHIFT); + mem[0] = ROUND16(sum,SIG_SHIFT); _y[i] = sum; } #else @@ -177,20 +195,20 @@ void celt_iir(const opus_val32 *_x, xcorr_kernel(rden, y+i, sum, ord, arch); /* Patch up the result to compensate for the fact that this is an IIR */ - y[i+ord ] = -SROUND16(sum[0],SIG_SHIFT); + y[i+ord ] = -ROUND16(sum[0],SIG_SHIFT); _y[i ] = sum[0]; sum[1] = MAC16_16(sum[1], y[i+ord ], den[0]); - y[i+ord+1] = -SROUND16(sum[1],SIG_SHIFT); + y[i+ord+1] = -ROUND16(sum[1],SIG_SHIFT); _y[i+1] = sum[1]; sum[2] = MAC16_16(sum[2], y[i+ord+1], den[0]); sum[2] = MAC16_16(sum[2], y[i+ord ], den[1]); - y[i+ord+2] = -SROUND16(sum[2],SIG_SHIFT); + y[i+ord+2] = -ROUND16(sum[2],SIG_SHIFT); _y[i+2] = sum[2]; sum[3] = MAC16_16(sum[3], y[i+ord+2], den[0]); sum[3] = MAC16_16(sum[3], y[i+ord+1], den[1]); sum[3] = MAC16_16(sum[3], y[i+ord ], den[2]); - y[i+ord+3] = -SROUND16(sum[3],SIG_SHIFT); + y[i+ord+3] = -ROUND16(sum[3],SIG_SHIFT); _y[i+3] = sum[3]; } for (;i<N;i++) @@ -198,7 +216,7 @@ void celt_iir(const opus_val32 *_x, opus_val32 sum = _x[i]; for (j=0;j<ord;j++) sum -= MULT16_16(rden[j],y[i+j]); - y[i+ord] = SROUND16(sum,SIG_SHIFT); + y[i+ord] = ROUND16(sum,SIG_SHIFT); _y[i] = sum; } for(i=0;i<ord;i++) diff --git a/thirdparty/opus/celt/celt_lpc.h b/thirdparty/opus/celt/celt_lpc.h index a4c5fd6ea5..323459eb1a 100644 --- a/thirdparty/opus/celt/celt_lpc.h +++ b/thirdparty/opus/celt/celt_lpc.h @@ -45,11 +45,12 @@ void celt_fir_c( opus_val16 *y, int N, int ord, + opus_val16 *mem, int arch); #if !defined(OVERRIDE_CELT_FIR) -#define celt_fir(x, num, y, N, ord, arch) \ - (celt_fir_c(x, num, y, N, ord, arch)) +#define celt_fir(x, num, y, N, ord, mem, arch) \ + (celt_fir_c(x, num, y, N, ord, mem, arch)) #endif void celt_iir(const opus_val32 *x, diff --git a/thirdparty/opus/celt/cwrs.c b/thirdparty/opus/celt/cwrs.c index a552e4f0fb..9722f0ac86 100644 --- a/thirdparty/opus/celt/cwrs.c +++ b/thirdparty/opus/celt/cwrs.c @@ -482,7 +482,7 @@ static opus_val32 cwrsi(int _n,int _k,opus_uint32 _i,int *_y){ k0=_k; q=row[_n]; if(q>_i){ - celt_sig_assert(p>q); + celt_assert(p>q); _k=_n; do p=CELT_PVQ_U_ROW[--_k][_n]; while(p>_i); diff --git a/thirdparty/opus/celt/entcode.h b/thirdparty/opus/celt/entcode.h index 3763e3f284..13d6c84ef0 100644 --- a/thirdparty/opus/celt/entcode.h +++ b/thirdparty/opus/celt/entcode.h @@ -122,7 +122,7 @@ opus_uint32 ec_tell_frac(ec_ctx *_this); /* Tested exhaustively for all n and for 1<=d<=256 */ static OPUS_INLINE opus_uint32 celt_udiv(opus_uint32 n, opus_uint32 d) { - celt_sig_assert(d>0); + celt_assert(d>0); #ifdef USE_SMALL_DIV_TABLE if (d>256) return n/d; @@ -138,7 +138,7 @@ static OPUS_INLINE opus_uint32 celt_udiv(opus_uint32 n, opus_uint32 d) { } static OPUS_INLINE opus_int32 celt_sudiv(opus_int32 n, opus_int32 d) { - celt_sig_assert(d>0); + celt_assert(d>0); #ifdef USE_SMALL_DIV_TABLE if (n<0) return -(opus_int32)celt_udiv(-n, d); diff --git a/thirdparty/opus/celt/entdec.h b/thirdparty/opus/celt/entdec.h index 025fc1870d..d8ab318730 100644 --- a/thirdparty/opus/celt/entdec.h +++ b/thirdparty/opus/celt/entdec.h @@ -85,7 +85,7 @@ int ec_dec_icdf(ec_dec *_this,const unsigned char *_icdf,unsigned _ftb); The bits must have been encoded with ec_enc_uint(). No call to ec_dec_update() is necessary after this call. _ft: The number of integers that can be decoded (one more than the max). - This must be at least 2, and no more than 2**32-1. + This must be at least one, and no more than 2**32-1. Return: The decoded bits.*/ opus_uint32 ec_dec_uint(ec_dec *_this,opus_uint32 _ft); diff --git a/thirdparty/opus/celt/entenc.h b/thirdparty/opus/celt/entenc.h index f502eaf662..796bc4d572 100644 --- a/thirdparty/opus/celt/entenc.h +++ b/thirdparty/opus/celt/entenc.h @@ -67,7 +67,7 @@ void ec_enc_icdf(ec_enc *_this,int _s,const unsigned char *_icdf,unsigned _ftb); /*Encodes a raw unsigned integer in the stream. _fl: The integer to encode. _ft: The number of integers that can be encoded (one more than the max). - This must be at least 2, and no more than 2**32-1.*/ + This must be at least one, and no more than 2**32-1.*/ void ec_enc_uint(ec_enc *_this,opus_uint32 _fl,opus_uint32 _ft); /*Encodes a sequence of raw bits in the stream. diff --git a/thirdparty/opus/celt/fixed_debug.h b/thirdparty/opus/celt/fixed_debug.h index f435295234..d28227f5dc 100644 --- a/thirdparty/opus/celt/fixed_debug.h +++ b/thirdparty/opus/celt/fixed_debug.h @@ -59,14 +59,6 @@ extern opus_int64 celt_mips; #define SHR(a,b) SHR32(a,b) #define PSHR(a,b) PSHR32(a,b) -/** Add two 32-bit values, ignore any overflows */ -#define ADD32_ovflw(a,b) (celt_mips+=2,(opus_val32)((opus_uint32)(a)+(opus_uint32)(b))) -/** Subtract two 32-bit values, ignore any overflows */ -#define SUB32_ovflw(a,b) (celt_mips+=2,(opus_val32)((opus_uint32)(a)-(opus_uint32)(b))) -/* Avoid MSVC warning C4146: unary minus operator applied to unsigned type */ -/** Negate 32-bit value, ignore any overflows */ -#define NEG32_ovflw(a) (celt_mips+=2,(opus_val32)(0-(opus_uint32)(a))) - static OPUS_INLINE short NEG16(int x) { int res; @@ -235,11 +227,12 @@ static OPUS_INLINE int SHL32_(opus_int64 a, int shift, char *file, int line) #define VSHR32(a, shift) (((shift)>0) ? SHR32(a, shift) : SHL32(a, -(shift))) #define ROUND16(x,a) (celt_mips--,EXTRACT16(PSHR32((x),(a)))) -#define SROUND16(x,a) (celt_mips--,EXTRACT16(SATURATE(PSHR32(x,a), 32767))); - #define HALF16(x) (SHR16(x,1)) #define HALF32(x) (SHR32(x,1)) +//#define SHR(a,shift) ((a) >> (shift)) +//#define SHL(a,shift) ((a) << (shift)) + #define ADD16(a, b) ADD16_(a, b, __FILE__, __LINE__) static OPUS_INLINE short ADD16_(int a, int b, char *file, int line) { diff --git a/thirdparty/opus/celt/fixed_generic.h b/thirdparty/opus/celt/fixed_generic.h index 5f4abda76e..1cfd6d6989 100644 --- a/thirdparty/opus/celt/fixed_generic.h +++ b/thirdparty/opus/celt/fixed_generic.h @@ -104,9 +104,6 @@ /** Shift by a and round-to-neareast 32-bit value. Result is a 16-bit value */ #define ROUND16(x,a) (EXTRACT16(PSHR32((x),(a)))) -/** Shift by a and round-to-neareast 32-bit value. Result is a saturated 16-bit value */ -#define SROUND16(x,a) EXTRACT16(SATURATE(PSHR32(x,a), 32767)); - /** Divide by two */ #define HALF16(x) (SHR16(x,1)) #define HALF32(x) (SHR32(x,1)) @@ -120,14 +117,6 @@ /** Subtract two 32-bit values */ #define SUB32(a,b) ((opus_val32)(a)-(opus_val32)(b)) -/** Add two 32-bit values, ignore any overflows */ -#define ADD32_ovflw(a,b) ((opus_val32)((opus_uint32)(a)+(opus_uint32)(b))) -/** Subtract two 32-bit values, ignore any overflows */ -#define SUB32_ovflw(a,b) ((opus_val32)((opus_uint32)(a)-(opus_uint32)(b))) -/* Avoid MSVC warning C4146: unary minus operator applied to unsigned type */ -/** Negate 32-bit value, ignore any overflows */ -#define NEG32_ovflw(a) ((opus_val32)(0-(opus_uint32)(a))) - /** 16x16 multiplication where the result fits in 16 bits */ #define MULT16_16_16(a,b) ((((opus_val16)(a))*((opus_val16)(b)))) diff --git a/thirdparty/opus/celt/float_cast.h b/thirdparty/opus/celt/float_cast.h index 889dae965f..ed5a39b543 100644 --- a/thirdparty/opus/celt/float_cast.h +++ b/thirdparty/opus/celt/float_cast.h @@ -61,13 +61,7 @@ ** the config.h file. */ -/* With GCC, when SSE is available, the fastest conversion is cvtss2si. */ -#if defined(__GNUC__) && defined(__SSE__) - -#include <xmmintrin.h> -static OPUS_INLINE opus_int32 float2int(float x) {return _mm_cvt_ss2si(_mm_set_ss(x));} - -#elif defined(HAVE_LRINTF) +#if (HAVE_LRINTF) /* These defines enable functionality introduced with the 1999 ISO C ** standard. They must be defined before the inclusion of math.h to @@ -96,10 +90,10 @@ static OPUS_INLINE opus_int32 float2int(float x) {return _mm_cvt_ss2si(_mm_set_s #include <math.h> #define float2int(x) lrint(x) -#elif (defined(_MSC_VER) && _MSC_VER >= 1400) && (defined(_M_X64) || (defined(_M_IX86_FP) && _M_IX86_FP >= 1)) +#elif (defined(_MSC_VER) && _MSC_VER >= 1400) && defined (_M_X64) #include <xmmintrin.h> - static __inline long int float2int(float value) + __inline long int float2int(float value) { return _mm_cvtss_si32(_mm_load_ss(&value)); } @@ -110,7 +104,7 @@ static OPUS_INLINE opus_int32 float2int(float x) {return _mm_cvt_ss2si(_mm_set_s ** Therefore implement OPUS_INLINE versions of these functions here. */ - static __inline long int + __inline long int float2int (float flt) { int intgr; diff --git a/thirdparty/opus/celt/kiss_fft.c b/thirdparty/opus/celt/kiss_fft.c index 83775165d8..1f8fd05321 100644 --- a/thirdparty/opus/celt/kiss_fft.c +++ b/thirdparty/opus/celt/kiss_fft.c @@ -82,8 +82,8 @@ static void kf_bfly2( C_SUB( Fout2[0] , Fout[0] , t ); C_ADDTO( Fout[0] , t ); - t.r = S_MUL(ADD32_ovflw(Fout2[1].r, Fout2[1].i), tw); - t.i = S_MUL(SUB32_ovflw(Fout2[1].i, Fout2[1].r), tw); + t.r = S_MUL(Fout2[1].r+Fout2[1].i, tw); + t.i = S_MUL(Fout2[1].i-Fout2[1].r, tw); C_SUB( Fout2[1] , Fout[1] , t ); C_ADDTO( Fout[1] , t ); @@ -92,8 +92,8 @@ static void kf_bfly2( C_SUB( Fout2[2] , Fout[2] , t ); C_ADDTO( Fout[2] , t ); - t.r = S_MUL(SUB32_ovflw(Fout2[3].i, Fout2[3].r), tw); - t.i = S_MUL(NEG32_ovflw(ADD32_ovflw(Fout2[3].i, Fout2[3].r)), tw); + t.r = S_MUL(Fout2[3].i-Fout2[3].r, tw); + t.i = S_MUL(-Fout2[3].i-Fout2[3].r, tw); C_SUB( Fout2[3] , Fout[3] , t ); C_ADDTO( Fout[3] , t ); Fout += 8; @@ -126,10 +126,10 @@ static void kf_bfly4( C_ADDTO( *Fout , scratch1 ); C_SUB( scratch1 , Fout[1] , Fout[3] ); - Fout[1].r = ADD32_ovflw(scratch0.r, scratch1.i); - Fout[1].i = SUB32_ovflw(scratch0.i, scratch1.r); - Fout[3].r = SUB32_ovflw(scratch0.r, scratch1.i); - Fout[3].i = ADD32_ovflw(scratch0.i, scratch1.r); + Fout[1].r = scratch0.r + scratch1.i; + Fout[1].i = scratch0.i - scratch1.r; + Fout[3].r = scratch0.r - scratch1.i; + Fout[3].i = scratch0.i + scratch1.r; Fout+=4; } } else { @@ -160,10 +160,10 @@ static void kf_bfly4( tw3 += fstride*3; C_ADDTO( *Fout , scratch[3] ); - Fout[m].r = ADD32_ovflw(scratch[5].r, scratch[4].i); - Fout[m].i = SUB32_ovflw(scratch[5].i, scratch[4].r); - Fout[m3].r = SUB32_ovflw(scratch[5].r, scratch[4].i); - Fout[m3].i = ADD32_ovflw(scratch[5].i, scratch[4].r); + Fout[m].r = scratch[5].r + scratch[4].i; + Fout[m].i = scratch[5].i - scratch[4].r; + Fout[m3].r = scratch[5].r - scratch[4].i; + Fout[m3].i = scratch[5].i + scratch[4].r; ++Fout; } } @@ -212,18 +212,18 @@ static void kf_bfly3( tw1 += fstride; tw2 += fstride*2; - Fout[m].r = SUB32_ovflw(Fout->r, HALF_OF(scratch[3].r)); - Fout[m].i = SUB32_ovflw(Fout->i, HALF_OF(scratch[3].i)); + Fout[m].r = Fout->r - HALF_OF(scratch[3].r); + Fout[m].i = Fout->i - HALF_OF(scratch[3].i); C_MULBYSCALAR( scratch[0] , epi3.i ); C_ADDTO(*Fout,scratch[3]); - Fout[m2].r = ADD32_ovflw(Fout[m].r, scratch[0].i); - Fout[m2].i = SUB32_ovflw(Fout[m].i, scratch[0].r); + Fout[m2].r = Fout[m].r + scratch[0].i; + Fout[m2].i = Fout[m].i - scratch[0].r; - Fout[m].r = SUB32_ovflw(Fout[m].r, scratch[0].i); - Fout[m].i = ADD32_ovflw(Fout[m].i, scratch[0].r); + Fout[m].r -= scratch[0].i; + Fout[m].i += scratch[0].r; ++Fout; } while(--k); @@ -282,22 +282,22 @@ static void kf_bfly5( C_ADD( scratch[8],scratch[2],scratch[3]); C_SUB( scratch[9],scratch[2],scratch[3]); - Fout0->r = ADD32_ovflw(Fout0->r, ADD32_ovflw(scratch[7].r, scratch[8].r)); - Fout0->i = ADD32_ovflw(Fout0->i, ADD32_ovflw(scratch[7].i, scratch[8].i)); + Fout0->r += scratch[7].r + scratch[8].r; + Fout0->i += scratch[7].i + scratch[8].i; - scratch[5].r = ADD32_ovflw(scratch[0].r, ADD32_ovflw(S_MUL(scratch[7].r,ya.r), S_MUL(scratch[8].r,yb.r))); - scratch[5].i = ADD32_ovflw(scratch[0].i, ADD32_ovflw(S_MUL(scratch[7].i,ya.r), S_MUL(scratch[8].i,yb.r))); + scratch[5].r = scratch[0].r + S_MUL(scratch[7].r,ya.r) + S_MUL(scratch[8].r,yb.r); + scratch[5].i = scratch[0].i + S_MUL(scratch[7].i,ya.r) + S_MUL(scratch[8].i,yb.r); - scratch[6].r = ADD32_ovflw(S_MUL(scratch[10].i,ya.i), S_MUL(scratch[9].i,yb.i)); - scratch[6].i = NEG32_ovflw(ADD32_ovflw(S_MUL(scratch[10].r,ya.i), S_MUL(scratch[9].r,yb.i))); + scratch[6].r = S_MUL(scratch[10].i,ya.i) + S_MUL(scratch[9].i,yb.i); + scratch[6].i = -S_MUL(scratch[10].r,ya.i) - S_MUL(scratch[9].r,yb.i); C_SUB(*Fout1,scratch[5],scratch[6]); C_ADD(*Fout4,scratch[5],scratch[6]); - scratch[11].r = ADD32_ovflw(scratch[0].r, ADD32_ovflw(S_MUL(scratch[7].r,yb.r), S_MUL(scratch[8].r,ya.r))); - scratch[11].i = ADD32_ovflw(scratch[0].i, ADD32_ovflw(S_MUL(scratch[7].i,yb.r), S_MUL(scratch[8].i,ya.r))); - scratch[12].r = SUB32_ovflw(S_MUL(scratch[9].i,ya.i), S_MUL(scratch[10].i,yb.i)); - scratch[12].i = SUB32_ovflw(S_MUL(scratch[10].r,yb.i), S_MUL(scratch[9].r,ya.i)); + scratch[11].r = scratch[0].r + S_MUL(scratch[7].r,yb.r) + S_MUL(scratch[8].r,ya.r); + scratch[11].i = scratch[0].i + S_MUL(scratch[7].i,yb.r) + S_MUL(scratch[8].i,ya.r); + scratch[12].r = - S_MUL(scratch[10].i,yb.i) + S_MUL(scratch[9].i,ya.i); + scratch[12].i = S_MUL(scratch[10].r,yb.i) - S_MUL(scratch[9].r,ya.i); C_ADD(*Fout2,scratch[11],scratch[12]); C_SUB(*Fout3,scratch[11],scratch[12]); diff --git a/thirdparty/opus/celt/mathops.c b/thirdparty/opus/celt/mathops.c index 6ee9b9e101..21a01f52e4 100644 --- a/thirdparty/opus/celt/mathops.c +++ b/thirdparty/opus/celt/mathops.c @@ -38,8 +38,7 @@ #include "mathops.h" /*Compute floor(sqrt(_val)) with exact arithmetic. - _val must be greater than 0. - This has been tested on all possible 32-bit inputs greater than 0.*/ + This has been tested on all possible 32-bit inputs.*/ unsigned isqrt32(opus_uint32 _val){ unsigned b; unsigned g; @@ -183,7 +182,7 @@ opus_val32 celt_rcp(opus_val32 x) int i; opus_val16 n; opus_val16 r; - celt_sig_assert(x>0); + celt_assert2(x>0, "celt_rcp() only defined for positive values"); i = celt_ilog2(x); /* n is Q15 with range [0,1). */ n = VSHR32(x,i-15)-32768; diff --git a/thirdparty/opus/celt/mathops.h b/thirdparty/opus/celt/mathops.h index 5e86ff0dd2..a0525a9610 100644 --- a/thirdparty/opus/celt/mathops.h +++ b/thirdparty/opus/celt/mathops.h @@ -38,44 +38,11 @@ #include "entcode.h" #include "os_support.h" -#define PI 3.141592653f - /* Multiplies two 16-bit fractional values. Bit-exactness of this macro is important */ #define FRAC_MUL16(a,b) ((16384+((opus_int32)(opus_int16)(a)*(opus_int16)(b)))>>15) unsigned isqrt32(opus_uint32 _val); -/* CELT doesn't need it for fixed-point, by analysis.c does. */ -#if !defined(FIXED_POINT) || defined(ANALYSIS_C) -#define cA 0.43157974f -#define cB 0.67848403f -#define cC 0.08595542f -#define cE ((float)PI/2) -static OPUS_INLINE float fast_atan2f(float y, float x) { - float x2, y2; - x2 = x*x; - y2 = y*y; - /* For very small values, we don't care about the answer, so - we can just return 0. */ - if (x2 + y2 < 1e-18f) - { - return 0; - } - if(x2<y2){ - float den = (y2 + cB*x2) * (y2 + cC*x2); - return -x*y*(y2 + cA*x2) / den + (y<0 ? -cE : cE); - }else{ - float den = (x2 + cB*y2) * (x2 + cC*y2); - return x*y*(x2 + cA*y2) / den + (y<0 ? -cE : cE) - (x*y<0 ? -cE : cE); - } -} -#undef cA -#undef cB -#undef cC -#undef cE -#endif - - #ifndef OVERRIDE_CELT_MAXABS16 static OPUS_INLINE opus_val32 celt_maxabs16(const opus_val16 *x, int len) { @@ -113,6 +80,7 @@ static OPUS_INLINE opus_val32 celt_maxabs32(const opus_val32 *x, int len) #ifndef FIXED_POINT +#define PI 3.141592653f #define celt_sqrt(x) ((float)sqrt(x)) #define celt_rsqrt(x) (1.f/celt_sqrt(x)) #define celt_rsqrt_norm(x) (celt_rsqrt(x)) @@ -179,7 +147,7 @@ static OPUS_INLINE float celt_exp2(float x) /** Integer log in base2. Undefined for zero and negative numbers */ static OPUS_INLINE opus_int16 celt_ilog2(opus_int32 x) { - celt_sig_assert(x>0); + celt_assert2(x>0, "celt_ilog2() only defined for strictly positive numbers"); return EC_ILOG(x)-1; } #endif diff --git a/thirdparty/opus/celt/mdct.c b/thirdparty/opus/celt/mdct.c index 5c6dab5b75..5315ad11a3 100644 --- a/thirdparty/opus/celt/mdct.c +++ b/thirdparty/opus/celt/mdct.c @@ -270,8 +270,8 @@ void clt_mdct_backward_c(const mdct_lookup *l, kiss_fft_scalar *in, kiss_fft_sca int rev; kiss_fft_scalar yr, yi; rev = *bitrev++; - yr = ADD32_ovflw(S_MUL(*xp2, t[i]), S_MUL(*xp1, t[N4+i])); - yi = SUB32_ovflw(S_MUL(*xp1, t[i]), S_MUL(*xp2, t[N4+i])); + yr = S_MUL(*xp2, t[i]) + S_MUL(*xp1, t[N4+i]); + yi = S_MUL(*xp1, t[i]) - S_MUL(*xp2, t[N4+i]); /* We swap real and imag because we use an FFT instead of an IFFT. */ yp[2*rev+1] = yr; yp[2*rev] = yi; @@ -301,8 +301,8 @@ void clt_mdct_backward_c(const mdct_lookup *l, kiss_fft_scalar *in, kiss_fft_sca t0 = t[i]; t1 = t[N4+i]; /* We'd scale up by 2 here, but instead it's done when mixing the windows */ - yr = ADD32_ovflw(S_MUL(re,t0), S_MUL(im,t1)); - yi = SUB32_ovflw(S_MUL(re,t1), S_MUL(im,t0)); + yr = S_MUL(re,t0) + S_MUL(im,t1); + yi = S_MUL(re,t1) - S_MUL(im,t0); /* We swap real and imag because we're using an FFT instead of an IFFT. */ re = yp1[1]; im = yp1[0]; @@ -312,8 +312,8 @@ void clt_mdct_backward_c(const mdct_lookup *l, kiss_fft_scalar *in, kiss_fft_sca t0 = t[(N4-i-1)]; t1 = t[(N2-i-1)]; /* We'd scale up by 2 here, but instead it's done when mixing the windows */ - yr = ADD32_ovflw(S_MUL(re,t0), S_MUL(im,t1)); - yi = SUB32_ovflw(S_MUL(re,t1), S_MUL(im,t0)); + yr = S_MUL(re,t0) + S_MUL(im,t1); + yi = S_MUL(re,t1) - S_MUL(im,t0); yp1[0] = yr; yp0[1] = yi; yp0 += 2; @@ -333,8 +333,8 @@ void clt_mdct_backward_c(const mdct_lookup *l, kiss_fft_scalar *in, kiss_fft_sca kiss_fft_scalar x1, x2; x1 = *xp1; x2 = *yp1; - *yp1++ = SUB32_ovflw(MULT16_32_Q15(*wp2, x2), MULT16_32_Q15(*wp1, x1)); - *xp1-- = ADD32_ovflw(MULT16_32_Q15(*wp1, x2), MULT16_32_Q15(*wp2, x1)); + *yp1++ = MULT16_32_Q15(*wp2, x2) - MULT16_32_Q15(*wp1, x1); + *xp1-- = MULT16_32_Q15(*wp1, x2) + MULT16_32_Q15(*wp2, x1); wp1++; wp2--; } diff --git a/thirdparty/opus/celt/mips/celt_mipsr1.h b/thirdparty/opus/celt/mips/celt_mipsr1.h index c332fe0471..e85661a661 100644 --- a/thirdparty/opus/celt/mips/celt_mipsr1.h +++ b/thirdparty/opus/celt/mips/celt_mipsr1.h @@ -53,7 +53,6 @@ #include "celt_lpc.h" #include "vq.h" -#define OVERRIDE_COMB_FILTER_CONST #define OVERRIDE_comb_filter void comb_filter(opus_val32 *y, opus_val32 *x, int T0, int T1, int N, opus_val16 g0, opus_val16 g1, int tapset0, int tapset1, diff --git a/thirdparty/opus/celt/mips/vq_mipsr1.h b/thirdparty/opus/celt/mips/vq_mipsr1.h index f26a33e755..54cef86133 100644 --- a/thirdparty/opus/celt/mips/vq_mipsr1.h +++ b/thirdparty/opus/celt/mips/vq_mipsr1.h @@ -36,6 +36,11 @@ #include "mathops.h" #include "arch.h" +static unsigned extract_collapse_mask(int *iy, int N, int B); +static void normalise_residual(int * OPUS_RESTRICT iy, celt_norm * OPUS_RESTRICT X, int N, opus_val32 Ryy, opus_val16 gain); +static void exp_rotation(celt_norm *X, int len, int dir, int stride, int K, int spread); +static void renormalise_vector_mips(celt_norm *X, int N, opus_val16 gain, int arch); + #define OVERRIDE_vq_exp_rotation1 static void exp_rotation1(celt_norm *X, int len, int stride, opus_val16 c, opus_val16 s) { @@ -64,7 +69,11 @@ static void exp_rotation1(celt_norm *X, int len, int stride, opus_val16 c, opus_ } #define OVERRIDE_renormalise_vector -void renormalise_vector(celt_norm *X, int N, opus_val16 gain, int arch) + +#define renormalise_vector(X, N, gain, arch) \ + (renormalise_vector_mips(X, N, gain, arch)) + +void renormalise_vector_mips(celt_norm *X, int N, opus_val16 gain, int arch) { int i; #ifdef FIXED_POINT diff --git a/thirdparty/opus/celt/modes.c b/thirdparty/opus/celt/modes.c index 390c5e8aeb..911686e905 100644 --- a/thirdparty/opus/celt/modes.c +++ b/thirdparty/opus/celt/modes.c @@ -427,7 +427,7 @@ void opus_custom_mode_destroy(CELTMode *mode) } #endif /* CUSTOM_MODES_ONLY */ opus_free((opus_int16*)mode->eBands); - opus_free((unsigned char*)mode->allocVectors); + opus_free((opus_int16*)mode->allocVectors); opus_free((opus_val16*)mode->window); opus_free((opus_int16*)mode->logN); diff --git a/thirdparty/opus/celt/pitch.c b/thirdparty/opus/celt/pitch.c index 872582a48a..bf46e7d562 100644 --- a/thirdparty/opus/celt/pitch.c +++ b/thirdparty/opus/celt/pitch.c @@ -102,9 +102,11 @@ static void find_best_pitch(opus_val32 *xcorr, opus_val16 *y, int len, } } -static void celt_fir5(opus_val16 *x, +static void celt_fir5(const opus_val16 *x, const opus_val16 *num, - int N) + opus_val16 *y, + int N, + opus_val16 *mem) { int i; opus_val16 num0, num1, num2, num3, num4; @@ -114,11 +116,11 @@ static void celt_fir5(opus_val16 *x, num2=num[2]; num3=num[3]; num4=num[4]; - mem0=0; - mem1=0; - mem2=0; - mem3=0; - mem4=0; + mem0=mem[0]; + mem1=mem[1]; + mem2=mem[2]; + mem3=mem[3]; + mem4=mem[4]; for (i=0;i<N;i++) { opus_val32 sum = SHL32(EXTEND32(x[i]), SIG_SHIFT); @@ -132,8 +134,13 @@ static void celt_fir5(opus_val16 *x, mem2 = mem1; mem1 = mem0; mem0 = x[i]; - x[i] = ROUND16(sum, SIG_SHIFT); + y[i] = ROUND16(sum, SIG_SHIFT); } + mem[0]=mem0; + mem[1]=mem1; + mem[2]=mem2; + mem[3]=mem3; + mem[4]=mem4; } @@ -143,7 +150,7 @@ void pitch_downsample(celt_sig * OPUS_RESTRICT x[], opus_val16 * OPUS_RESTRICT x int i; opus_val32 ac[5]; opus_val16 tmp=Q15ONE; - opus_val16 lpc[4]; + opus_val16 lpc[4], mem[5]={0,0,0,0,0}; opus_val16 lpc2[5]; opus_val16 c1 = QCONST16(.8f,15); #ifdef FIXED_POINT @@ -204,7 +211,7 @@ void pitch_downsample(celt_sig * OPUS_RESTRICT x[], opus_val16 * OPUS_RESTRICT x lpc2[2] = lpc[2] + MULT16_16_Q15(c1,lpc[1]); lpc2[3] = lpc[3] + MULT16_16_Q15(c1,lpc[2]); lpc2[4] = MULT16_16_Q15(c1,lpc[3]); - celt_fir5(x_lp, lpc2, len>>1); + celt_fir5(x_lp, lpc2, x_lp, len>>1, mem); } /* Pure C implementation. */ @@ -213,8 +220,13 @@ opus_val32 #else void #endif +#if defined(OVERRIDE_PITCH_XCORR) celt_pitch_xcorr_c(const opus_val16 *_x, const opus_val16 *_y, + opus_val32 *xcorr, int len, int max_pitch) +#else +celt_pitch_xcorr(const opus_val16 *_x, const opus_val16 *_y, opus_val32 *xcorr, int len, int max_pitch, int arch) +#endif { #if 0 /* This is a simple version of the pitch correlation that should work @@ -249,11 +261,15 @@ celt_pitch_xcorr_c(const opus_val16 *_x, const opus_val16 *_y, opus_val32 maxcorr=1; #endif celt_assert(max_pitch>0); - celt_sig_assert((((unsigned char *)_x-(unsigned char *)NULL)&3)==0); + celt_assert((((unsigned char *)_x-(unsigned char *)NULL)&3)==0); for (i=0;i<max_pitch-3;i+=4) { opus_val32 sum[4]={0,0,0,0}; +#if defined(OVERRIDE_PITCH_XCORR) + xcorr_kernel_c(_x, _y+i, sum, len); +#else xcorr_kernel(_x, _y+i, sum, len, arch); +#endif xcorr[i]=sum[0]; xcorr[i+1]=sum[1]; xcorr[i+2]=sum[2]; @@ -269,7 +285,11 @@ celt_pitch_xcorr_c(const opus_val16 *_x, const opus_val16 *_y, for (;i<max_pitch;i++) { opus_val32 sum; +#if defined(OVERRIDE_PITCH_XCORR) + sum = celt_inner_prod_c(_x, _y+i, len); +#else sum = celt_inner_prod(_x, _y+i, len, arch); +#endif xcorr[i] = sum; #ifdef FIXED_POINT maxcorr = MAX32(maxcorr, sum); @@ -358,7 +378,7 @@ void pitch_search(const opus_val16 * OPUS_RESTRICT x_lp, opus_val16 * OPUS_RESTR for (j=0;j<len>>1;j++) sum += SHR32(MULT16_16(x_lp[j],y[i+j]), shift); #else - sum = celt_inner_prod(x_lp, y+i, len>>1, arch); + sum = celt_inner_prod_c(x_lp, y+i, len>>1); #endif xcorr[i] = MAX32(-1, sum); #ifdef FIXED_POINT @@ -404,7 +424,7 @@ static opus_val16 compute_pitch_gain(opus_val32 xy, opus_val32 xx, opus_val32 yy sx = celt_ilog2(xx)-14; sy = celt_ilog2(yy)-14; shift = sx + sy; - x2y2 = SHR32(MULT16_16(VSHR32(xx, sx), VSHR32(yy, sy)), 14); + x2y2 = MULT16_16_Q14(VSHR32(xx, sx), VSHR32(yy, sy)); if (shift & 1) { if (x2y2 < 32768) { diff --git a/thirdparty/opus/celt/pitch.h b/thirdparty/opus/celt/pitch.h index e425f56aea..d3503532a0 100644 --- a/thirdparty/opus/celt/pitch.h +++ b/thirdparty/opus/celt/pitch.h @@ -46,7 +46,8 @@ #include "mips/pitch_mipsr1.h" #endif -#if (defined(OPUS_ARM_ASM) || defined(OPUS_ARM_MAY_HAVE_NEON_INTR)) +#if ((defined(OPUS_ARM_ASM) && defined(FIXED_POINT)) \ + || defined(OPUS_ARM_MAY_HAVE_NEON_INTR)) # include "arm/pitch_arm.h" #endif @@ -183,10 +184,17 @@ opus_val32 void #endif celt_pitch_xcorr_c(const opus_val16 *_x, const opus_val16 *_y, + opus_val32 *xcorr, int len, int max_pitch); + +#if !defined(OVERRIDE_PITCH_XCORR) +#ifdef FIXED_POINT +opus_val32 +#else +void +#endif +celt_pitch_xcorr(const opus_val16 *_x, const opus_val16 *_y, opus_val32 *xcorr, int len, int max_pitch, int arch); -#ifndef OVERRIDE_PITCH_XCORR -# define celt_pitch_xcorr celt_pitch_xcorr_c #endif #endif diff --git a/thirdparty/opus/celt/quant_bands.c b/thirdparty/opus/celt/quant_bands.c index 39a221eda5..95076e0af2 100644 --- a/thirdparty/opus/celt/quant_bands.c +++ b/thirdparty/opus/celt/quant_bands.c @@ -418,7 +418,6 @@ void quant_energy_finalise(const CELTMode *m, int start, int end, opus_val16 *ol offset = (q2-.5f)*(1<<(14-fine_quant[i]-1))*(1.f/16384); #endif oldEBands[i+c*m->nbEBands] += offset; - error[i+c*m->nbEBands] -= offset; bits_left--; } while (++c < C); } @@ -457,7 +456,7 @@ void unquant_coarse_energy(const CELTMode *m, int start, int end, opus_val16 *ol /* It would be better to express this invariant as a test on C at function entry, but that isn't enough to make the static analyzer happy. */ - celt_sig_assert(c<2); + celt_assert(c<2); tell = ec_tell(dec); if(budget-tell>=15) { @@ -548,15 +547,9 @@ void amp2Log2(const CELTMode *m, int effEnd, int end, c=0; do { for (i=0;i<effEnd;i++) - { bandLogE[i+c*m->nbEBands] = - celt_log2(bandE[i+c*m->nbEBands]) + celt_log2(SHL32(bandE[i+c*m->nbEBands],2)) - SHL16((opus_val16)eMeans[i],6); -#ifdef FIXED_POINT - /* Compensate for bandE[] being Q12 but celt_log2() taking a Q14 input. */ - bandLogE[i+c*m->nbEBands] += QCONST16(2.f, DB_SHIFT); -#endif - } for (i=effEnd;i<end;i++) bandLogE[c*m->nbEBands+i] = -QCONST16(14.f,DB_SHIFT); } while (++c < C); diff --git a/thirdparty/opus/celt/rate.c b/thirdparty/opus/celt/rate.c index 465e1ba26c..7dfa5be8a6 100644 --- a/thirdparty/opus/celt/rate.c +++ b/thirdparty/opus/celt/rate.c @@ -348,17 +348,12 @@ static OPUS_INLINE int interp_bits2pulses(const CELTMode *m, int start, int end, /*This if() block is the only part of the allocation function that is not a mandatory part of the bitstream: any bands we choose to skip here must be explicitly signaled.*/ - int depth_threshold; - /*We choose a threshold with some hysteresis to keep bands from - fluctuating in and out, but we try not to fold below a certain point. */ - if (codedBands > 17) - depth_threshold = j<prev ? 7 : 9; - else - depth_threshold = 0; + /*Choose a threshold with some hysteresis to keep bands from + fluctuating in and out.*/ #ifdef FUZZING if ((rand()&0x1) == 0) #else - if (codedBands<=start+2 || (band_bits > (depth_threshold*band_width<<LM<<BITRES)>>4 && j<=signalBandwidth)) + if (codedBands<=start+2 || (band_bits > ((j<prev?7:9)*band_width<<LM<<BITRES)>>4 && j<=signalBandwidth)) #endif { ec_enc_bit_logp(ec, 1, 1); @@ -529,7 +524,7 @@ static OPUS_INLINE int interp_bits2pulses(const CELTMode *m, int start, int end, return codedBands; } -int clt_compute_allocation(const CELTMode *m, int start, int end, const int *offsets, const int *cap, int alloc_trim, int *intensity, int *dual_stereo, +int compute_allocation(const CELTMode *m, int start, int end, const int *offsets, const int *cap, int alloc_trim, int *intensity, int *dual_stereo, opus_int32 total, opus_int32 *balance, int *pulses, int *ebits, int *fine_priority, int C, int LM, ec_ctx *ec, int encode, int prev, int signalBandwidth) { int lo, hi, len, j; diff --git a/thirdparty/opus/celt/rate.h b/thirdparty/opus/celt/rate.h index fad5e412da..515f7687ce 100644 --- a/thirdparty/opus/celt/rate.h +++ b/thirdparty/opus/celt/rate.h @@ -95,7 +95,7 @@ static OPUS_INLINE int pulses2bits(const CELTMode *m, int band, int LM, int puls @param pulses Number of pulses per band (returned) @return Total number of bits allocated */ -int clt_compute_allocation(const CELTMode *m, int start, int end, const int *offsets, const int *cap, int alloc_trim, int *intensity, int *dual_stereo, +int compute_allocation(const CELTMode *m, int start, int end, const int *offsets, const int *cap, int alloc_trim, int *intensity, int *dual_stero, opus_int32 total, opus_int32 *balance, int *pulses, int *ebits, int *fine_priority, int C, int LM, ec_ctx *ec, int encode, int prev, int signalBandwidth); #endif diff --git a/thirdparty/opus/celt/static_modes_fixed_arm_ne10.h b/thirdparty/opus/celt/static_modes_fixed_arm_ne10.h index 7623092192..b8ef0cee98 100644 --- a/thirdparty/opus/celt/static_modes_fixed_arm_ne10.h +++ b/thirdparty/opus/celt/static_modes_fixed_arm_ne10.h @@ -1,7 +1,7 @@ /* The contents of this file was automatically generated by * dump_mode_arm_ne10.c with arguments: 48000 960 * It contains static definitions for some pre-defined modes. */ -#include <NE10_types.h> +#include <NE10_init.h> #ifndef NE10_FFT_PARAMS48000_960 #define NE10_FFT_PARAMS48000_960 diff --git a/thirdparty/opus/celt/static_modes_float_arm_ne10.h b/thirdparty/opus/celt/static_modes_float_arm_ne10.h index 66e1abb101..934a82a420 100644 --- a/thirdparty/opus/celt/static_modes_float_arm_ne10.h +++ b/thirdparty/opus/celt/static_modes_float_arm_ne10.h @@ -1,7 +1,7 @@ /* The contents of this file was automatically generated by * dump_mode_arm_ne10.c with arguments: 48000 960 * It contains static definitions for some pre-defined modes. */ -#include <NE10_types.h> +#include <NE10_init.h> #ifndef NE10_FFT_PARAMS48000_960 #define NE10_FFT_PARAMS48000_960 diff --git a/thirdparty/opus/celt/tests/test_unit_cwrs32.c b/thirdparty/opus/celt/tests/test_unit_cwrs32.c new file mode 100644 index 0000000000..36dd8af5f5 --- /dev/null +++ b/thirdparty/opus/celt/tests/test_unit_cwrs32.c @@ -0,0 +1,161 @@ +/* Copyright (c) 2008-2011 Xiph.Org Foundation, Mozilla Corporation, + Gregory Maxwell + Written by Jean-Marc Valin, Gregory Maxwell, and Timothy B. Terriberry */ +/* + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + + - Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + - Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER + OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include <stdio.h> +#include <string.h> + +#ifndef CUSTOM_MODES +#define CUSTOM_MODES +#else +#define TEST_CUSTOM_MODES +#endif + +#define CELT_C +#include "stack_alloc.h" +#include "entenc.c" +#include "entdec.c" +#include "entcode.c" +#include "cwrs.c" +#include "mathops.c" +#include "rate.h" + +#define NMAX (240) +#define KMAX (128) + +#ifdef TEST_CUSTOM_MODES + +#define NDIMS (44) +static const int pn[NDIMS]={ + 2, 3, 4, 5, 6, 7, 8, 9, 10, + 11, 12, 13, 14, 15, 16, 18, 20, 22, + 24, 26, 28, 30, 32, 36, 40, 44, 48, + 52, 56, 60, 64, 72, 80, 88, 96, 104, + 112, 120, 128, 144, 160, 176, 192, 208 +}; +static const int pkmax[NDIMS]={ + 128, 128, 128, 128, 88, 52, 36, 26, 22, + 18, 16, 15, 13, 12, 12, 11, 10, 9, + 9, 8, 8, 7, 7, 7, 7, 6, 6, + 6, 6, 6, 5, 5, 5, 5, 5, 5, + 4, 4, 4, 4, 4, 4, 4, 4 +}; + +#else /* TEST_CUSTOM_MODES */ + +#define NDIMS (22) +static const int pn[NDIMS]={ + 2, 3, 4, 6, 8, 9, 11, 12, 16, + 18, 22, 24, 32, 36, 44, 48, 64, 72, + 88, 96, 144, 176 +}; +static const int pkmax[NDIMS]={ + 128, 128, 128, 88, 36, 26, 18, 16, 12, + 11, 9, 9, 7, 7, 6, 6, 5, 5, + 5, 5, 4, 4 +}; + +#endif + +int main(void){ + int t; + int n; + ALLOC_STACK; + for(t=0;t<NDIMS;t++){ + int pseudo; + n=pn[t]; + for(pseudo=1;pseudo<41;pseudo++) + { + int k; +#if defined(SMALL_FOOTPRINT) + opus_uint32 uu[KMAX+2U]; +#endif + opus_uint32 inc; + opus_uint32 nc; + opus_uint32 i; + k=get_pulses(pseudo); + if (k>pkmax[t])break; + printf("Testing CWRS with N=%i, K=%i...\n",n,k); +#if defined(SMALL_FOOTPRINT) + nc=ncwrs_urow(n,k,uu); +#else + nc=CELT_PVQ_V(n,k); +#endif + inc=nc/20000; + if(inc<1)inc=1; + for(i=0;i<nc;i+=inc){ +#if defined(SMALL_FOOTPRINT) + opus_uint32 u[KMAX+2U]; +#endif + int y[NMAX]; + int sy; + opus_uint32 v; + opus_uint32 ii; + int j; +#if defined(SMALL_FOOTPRINT) + memcpy(u,uu,(k+2U)*sizeof(*u)); + cwrsi(n,k,i,y,u); +#else + cwrsi(n,k,i,y); +#endif + sy=0; + for(j=0;j<n;j++)sy+=abs(y[j]); + if(sy!=k){ + fprintf(stderr,"N=%d Pulse count mismatch in cwrsi (%d!=%d).\n", + n,sy,k); + return 99; + } + /*printf("%6u of %u:",i,nc); + for(j=0;j<n;j++)printf(" %+3i",y[j]); + printf(" ->");*/ +#if defined(SMALL_FOOTPRINT) + ii=icwrs(n,k,&v,y,u); +#else + ii=icwrs(n,y); + v=CELT_PVQ_V(n,k); +#endif + if(ii!=i){ + fprintf(stderr,"Combination-index mismatch (%lu!=%lu).\n", + (long)ii,(long)i); + return 1; + } + if(v!=nc){ + fprintf(stderr,"Combination count mismatch (%lu!=%lu).\n", + (long)v,(long)nc); + return 2; + } + /*printf(" %6u\n",i);*/ + } + /*printf("\n");*/ + } + } + return 0; +} diff --git a/thirdparty/opus/celt/tests/test_unit_dft.c b/thirdparty/opus/celt/tests/test_unit_dft.c new file mode 100644 index 0000000000..6166eb0e4f --- /dev/null +++ b/thirdparty/opus/celt/tests/test_unit_dft.c @@ -0,0 +1,189 @@ +/* Copyright (c) 2008 Xiph.Org Foundation + Written by Jean-Marc Valin */ +/* + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + + - Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + - Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER + OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#define SKIP_CONFIG_H + +#ifndef CUSTOM_MODES +#define CUSTOM_MODES +#endif + +#include <stdio.h> + +#define CELT_C +#define TEST_UNIT_DFT_C +#include "stack_alloc.h" +#include "kiss_fft.h" +#include "kiss_fft.c" +#include "mathops.c" +#include "entcode.c" + +#if defined(OPUS_X86_MAY_HAVE_SSE2) || defined(OPUS_X86_MAY_HAVE_SSE4_1) +# include "x86/x86cpu.c" +#elif defined(OPUS_ARM_ASM) || defined(OPUS_ARM_MAY_HAVE_NEON_INTR) +# include "arm/armcpu.c" +# include "celt_lpc.c" +# include "pitch.c" +# if defined(OPUS_ARM_MAY_HAVE_NEON_INTR) +# include "arm/celt_neon_intr.c" +# if defined(HAVE_ARM_NE10) +# include "mdct.c" +# include "arm/celt_ne10_fft.c" +# include "arm/celt_ne10_mdct.c" +# endif +# endif +# include "arm/arm_celt_map.c" +#endif + +#ifndef M_PI +#define M_PI 3.141592653 +#endif + +int ret = 0; + +void check(kiss_fft_cpx * in,kiss_fft_cpx * out,int nfft,int isinverse) +{ + int bin,k; + double errpow=0,sigpow=0, snr; + + for (bin=0;bin<nfft;++bin) { + double ansr = 0; + double ansi = 0; + double difr; + double difi; + + for (k=0;k<nfft;++k) { + double phase = -2*M_PI*bin*k/nfft; + double re = cos(phase); + double im = sin(phase); + if (isinverse) + im = -im; + + if (!isinverse) + { + re /= nfft; + im /= nfft; + } + + ansr += in[k].r * re - in[k].i * im; + ansi += in[k].r * im + in[k].i * re; + } + /*printf ("%d %d ", (int)ansr, (int)ansi);*/ + difr = ansr - out[bin].r; + difi = ansi - out[bin].i; + errpow += difr*difr + difi*difi; + sigpow += ansr*ansr+ansi*ansi; + } + snr = 10*log10(sigpow/errpow); + printf("nfft=%d inverse=%d,snr = %f\n",nfft,isinverse,snr ); + if (snr<60) { + printf( "** poor snr: %f ** \n", snr); + ret = 1; + } +} + +void test1d(int nfft,int isinverse,int arch) +{ + size_t buflen = sizeof(kiss_fft_cpx)*nfft; + + kiss_fft_cpx * in = (kiss_fft_cpx*)malloc(buflen); + kiss_fft_cpx * out= (kiss_fft_cpx*)malloc(buflen); + kiss_fft_state *cfg = opus_fft_alloc(nfft,0,0,arch); + int k; + + for (k=0;k<nfft;++k) { + in[k].r = (rand() % 32767) - 16384; + in[k].i = (rand() % 32767) - 16384; + } + + for (k=0;k<nfft;++k) { + in[k].r *= 32768; + in[k].i *= 32768; + } + + if (isinverse) + { + for (k=0;k<nfft;++k) { + in[k].r /= nfft; + in[k].i /= nfft; + } + } + + /*for (k=0;k<nfft;++k) printf("%d %d ", in[k].r, in[k].i);printf("\n");*/ + + if (isinverse) + opus_ifft(cfg,in,out, arch); + else + opus_fft(cfg,in,out, arch); + + /*for (k=0;k<nfft;++k) printf("%d %d ", out[k].r, out[k].i);printf("\n");*/ + + check(in,out,nfft,isinverse); + + free(in); + free(out); + opus_fft_free(cfg, arch); +} + +int main(int argc,char ** argv) +{ + ALLOC_STACK; + int arch = opus_select_arch(); + + if (argc>1) { + int k; + for (k=1;k<argc;++k) { + test1d(atoi(argv[k]),0,arch); + test1d(atoi(argv[k]),1,arch); + } + }else{ + test1d(32,0,arch); + test1d(32,1,arch); + test1d(128,0,arch); + test1d(128,1,arch); + test1d(256,0,arch); + test1d(256,1,arch); +#ifndef RADIX_TWO_ONLY + test1d(36,0,arch); + test1d(36,1,arch); + test1d(50,0,arch); + test1d(50,1,arch); + test1d(60,0,arch); + test1d(60,1,arch); + test1d(120,0,arch); + test1d(120,1,arch); + test1d(240,0,arch); + test1d(240,1,arch); + test1d(480,0,arch); + test1d(480,1,arch); +#endif + } + return ret; +} diff --git a/thirdparty/opus/celt/tests/test_unit_entropy.c b/thirdparty/opus/celt/tests/test_unit_entropy.c new file mode 100644 index 0000000000..ff9265864c --- /dev/null +++ b/thirdparty/opus/celt/tests/test_unit_entropy.c @@ -0,0 +1,382 @@ +/* Copyright (c) 2007-2011 Xiph.Org Foundation, Mozilla Corporation, + Gregory Maxwell + Written by Jean-Marc Valin, Gregory Maxwell, and Timothy B. Terriberry */ +/* + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + + - Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + - Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER + OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include <stdlib.h> +#include <stdio.h> +#include <math.h> +#include <time.h> +#include "entcode.h" +#include "entenc.h" +#include "entdec.h" +#include <string.h> + +#include "entenc.c" +#include "entdec.c" +#include "entcode.c" + +#ifndef M_LOG2E +# define M_LOG2E 1.4426950408889634074 +#endif +#define DATA_SIZE 10000000 +#define DATA_SIZE2 10000 + +int main(int _argc,char **_argv){ + ec_enc enc; + ec_dec dec; + long nbits; + long nbits2; + double entropy; + int ft; + int ftb; + int sz; + int i; + int ret; + unsigned int sym; + unsigned int seed; + unsigned char *ptr; + const char *env_seed; + ret=0; + entropy=0; + if (_argc > 2) { + fprintf(stderr, "Usage: %s [<seed>]\n", _argv[0]); + return 1; + } + env_seed = getenv("SEED"); + if (_argc > 1) + seed = atoi(_argv[1]); + else if (env_seed) + seed = atoi(env_seed); + else + seed = time(NULL); + /*Testing encoding of raw bit values.*/ + ptr = (unsigned char *)malloc(DATA_SIZE); + ec_enc_init(&enc,ptr, DATA_SIZE); + for(ft=2;ft<1024;ft++){ + for(i=0;i<ft;i++){ + entropy+=log(ft)*M_LOG2E; + ec_enc_uint(&enc,i,ft); + } + } + /*Testing encoding of raw bit values.*/ + for(ftb=1;ftb<16;ftb++){ + for(i=0;i<(1<<ftb);i++){ + entropy+=ftb; + nbits=ec_tell(&enc); + ec_enc_bits(&enc,i,ftb); + nbits2=ec_tell(&enc); + if(nbits2-nbits!=ftb){ + fprintf(stderr,"Used %li bits to encode %i bits directly.\n", + nbits2-nbits,ftb); + ret=-1; + } + } + } + nbits=ec_tell_frac(&enc); + ec_enc_done(&enc); + fprintf(stderr, + "Encoded %0.2lf bits of entropy to %0.2lf bits (%0.3lf%% wasted).\n", + entropy,ldexp(nbits,-3),100*(nbits-ldexp(entropy,3))/nbits); + fprintf(stderr,"Packed to %li bytes.\n",(long)ec_range_bytes(&enc)); + ec_dec_init(&dec,ptr,DATA_SIZE); + for(ft=2;ft<1024;ft++){ + for(i=0;i<ft;i++){ + sym=ec_dec_uint(&dec,ft); + if(sym!=(unsigned)i){ + fprintf(stderr,"Decoded %i instead of %i with ft of %i.\n",sym,i,ft); + ret=-1; + } + } + } + for(ftb=1;ftb<16;ftb++){ + for(i=0;i<(1<<ftb);i++){ + sym=ec_dec_bits(&dec,ftb); + if(sym!=(unsigned)i){ + fprintf(stderr,"Decoded %i instead of %i with ftb of %i.\n",sym,i,ftb); + ret=-1; + } + } + } + nbits2=ec_tell_frac(&dec); + if(nbits!=nbits2){ + fprintf(stderr, + "Reported number of bits used was %0.2lf, should be %0.2lf.\n", + ldexp(nbits2,-3),ldexp(nbits,-3)); + ret=-1; + } + /*Testing an encoder bust prefers range coder data over raw bits. + This isn't a general guarantee, will only work for data that is buffered in + the encoder state and not yet stored in the user buffer, and should never + get used in practice. + It's mostly here for code coverage completeness.*/ + /*Start with a 16-bit buffer.*/ + ec_enc_init(&enc,ptr,2); + /*Write 7 raw bits.*/ + ec_enc_bits(&enc,0x55,7); + /*Write 12.3 bits of range coder data.*/ + ec_enc_uint(&enc,1,2); + ec_enc_uint(&enc,1,3); + ec_enc_uint(&enc,1,4); + ec_enc_uint(&enc,1,5); + ec_enc_uint(&enc,2,6); + ec_enc_uint(&enc,6,7); + ec_enc_done(&enc); + ec_dec_init(&dec,ptr,2); + if(!enc.error + /*The raw bits should have been overwritten by the range coder data.*/ + ||ec_dec_bits(&dec,7)!=0x05 + /*And all the range coder data should have been encoded correctly.*/ + ||ec_dec_uint(&dec,2)!=1 + ||ec_dec_uint(&dec,3)!=1 + ||ec_dec_uint(&dec,4)!=1 + ||ec_dec_uint(&dec,5)!=1 + ||ec_dec_uint(&dec,6)!=2 + ||ec_dec_uint(&dec,7)!=6){ + fprintf(stderr,"Encoder bust overwrote range coder data with raw bits.\n"); + ret=-1; + } + srand(seed); + fprintf(stderr,"Testing random streams... Random seed: %u (%.4X)\n", seed, rand() % 65536); + for(i=0;i<409600;i++){ + unsigned *data; + unsigned *tell; + unsigned tell_bits; + int j; + int zeros; + ft=rand()/((RAND_MAX>>(rand()%11U))+1U)+10; + sz=rand()/((RAND_MAX>>(rand()%9U))+1U); + data=(unsigned *)malloc(sz*sizeof(*data)); + tell=(unsigned *)malloc((sz+1)*sizeof(*tell)); + ec_enc_init(&enc,ptr,DATA_SIZE2); + zeros = rand()%13==0; + tell[0]=ec_tell_frac(&enc); + for(j=0;j<sz;j++){ + if (zeros) + data[j]=0; + else + data[j]=rand()%ft; + ec_enc_uint(&enc,data[j],ft); + tell[j+1]=ec_tell_frac(&enc); + } + if (rand()%2==0) + while(ec_tell(&enc)%8 != 0) + ec_enc_uint(&enc, rand()%2, 2); + tell_bits = ec_tell(&enc); + ec_enc_done(&enc); + if(tell_bits!=(unsigned)ec_tell(&enc)){ + fprintf(stderr,"ec_tell() changed after ec_enc_done(): %i instead of %i (Random seed: %u)\n", + ec_tell(&enc),tell_bits,seed); + ret=-1; + } + if ((tell_bits+7)/8 < ec_range_bytes(&enc)) + { + fprintf (stderr, "ec_tell() lied, there's %i bytes instead of %d (Random seed: %u)\n", + ec_range_bytes(&enc), (tell_bits+7)/8,seed); + ret=-1; + } + ec_dec_init(&dec,ptr,DATA_SIZE2); + if(ec_tell_frac(&dec)!=tell[0]){ + fprintf(stderr, + "Tell mismatch between encoder and decoder at symbol %i: %i instead of %i (Random seed: %u).\n", + 0,ec_tell_frac(&dec),tell[0],seed); + } + for(j=0;j<sz;j++){ + sym=ec_dec_uint(&dec,ft); + if(sym!=data[j]){ + fprintf(stderr, + "Decoded %i instead of %i with ft of %i at position %i of %i (Random seed: %u).\n", + sym,data[j],ft,j,sz,seed); + ret=-1; + } + if(ec_tell_frac(&dec)!=tell[j+1]){ + fprintf(stderr, + "Tell mismatch between encoder and decoder at symbol %i: %i instead of %i (Random seed: %u).\n", + j+1,ec_tell_frac(&dec),tell[j+1],seed); + } + } + free(tell); + free(data); + } + /*Test compatibility between multiple different encode/decode routines.*/ + for(i=0;i<409600;i++){ + unsigned *logp1; + unsigned *data; + unsigned *tell; + unsigned *enc_method; + int j; + sz=rand()/((RAND_MAX>>(rand()%9U))+1U); + logp1=(unsigned *)malloc(sz*sizeof(*logp1)); + data=(unsigned *)malloc(sz*sizeof(*data)); + tell=(unsigned *)malloc((sz+1)*sizeof(*tell)); + enc_method=(unsigned *)malloc(sz*sizeof(*enc_method)); + ec_enc_init(&enc,ptr,DATA_SIZE2); + tell[0]=ec_tell_frac(&enc); + for(j=0;j<sz;j++){ + data[j]=rand()/((RAND_MAX>>1)+1); + logp1[j]=(rand()%15)+1; + enc_method[j]=rand()/((RAND_MAX>>2)+1); + switch(enc_method[j]){ + case 0:{ + ec_encode(&enc,data[j]?(1<<logp1[j])-1:0, + (1<<logp1[j])-(data[j]?0:1),1<<logp1[j]); + }break; + case 1:{ + ec_encode_bin(&enc,data[j]?(1<<logp1[j])-1:0, + (1<<logp1[j])-(data[j]?0:1),logp1[j]); + }break; + case 2:{ + ec_enc_bit_logp(&enc,data[j],logp1[j]); + }break; + case 3:{ + unsigned char icdf[2]; + icdf[0]=1; + icdf[1]=0; + ec_enc_icdf(&enc,data[j],icdf,logp1[j]); + }break; + } + tell[j+1]=ec_tell_frac(&enc); + } + ec_enc_done(&enc); + if((ec_tell(&enc)+7U)/8U<ec_range_bytes(&enc)){ + fprintf(stderr,"tell() lied, there's %i bytes instead of %d (Random seed: %u)\n", + ec_range_bytes(&enc),(ec_tell(&enc)+7)/8,seed); + ret=-1; + } + ec_dec_init(&dec,ptr,DATA_SIZE2); + if(ec_tell_frac(&dec)!=tell[0]){ + fprintf(stderr, + "Tell mismatch between encoder and decoder at symbol %i: %i instead of %i (Random seed: %u).\n", + 0,ec_tell_frac(&dec),tell[0],seed); + } + for(j=0;j<sz;j++){ + int fs; + int dec_method; + dec_method=rand()/((RAND_MAX>>2)+1); + switch(dec_method){ + case 0:{ + fs=ec_decode(&dec,1<<logp1[j]); + sym=fs>=(1<<logp1[j])-1; + ec_dec_update(&dec,sym?(1<<logp1[j])-1:0, + (1<<logp1[j])-(sym?0:1),1<<logp1[j]); + }break; + case 1:{ + fs=ec_decode_bin(&dec,logp1[j]); + sym=fs>=(1<<logp1[j])-1; + ec_dec_update(&dec,sym?(1<<logp1[j])-1:0, + (1<<logp1[j])-(sym?0:1),1<<logp1[j]); + }break; + case 2:{ + sym=ec_dec_bit_logp(&dec,logp1[j]); + }break; + case 3:{ + unsigned char icdf[2]; + icdf[0]=1; + icdf[1]=0; + sym=ec_dec_icdf(&dec,icdf,logp1[j]); + }break; + } + if(sym!=data[j]){ + fprintf(stderr, + "Decoded %i instead of %i with logp1 of %i at position %i of %i (Random seed: %u).\n", + sym,data[j],logp1[j],j,sz,seed); + fprintf(stderr,"Encoding method: %i, decoding method: %i\n", + enc_method[j],dec_method); + ret=-1; + } + if(ec_tell_frac(&dec)!=tell[j+1]){ + fprintf(stderr, + "Tell mismatch between encoder and decoder at symbol %i: %i instead of %i (Random seed: %u).\n", + j+1,ec_tell_frac(&dec),tell[j+1],seed); + } + } + free(enc_method); + free(tell); + free(data); + free(logp1); + } + ec_enc_init(&enc,ptr,DATA_SIZE2); + ec_enc_bit_logp(&enc,0,1); + ec_enc_bit_logp(&enc,0,1); + ec_enc_bit_logp(&enc,0,1); + ec_enc_bit_logp(&enc,0,1); + ec_enc_bit_logp(&enc,0,2); + ec_enc_patch_initial_bits(&enc,3,2); + if(enc.error){ + fprintf(stderr,"patch_initial_bits failed"); + ret=-1; + } + ec_enc_patch_initial_bits(&enc,0,5); + if(!enc.error){ + fprintf(stderr,"patch_initial_bits didn't fail when it should have"); + ret=-1; + } + ec_enc_done(&enc); + if(ec_range_bytes(&enc)!=1||ptr[0]!=192){ + fprintf(stderr,"Got %d when expecting 192 for patch_initial_bits",ptr[0]); + ret=-1; + } + ec_enc_init(&enc,ptr,DATA_SIZE2); + ec_enc_bit_logp(&enc,0,1); + ec_enc_bit_logp(&enc,0,1); + ec_enc_bit_logp(&enc,1,6); + ec_enc_bit_logp(&enc,0,2); + ec_enc_patch_initial_bits(&enc,0,2); + if(enc.error){ + fprintf(stderr,"patch_initial_bits failed"); + ret=-1; + } + ec_enc_done(&enc); + if(ec_range_bytes(&enc)!=2||ptr[0]!=63){ + fprintf(stderr,"Got %d when expecting 63 for patch_initial_bits",ptr[0]); + ret=-1; + } + ec_enc_init(&enc,ptr,2); + ec_enc_bit_logp(&enc,0,2); + for(i=0;i<48;i++){ + ec_enc_bits(&enc,0,1); + } + ec_enc_done(&enc); + if(!enc.error){ + fprintf(stderr,"Raw bits overfill didn't fail when it should have"); + ret=-1; + } + ec_enc_init(&enc,ptr,2); + for(i=0;i<17;i++){ + ec_enc_bits(&enc,0,1); + } + ec_enc_done(&enc); + if(!enc.error){ + fprintf(stderr,"17 raw bits encoded in two bytes"); + ret=-1; + } + free(ptr); + return ret; +} diff --git a/thirdparty/opus/celt/tests/test_unit_laplace.c b/thirdparty/opus/celt/tests/test_unit_laplace.c new file mode 100644 index 0000000000..22951e29ee --- /dev/null +++ b/thirdparty/opus/celt/tests/test_unit_laplace.c @@ -0,0 +1,93 @@ +/* Copyright (c) 2008-2011 Xiph.Org Foundation, Mozilla Corporation + Written by Jean-Marc Valin and Timothy B. Terriberry */ +/* + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + + - Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + - Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER + OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include <stdio.h> +#include <stdlib.h> +#include "laplace.h" +#define CELT_C +#include "stack_alloc.h" + +#include "entenc.c" +#include "entdec.c" +#include "entcode.c" +#include "laplace.c" + +#define DATA_SIZE 40000 + +int ec_laplace_get_start_freq(int decay) +{ + opus_uint32 ft = 32768 - LAPLACE_MINP*(2*LAPLACE_NMIN+1); + int fs = (ft*(16384-decay))/(16384+decay); + return fs+LAPLACE_MINP; +} + +int main(void) +{ + int i; + int ret = 0; + ec_enc enc; + ec_dec dec; + unsigned char *ptr; + int val[10000], decay[10000]; + ALLOC_STACK; + ptr = (unsigned char *)malloc(DATA_SIZE); + ec_enc_init(&enc,ptr,DATA_SIZE); + + val[0] = 3; decay[0] = 6000; + val[1] = 0; decay[1] = 5800; + val[2] = -1; decay[2] = 5600; + for (i=3;i<10000;i++) + { + val[i] = rand()%15-7; + decay[i] = rand()%11000+5000; + } + for (i=0;i<10000;i++) + ec_laplace_encode(&enc, &val[i], + ec_laplace_get_start_freq(decay[i]), decay[i]); + + ec_enc_done(&enc); + + ec_dec_init(&dec,ec_get_buffer(&enc),ec_range_bytes(&enc)); + + for (i=0;i<10000;i++) + { + int d = ec_laplace_decode(&dec, + ec_laplace_get_start_freq(decay[i]), decay[i]); + if (d != val[i]) + { + fprintf (stderr, "Got %d instead of %d\n", d, val[i]); + ret = 1; + } + } + + free(ptr); + return ret; +} diff --git a/thirdparty/opus/celt/tests/test_unit_mathops.c b/thirdparty/opus/celt/tests/test_unit_mathops.c new file mode 100644 index 0000000000..fd3319da91 --- /dev/null +++ b/thirdparty/opus/celt/tests/test_unit_mathops.c @@ -0,0 +1,304 @@ +/* Copyright (c) 2008-2011 Xiph.Org Foundation, Mozilla Corporation, + Gregory Maxwell + Written by Jean-Marc Valin, Gregory Maxwell, and Timothy B. Terriberry */ +/* + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + + - Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + - Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER + OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#ifndef CUSTOM_MODES +#define CUSTOM_MODES +#endif + +#define CELT_C + +#include <stdio.h> +#include <math.h> +#include "mathops.c" +#include "entenc.c" +#include "entdec.c" +#include "entcode.c" +#include "bands.c" +#include "quant_bands.c" +#include "laplace.c" +#include "vq.c" +#include "cwrs.c" +#include "pitch.c" +#include "celt_lpc.c" +#include "celt.c" + +#if defined(OPUS_X86_MAY_HAVE_SSE) || defined(OPUS_X86_MAY_HAVE_SSE2) || defined(OPUS_X86_MAY_HAVE_SSE4_1) +# if defined(OPUS_X86_MAY_HAVE_SSE) +# include "x86/pitch_sse.c" +# endif +# if defined(OPUS_X86_MAY_HAVE_SSE2) +# include "x86/pitch_sse2.c" +# endif +# if defined(OPUS_X86_MAY_HAVE_SSE4_1) +# include "x86/pitch_sse4_1.c" +# include "x86/celt_lpc_sse.c" +# endif +# include "x86/x86_celt_map.c" +#elif defined(OPUS_ARM_ASM) || defined(OPUS_ARM_MAY_HAVE_NEON_INTR) +# include "arm/armcpu.c" +# if defined(OPUS_ARM_MAY_HAVE_NEON_INTR) +# include "arm/celt_neon_intr.c" +# if defined(HAVE_ARM_NE10) +# include "kiss_fft.c" +# include "mdct.c" +# include "arm/celt_ne10_fft.c" +# include "arm/celt_ne10_mdct.c" +# endif +# endif +# include "arm/arm_celt_map.c" +#endif + +#ifdef FIXED_POINT +#define WORD "%d" +#else +#define WORD "%f" +#endif + +int ret = 0; + +void testdiv(void) +{ + opus_int32 i; + for (i=1;i<=327670;i++) + { + double prod; + opus_val32 val; + val = celt_rcp(i); +#ifdef FIXED_POINT + prod = (1./32768./65526.)*val*i; +#else + prod = val*i; +#endif + if (fabs(prod-1) > .00025) + { + fprintf (stderr, "div failed: 1/%d="WORD" (product = %f)\n", i, val, prod); + ret = 1; + } + } +} + +void testsqrt(void) +{ + opus_int32 i; + for (i=1;i<=1000000000;i++) + { + double ratio; + opus_val16 val; + val = celt_sqrt(i); + ratio = val/sqrt(i); + if (fabs(ratio - 1) > .0005 && fabs(val-sqrt(i)) > 2) + { + fprintf (stderr, "sqrt failed: sqrt(%d)="WORD" (ratio = %f)\n", i, val, ratio); + ret = 1; + } + i+= i>>10; + } +} + +void testbitexactcos(void) +{ + int i; + opus_int32 min_d,max_d,last,chk; + chk=max_d=0; + last=min_d=32767; + for(i=64;i<=16320;i++) + { + opus_int32 d; + opus_int32 q=bitexact_cos(i); + chk ^= q*i; + d = last - q; + if (d>max_d)max_d=d; + if (d<min_d)min_d=d; + last = q; + } + if ((chk!=89408644)||(max_d!=5)||(min_d!=0)||(bitexact_cos(64)!=32767)|| + (bitexact_cos(16320)!=200)||(bitexact_cos(8192)!=23171)) + { + fprintf (stderr, "bitexact_cos failed\n"); + ret = 1; + } +} + +void testbitexactlog2tan(void) +{ + int i,fail; + opus_int32 min_d,max_d,last,chk; + fail=chk=max_d=0; + last=min_d=15059; + for(i=64;i<8193;i++) + { + opus_int32 d; + opus_int32 mid=bitexact_cos(i); + opus_int32 side=bitexact_cos(16384-i); + opus_int32 q=bitexact_log2tan(mid,side); + chk ^= q*i; + d = last - q; + if (q!=-1*bitexact_log2tan(side,mid)) + fail = 1; + if (d>max_d)max_d=d; + if (d<min_d)min_d=d; + last = q; + } + if ((chk!=15821257)||(max_d!=61)||(min_d!=-2)||fail|| + (bitexact_log2tan(32767,200)!=15059)||(bitexact_log2tan(30274,12540)!=2611)|| + (bitexact_log2tan(23171,23171)!=0)) + { + fprintf (stderr, "bitexact_log2tan failed\n"); + ret = 1; + } +} + +#ifndef FIXED_POINT +void testlog2(void) +{ + float x; + for (x=0.001;x<1677700.0;x+=(x/8.0)) + { + float error = fabs((1.442695040888963387*log(x))-celt_log2(x)); + if (error>0.0009) + { + fprintf (stderr, "celt_log2 failed: fabs((1.442695040888963387*log(x))-celt_log2(x))>0.001 (x = %f, error = %f)\n", x,error); + ret = 1; + } + } +} + +void testexp2(void) +{ + float x; + for (x=-11.0;x<24.0;x+=0.0007) + { + float error = fabs(x-(1.442695040888963387*log(celt_exp2(x)))); + if (error>0.0002) + { + fprintf (stderr, "celt_exp2 failed: fabs(x-(1.442695040888963387*log(celt_exp2(x))))>0.0005 (x = %f, error = %f)\n", x,error); + ret = 1; + } + } +} + +void testexp2log2(void) +{ + float x; + for (x=-11.0;x<24.0;x+=0.0007) + { + float error = fabs(x-(celt_log2(celt_exp2(x)))); + if (error>0.001) + { + fprintf (stderr, "celt_log2/celt_exp2 failed: fabs(x-(celt_log2(celt_exp2(x))))>0.001 (x = %f, error = %f)\n", x,error); + ret = 1; + } + } +} +#else +void testlog2(void) +{ + opus_val32 x; + for (x=8;x<1073741824;x+=(x>>3)) + { + float error = fabs((1.442695040888963387*log(x/16384.0))-celt_log2(x)/1024.0); + if (error>0.003) + { + fprintf (stderr, "celt_log2 failed: x = %ld, error = %f\n", (long)x,error); + ret = 1; + } + } +} + +void testexp2(void) +{ + opus_val16 x; + for (x=-32768;x<15360;x++) + { + float error1 = fabs(x/1024.0-(1.442695040888963387*log(celt_exp2(x)/65536.0))); + float error2 = fabs(exp(0.6931471805599453094*x/1024.0)-celt_exp2(x)/65536.0); + if (error1>0.0002&&error2>0.00004) + { + fprintf (stderr, "celt_exp2 failed: x = "WORD", error1 = %f, error2 = %f\n", x,error1,error2); + ret = 1; + } + } +} + +void testexp2log2(void) +{ + opus_val32 x; + for (x=8;x<65536;x+=(x>>3)) + { + float error = fabs(x-0.25*celt_exp2(celt_log2(x)))/16384; + if (error>0.004) + { + fprintf (stderr, "celt_log2/celt_exp2 failed: fabs(x-(celt_exp2(celt_log2(x))))>0.001 (x = %ld, error = %f)\n", (long)x,error); + ret = 1; + } + } +} + +void testilog2(void) +{ + opus_val32 x; + for (x=1;x<=268435455;x+=127) + { + opus_val32 lg; + opus_val32 y; + + lg = celt_ilog2(x); + if (lg<0 || lg>=31) + { + printf("celt_ilog2 failed: 0<=celt_ilog2(x)<31 (x = %d, celt_ilog2(x) = %d)\n",x,lg); + ret = 1; + } + y = 1<<lg; + + if (x<y || (x>>1)>=y) + { + printf("celt_ilog2 failed: 2**celt_ilog2(x)<=x<2**(celt_ilog2(x)+1) (x = %d, 2**celt_ilog2(x) = %d)\n",x,y); + ret = 1; + } + } +} +#endif + +int main(void) +{ + testbitexactcos(); + testbitexactlog2tan(); + testdiv(); + testsqrt(); + testlog2(); + testexp2(); + testexp2log2(); +#ifdef FIXED_POINT + testilog2(); +#endif + return ret; +} diff --git a/thirdparty/opus/celt/tests/test_unit_mdct.c b/thirdparty/opus/celt/tests/test_unit_mdct.c new file mode 100644 index 0000000000..8dbb9caa2e --- /dev/null +++ b/thirdparty/opus/celt/tests/test_unit_mdct.c @@ -0,0 +1,230 @@ +/* Copyright (c) 2008-2011 Xiph.Org Foundation + Written by Jean-Marc Valin */ +/* + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + + - Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + - Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER + OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#define SKIP_CONFIG_H + +#ifndef CUSTOM_MODES +#define CUSTOM_MODES +#endif + +#include <stdio.h> + +#define CELT_C +#include "mdct.h" +#include "stack_alloc.h" + +#include "kiss_fft.c" +#include "mdct.c" +#include "mathops.c" +#include "entcode.c" + +#if defined(OPUS_X86_MAY_HAVE_SSE2) || defined(OPUS_X86_MAY_HAVE_SSE4_1) +# include "x86/x86cpu.c" +#elif defined(OPUS_ARM_ASM) || defined(OPUS_ARM_MAY_HAVE_NEON_INTR) +# include "arm/armcpu.c" +# include "pitch.c" +# include "celt_lpc.c" +# if defined(OPUS_ARM_MAY_HAVE_NEON_INTR) +# include "arm/celt_neon_intr.c" +# if defined(HAVE_ARM_NE10) +# include "arm/celt_ne10_fft.c" +# include "arm/celt_ne10_mdct.c" +# endif +# endif +# include "arm/arm_celt_map.c" +#endif + +#ifndef M_PI +#define M_PI 3.141592653 +#endif + +int ret = 0; +void check(kiss_fft_scalar * in,kiss_fft_scalar * out,int nfft,int isinverse) +{ + int bin,k; + double errpow=0,sigpow=0; + double snr; + for (bin=0;bin<nfft/2;++bin) { + double ansr = 0; + double difr; + + for (k=0;k<nfft;++k) { + double phase = 2*M_PI*(k+.5+.25*nfft)*(bin+.5)/nfft; + double re = cos(phase); + + re /= nfft/4; + + ansr += in[k] * re; + } + /*printf ("%f %f\n", ansr, out[bin]);*/ + difr = ansr - out[bin]; + errpow += difr*difr; + sigpow += ansr*ansr; + } + snr = 10*log10(sigpow/errpow); + printf("nfft=%d inverse=%d,snr = %f\n",nfft,isinverse,snr ); + if (snr<60) { + printf( "** poor snr: %f **\n", snr); + ret = 1; + } +} + +void check_inv(kiss_fft_scalar * in,kiss_fft_scalar * out,int nfft,int isinverse) +{ + int bin,k; + double errpow=0,sigpow=0; + double snr; + for (bin=0;bin<nfft;++bin) { + double ansr = 0; + double difr; + + for (k=0;k<nfft/2;++k) { + double phase = 2*M_PI*(bin+.5+.25*nfft)*(k+.5)/nfft; + double re = cos(phase); + + /*re *= 2;*/ + + ansr += in[k] * re; + } + /*printf ("%f %f\n", ansr, out[bin]);*/ + difr = ansr - out[bin]; + errpow += difr*difr; + sigpow += ansr*ansr; + } + snr = 10*log10(sigpow/errpow); + printf("nfft=%d inverse=%d,snr = %f\n",nfft,isinverse,snr ); + if (snr<60) { + printf( "** poor snr: %f **\n", snr); + ret = 1; + } +} + + +void test1d(int nfft,int isinverse,int arch) +{ + mdct_lookup cfg; + size_t buflen = sizeof(kiss_fft_scalar)*nfft; + + kiss_fft_scalar * in = (kiss_fft_scalar*)malloc(buflen); + kiss_fft_scalar * in_copy = (kiss_fft_scalar*)malloc(buflen); + kiss_fft_scalar * out= (kiss_fft_scalar*)malloc(buflen); + opus_val16 * window= (opus_val16*)malloc(sizeof(opus_val16)*nfft/2); + int k; + + clt_mdct_init(&cfg, nfft, 0, arch); + for (k=0;k<nfft;++k) { + in[k] = (rand() % 32768) - 16384; + } + + for (k=0;k<nfft/2;++k) { + window[k] = Q15ONE; + } + for (k=0;k<nfft;++k) { + in[k] *= 32768; + } + + if (isinverse) + { + for (k=0;k<nfft;++k) { + in[k] /= nfft; + } + } + + for (k=0;k<nfft;++k) + in_copy[k] = in[k]; + /*for (k=0;k<nfft;++k) printf("%d %d ", in[k].r, in[k].i);printf("\n");*/ + + if (isinverse) + { + for (k=0;k<nfft;++k) + out[k] = 0; + clt_mdct_backward(&cfg,in,out, window, nfft/2, 0, 1, arch); + /* apply TDAC because clt_mdct_backward() no longer does that */ + for (k=0;k<nfft/4;++k) + out[nfft-k-1] = out[nfft/2+k]; + check_inv(in,out,nfft,isinverse); + } else { + clt_mdct_forward(&cfg,in,out,window, nfft/2, 0, 1, arch); + check(in_copy,out,nfft,isinverse); + } + /*for (k=0;k<nfft;++k) printf("%d %d ", out[k].r, out[k].i);printf("\n");*/ + + + free(in); + free(in_copy); + free(out); + free(window); + clt_mdct_clear(&cfg, arch); +} + +int main(int argc,char ** argv) +{ + ALLOC_STACK; + int arch = opus_select_arch(); + + if (argc>1) { + int k; + for (k=1;k<argc;++k) { + test1d(atoi(argv[k]),0,arch); + test1d(atoi(argv[k]),1,arch); + } + }else{ + test1d(32,0,arch); + test1d(32,1,arch); + test1d(256,0,arch); + test1d(256,1,arch); + test1d(512,0,arch); + test1d(512,1,arch); + test1d(1024,0,arch); + test1d(1024,1,arch); + test1d(2048,0,arch); + test1d(2048,1,arch); +#ifndef RADIX_TWO_ONLY + test1d(36,0,arch); + test1d(36,1,arch); + test1d(40,0,arch); + test1d(40,1,arch); + test1d(60,0,arch); + test1d(60,1,arch); + test1d(120,0,arch); + test1d(120,1,arch); + test1d(240,0,arch); + test1d(240,1,arch); + test1d(480,0,arch); + test1d(480,1,arch); + test1d(960,0,arch); + test1d(960,1,arch); + test1d(1920,0,arch); + test1d(1920,1,arch); +#endif + } + return ret; +} diff --git a/thirdparty/opus/celt/tests/test_unit_rotation.c b/thirdparty/opus/celt/tests/test_unit_rotation.c new file mode 100644 index 0000000000..1080c2085d --- /dev/null +++ b/thirdparty/opus/celt/tests/test_unit_rotation.c @@ -0,0 +1,120 @@ +/* Copyright (c) 2008-2011 Xiph.Org Foundation + Written by Jean-Marc Valin */ +/* + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + + - Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + - Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER + OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#ifndef CUSTOM_MODES +#define CUSTOM_MODES +#endif + +#define CELT_C + +#include <stdio.h> +#include <stdlib.h> +#include "vq.c" +#include "cwrs.c" +#include "entcode.c" +#include "entenc.c" +#include "entdec.c" +#include "mathops.c" +#include "bands.h" +#include "pitch.c" +#include "celt_lpc.c" +#include "celt.c" +#include <math.h> + +#if defined(OPUS_X86_MAY_HAVE_SSE) || defined(OPUS_X86_MAY_HAVE_SSE2) || defined(OPUS_X86_MAY_HAVE_SSE4_1) +# if defined(OPUS_X86_MAY_HAVE_SSE) +# include "x86/pitch_sse.c" +# endif +# if defined(OPUS_X86_MAY_HAVE_SSE2) +# include "x86/pitch_sse2.c" +# endif +# if defined(OPUS_X86_MAY_HAVE_SSE4_1) +# include "x86/pitch_sse4_1.c" +# include "x86/celt_lpc_sse.c" +# endif +# include "x86/x86_celt_map.c" +#elif defined(OPUS_ARM_ASM) || defined(OPUS_ARM_MAY_HAVE_NEON_INTR) +# include "arm/armcpu.c" +# if defined(OPUS_ARM_MAY_HAVE_NEON_INTR) +# include "arm/celt_neon_intr.c" +# if defined(HAVE_ARM_NE10) +# include "kiss_fft.c" +# include "mdct.c" +# include "arm/celt_ne10_fft.c" +# include "arm/celt_ne10_mdct.c" +# endif +# endif +# include "arm/arm_celt_map.c" +#endif + +#define MAX_SIZE 100 + +int ret=0; +void test_rotation(int N, int K) +{ + int i; + double err = 0, ener = 0, snr, snr0; + opus_val16 x0[MAX_SIZE]; + opus_val16 x1[MAX_SIZE]; + for (i=0;i<N;i++) + x1[i] = x0[i] = rand()%32767-16384; + exp_rotation(x1, N, 1, 1, K, SPREAD_NORMAL); + for (i=0;i<N;i++) + { + err += (x0[i]-(double)x1[i])*(x0[i]-(double)x1[i]); + ener += x0[i]*(double)x0[i]; + } + snr0 = 20*log10(ener/err); + err = ener = 0; + exp_rotation(x1, N, -1, 1, K, SPREAD_NORMAL); + for (i=0;i<N;i++) + { + err += (x0[i]-(double)x1[i])*(x0[i]-(double)x1[i]); + ener += x0[i]*(double)x0[i]; + } + snr = 20*log10(ener/err); + printf ("SNR for size %d (%d pulses) is %f (was %f without inverse)\n", N, K, snr, snr0); + if (snr < 60 || snr0 > 20) + { + fprintf(stderr, "FAIL!\n"); + ret = 1; + } +} + +int main(void) +{ + ALLOC_STACK; + test_rotation(15, 3); + test_rotation(23, 5); + test_rotation(50, 3); + test_rotation(80, 1); + return ret; +} diff --git a/thirdparty/opus/celt/arm/armopts.s b/thirdparty/opus/celt/tests/test_unit_types.c index fb9196072a..67a0fb8ed3 100644 --- a/thirdparty/opus/celt/arm/armopts.s +++ b/thirdparty/opus/celt/tests/test_unit_types.c @@ -1,4 +1,5 @@ -/* Copyright (C) 2013 Mozilla Corporation */ +/* Copyright (c) 2008-2011 Xiph.Org Foundation + Written by Jean-Marc Valin */ /* Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions @@ -24,14 +25,26 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -; Set the following to 1 if we have EDSP instructions -; (LDRD/STRD, etc., ARMv5E and later). -OPUS_ARM_MAY_HAVE_EDSP * +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif -; Set the following to 1 if we have ARMv6 media instructions. -OPUS_ARM_MAY_HAVE_MEDIA * +#include "opus_types.h" +#include <stdio.h> -; Set the following to 1 if we have NEON (some ARMv7) -OPUS_ARM_MAY_HAVE_NEON * - -END +int main(void) +{ + opus_int16 i = 1; + i <<= 14; + if (i>>14 != 1) + { + fprintf(stderr, "opus_int16 isn't 16 bits\n"); + return 1; + } + if (sizeof(opus_int16)*2 != sizeof(opus_int32)) + { + fprintf(stderr, "16*2 != 32\n"); + return 1; + } + return 0; +} diff --git a/thirdparty/opus/celt/vq.c b/thirdparty/opus/celt/vq.c index 8011e22548..d29f38fd8e 100644 --- a/thirdparty/opus/celt/vq.c +++ b/thirdparty/opus/celt/vq.c @@ -39,10 +39,6 @@ #include "rate.h" #include "pitch.h" -#if defined(MIPSr1_ASM) -#include "mips/vq_mipsr1.h" -#endif - #ifndef OVERRIDE_vq_exp_rotation1 static void exp_rotation1(celt_norm *X, int len, int stride, opus_val16 c, opus_val16 s) { @@ -71,7 +67,7 @@ static void exp_rotation1(celt_norm *X, int len, int stride, opus_val16 c, opus_ } #endif /* OVERRIDE_vq_exp_rotation1 */ -void exp_rotation(celt_norm *X, int len, int dir, int stride, int K, int spread) +static void exp_rotation(celt_norm *X, int len, int dir, int stride, int K, int spread) { static const int SPREAD_FACTOR[3]={15,10,5}; int i; @@ -162,27 +158,42 @@ static unsigned extract_collapse_mask(int *iy, int N, int B) return collapse_mask; } -opus_val16 op_pvq_search_c(celt_norm *X, int *iy, int K, int N, int arch) +unsigned alg_quant(celt_norm *X, int N, int K, int spread, int B, ec_enc *enc +#ifdef RESYNTH + , opus_val16 gain +#endif + ) { VARDECL(celt_norm, y); - VARDECL(int, signx); + VARDECL(int, iy); + VARDECL(opus_val16, signx); int i, j; + opus_val16 s; int pulsesLeft; opus_val32 sum; opus_val32 xy; opus_val16 yy; + unsigned collapse_mask; SAVE_STACK; - (void)arch; + celt_assert2(K>0, "alg_quant() needs at least one pulse"); + celt_assert2(N>1, "alg_quant() needs at least two dimensions"); + ALLOC(y, N, celt_norm); - ALLOC(signx, N, int); + ALLOC(iy, N, int); + ALLOC(signx, N, opus_val16); + + exp_rotation(X, N, 1, B, K, spread); /* Get rid of the sign */ sum = 0; j=0; do { - signx[j] = X[j]<0; - /* OPT: Make sure the compiler doesn't use a branch on ABS16(). */ - X[j] = ABS16(X[j]); + if (X[j]>0) + signx[j]=1; + else { + signx[j]=-1; + X[j]=-X[j]; + } iy[j] = 0; y[j] = 0; } while (++j<N); @@ -214,12 +225,7 @@ opus_val16 op_pvq_search_c(celt_norm *X, int *iy, int K, int N, int arch) while (++j<N); sum = QCONST16(1.f,14); } -#ifdef FIXED_POINT - rcp = EXTRACT16(MULT16_32_Q16(K, celt_rcp(sum))); -#else - /* Using K+e with e < 1 guarantees we cannot get more than K pulses. */ - rcp = EXTRACT16(MULT16_32_Q16(K+0.8f, celt_rcp(sum))); -#endif + rcp = EXTRACT16(MULT16_32_Q16(K-1, celt_rcp(sum))); j=0; do { #ifdef FIXED_POINT /* It's really important to round *towards zero* here */ @@ -234,12 +240,12 @@ opus_val16 op_pvq_search_c(celt_norm *X, int *iy, int K, int N, int arch) pulsesLeft -= iy[j]; } while (++j<N); } - celt_sig_assert(pulsesLeft>=0); + celt_assert2(pulsesLeft>=1, "Allocated too many pulses in the quick pass"); /* This should never happen, but just in case it does (e.g. on silence) we fill the first bin with pulses. */ #ifdef FIXED_POINT_DEBUG - celt_sig_assert(pulsesLeft<=N+3); + celt_assert2(pulsesLeft<=N+3, "Not enough pulses in the quick pass"); #endif if (pulsesLeft > N+3) { @@ -250,12 +256,12 @@ opus_val16 op_pvq_search_c(celt_norm *X, int *iy, int K, int N, int arch) pulsesLeft=0; } + s = 1; for (i=0;i<pulsesLeft;i++) { - opus_val16 Rxy, Ryy; int best_id; - opus_val32 best_num; - opus_val16 best_den; + opus_val32 best_num = -VERY_LARGE16; + opus_val16 best_den = 0; #ifdef FIXED_POINT int rshift; #endif @@ -266,22 +272,9 @@ opus_val16 op_pvq_search_c(celt_norm *X, int *iy, int K, int N, int arch) /* The squared magnitude term gets added anyway, so we might as well add it outside the loop */ yy = ADD16(yy, 1); - - /* Calculations for position 0 are out of the loop, in part to reduce - mispredicted branches (since the if condition is usually false) - in the loop. */ - /* Temporary sums of the new pulse(s) */ - Rxy = EXTRACT16(SHR32(ADD32(xy, EXTEND32(X[0])),rshift)); - /* We're multiplying y[j] by two so we don't have to do it here */ - Ryy = ADD16(yy, y[0]); - - /* Approximate score: we maximise Rxy/sqrt(Ryy) (we're guaranteed that - Rxy is positive because the sign is pre-computed) */ - Rxy = MULT16_16_Q15(Rxy,Rxy); - best_den = Ryy; - best_num = Rxy; - j=1; + j=0; do { + opus_val16 Rxy, Ryy; /* Temporary sums of the new pulse(s) */ Rxy = EXTRACT16(SHR32(ADD32(xy, EXTEND32(X[j])),rshift)); /* We're multiplying y[j] by two so we don't have to do it here */ @@ -292,11 +285,8 @@ opus_val16 op_pvq_search_c(celt_norm *X, int *iy, int K, int N, int arch) Rxy = MULT16_16_Q15(Rxy,Rxy); /* The idea is to check for num/den >= best_num/best_den, but that way we can do it without any division */ - /* OPT: It's not clear whether a cmov is faster than a branch here - since the condition is more often false than true and using - a cmov introduces data dependencies across iterations. The optimal - choice may be architecture-dependent. */ - if (opus_unlikely(MULT16_16(best_den, Rxy) > MULT16_16(Ryy, best_num))) + /* OPT: Make sure to use conditional moves here */ + if (MULT16_16(best_den, Rxy) > MULT16_16(Ryy, best_num)) { best_den = Ryy; best_num = Rxy; @@ -311,47 +301,23 @@ opus_val16 op_pvq_search_c(celt_norm *X, int *iy, int K, int N, int arch) /* Only now that we've made the final choice, update y/iy */ /* Multiplying y[j] by 2 so we don't have to do it everywhere else */ - y[best_id] += 2; + y[best_id] += 2*s; iy[best_id]++; } /* Put the original sign back */ j=0; do { - /*iy[j] = signx[j] ? -iy[j] : iy[j];*/ - /* OPT: The is more likely to be compiled without a branch than the code above - but has the same performance otherwise. */ - iy[j] = (iy[j]^-signx[j]) + signx[j]; + X[j] = MULT16_16(signx[j],X[j]); + if (signx[j] < 0) + iy[j] = -iy[j]; } while (++j<N); - RESTORE_STACK; - return yy; -} - -unsigned alg_quant(celt_norm *X, int N, int K, int spread, int B, ec_enc *enc, - opus_val16 gain, int resynth, int arch) -{ - VARDECL(int, iy); - opus_val16 yy; - unsigned collapse_mask; - SAVE_STACK; - - celt_assert2(K>0, "alg_quant() needs at least one pulse"); - celt_assert2(N>1, "alg_quant() needs at least two dimensions"); - - /* Covers vectorization by up to 4. */ - ALLOC(iy, N+3, int); - - exp_rotation(X, N, 1, B, K, spread); - - yy = op_pvq_search(X, iy, K, N, arch); - encode_pulses(iy, N, K, enc); - if (resynth) - { - normalise_residual(iy, X, N, yy, gain); - exp_rotation(X, N, -1, B, K, spread); - } +#ifdef RESYNTH + normalise_residual(iy, X, N, yy, gain); + exp_rotation(X, N, -1, B, K, spread); +#endif collapse_mask = extract_collapse_mask(iy, N, B); RESTORE_STACK; @@ -435,7 +401,7 @@ int stereo_itheta(const celt_norm *X, const celt_norm *Y, int stereo, int N, int /* 0.63662 = 2/pi */ itheta = MULT16_16_Q15(QCONST16(0.63662f,15),celt_atan2p(side, mid)); #else - itheta = (int)floor(.5f+16384*0.63662f*fast_atan2f(side,mid)); + itheta = (int)floor(.5f+16384*0.63662f*atan2(side,mid)); #endif return itheta; diff --git a/thirdparty/opus/celt/vq.h b/thirdparty/opus/celt/vq.h index 45ec55918e..5cfcbe50ea 100644 --- a/thirdparty/opus/celt/vq.h +++ b/thirdparty/opus/celt/vq.h @@ -37,18 +37,10 @@ #include "entdec.h" #include "modes.h" -#if (defined(OPUS_X86_MAY_HAVE_SSE2) && !defined(FIXED_POINT)) -#include "x86/vq_sse.h" +#if defined(MIPSr1_ASM) +#include "mips/vq_mipsr1.h" #endif -void exp_rotation(celt_norm *X, int len, int dir, int stride, int K, int spread); - -opus_val16 op_pvq_search_c(celt_norm *X, int *iy, int K, int N, int arch); - -#if !defined(OVERRIDE_OP_PVQ_SEARCH) -#define op_pvq_search(x, iy, K, N, arch) \ - (op_pvq_search_c(x, iy, K, N, arch)) -#endif /** Algebraic pulse-vector quantiser. The signal x is replaced by the sum of * the pitch and a combination of pulses such that its norm is still equal @@ -59,8 +51,12 @@ opus_val16 op_pvq_search_c(celt_norm *X, int *iy, int K, int N, int arch); * @param enc Entropy encoder state * @ret A mask indicating which blocks in the band received pulses */ -unsigned alg_quant(celt_norm *X, int N, int K, int spread, int B, ec_enc *enc, - opus_val16 gain, int resynth, int arch); +unsigned alg_quant(celt_norm *X, int N, int K, int spread, int B, + ec_enc *enc +#ifdef RESYNTH + , opus_val16 gain +#endif + ); /** Algebraic pulse decoder * @param X Decoded normalised spectrum (returned) diff --git a/thirdparty/opus/celt/x86/celt_lpc_sse4_1.c b/thirdparty/opus/celt/x86/celt_lpc_sse.c index 5478568849..67e5592acf 100644 --- a/thirdparty/opus/celt/x86/celt_lpc_sse4_1.c +++ b/thirdparty/opus/celt/x86/celt_lpc_sse.c @@ -40,23 +40,65 @@ #if defined(FIXED_POINT) -void celt_fir_sse4_1(const opus_val16 *x, +void celt_fir_sse4_1(const opus_val16 *_x, const opus_val16 *num, - opus_val16 *y, + opus_val16 *_y, int N, int ord, + opus_val16 *mem, int arch) { int i,j; VARDECL(opus_val16, rnum); + VARDECL(opus_val16, x); __m128i vecNoA; opus_int32 noA ; SAVE_STACK; ALLOC(rnum, ord, opus_val16); + ALLOC(x, N+ord, opus_val16); for(i=0;i<ord;i++) rnum[i] = num[ord-i-1]; + for(i=0;i<ord;i++) + x[i] = mem[ord-i-1]; + + for (i=0;i<N-7;i+=8) + { + x[i+ord ]=_x[i ]; + x[i+ord+1]=_x[i+1]; + x[i+ord+2]=_x[i+2]; + x[i+ord+3]=_x[i+3]; + x[i+ord+4]=_x[i+4]; + x[i+ord+5]=_x[i+5]; + x[i+ord+6]=_x[i+6]; + x[i+ord+7]=_x[i+7]; + } + + for (;i<N-3;i+=4) + { + x[i+ord ]=_x[i ]; + x[i+ord+1]=_x[i+1]; + x[i+ord+2]=_x[i+2]; + x[i+ord+3]=_x[i+3]; + } + + for (;i<N;i++) + x[i+ord]=_x[i]; + + for(i=0;i<ord;i++) + mem[i] = _x[N-i-1]; +#ifdef SMALL_FOOTPRINT + for (i=0;i<N;i++) + { + opus_val32 sum = SHL32(EXTEND32(_x[i]), SIG_SHIFT); + for (j=0;j<ord;j++) + { + sum = MAC16_16(sum,rnum[j],x[i+j]); + } + _y[i] = SATURATE16(PSHR32(sum, SIG_SHIFT)); + } +#else noA = EXTEND32(1) << SIG_SHIFT >> 1; vecNoA = _mm_set_epi32(noA, noA, noA, noA); @@ -65,24 +107,25 @@ void celt_fir_sse4_1(const opus_val16 *x, opus_val32 sums[4] = {0}; __m128i vecSum, vecX; - xcorr_kernel(rnum, x+i-ord, sums, ord, arch); + xcorr_kernel(rnum, x+i, sums, ord, arch); vecSum = _mm_loadu_si128((__m128i *)sums); vecSum = _mm_add_epi32(vecSum, vecNoA); vecSum = _mm_srai_epi32(vecSum, SIG_SHIFT); - vecX = OP_CVTEPI16_EPI32_M64(x + i); + vecX = OP_CVTEPI16_EPI32_M64(_x + i); vecSum = _mm_add_epi32(vecSum, vecX); vecSum = _mm_packs_epi32(vecSum, vecSum); - _mm_storel_epi64((__m128i *)(y + i), vecSum); + _mm_storel_epi64((__m128i *)(_y + i), vecSum); } for (;i<N;i++) { opus_val32 sum = 0; for (j=0;j<ord;j++) - sum = MAC16_16(sum, rnum[j], x[i+j-ord]); - y[i] = SATURATE16(ADD32(EXTEND32(x[i]), PSHR32(sum, SIG_SHIFT))); + sum = MAC16_16(sum, rnum[j], x[i + j]); + _y[i] = SATURATE16(ADD32(EXTEND32(_x[i]), PSHR32(sum, SIG_SHIFT))); } +#endif RESTORE_STACK; } diff --git a/thirdparty/opus/celt/x86/celt_lpc_sse.h b/thirdparty/opus/celt/x86/celt_lpc_sse.h index 7d1ecf7533..c5ec796ed5 100644 --- a/thirdparty/opus/celt/x86/celt_lpc_sse.h +++ b/thirdparty/opus/celt/x86/celt_lpc_sse.h @@ -41,11 +41,12 @@ void celt_fir_sse4_1( opus_val16 *y, int N, int ord, + opus_val16 *mem, int arch); #if defined(OPUS_X86_PRESUME_SSE4_1) -#define celt_fir(x, num, y, N, ord, arch) \ - ((void)arch, celt_fir_sse4_1(x, num, y, N, ord, arch)) +#define celt_fir(x, num, y, N, ord, mem, arch) \ + ((void)arch, celt_fir_sse4_1(x, num, y, N, ord, mem, arch)) #else @@ -55,10 +56,11 @@ extern void (*const CELT_FIR_IMPL[OPUS_ARCHMASK + 1])( opus_val16 *y, int N, int ord, + opus_val16 *mem, int arch); -# define celt_fir(x, num, y, N, ord, arch) \ - ((*CELT_FIR_IMPL[(arch) & OPUS_ARCHMASK])(x, num, y, N, ord, arch)) +# define celt_fir(x, num, y, N, ord, mem, arch) \ + ((*CELT_FIR_IMPL[(arch) & OPUS_ARCHMASK])(x, num, y, N, ord, mem, arch)) #endif #endif diff --git a/thirdparty/opus/celt/x86/vq_sse.h b/thirdparty/opus/celt/x86/vq_sse.h deleted file mode 100644 index b4efe8f249..0000000000 --- a/thirdparty/opus/celt/x86/vq_sse.h +++ /dev/null @@ -1,50 +0,0 @@ -/* Copyright (c) 2016 Jean-Marc Valin */ -/* - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - - Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - - Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER - OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, - EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR - PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF - LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -#ifndef VQ_SSE_H -#define VQ_SSE_H - -#if defined(OPUS_X86_MAY_HAVE_SSE2) && !defined(FIXED_POINT) -#define OVERRIDE_OP_PVQ_SEARCH - -opus_val16 op_pvq_search_sse2(celt_norm *_X, int *iy, int K, int N, int arch); - -#if defined(OPUS_X86_PRESUME_SSE2) -#define op_pvq_search(x, iy, K, N, arch) \ - (op_pvq_search_sse2(x, iy, K, N, arch)) - -#else - -extern opus_val16 (*const OP_PVQ_SEARCH_IMPL[OPUS_ARCHMASK + 1])( - celt_norm *_X, int *iy, int K, int N, int arch); - -# define op_pvq_search(X, iy, K, N, arch) \ - ((*OP_PVQ_SEARCH_IMPL[(arch) & OPUS_ARCHMASK])(X, iy, K, N, arch)) - -#endif -#endif - -#endif diff --git a/thirdparty/opus/celt/x86/vq_sse2.c b/thirdparty/opus/celt/x86/vq_sse2.c deleted file mode 100644 index 775042860d..0000000000 --- a/thirdparty/opus/celt/x86/vq_sse2.c +++ /dev/null @@ -1,217 +0,0 @@ -/* Copyright (c) 2007-2008 CSIRO - Copyright (c) 2007-2009 Xiph.Org Foundation - Copyright (c) 2007-2016 Jean-Marc Valin */ -/* - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - - Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - - Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER - OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, - EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR - PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF - LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -#ifdef HAVE_CONFIG_H -#include "config.h" -#endif - -#include <xmmintrin.h> -#include <emmintrin.h> -#include "celt_lpc.h" -#include "stack_alloc.h" -#include "mathops.h" -#include "vq.h" -#include "x86cpu.h" - - -#ifndef FIXED_POINT - -opus_val16 op_pvq_search_sse2(celt_norm *_X, int *iy, int K, int N, int arch) -{ - int i, j; - int pulsesLeft; - float xy, yy; - VARDECL(celt_norm, y); - VARDECL(celt_norm, X); - VARDECL(float, signy); - __m128 signmask; - __m128 sums; - __m128i fours; - SAVE_STACK; - - (void)arch; - /* All bits set to zero, except for the sign bit. */ - signmask = _mm_set_ps1(-0.f); - fours = _mm_set_epi32(4, 4, 4, 4); - ALLOC(y, N+3, celt_norm); - ALLOC(X, N+3, celt_norm); - ALLOC(signy, N+3, float); - - OPUS_COPY(X, _X, N); - X[N] = X[N+1] = X[N+2] = 0; - sums = _mm_setzero_ps(); - for (j=0;j<N;j+=4) - { - __m128 x4, s4; - x4 = _mm_loadu_ps(&X[j]); - s4 = _mm_cmplt_ps(x4, _mm_setzero_ps()); - /* Get rid of the sign */ - x4 = _mm_andnot_ps(signmask, x4); - sums = _mm_add_ps(sums, x4); - /* Clear y and iy in case we don't do the projection. */ - _mm_storeu_ps(&y[j], _mm_setzero_ps()); - _mm_storeu_si128((__m128i*)&iy[j], _mm_setzero_si128()); - _mm_storeu_ps(&X[j], x4); - _mm_storeu_ps(&signy[j], s4); - } - sums = _mm_add_ps(sums, _mm_shuffle_ps(sums, sums, _MM_SHUFFLE(1, 0, 3, 2))); - sums = _mm_add_ps(sums, _mm_shuffle_ps(sums, sums, _MM_SHUFFLE(2, 3, 0, 1))); - - xy = yy = 0; - - pulsesLeft = K; - - /* Do a pre-search by projecting on the pyramid */ - if (K > (N>>1)) - { - __m128i pulses_sum; - __m128 yy4, xy4; - __m128 rcp4; - opus_val32 sum = _mm_cvtss_f32(sums); - /* If X is too small, just replace it with a pulse at 0 */ - /* Prevents infinities and NaNs from causing too many pulses - to be allocated. 64 is an approximation of infinity here. */ - if (!(sum > EPSILON && sum < 64)) - { - X[0] = QCONST16(1.f,14); - j=1; do - X[j]=0; - while (++j<N); - sums = _mm_set_ps1(1.f); - } - /* Using K+e with e < 1 guarantees we cannot get more than K pulses. */ - rcp4 = _mm_mul_ps(_mm_set_ps1((float)(K+.8)), _mm_rcp_ps(sums)); - xy4 = yy4 = _mm_setzero_ps(); - pulses_sum = _mm_setzero_si128(); - for (j=0;j<N;j+=4) - { - __m128 rx4, x4, y4; - __m128i iy4; - x4 = _mm_loadu_ps(&X[j]); - rx4 = _mm_mul_ps(x4, rcp4); - iy4 = _mm_cvttps_epi32(rx4); - pulses_sum = _mm_add_epi32(pulses_sum, iy4); - _mm_storeu_si128((__m128i*)&iy[j], iy4); - y4 = _mm_cvtepi32_ps(iy4); - xy4 = _mm_add_ps(xy4, _mm_mul_ps(x4, y4)); - yy4 = _mm_add_ps(yy4, _mm_mul_ps(y4, y4)); - /* double the y[] vector so we don't have to do it in the search loop. */ - _mm_storeu_ps(&y[j], _mm_add_ps(y4, y4)); - } - pulses_sum = _mm_add_epi32(pulses_sum, _mm_shuffle_epi32(pulses_sum, _MM_SHUFFLE(1, 0, 3, 2))); - pulses_sum = _mm_add_epi32(pulses_sum, _mm_shuffle_epi32(pulses_sum, _MM_SHUFFLE(2, 3, 0, 1))); - pulsesLeft -= _mm_cvtsi128_si32(pulses_sum); - xy4 = _mm_add_ps(xy4, _mm_shuffle_ps(xy4, xy4, _MM_SHUFFLE(1, 0, 3, 2))); - xy4 = _mm_add_ps(xy4, _mm_shuffle_ps(xy4, xy4, _MM_SHUFFLE(2, 3, 0, 1))); - xy = _mm_cvtss_f32(xy4); - yy4 = _mm_add_ps(yy4, _mm_shuffle_ps(yy4, yy4, _MM_SHUFFLE(1, 0, 3, 2))); - yy4 = _mm_add_ps(yy4, _mm_shuffle_ps(yy4, yy4, _MM_SHUFFLE(2, 3, 0, 1))); - yy = _mm_cvtss_f32(yy4); - } - X[N] = X[N+1] = X[N+2] = -100; - y[N] = y[N+1] = y[N+2] = 100; - celt_sig_assert(pulsesLeft>=0); - - /* This should never happen, but just in case it does (e.g. on silence) - we fill the first bin with pulses. */ - if (pulsesLeft > N+3) - { - opus_val16 tmp = (opus_val16)pulsesLeft; - yy = MAC16_16(yy, tmp, tmp); - yy = MAC16_16(yy, tmp, y[0]); - iy[0] += pulsesLeft; - pulsesLeft=0; - } - - for (i=0;i<pulsesLeft;i++) - { - int best_id; - __m128 xy4, yy4; - __m128 max, max2; - __m128i count; - __m128i pos; - /* The squared magnitude term gets added anyway, so we might as well - add it outside the loop */ - yy = ADD16(yy, 1); - xy4 = _mm_load1_ps(&xy); - yy4 = _mm_load1_ps(&yy); - max = _mm_setzero_ps(); - pos = _mm_setzero_si128(); - count = _mm_set_epi32(3, 2, 1, 0); - for (j=0;j<N;j+=4) - { - __m128 x4, y4, r4; - x4 = _mm_loadu_ps(&X[j]); - y4 = _mm_loadu_ps(&y[j]); - x4 = _mm_add_ps(x4, xy4); - y4 = _mm_add_ps(y4, yy4); - y4 = _mm_rsqrt_ps(y4); - r4 = _mm_mul_ps(x4, y4); - /* Update the index of the max. */ - pos = _mm_max_epi16(pos, _mm_and_si128(count, _mm_castps_si128(_mm_cmpgt_ps(r4, max)))); - /* Update the max. */ - max = _mm_max_ps(max, r4); - /* Update the indices (+4) */ - count = _mm_add_epi32(count, fours); - } - /* Horizontal max */ - max2 = _mm_max_ps(max, _mm_shuffle_ps(max, max, _MM_SHUFFLE(1, 0, 3, 2))); - max2 = _mm_max_ps(max2, _mm_shuffle_ps(max2, max2, _MM_SHUFFLE(2, 3, 0, 1))); - /* Now that max2 contains the max at all positions, look at which value(s) of the - partial max is equal to the global max. */ - pos = _mm_and_si128(pos, _mm_castps_si128(_mm_cmpeq_ps(max, max2))); - pos = _mm_max_epi16(pos, _mm_unpackhi_epi64(pos, pos)); - pos = _mm_max_epi16(pos, _mm_shufflelo_epi16(pos, _MM_SHUFFLE(1, 0, 3, 2))); - best_id = _mm_cvtsi128_si32(pos); - - /* Updating the sums of the new pulse(s) */ - xy = ADD32(xy, EXTEND32(X[best_id])); - /* We're multiplying y[j] by two so we don't have to do it here */ - yy = ADD16(yy, y[best_id]); - - /* Only now that we've made the final choice, update y/iy */ - /* Multiplying y[j] by 2 so we don't have to do it everywhere else */ - y[best_id] += 2; - iy[best_id]++; - } - - /* Put the original sign back */ - for (j=0;j<N;j+=4) - { - __m128i y4; - __m128i s4; - y4 = _mm_loadu_si128((__m128i*)&iy[j]); - s4 = _mm_castps_si128(_mm_loadu_ps(&signy[j])); - y4 = _mm_xor_si128(_mm_add_epi32(y4, s4), s4); - _mm_storeu_si128((__m128i*)&iy[j], y4); - } - RESTORE_STACK; - return yy; -} - -#endif diff --git a/thirdparty/opus/celt/x86/x86_celt_map.c b/thirdparty/opus/celt/x86/x86_celt_map.c index d39d88edec..47ba41b9ee 100644 --- a/thirdparty/opus/celt/x86/x86_celt_map.c +++ b/thirdparty/opus/celt/x86/x86_celt_map.c @@ -33,7 +33,6 @@ #include "celt_lpc.h" #include "pitch.h" #include "pitch_sse.h" -#include "vq.h" #if defined(OPUS_HAVE_RTCD) @@ -47,6 +46,7 @@ void (*const CELT_FIR_IMPL[OPUS_ARCHMASK + 1])( opus_val16 *y, int N, int ord, + opus_val16 *mem, int arch ) = { celt_fir_c, /* non-sse */ @@ -151,17 +151,5 @@ void (*const COMB_FILTER_CONST_IMPL[OPUS_ARCHMASK + 1])( #endif -#if defined(OPUS_X86_MAY_HAVE_SSE2) && !defined(OPUS_X86_PRESUME_SSE2) -opus_val16 (*const OP_PVQ_SEARCH_IMPL[OPUS_ARCHMASK + 1])( - celt_norm *_X, int *iy, int K, int N, int arch -) = { - op_pvq_search_c, /* non-sse */ - op_pvq_search_c, - MAY_HAVE_SSE2(op_pvq_search), - MAY_HAVE_SSE2(op_pvq_search), - MAY_HAVE_SSE2(op_pvq_search) -}; -#endif - #endif #endif diff --git a/thirdparty/opus/celt/x86/x86cpu.h b/thirdparty/opus/celt/x86/x86cpu.h index 1e2bf17b9b..04fd48aac4 100644 --- a/thirdparty/opus/celt/x86/x86cpu.h +++ b/thirdparty/opus/celt/x86/x86cpu.h @@ -82,9 +82,7 @@ int opus_select_arch(void); (_mm_cvtepi8_epi32(*(__m128i *)(x))) #endif -/* similar reasoning about the instruction sequence as in the 32-bit macro above, - */ -# if defined(__clang__) || !defined(__OPTIMIZE__) +# if !defined(__OPTIMIZE__) # define OP_CVTEPI16_EPI32_M64(x) \ (_mm_cvtepi16_epi32(_mm_loadl_epi64((__m128i *)(x)))) # else diff --git a/thirdparty/opus/config.h b/thirdparty/opus/config.h index 3ed0874d4b..7b9c92c6a8 100644 --- a/thirdparty/opus/config.h +++ b/thirdparty/opus/config.h @@ -1,44 +1,5 @@ -/* config.h. Generated from config.h.in by configure. */ -/* config.h.in. Generated from configure.ac by autoheader. */ - -/* Get CPU Info by asm method */ -#define CPU_INFO_BY_ASM 1 - -/* Get CPU Info by c method */ -/* #undef CPU_INFO_BY_C */ - -/* Custom modes */ -/* #undef CUSTOM_MODES */ - -/* Do not build the float API */ -/* #undef DISABLE_FLOAT_API */ - -/* Disable bitstream fixes from RFC 8251 */ -/* #undef DISABLE_UPDATE_DRAFT */ - -/* Assertions */ -/* #undef ENABLE_ASSERTIONS */ - -/* Hardening */ -#define ENABLE_HARDENING 1 - -/* Debug fixed-point implementation */ -/* #undef FIXED_DEBUG */ - -/* Compile as fixed-point (for machines without a fast enough FPU) */ -/* #undef FIXED_POINT */ - -/* Float approximations */ -/* #undef FLOAT_APPROX */ - -/* Fuzzing */ -/* #undef FUZZING */ - -/* Define to 1 if you have the <alloca.h> header file. */ -/* #undef HAVE_ALLOCA_H */ - -/* NE10 library is installed on host. Make sure it is on target! */ -/* #undef HAVE_ARM_NE10 */ +/* Opus configuration header */ +/* Based on the output of libopus configure script */ /* Define to 1 if you have the <dlfcn.h> header file. */ #define HAVE_DLFCN_H 1 @@ -46,12 +7,16 @@ /* Define to 1 if you have the <inttypes.h> header file. */ #define HAVE_INTTYPES_H 1 +#if (!defined( _MSC_VER ) || ( _MSC_VER >= 1800 )) + /* Define to 1 if you have the `lrint' function. */ #define HAVE_LRINT 1 /* Define to 1 if you have the `lrintf' function. */ #define HAVE_LRINTF 1 +#endif + /* Define to 1 if you have the <memory.h> header file. */ #define HAVE_MEMORY_H 1 @@ -76,10 +41,8 @@ /* Define to 1 if you have the <unistd.h> header file. */ #define HAVE_UNISTD_H 1 -/* Define to 1 if you have the `__malloc_hook' function. */ -#define HAVE___MALLOC_HOOK 1 - -/* Define to the sub-directory where libtool stores uninstalled libraries. */ +/* Define to the sub-directory in which libtool stores uninstalled libraries. + */ #define LT_OBJDIR ".libs/" #ifdef OPUS_ARM_OPT @@ -129,80 +92,9 @@ #endif // OPUS_ARM64_OPT -/* Define if binary requires Aarch64 Neon Intrinsics */ -/* #undef OPUS_ARM_PRESUME_AARCH64_NEON_INTR */ - -/* Define if binary requires EDSP instruction support */ -/* #undef OPUS_ARM_PRESUME_EDSP */ - -/* Define if binary requires ARMv6 media instruction support */ -/* #undef OPUS_ARM_PRESUME_MEDIA */ - -/* Define if binary requires NEON instruction support */ -/* #undef OPUS_ARM_PRESUME_NEON */ - -/* Define if binary requires NEON intrinsics support */ -/* #undef OPUS_ARM_PRESUME_NEON_INTR */ - /* This is a build of OPUS */ #define OPUS_BUILD /**/ -/* Run bit-exactness checks between optimized and c implementations */ -/* #undef OPUS_CHECK_ASM */ - -#ifndef OPUS_ARM_OPT -/* Use run-time CPU capabilities detection */ -#define OPUS_HAVE_RTCD 1 -#endif - -/* Compiler supports X86 AVX Intrinsics */ -/* #define OPUS_X86_MAY_HAVE_AVX */ - -/* Compiler supports X86 SSE Intrinsics */ -/* #define OPUS_X86_MAY_HAVE_SSE */ - -/* Compiler supports X86 SSE2 Intrinsics */ -/* #define OPUS_X86_MAY_HAVE_SSE2 */ - -/* Compiler supports X86 SSE4.1 Intrinsics */ -/* #define OPUS_X86_MAY_HAVE_SSE4_1 */ - -/* Define if binary requires AVX intrinsics support */ -/* #undef OPUS_X86_PRESUME_AVX */ - -/* Define if binary requires SSE intrinsics support */ -#define OPUS_X86_PRESUME_SSE 1 - -/* Define if binary requires SSE2 intrinsics support */ -#define OPUS_X86_PRESUME_SSE2 1 - -/* Define if binary requires SSE4.1 intrinsics support */ -#define OPUS_X86_PRESUME_SSE4_1 1 - -/* Define to the address where bug reports for this package should be sent. */ -#define PACKAGE_BUGREPORT "opus@xiph.org" - -/* Define to the full name of this package. */ -#define PACKAGE_NAME "opus" - -/* Define to the full name and version of this package. */ -#define PACKAGE_STRING "opus 1.3.1" - -/* Define to the one symbol short name of this package. */ -#define PACKAGE_TARNAME "opus" - -/* Define to the home page for this package. */ -#define PACKAGE_URL "" - -/* Define to the version of this package. */ -#define PACKAGE_VERSION "1.3.1" - -/* Define to 1 if you have the ANSI C header files. */ -#define STDC_HEADERS 1 - -/* Make use of alloca */ -/* #undef USE_ALLOCA */ - #ifndef WIN32 /* Use C99 variable-size arrays */ #define VAR_ARRAYS 1 @@ -211,13 +103,11 @@ #define USE_ALLOCA 1 #endif -/* Define to empty if `const' does not conform to ANSI C. */ -/* #undef const */ - #ifndef OPUS_FIXED_POINT #define FLOAT_APPROX 1 #endif + /* Define to `__inline__' or `__inline' if that's what the C compiler calls it, or to nothing if 'inline' is not supported under any name. */ #ifndef __cplusplus @@ -227,7 +117,11 @@ /* Define to the equivalent of the C99 'restrict' keyword, or to nothing if this is not supported. Do not define if restrict is supported directly. */ +#if (!defined( _MSC_VER ) || ( _MSC_VER >= 1800 )) #define restrict __restrict +#else +#undef restrict +#endif /* Work around a bug in Sun C++: it does not support _Restrict or __restrict__, even though the corresponding Sun C compiler ends up with "#define restrict _Restrict" or "#define restrict __restrict__" in the diff --git a/thirdparty/opus/info.c b/thirdparty/opus/info.c index 3a1a5bf75b..c36f9a9ee1 100644 --- a/thirdparty/opus/info.c +++ b/thirdparty/opus/info.c @@ -107,32 +107,26 @@ static int op_tags_ensure_capacity(OpusTags *_tags,size_t _ncomments){ char **user_comments; int *comment_lengths; int cur_ncomments; + char *binary_suffix_data; + int binary_suffix_len; size_t size; if(OP_UNLIKELY(_ncomments>=(size_t)INT_MAX))return OP_EFAULT; size=sizeof(*_tags->comment_lengths)*(_ncomments+1); if(size/sizeof(*_tags->comment_lengths)!=_ncomments+1)return OP_EFAULT; cur_ncomments=_tags->comments; - /*We only support growing. - Trimming requires cleaning up the allocated strings in the old space, and - is best handled separately if it's ever needed.*/ - OP_ASSERT(_ncomments>=(size_t)cur_ncomments); + comment_lengths=_tags->comment_lengths; + binary_suffix_len=comment_lengths==NULL?0:comment_lengths[cur_ncomments]; comment_lengths=(int *)_ogg_realloc(_tags->comment_lengths,size); if(OP_UNLIKELY(comment_lengths==NULL))return OP_EFAULT; - if(_tags->comment_lengths==NULL){ - OP_ASSERT(cur_ncomments==0); - comment_lengths[cur_ncomments]=0; - } - comment_lengths[_ncomments]=comment_lengths[cur_ncomments]; + comment_lengths[_ncomments]=binary_suffix_len; _tags->comment_lengths=comment_lengths; size=sizeof(*_tags->user_comments)*(_ncomments+1); if(size/sizeof(*_tags->user_comments)!=_ncomments+1)return OP_EFAULT; + user_comments=_tags->user_comments; + binary_suffix_data=user_comments==NULL?NULL:user_comments[cur_ncomments]; user_comments=(char **)_ogg_realloc(_tags->user_comments,size); if(OP_UNLIKELY(user_comments==NULL))return OP_EFAULT; - if(_tags->user_comments==NULL){ - OP_ASSERT(cur_ncomments==0); - user_comments[cur_ncomments]=NULL; - } - user_comments[_ncomments]=user_comments[cur_ncomments]; + user_comments[_ncomments]=binary_suffix_data; _tags->user_comments=user_comments; return 0; } @@ -281,30 +275,28 @@ int opus_tags_copy(OpusTags *_dst,const OpusTags *_src){ ret=opus_tags_copy_impl(&dst,_src); if(OP_UNLIKELY(ret<0))opus_tags_clear(&dst); else *_dst=*&dst; - return ret; + return 0; } int opus_tags_add(OpusTags *_tags,const char *_tag,const char *_value){ - char *comment; - size_t tag_len; - size_t value_len; - int ncomments; - int ret; + char *comment; + int tag_len; + int value_len; + int ncomments; + int ret; ncomments=_tags->comments; ret=op_tags_ensure_capacity(_tags,ncomments+1); if(OP_UNLIKELY(ret<0))return ret; tag_len=strlen(_tag); value_len=strlen(_value); /*+2 for '=' and '\0'.*/ - if(tag_len+value_len<tag_len)return OP_EFAULT; - if(tag_len+value_len>(size_t)INT_MAX-2)return OP_EFAULT; comment=(char *)_ogg_malloc(sizeof(*comment)*(tag_len+value_len+2)); if(OP_UNLIKELY(comment==NULL))return OP_EFAULT; memcpy(comment,_tag,sizeof(*comment)*tag_len); comment[tag_len]='='; memcpy(comment+tag_len+1,_value,sizeof(*comment)*(value_len+1)); _tags->user_comments[ncomments]=comment; - _tags->comment_lengths[ncomments]=(int)(tag_len+value_len+1); + _tags->comment_lengths[ncomments]=tag_len+value_len+1; _tags->comments=ncomments+1; return 0; } @@ -345,10 +337,7 @@ int opus_tags_set_binary_suffix(OpusTags *_tags, } int opus_tagcompare(const char *_tag_name,const char *_comment){ - size_t tag_len; - tag_len=strlen(_tag_name); - if(OP_UNLIKELY(tag_len>(size_t)INT_MAX))return -1; - return opus_tagncompare(_tag_name,(int)tag_len,_comment); + return opus_tagncompare(_tag_name,strlen(_tag_name),_comment); } int opus_tagncompare(const char *_tag_name,int _tag_len,const char *_comment){ @@ -359,18 +348,17 @@ int opus_tagncompare(const char *_tag_name,int _tag_len,const char *_comment){ } const char *opus_tags_query(const OpusTags *_tags,const char *_tag,int _count){ - char **user_comments; - size_t tag_len; - int found; - int ncomments; - int ci; + char **user_comments; + int tag_len; + int found; + int ncomments; + int ci; tag_len=strlen(_tag); - if(OP_UNLIKELY(tag_len>(size_t)INT_MAX))return NULL; ncomments=_tags->comments; user_comments=_tags->user_comments; found=0; for(ci=0;ci<ncomments;ci++){ - if(!opus_tagncompare(_tag,(int)tag_len,user_comments[ci])){ + if(!opus_tagncompare(_tag,tag_len,user_comments[ci])){ /*We return a pointer to the data, not a copy.*/ if(_count==found++)return user_comments[ci]+tag_len+1; } @@ -380,18 +368,17 @@ const char *opus_tags_query(const OpusTags *_tags,const char *_tag,int _count){ } int opus_tags_query_count(const OpusTags *_tags,const char *_tag){ - char **user_comments; - size_t tag_len; - int found; - int ncomments; - int ci; + char **user_comments; + int tag_len; + int found; + int ncomments; + int ci; tag_len=strlen(_tag); - if(OP_UNLIKELY(tag_len>(size_t)INT_MAX))return 0; ncomments=_tags->comments; user_comments=_tags->user_comments; found=0; for(ci=0;ci<ncomments;ci++){ - if(!opus_tagncompare(_tag,(int)tag_len,user_comments[ci]))found++; + if(!opus_tagncompare(_tag,tag_len,user_comments[ci]))found++; } return found; } @@ -416,8 +403,7 @@ static int opus_tags_get_gain(const OpusTags *_tags,int *_gain_q8, ncomments=_tags->comments; /*Look for the first valid tag with the name _tag_name and use that.*/ for(ci=0;ci<ncomments;ci++){ - OP_ASSERT(_tag_len<=(size_t)INT_MAX); - if(opus_tagncompare(_tag_name,(int)_tag_len,comments[ci])==0){ + if(opus_tagncompare(_tag_name,_tag_len,comments[ci])==0){ char *p; opus_int32 gain_q8; int negative; @@ -453,7 +439,8 @@ int opus_tags_get_track_gain(const OpusTags *_tags,int *_gain_q8){ } static int op_is_jpeg(const unsigned char *_buf,size_t _buf_sz){ - return _buf_sz>=3&&memcmp(_buf,"\xFF\xD8\xFF",3)==0; + return _buf_sz>=11&&memcmp(_buf,"\xFF\xD8\xFF\xE0",4)==0 + &&(_buf[4]<<8|_buf[5])>=16&&memcmp(_buf+6,"JFIF",5)==0; } /*Tries to extract the width, height, bits per pixel, and palette size of a diff --git a/thirdparty/opus/internal.h b/thirdparty/opus/internal.h index 9ac17e028f..ee48ea34c9 100644 --- a/thirdparty/opus/internal.h +++ b/thirdparty/opus/internal.h @@ -136,9 +136,6 @@ struct OggOpusLink{ that end-trimming calculations work properly. This is only valid for seekable sources.*/ opus_int64 end_offset; - /*The total duration of all prior links. - This is always zero for non-seekable sources.*/ - ogg_int64_t pcm_file_offset; /*The granule position of the last sample. This is only valid for seekable sources.*/ ogg_int64_t pcm_end; @@ -153,25 +150,23 @@ struct OggOpusLink{ }; struct OggOpusFile{ - /*The callbacks used to access the stream.*/ + /*The callbacks used to access the data source.*/ OpusFileCallbacks callbacks; - /*A FILE *, memory buffer, etc.*/ - void *stream; - /*Whether or not we can seek with this stream.*/ + /*A FILE *, memory bufer, etc.*/ + void *source; + /*Whether or not we can seek with this data source.*/ int seekable; /*The number of links in this chained Ogg Opus file.*/ int nlinks; /*The cached information from each link in a chained Ogg Opus file. - If stream isn't seekable (e.g., it's a pipe), only the current link + If source isn't seekable (e.g., it's a pipe), only the current link appears.*/ OggOpusLink *links; /*The number of serial numbers from a single link.*/ int nserialnos; /*The capacity of the list of serial numbers from a single link.*/ int cserialnos; - /*Storage for the list of serial numbers from a single link. - This is a scratch buffer used when scanning the BOS pages at the start of - each link.*/ + /*Storage for the list of serial numbers from a single link.*/ ogg_uint32_t *serialnos; /*This is the current offset of the data processed by the ogg_sync_state. After a seek, this should be set to the target offset so that we can track @@ -179,9 +174,9 @@ struct OggOpusFile{ After a call to op_get_next_page(), this will point to the first byte after that page.*/ opus_int64 offset; - /*The total size of this stream, or -1 if it's unseekable.*/ + /*The total size of this data source, or -1 if it's unseekable.*/ opus_int64 end; - /*Used to locate pages in the stream.*/ + /*Used to locate pages in the data source.*/ ogg_sync_state oy; /*One of OP_NOTOPEN, OP_PARTOPEN, OP_OPENED, OP_STREAMSET, OP_INITSET.*/ int ready_state; @@ -232,7 +227,7 @@ struct OggOpusFile{ /*The number of valid samples in the decoded buffer.*/ int od_buffer_size; /*The type of gain offset to apply. - One of OP_HEADER_GAIN, OP_ALBUM_GAIN, OP_TRACK_GAIN, or OP_ABSOLUTE_GAIN.*/ + One of OP_HEADER_GAIN, OP_TRACK_GAIN, or OP_ABSOLUTE_GAIN.*/ int gain_type; /*The offset to apply to the gain.*/ opus_int32 gain_offset_q8; diff --git a/thirdparty/opus/mapping_matrix.c b/thirdparty/opus/mapping_matrix.c deleted file mode 100644 index 31298af057..0000000000 --- a/thirdparty/opus/mapping_matrix.c +++ /dev/null @@ -1,378 +0,0 @@ -/* Copyright (c) 2017 Google Inc. - Written by Andrew Allen */ -/* - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - - Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - - Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER - OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, - EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR - PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF - LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -#ifdef HAVE_CONFIG_H -#include "config.h" -#endif - -#include "arch.h" -#include "float_cast.h" -#include "opus_private.h" -#include "opus_defines.h" -#include "mapping_matrix.h" - -#define MATRIX_INDEX(nb_rows, row, col) (nb_rows * col + row) - -opus_int32 mapping_matrix_get_size(int rows, int cols) -{ - opus_int32 size; - - /* Mapping Matrix must only support up to 255 channels in or out. - * Additionally, the total cell count must be <= 65004 octets in order - * for the matrix to be stored in an OGG header. - */ - if (rows > 255 || cols > 255) - return 0; - size = rows * (opus_int32)cols * sizeof(opus_int16); - if (size > 65004) - return 0; - - return align(sizeof(MappingMatrix)) + align(size); -} - -opus_int16 *mapping_matrix_get_data(const MappingMatrix *matrix) -{ - /* void* cast avoids clang -Wcast-align warning */ - return (opus_int16*)(void*)((char*)matrix + align(sizeof(MappingMatrix))); -} - -void mapping_matrix_init(MappingMatrix * const matrix, - int rows, int cols, int gain, const opus_int16 *data, opus_int32 data_size) -{ - int i; - opus_int16 *ptr; - -#if !defined(ENABLE_ASSERTIONS) - (void)data_size; -#endif - celt_assert(align(data_size) == align(rows * cols * sizeof(opus_int16))); - - matrix->rows = rows; - matrix->cols = cols; - matrix->gain = gain; - ptr = mapping_matrix_get_data(matrix); - for (i = 0; i < rows * cols; i++) - { - ptr[i] = data[i]; - } -} - -#ifndef DISABLE_FLOAT_API -void mapping_matrix_multiply_channel_in_float( - const MappingMatrix *matrix, - const float *input, - int input_rows, - opus_val16 *output, - int output_row, - int output_rows, - int frame_size) -{ - /* Matrix data is ordered col-wise. */ - opus_int16* matrix_data; - int i, col; - - celt_assert(input_rows <= matrix->cols && output_rows <= matrix->rows); - - matrix_data = mapping_matrix_get_data(matrix); - - for (i = 0; i < frame_size; i++) - { - float tmp = 0; - for (col = 0; col < input_rows; col++) - { - tmp += - matrix_data[MATRIX_INDEX(matrix->rows, output_row, col)] * - input[MATRIX_INDEX(input_rows, col, i)]; - } -#if defined(FIXED_POINT) - output[output_rows * i] = FLOAT2INT16((1/32768.f)*tmp); -#else - output[output_rows * i] = (1/32768.f)*tmp; -#endif - } -} - -void mapping_matrix_multiply_channel_out_float( - const MappingMatrix *matrix, - const opus_val16 *input, - int input_row, - int input_rows, - float *output, - int output_rows, - int frame_size -) -{ - /* Matrix data is ordered col-wise. */ - opus_int16* matrix_data; - int i, row; - float input_sample; - - celt_assert(input_rows <= matrix->cols && output_rows <= matrix->rows); - - matrix_data = mapping_matrix_get_data(matrix); - - for (i = 0; i < frame_size; i++) - { -#if defined(FIXED_POINT) - input_sample = (1/32768.f)*input[input_rows * i]; -#else - input_sample = input[input_rows * i]; -#endif - for (row = 0; row < output_rows; row++) - { - float tmp = - (1/32768.f)*matrix_data[MATRIX_INDEX(matrix->rows, row, input_row)] * - input_sample; - output[MATRIX_INDEX(output_rows, row, i)] += tmp; - } - } -} -#endif /* DISABLE_FLOAT_API */ - -void mapping_matrix_multiply_channel_in_short( - const MappingMatrix *matrix, - const opus_int16 *input, - int input_rows, - opus_val16 *output, - int output_row, - int output_rows, - int frame_size) -{ - /* Matrix data is ordered col-wise. */ - opus_int16* matrix_data; - int i, col; - - celt_assert(input_rows <= matrix->cols && output_rows <= matrix->rows); - - matrix_data = mapping_matrix_get_data(matrix); - - for (i = 0; i < frame_size; i++) - { - opus_val32 tmp = 0; - for (col = 0; col < input_rows; col++) - { -#if defined(FIXED_POINT) - tmp += - ((opus_int32)matrix_data[MATRIX_INDEX(matrix->rows, output_row, col)] * - (opus_int32)input[MATRIX_INDEX(input_rows, col, i)]) >> 8; -#else - tmp += - matrix_data[MATRIX_INDEX(matrix->rows, output_row, col)] * - input[MATRIX_INDEX(input_rows, col, i)]; -#endif - } -#if defined(FIXED_POINT) - output[output_rows * i] = (opus_int16)((tmp + 64) >> 7); -#else - output[output_rows * i] = (1/(32768.f*32768.f))*tmp; -#endif - } -} - -void mapping_matrix_multiply_channel_out_short( - const MappingMatrix *matrix, - const opus_val16 *input, - int input_row, - int input_rows, - opus_int16 *output, - int output_rows, - int frame_size) -{ - /* Matrix data is ordered col-wise. */ - opus_int16* matrix_data; - int i, row; - opus_int32 input_sample; - - celt_assert(input_rows <= matrix->cols && output_rows <= matrix->rows); - - matrix_data = mapping_matrix_get_data(matrix); - - for (i = 0; i < frame_size; i++) - { -#if defined(FIXED_POINT) - input_sample = (opus_int32)input[input_rows * i]; -#else - input_sample = (opus_int32)FLOAT2INT16(input[input_rows * i]); -#endif - for (row = 0; row < output_rows; row++) - { - opus_int32 tmp = - (opus_int32)matrix_data[MATRIX_INDEX(matrix->rows, row, input_row)] * - input_sample; - output[MATRIX_INDEX(output_rows, row, i)] += (tmp + 16384) >> 15; - } - } -} - -const MappingMatrix mapping_matrix_foa_mixing = { 6, 6, 0 }; -const opus_int16 mapping_matrix_foa_mixing_data[36] = { - 16384, 0, -16384, 23170, 0, 0, 16384, 23170, - 16384, 0, 0, 0, 16384, 0, -16384, -23170, - 0, 0, 16384, -23170, 16384, 0, 0, 0, - 0, 0, 0, 0, 32767, 0, 0, 0, - 0, 0, 0, 32767 -}; - -const MappingMatrix mapping_matrix_soa_mixing = { 11, 11, 0 }; -const opus_int16 mapping_matrix_soa_mixing_data[121] = { - 10923, 7723, 13377, -13377, 11585, 9459, 7723, -16384, - -6689, 0, 0, 10923, 7723, 13377, 13377, -11585, - 9459, 7723, 16384, -6689, 0, 0, 10923, -15447, - 13377, 0, 0, -18919, 7723, 0, 13377, 0, - 0, 10923, 7723, -13377, -13377, 11585, -9459, 7723, - 16384, -6689, 0, 0, 10923, -7723, 0, 13377, - -16384, 0, -15447, 0, 9459, 0, 0, 10923, - -7723, 0, -13377, 16384, 0, -15447, 0, 9459, - 0, 0, 10923, 15447, 0, 0, 0, 0, - -15447, 0, -18919, 0, 0, 10923, 7723, -13377, - 13377, -11585, -9459, 7723, -16384, -6689, 0, 0, - 10923, -15447, -13377, 0, 0, 18919, 7723, 0, - 13377, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 32767, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 32767 -}; - -const MappingMatrix mapping_matrix_toa_mixing = { 18, 18, 0 }; -const opus_int16 mapping_matrix_toa_mixing_data[324] = { - 8208, 0, -881, 14369, 0, 0, -8192, -4163, - 13218, 0, 0, 0, 11095, -8836, -6218, 14833, - 0, 0, 8208, -10161, 881, 10161, -13218, -2944, - -8192, 2944, 0, -10488, -6218, 6248, -11095, -6248, - 0, -10488, 0, 0, 8208, 10161, 881, -10161, - -13218, 2944, -8192, -2944, 0, 10488, -6218, -6248, - -11095, 6248, 0, 10488, 0, 0, 8176, 5566, - -11552, 5566, 9681, -11205, 8192, -11205, 0, 4920, - -15158, 9756, -3334, 9756, 0, -4920, 0, 0, - 8176, 7871, 11552, 0, 0, 15846, 8192, 0, - -9681, -6958, 0, 13797, 3334, 0, -15158, 0, - 0, 0, 8176, 0, 11552, 7871, 0, 0, - 8192, 15846, 9681, 0, 0, 0, 3334, 13797, - 15158, 6958, 0, 0, 8176, 5566, -11552, -5566, - -9681, -11205, 8192, 11205, 0, 4920, 15158, 9756, - -3334, -9756, 0, 4920, 0, 0, 8208, 14369, - -881, 0, 0, -4163, -8192, 0, -13218, -14833, - 0, -8836, 11095, 0, 6218, 0, 0, 0, - 8208, 10161, 881, 10161, 13218, 2944, -8192, 2944, - 0, 10488, 6218, -6248, -11095, -6248, 0, -10488, - 0, 0, 8208, -14369, -881, 0, 0, 4163, - -8192, 0, -13218, 14833, 0, 8836, 11095, 0, - 6218, 0, 0, 0, 8208, 0, -881, -14369, - 0, 0, -8192, 4163, 13218, 0, 0, 0, - 11095, 8836, -6218, -14833, 0, 0, 8176, -5566, - -11552, 5566, -9681, 11205, 8192, -11205, 0, -4920, - 15158, -9756, -3334, 9756, 0, -4920, 0, 0, - 8176, 0, 11552, -7871, 0, 0, 8192, -15846, - 9681, 0, 0, 0, 3334, -13797, 15158, -6958, - 0, 0, 8176, -7871, 11552, 0, 0, -15846, - 8192, 0, -9681, 6958, 0, -13797, 3334, 0, - -15158, 0, 0, 0, 8176, -5566, -11552, -5566, - 9681, 11205, 8192, 11205, 0, -4920, -15158, -9756, - -3334, -9756, 0, 4920, 0, 0, 8208, -10161, - 881, -10161, 13218, -2944, -8192, -2944, 0, -10488, - 6218, 6248, -11095, 6248, 0, 10488, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 32767, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 32767 -}; - -const MappingMatrix mapping_matrix_foa_demixing = { 6, 6, 0 }; -const opus_int16 mapping_matrix_foa_demixing_data[36] = { - 16384, 16384, 16384, 16384, 0, 0, 0, 23170, - 0, -23170, 0, 0, -16384, 16384, -16384, 16384, - 0, 0, 23170, 0, -23170, 0, 0, 0, - 0, 0, 0, 0, 32767, 0, 0, 0, - 0, 0, 0, 32767 -}; - -const MappingMatrix mapping_matrix_soa_demixing = { 11, 11, 3050 }; -const opus_int16 mapping_matrix_soa_demixing_data[121] = { - 2771, 2771, 2771, 2771, 2771, 2771, 2771, 2771, - 2771, 0, 0, 10033, 10033, -20066, 10033, 14189, - 14189, -28378, 10033, -20066, 0, 0, 3393, 3393, - 3393, -3393, 0, 0, 0, -3393, -3393, 0, - 0, -17378, 17378, 0, -17378, -24576, 24576, 0, - 17378, 0, 0, 0, -14189, 14189, 0, -14189, - -28378, 28378, 0, 14189, 0, 0, 0, 2399, - 2399, -4799, -2399, 0, 0, 0, -2399, 4799, - 0, 0, 1959, 1959, 1959, 1959, -3918, -3918, - -3918, 1959, 1959, 0, 0, -4156, 4156, 0, - 4156, 0, 0, 0, -4156, 0, 0, 0, - 8192, 8192, -16384, 8192, 16384, 16384, -32768, 8192, - -16384, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 8312, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 8312 -}; - -const MappingMatrix mapping_matrix_toa_demixing = { 18, 18, 0 }; -const opus_int16 mapping_matrix_toa_demixing_data[324] = { - 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, - 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, - 0, 0, 0, -9779, 9779, 6263, 8857, 0, - 6263, 13829, 9779, -13829, 0, -6263, 0, -8857, - -6263, -9779, 0, 0, -3413, 3413, 3413, -11359, - 11359, 11359, -11359, -3413, 3413, -3413, -3413, -11359, - 11359, 11359, -11359, 3413, 0, 0, 13829, 9779, - -9779, 6263, 0, 8857, -6263, 0, 9779, 0, - -13829, 6263, -8857, 0, -6263, -9779, 0, 0, - 0, -15617, -15617, 6406, 0, 0, -6406, 0, - 15617, 0, 0, -6406, 0, 0, 6406, 15617, - 0, 0, 0, -5003, 5003, -10664, 15081, 0, - -10664, -7075, 5003, 7075, 0, 10664, 0, -15081, - 10664, -5003, 0, 0, -8176, -8176, -8176, 8208, - 8208, 8208, 8208, -8176, -8176, -8176, -8176, 8208, - 8208, 8208, 8208, -8176, 0, 0, -7075, 5003, - -5003, -10664, 0, 15081, 10664, 0, 5003, 0, - 7075, -10664, -15081, 0, 10664, -5003, 0, 0, - 15617, 0, 0, 0, -6406, 6406, 0, -15617, - 0, -15617, 15617, 0, 6406, -6406, 0, 0, - 0, 0, 0, -11393, 11393, 2993, -4233, 0, - 2993, -16112, 11393, 16112, 0, -2993, 0, 4233, - -2993, -11393, 0, 0, 0, -9974, -9974, -13617, - 0, 0, 13617, 0, 9974, 0, 0, 13617, - 0, 0, -13617, 9974, 0, 0, 0, 5579, - -5579, 10185, 14403, 0, 10185, -7890, -5579, 7890, - 0, -10185, 0, -14403, -10185, 5579, 0, 0, - 11826, -11826, -11826, -901, 901, 901, -901, 11826, - -11826, 11826, 11826, -901, 901, 901, -901, -11826, - 0, 0, -7890, -5579, 5579, 10185, 0, 14403, - -10185, 0, -5579, 0, 7890, 10185, -14403, 0, - -10185, 5579, 0, 0, -9974, 0, 0, 0, - -13617, 13617, 0, 9974, 0, 9974, -9974, 0, - 13617, -13617, 0, 0, 0, 0, 16112, -11393, - 11393, -2993, 0, 4233, 2993, 0, -11393, 0, - -16112, -2993, -4233, 0, 2993, 11393, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 32767, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 32767 -}; - diff --git a/thirdparty/opus/mapping_matrix.h b/thirdparty/opus/mapping_matrix.h deleted file mode 100644 index 98bc82df3e..0000000000 --- a/thirdparty/opus/mapping_matrix.h +++ /dev/null @@ -1,133 +0,0 @@ -/* Copyright (c) 2017 Google Inc. - Written by Andrew Allen */ -/* - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - - Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - - Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER - OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, - EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR - PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF - LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -/** - * @file mapping_matrix.h - * @brief Opus reference implementation mapping matrix API - */ - -#ifndef MAPPING_MATRIX_H -#define MAPPING_MATRIX_H - -#include "opus_types.h" -#include "opus_projection.h" - -#ifdef __cplusplus -extern "C" { -#endif - -typedef struct MappingMatrix -{ - int rows; /* number of channels outputted from matrix. */ - int cols; /* number of channels inputted to matrix. */ - int gain; /* in dB. S7.8-format. */ - /* Matrix cell data goes here using col-wise ordering. */ -} MappingMatrix; - -opus_int32 mapping_matrix_get_size(int rows, int cols); - -opus_int16 *mapping_matrix_get_data(const MappingMatrix *matrix); - -void mapping_matrix_init( - MappingMatrix * const matrix, - int rows, - int cols, - int gain, - const opus_int16 *data, - opus_int32 data_size -); - -#ifndef DISABLE_FLOAT_API -void mapping_matrix_multiply_channel_in_float( - const MappingMatrix *matrix, - const float *input, - int input_rows, - opus_val16 *output, - int output_row, - int output_rows, - int frame_size -); - -void mapping_matrix_multiply_channel_out_float( - const MappingMatrix *matrix, - const opus_val16 *input, - int input_row, - int input_rows, - float *output, - int output_rows, - int frame_size -); -#endif /* DISABLE_FLOAT_API */ - -void mapping_matrix_multiply_channel_in_short( - const MappingMatrix *matrix, - const opus_int16 *input, - int input_rows, - opus_val16 *output, - int output_row, - int output_rows, - int frame_size -); - -void mapping_matrix_multiply_channel_out_short( - const MappingMatrix *matrix, - const opus_val16 *input, - int input_row, - int input_rows, - opus_int16 *output, - int output_rows, - int frame_size -); - -/* Pre-computed mixing and demixing matrices for 1st to 3rd-order ambisonics. - * foa: first-order ambisonics - * soa: second-order ambisonics - * toa: third-order ambisonics - */ -extern const MappingMatrix mapping_matrix_foa_mixing; -extern const opus_int16 mapping_matrix_foa_mixing_data[36]; - -extern const MappingMatrix mapping_matrix_soa_mixing; -extern const opus_int16 mapping_matrix_soa_mixing_data[121]; - -extern const MappingMatrix mapping_matrix_toa_mixing; -extern const opus_int16 mapping_matrix_toa_mixing_data[324]; - -extern const MappingMatrix mapping_matrix_foa_demixing; -extern const opus_int16 mapping_matrix_foa_demixing_data[36]; - -extern const MappingMatrix mapping_matrix_soa_demixing; -extern const opus_int16 mapping_matrix_soa_demixing_data[121]; - -extern const MappingMatrix mapping_matrix_toa_demixing; -extern const opus_int16 mapping_matrix_toa_demixing_data[324]; - -#ifdef __cplusplus -} -#endif - -#endif /* MAPPING_MATRIX_H */ diff --git a/thirdparty/opus/mlp.c b/thirdparty/opus/mlp.c index 964c6a98f6..ff9e50df47 100644 --- a/thirdparty/opus/mlp.c +++ b/thirdparty/opus/mlp.c @@ -1,5 +1,5 @@ /* Copyright (c) 2008-2011 Octasic Inc. - 2012-2017 Jean-Marc Valin */ + Written by Jean-Marc Valin */ /* Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions @@ -29,13 +29,42 @@ #include "config.h" #endif -#include <math.h> #include "opus_types.h" #include "opus_defines.h" + +#include <math.h> +#include "mlp.h" #include "arch.h" #include "tansig_table.h" -#include "mlp.h" +#define MAX_NEURONS 100 +#if 0 +static OPUS_INLINE opus_val16 tansig_approx(opus_val32 _x) /* Q19 */ +{ + int i; + opus_val16 xx; /* Q11 */ + /*double x, y;*/ + opus_val16 dy, yy; /* Q14 */ + /*x = 1.9073e-06*_x;*/ + if (_x>=QCONST32(8,19)) + return QCONST32(1.,14); + if (_x<=-QCONST32(8,19)) + return -QCONST32(1.,14); + xx = EXTRACT16(SHR32(_x, 8)); + /*i = lrint(25*x);*/ + i = SHR32(ADD32(1024,MULT16_16(25, xx)),11); + /*x -= .04*i;*/ + xx -= EXTRACT16(SHR32(MULT16_16(20972,i),8)); + /*x = xx*(1./2048);*/ + /*y = tansig_table[250+i];*/ + yy = tansig_table[250+i]; + /*y = yy*(1./16384);*/ + dy = 16384-MULT16_16_Q14(yy,yy); + yy = yy + MULT16_16_Q14(MULT16_16_Q11(xx,dy),(16384 - MULT16_16_Q11(yy,xx))); + return yy; +} +#else +/*extern const float tansig_table[501];*/ static OPUS_INLINE float tansig_approx(float x) { int i; @@ -63,82 +92,54 @@ static OPUS_INLINE float tansig_approx(float x) y = y + x*dy*(1 - y*x); return sign*y; } +#endif -static OPUS_INLINE float sigmoid_approx(float x) -{ - return .5f + .5f*tansig_approx(.5f*x); -} - -static void gemm_accum(float *out, const opus_int8 *weights, int rows, int cols, int col_stride, const float *x) -{ - int i, j; - for (i=0;i<rows;i++) - { - for (j=0;j<cols;j++) - out[i] += weights[j*col_stride + i]*x[j]; - } -} - -void compute_dense(const DenseLayer *layer, float *output, const float *input) +#if 0 +void mlp_process(const MLP *m, const opus_val16 *in, opus_val16 *out) { - int i; - int N, M; - int stride; - M = layer->nb_inputs; - N = layer->nb_neurons; - stride = N; - for (i=0;i<N;i++) - output[i] = layer->bias[i]; - gemm_accum(output, layer->input_weights, N, M, stride, input); - for (i=0;i<N;i++) - output[i] *= WEIGHTS_SCALE; - if (layer->sigmoid) { - for (i=0;i<N;i++) - output[i] = sigmoid_approx(output[i]); - } else { - for (i=0;i<N;i++) - output[i] = tansig_approx(output[i]); - } + int j; + opus_val16 hidden[MAX_NEURONS]; + const opus_val16 *W = m->weights; + /* Copy to tmp_in */ + for (j=0;j<m->topo[1];j++) + { + int k; + opus_val32 sum = SHL32(EXTEND32(*W++),8); + for (k=0;k<m->topo[0];k++) + sum = MAC16_16(sum, in[k],*W++); + hidden[j] = tansig_approx(sum); + } + for (j=0;j<m->topo[2];j++) + { + int k; + opus_val32 sum = SHL32(EXTEND32(*W++),14); + for (k=0;k<m->topo[1];k++) + sum = MAC16_16(sum, hidden[k], *W++); + out[j] = tansig_approx(EXTRACT16(PSHR32(sum,17))); + } } - -void compute_gru(const GRULayer *gru, float *state, const float *input) +#else +void mlp_process(const MLP *m, const float *in, float *out) { - int i; - int N, M; - int stride; - float tmp[MAX_NEURONS]; - float z[MAX_NEURONS]; - float r[MAX_NEURONS]; - float h[MAX_NEURONS]; - M = gru->nb_inputs; - N = gru->nb_neurons; - stride = 3*N; - /* Compute update gate. */ - for (i=0;i<N;i++) - z[i] = gru->bias[i]; - gemm_accum(z, gru->input_weights, N, M, stride, input); - gemm_accum(z, gru->recurrent_weights, N, N, stride, state); - for (i=0;i<N;i++) - z[i] = sigmoid_approx(WEIGHTS_SCALE*z[i]); - - /* Compute reset gate. */ - for (i=0;i<N;i++) - r[i] = gru->bias[N + i]; - gemm_accum(r, &gru->input_weights[N], N, M, stride, input); - gemm_accum(r, &gru->recurrent_weights[N], N, N, stride, state); - for (i=0;i<N;i++) - r[i] = sigmoid_approx(WEIGHTS_SCALE*r[i]); - - /* Compute output. */ - for (i=0;i<N;i++) - h[i] = gru->bias[2*N + i]; - for (i=0;i<N;i++) - tmp[i] = state[i] * r[i]; - gemm_accum(h, &gru->input_weights[2*N], N, M, stride, input); - gemm_accum(h, &gru->recurrent_weights[2*N], N, N, stride, tmp); - for (i=0;i<N;i++) - h[i] = z[i]*state[i] + (1-z[i])*tansig_approx(WEIGHTS_SCALE*h[i]); - for (i=0;i<N;i++) - state[i] = h[i]; + int j; + float hidden[MAX_NEURONS]; + const float *W = m->weights; + /* Copy to tmp_in */ + for (j=0;j<m->topo[1];j++) + { + int k; + float sum = *W++; + for (k=0;k<m->topo[0];k++) + sum = sum + in[k]**W++; + hidden[j] = tansig_approx(sum); + } + for (j=0;j<m->topo[2];j++) + { + int k; + float sum = *W++; + for (k=0;k<m->topo[1];k++) + sum = sum + hidden[k]**W++; + out[j] = tansig_approx(sum); + } } - +#endif diff --git a/thirdparty/opus/mlp.h b/thirdparty/opus/mlp.h index d7670550fd..618e246e2c 100644 --- a/thirdparty/opus/mlp.h +++ b/thirdparty/opus/mlp.h @@ -1,4 +1,5 @@ -/* Copyright (c) 2017 Jean-Marc Valin */ +/* Copyright (c) 2008-2011 Octasic Inc. + Written by Jean-Marc Valin */ /* Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions @@ -27,34 +28,16 @@ #ifndef _MLP_H_ #define _MLP_H_ -#include "opus_types.h" - -#define WEIGHTS_SCALE (1.f/128) - -#define MAX_NEURONS 32 +#include "arch.h" typedef struct { - const opus_int8 *bias; - const opus_int8 *input_weights; - int nb_inputs; - int nb_neurons; - int sigmoid; -} DenseLayer; - -typedef struct { - const opus_int8 *bias; - const opus_int8 *input_weights; - const opus_int8 *recurrent_weights; - int nb_inputs; - int nb_neurons; -} GRULayer; - -extern const DenseLayer layer0; -extern const GRULayer layer1; -extern const DenseLayer layer2; + int layers; + const int *topo; + const float *weights; +} MLP; -void compute_dense(const DenseLayer *layer, float *output, const float *input); +extern const MLP net; -void compute_gru(const GRULayer *gru, float *state, const float *input); +void mlp_process(const MLP *m, const float *in, float *out); #endif /* _MLP_H_ */ diff --git a/thirdparty/opus/mlp_data.c b/thirdparty/opus/mlp_data.c index ae4178df76..c2fda4e2e5 100644 --- a/thirdparty/opus/mlp_data.c +++ b/thirdparty/opus/mlp_data.c @@ -1,4 +1,5 @@ -/*This file is automatically generated from a Keras model*/ +/* The contents of this file was automatically generated by mlp_train.c + It contains multi-layer perceptron (MLP) weights. */ #ifdef HAVE_CONFIG_H #include "config.h" @@ -6,667 +7,103 @@ #include "mlp.h" -static const opus_int8 layer0_weights[800] = { - -30, -9, 2, -12, 5, -1, 8, 9, - 9, 8, -13, 18, -17, -34, -5, 17, - -11, 0, -4, 10, 2, 10, 15, -8, - 2, -1, 0, 5, 13, -3, -16, 1, - -5, 3, 7, -28, -13, 6, 36, -3, - 19, -60, -17, -28, 7, -11, -30, -7, - 2, -42, -21, -3, 6, -22, 33, -9, - 7, -30, 21, -14, 24, -11, -20, -18, - -5, -12, 12, -49, -50, -49, 16, 9, - -37, -1, 9, 34, -13, -31, -31, 12, - 16, 44, -42, 2, -9, 8, -18, -6, - 9, 36, 19, 11, 13, 12, -21, 3, - -28, -12, 3, 33, 25, -14, 11, 1, - -94, -39, 18, -12, -11, -15, -7, 49, - 52, 10, -43, 9, 57, 8, 21, -6, - 14, -15, 44, -8, 7, -30, -13, -2, - -9, 25, -2, -127, 18, -11, -52, 26, - -27, 27, 10, -10, 7, 43, 6, -24, - 41, 10, -18, -27, 10, 17, 9, 10, - -17, -10, 20, -6, 22, 55, 35, -80, - 36, 25, -24, -36, 15, 9, -19, 88, - 19, 64, -51, -35, 17, 0, -7, 41, - -16, 27, 4, 15, -1, 18, -16, 47, - -39, -54, -8, 13, -25, -20, 102, -18, - -5, 44, 11, -28, 71, 2, -51, -5, - 5, 2, -83, -9, -29, 8, 21, -53, - 58, -37, -7, 13, 38, 9, 34, -1, - -41, 21, 4, -24, -36, -33, -21, 32, - 75, -2, 1, -68, -1, 47, -29, 32, - 20, 12, -65, -87, 5, 16, -12, 24, - 40, 15, 7, 19, -26, -17, 17, 6, - -2, -37, -30, -9, 32, -127, -39, 0, - -31, -27, 4, -22, 23, -6, -77, 35, - -61, 32, -37, -24, 13, -11, -1, -40, - -3, 17, -7, 13, 11, 59, -19, 10, - 6, -18, 0, 13, 3, -6, -23, 19, - 11, -17, 13, -1, -80, 40, -53, 69, - -29, -54, 0, -4, 33, -25, -2, 38, - 35, 36, -15, 46, 2, -13, -16, -8, - -8, 12, -24, -9, -55, -5, -9, 32, - 11, 7, 12, -18, -10, -86, -38, 54, - 37, -25, 18, -43, 7, -27, -27, -54, - 13, 9, 22, 70, 6, 35, -7, 23, - -15, -44, -6, 7, -66, -85, 32, 40, - -19, -9, -7, 12, -15, 7, 2, 6, - -35, 11, 28, 0, 26, 14, 1, 1, - 4, 12, 18, 35, 22, -18, -3, 14, - -1, 7, 14, -8, -14, -3, 4, -3, - -19, -7, -1, -25, -27, 25, -26, -2, - 33, -22, -27, -25, 4, -9, 7, 21, - 26, -30, 10, -9, -20, 11, 27, 10, - 5, -18, 14, -4, 2, -17, -5, -7, - -9, -13, 15, 29, 1, -10, -16, -10, - 35, 36, -7, -22, -44, 17, 30, 22, - 21, -1, 22, -11, 32, -8, -7, 5, - -10, 5, 30, -20, 29, -20, -34, 12, - -4, -6, 6, -13, 10, -5, -68, -1, - 24, 9, 19, -24, -64, 31, 19, 27, - -26, 75, -45, 41, 39, -42, 8, 6, - 23, -30, 16, -25, 30, 34, 8, -38, - -3, 18, 16, -31, 22, -4, -9, 1, - 20, 9, 38, -32, 0, -45, 0, -6, - -13, 11, -25, -32, -22, 31, -24, -11, - -11, -4, -4, 20, -34, 22, 20, 9, - -25, 27, -5, 28, -29, 29, 6, 21, - -6, -18, 54, 4, -46, 23, 21, -14, - -31, 36, -41, -24, 4, 22, 10, 11, - 7, 36, -32, -13, -52, -17, 24, 28, - -37, -36, -1, 24, 9, -38, 35, 48, - 18, 2, -1, 45, 10, 39, 24, -38, - 13, 8, -16, 8, 25, 11, 7, -29, - -11, 7, 20, -30, -38, -45, 14, -18, - -28, -9, 65, 61, 22, -53, -38, -16, - 36, 46, 20, -39, 32, -61, -6, -6, - -36, -33, -18, -28, 56, 101, 45, 11, - -28, -23, -29, -61, 20, -47, 2, 48, - 27, -17, 1, 40, 1, 3, -51, 15, - 35, 28, 22, 35, 53, -61, -29, 12, - -6, -21, 10, 3, -20, 2, -25, 1, - -6, 31, 11, -3, 1, -10, -52, 6, - 126, -105, 122, 127, -128, 127, 127, -128, - 127, 108, 12, 127, 48, -128, -36, -128, - 127, 127, -128, -128, 127, 89, -128, 127, - -128, -128, -128, 127, 127, -128, -128, -93, - -82, 20, 125, 65, -82, 127, 38, -74, - 81, 88, -88, 79, 51, -47, -111, -26, - 14, 83, -88, -112, 24, 35, -101, 98, - -99, -48, -45, 46, 83, -60, -79, 45, - -20, -41, 9, 4, 52, 54, 93, -10, - 4, 13, 3, 123, 6, 94, -111, -69, - -14, -31, 10, 12, 53, -79, -11, -21, - -2, -44, -72, 92, 65, -57, 56, -38, - 127, -56, -128, 127, 127, -128, 86, 117, - -75, -128, 127, -19, -99, -112, 127, -128, - 127, -48, 114, 118, -128, -128, 117, -17, - -6, 121, -128, 127, -128, 82, 54, -106, - 127, 127, -33, 100, -39, -23, 18, -78, - -34, -29, -1, -30, 127, -26, 127, -128, - 126, -128, 27, -23, -79, -120, -127, 127, - 72, 66, 29, 7, -66, -56, -117, -128 -}; - -static const opus_int8 layer0_bias[32] = { - 51, -16, 1, 13, -5, -6, -16, -7, - 11, -6, 106, 26, 28, -14, 21, -29, - 7, 18, -18, -17, 21, -17, -9, 20, - -25, -3, -34, 48, 11, -13, -31, -20 -}; - -static const opus_int8 layer1_weights[2304] = { - 22, -1, -7, 7, 29, -27, -31, -17, - -13, 33, 44, -8, 11, 33, 24, 78, - 15, 19, 30, -2, -24, 5, 49, 5, - 36, 29, -14, -11, -48, -33, 21, -42, - -38, -12, 55, -37, 54, -8, 1, 36, - 17, 0, 51, 31, 59, 7, -12, 53, - 4, 32, -14, 48, 5, -10, -16, -8, - 1, -16, -56, -24, -6, 18, -2, 23, - 6, 46, -6, -10, 20, 35, -44, -15, - -49, 36, 16, 5, -7, -79, -67, 12, - 70, -3, -79, -54, -85, -24, 47, -22, - 33, 21, 69, -1, 11, 22, 14, -16, - -16, -22, -28, -11, 11, -41, 31, -26, - -33, -19, -4, 27, 32, -50, 5, -10, - -38, -22, -8, 35, -31, 1, -41, -15, - -11, 44, 28, -17, -41, -23, 17, 2, - -23, -26, -13, -13, -17, 6, 14, -31, - -25, 9, -19, 39, -8, 4, 31, -1, - -45, -11, -28, -92, -46, -15, 21, 118, - -22, 45, -51, 11, -20, -20, -15, 13, - -21, -97, -29, -32, -23, -42, 94, 1, - 23, -8, 63, -3, -46, 19, -26, 32, - -40, -74, -26, 26, -4, -13, 30, -20, - -30, -25, -14, -31, -45, -43, 4, -60, - -48, -12, -34, 2, 2, 3, 13, 15, - 11, 16, 5, 46, -9, -55, -16, -57, - 29, 14, 38, -50, -2, -44, -11, -8, - 52, -27, -38, -7, 20, 47, 17, -59, - 0, 47, 46, -63, 35, -17, 19, 33, - 68, -19, 2, 15, -16, 28, -16, -103, - 26, -35, 47, -39, -60, 30, 31, -23, - -52, -13, 116, 47, -25, 30, 40, 30, - -22, 2, 12, -27, -18, 31, -10, 27, - -8, -66, 12, 14, 4, -26, -28, -13, - 3, 13, -26, -51, 37, 5, 2, -21, - 47, 3, 13, 25, -41, -27, -8, -4, - 5, -76, -33, 28, 10, 9, -46, -74, - 19, 28, 25, 31, 54, -55, 68, 38, - -24, -32, 2, 4, 68, 11, -1, 99, - 5, 16, -2, -74, 40, 26, -26, 33, - 31, -1, -68, 14, -6, 25, 9, 29, - 60, 61, 7, -7, 0, -24, 7, 77, - 4, -1, 16, -7, 13, -15, -19, 28, - -31, -24, -16, 37, 24, 13, 30, 10, - -30, 11, 11, -10, 22, 60, 28, 45, - -3, -40, -62, -5, -102, 9, -32, -27, - -54, 21, 15, -5, 37, -43, -11, 37, - -19, 47, -64, -128, -27, -114, 21, -66, - 59, 46, -3, -12, -87, -9, 4, 19, - -113, -36, 78, 57, -26, -38, -77, -10, - 6, 6, -75, 25, -97, -11, 33, -46, - 1, 13, -21, -33, -20, 16, -6, -3, - -11, -4, -27, 38, 8, -41, -2, -33, - 18, 19, -26, 1, -29, -22, -4, -14, - -55, -11, -80, -3, 11, 34, 90, 51, - 11, 17, 43, 36, 127, -32, 29, 103, - 9, 27, 13, 64, 56, 70, -14, 3, - -12, 10, 37, 3, 12, -22, -10, 46, - 28, 10, 20, 26, -24, 18, 9, 7, - 14, 34, -5, -7, 31, -14, -56, 11, - -18, -8, -17, -7, -10, -40, 10, -33, - -32, -43, 5, 9, 11, -4, 10, 50, - -12, -5, 46, 9, 7, 1, 11, 15, - 91, -17, 7, -50, 23, 6, -30, -99, - 0, -17, 14, 8, -10, -25, -30, -69, - -62, 31, 127, 114, -23, 101, -5, -54, - -6, -22, 7, -56, 39, 18, -29, 0, - 46, 8, -79, 4, -21, 18, -32, 62, - -12, -8, -12, -58, 31, -32, 17, 6, - -24, 25, 24, 9, -4, -19, 45, 6, - 17, -14, 5, -27, 16, -4, -41, 25, - -36, 5, 15, 12, 50, 27, 25, 23, - -44, -69, -9, -19, -48, -8, 4, 12, - -6, 13, -19, -30, -36, 26, 37, -1, - -3, -30, -42, -14, -10, -20, 26, -54, - -27, -44, 4, 73, -26, 90, 32, -69, - -29, -16, 3, 103, 15, -17, 37, 24, - -23, -31, 33, -37, -64, 25, 13, -81, - -28, -32, 27, 5, -35, -23, 15, -22, - 19, -7, 9, 30, 19, -23, 27, -13, - 43, 29, -29, -6, 9, -40, -33, -33, - -32, 9, 11, -48, -8, -23, -52, 46, - 17, -22, -42, 35, -15, -41, 16, 34, - 31, -42, -19, -11, 55, 7, -39, 89, - -11, -33, 20, -14, 22, 32, 3, -17, - -6, 14, 34, 1, 55, -21, -90, -8, - 18, 27, 13, -29, 21, 15, -33, -51, - -9, -11, 4, -16, -18, 23, -4, -4, - 48, 1, 7, 29, -14, -12, -16, 17, - 35, 8, 0, -7, -2, 9, 8, 17, - -6, 53, -32, -21, -50, 5, 99, -60, - -5, -53, 10, -31, 12, -5, 7, 80, - 36, 18, -31, 9, 98, 36, -63, -35, - 4, -13, -28, -24, 28, -13, 18, 16, - -1, -18, -34, 10, 20, 7, 4, 29, - 11, 25, -7, 36, 14, 45, 24, 1, - -16, 30, 6, 35, -6, -11, -24, 13, - -1, 27, 39, 20, 48, -11, -4, -13, - 28, 11, -31, -18, 31, -29, 22, -2, - -20, -16, 5, 30, -12, -28, -3, 93, - -16, 23, 18, -29, 6, -54, -37, 28, - -3, -3, -47, -3, -36, -55, -3, 41, - -10, 47, -2, 23, 42, -7, -71, -27, - 83, -64, 7, -24, 8, 26, -17, 15, - 12, 31, -30, -38, -13, -33, -56, 4, - -17, 20, 18, 1, -30, -5, -6, -31, - -14, -37, 0, 22, 10, -30, 37, -17, - 18, 6, 5, 23, -36, -32, 14, 18, - -13, -61, -52, -69, 44, -30, 16, 18, - -4, -25, 14, 81, 26, -8, -23, -59, - 52, -104, 17, 119, -32, 26, 17, 1, - 23, 45, 29, -64, -57, -14, 73, 21, - -13, -13, 9, -68, -7, -52, 3, 24, - -39, 44, -15, 27, 14, 19, -9, -28, - -11, 5, 3, -34, -2, 2, 22, -6, - -23, 4, 3, 13, -22, -13, -10, -18, - 29, 6, 44, -13, -24, -8, 2, 30, - 14, 43, 6, 17, -73, -6, -7, 20, - -80, -7, -7, -28, 15, -69, -38, -5, - -100, -35, 15, -79, 23, 29, -18, -27, - 21, -66, -37, 8, -22, -39, 48, 4, - -13, 1, -9, 11, -29, 22, 6, -49, - 32, -14, 47, -18, -4, 44, -52, -74, - 43, 30, 23, -14, 5, 0, -27, 4, - -7, 10, -4, 10, 1, -16, 11, -18, - -2, -5, 2, -11, 0, -20, -4, 38, - 74, 59, 39, 64, -10, 26, -3, -40, - -68, 3, -30, -51, 8, -19, -27, -46, - 51, 52, 54, 36, 90, 92, 14, 13, - -5, 0, 16, -62, 16, 11, -47, -37, - -6, -5, 21, 54, -57, 32, 42, -6, - 62, -9, 16, 21, 24, 9, -10, -4, - 33, 50, 13, -15, 1, -35, -48, 18, - -11, -17, -67, -13, 21, 38, -44, 36, - -16, 29, 17, 5, -10, 18, 17, -32, - 2, 8, 22, -56, -15, -32, 40, 43, - 19, 46, -7, -100, -96, 19, 53, 24, - 21, -26, -48, -101, -82, 61, 38, -85, - -28, -34, -1, 63, -5, -5, 39, 39, - -38, 32, -12, -28, 20, 40, -8, 2, - 31, 12, -35, -13, 20, -25, 30, 8, - 3, -13, -9, -20, 2, -13, 24, 37, - -10, 33, 6, 20, -16, -24, -6, -6, - -19, -5, 22, 21, 10, 11, -4, -39, - -1, 6, 49, 41, -15, -57, 21, -62, - 77, -69, -13, 0, -74, 1, -7, -38, - -8, 6, 63, 28, 4, 26, -52, 82, - 63, 13, 45, -33, 44, -52, -65, -21, - -46, -49, 64, -17, 32, 24, 68, -39, - -16, -5, -26, 28, 5, -61, -28, 2, - 24, 11, -12, -33, 9, -37, -3, -28, - 22, -37, -12, 19, 0, -18, -2, 14, - 1, 4, 8, -9, -2, 43, -17, -2, - -66, -31, 56, -40, -87, -36, -2, -4, - -42, -45, -1, 31, -43, -15, 27, 63, - -11, 32, -10, -33, 27, -19, 4, 15, - -26, -34, 29, -4, -39, -65, 14, -20, - -21, -17, -36, 13, 59, 47, -38, -33, - 13, -37, -8, -37, -7, -6, -76, -31, - -12, -46, 7, 24, -21, -30, -14, 9, - 15, -12, -13, 47, -27, -25, -1, -39, - 0, 20, -9, 6, 7, 4, 3, 7, - 39, 50, 22, -7, 14, -20, 1, 70, - -28, 29, -41, 10, -16, -5, -28, -2, - -37, 32, -18, 17, 62, -11, -20, -50, - 36, 21, -62, -12, -56, 52, 50, 17, - 3, 48, 44, -41, -25, 3, 16, -3, - 0, 33, -6, 15, 27, 34, -25, 22, - 9, 17, -11, 36, 16, -2, 12, 21, - -52, 45, -2, -10, 46, 21, -18, 67, - -28, -13, 30, 37, 42, 16, -9, 11, - 75, 7, -64, -40, -10, 29, 57, -23, - 5, 53, -77, 3, -17, -5, 47, -55, - -35, -36, -13, 52, -53, -71, 52, -111, - -23, -26, -28, 29, -43, 55, 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32, 35, -5, - -48, -14, 92, 43, -47, -14, 40, 11, - 51, 66, 22, -63, -16, -61, 4, -28, - 27, 20, -33, -30, -21, -29, -53, 31, - -40, 24, 43, -4, -19, 21, 67, 20, - 100, -16, -93, 78, -6, -18, -52, -37, - -9, 66, -31, -8, 26, 18, 4, 24, - -22, 17, -2, -13, 27, 0, 8, -18, - -25, 5, -21, -24, -7, 18, -93, 21, - 7, 2, -75, 69, 50, -5, -15, -17, - 60, -42, 55, 1, -4, 3, 10, 46, - 16, -13, 45, -7, -10, -44, -108, 49, - 2, -15, -64, -12, -72, 32, -38, -45, - 10, -54, 13, -13, -27, -36, -64, 58, - -62, -101, 88, -86, -71, -39, -9, -128, - 32, 15, -4, 54, -16, -39, -26, -36, - 46, 48, -64, -10, 19, 30, -13, 34, - -8, 50, 60, -22, -6, -11, -30, 5, - 50, 32, 56, 0, 25, 6, 68, 11, - -29, 45, -9, -12, 4, 1, 18, -49, - 0, -38, -19, 90, 29, 35, 51, 8, - -48, 96, -1, -12, -9, -32, -63, -65, - -7, 38, 89, 28, -85, -28, -23, -25, - -128, 56, 79, -36, 99, -6, -37, 7, - -13, -69, -46, -29, 25, 64, -21, 17, - 1, 42, -66, 1, 80, 26, -32, 21, - 15, 15, 6, 6, -10, 15, 127, 5, - 38, 27, 87, -57, -25, 11, 72, -21, - -5, 11, -13, -66, 78, 36, -3, 41, - -21, 8, -33, 23, 73, 28, 57, -25, - -5, 4, -22, -47, 15, 4, -57, -72, - 33, 1, 18, 2, 53, -71, -99, -21, - -3, -111, 108, 71, -14, 82, 25, 61, - -48, 5, 9, -51, -20, -25, -3, 14, - -33, 14, -3, -34, 22, 12, -19, -38, - -16, 2, 21, 16, 26, -31, 75, 44, - -31, 16, 26, 66, 17, -9, -22, -22, - 22, -44, 22, 27, 2, 58, -14, 10, - -73, -42, 55, -25, -61, 72, -1, 30, - -58, -25, 63, 26, -48, -40, 26, -30, - 60, 8, -17, -1, -18, -20, 43, -20, - -4, -28, 127, -106, 29, 70, 64, -27, - 39, -33, -5, -88, -40, -52, 26, 44, - -17, 23, 2, -49, 22, -9, -8, 86, - 49, -43, -60, 1, 10, 45, 36, -53, - -4, 33, 38, 48, -72, 1, 19, 21, - -65, 4, -5, -62, 27, -25, 17, -6, - 6, -45, -39, -46, 4, 26, 127, -9, - 18, -33, -18, -3, 33, 2, -5, 15, - -26, -22, -117, -63, -17, -59, 61, -74, - 7, -47, -58, -128, -67, 15, -16, -128, - 12, 2, 20, 9, -48, -40, 43, 3, - -40, -16, -38, -6, -22, -28, -16, -59, - -22, 6, -5, 11, -12, -66, -40, 27, - -62, -44, -19, 38, -3, 39, -8, 40, - -24, 13, 21, 50, -60, -22, 53, -29, - -6, 1, 22, -59, 0, 17, -39, 115 -}; +/* RMS error was 0.138320, seed was 1361535663 */ -static const opus_int8 layer1_bias[72] = { - -42, 20, 16, 0, 105, 60, 1, -97, - 24, 60, 18, 13, 62, 25, 127, 34, - 79, 55, 118, 127, 95, 31, -4, 87, - 21, 12, 2, -14, 18, 23, 8, 17, - -1, -8, 5, 4, 24, 37, 21, 13, - 36, 13, 17, 18, 37, 30, 33, 1, - 8, -16, -11, -5, -31, -3, -5, 0, - 6, 3, 58, -7, -1, -16, 5, -13, - 16, 10, -2, -14, 11, -4, 3, -11 -}; +static const float weights[422] = { -static const opus_int8 layer2_weights[48] = { - -113, -88, 31, -128, -126, -61, 85, -35, - 118, -128, -61, 127, -128, -17, -128, 127, - 104, -9, -128, 33, 45, 127, 5, 83, - 84, -128, -85, -128, -45, 48, -53, -128, - 46, 127, -17, 125, 117, -41, -117, -91, - -127, -68, -1, -89, -80, 32, 106, 7 -}; +/* hidden layer */ +-0.0941125f, -0.302976f, -0.603555f, -0.19393f, -0.185983f, +-0.601617f, -0.0465317f, -0.114563f, -0.103599f, -0.618938f, +-0.317859f, -0.169949f, -0.0702885f, 0.148065f, 0.409524f, +0.548432f, 0.367649f, -0.494393f, 0.764306f, -1.83957f, +0.170849f, 12.786f, -1.08848f, -1.27284f, -16.2606f, +24.1773f, -5.57454f, -0.17276f, -0.163388f, -0.224421f, +-0.0948944f, -0.0728695f, -0.26557f, -0.100283f, -0.0515459f, +-0.146142f, -0.120674f, -0.180655f, 0.12857f, 0.442138f, +-0.493735f, 0.167767f, 0.206699f, -0.197567f, 0.417999f, +1.50364f, -0.773341f, -10.0401f, 0.401872f, 2.97966f, +15.2165f, -1.88905f, -1.19254f, 0.0285397f, -0.00405139f, +0.0707565f, 0.00825699f, -0.0927269f, -0.010393f, -0.00428882f, +-0.00489743f, -0.0709731f, -0.00255992f, 0.0395619f, 0.226424f, +0.0325231f, 0.162175f, -0.100118f, 0.485789f, 0.12697f, +0.285937f, 0.0155637f, 0.10546f, 3.05558f, 1.15059f, +-1.00904f, -1.83088f, 3.31766f, -3.42516f, -0.119135f, +-0.0405654f, 0.00690068f, 0.0179877f, -0.0382487f, 0.00597941f, +-0.0183611f, 0.00190395f, -0.144322f, -0.0435671f, 0.000990594f, +0.221087f, 0.142405f, 0.484066f, 0.404395f, 0.511955f, +-0.237255f, 0.241742f, 0.35045f, -0.699428f, 10.3993f, +2.6507f, -2.43459f, -4.18838f, 1.05928f, 1.71067f, +0.00667811f, -0.0721335f, -0.0397346f, 0.0362704f, -0.11496f, +-0.0235776f, 0.0082161f, -0.0141741f, -0.0329699f, -0.0354253f, +0.00277404f, -0.290654f, -1.14767f, -0.319157f, -0.686544f, +0.36897f, 0.478899f, 0.182579f, -0.411069f, 0.881104f, +-4.60683f, 1.4697f, 0.335845f, -1.81905f, -30.1699f, +5.55225f, 0.0019508f, -0.123576f, -0.0727332f, -0.0641597f, +-0.0534458f, -0.108166f, -0.0937368f, -0.0697883f, -0.0275475f, +-0.192309f, -0.110074f, 0.285375f, -0.405597f, 0.0926724f, +-0.287881f, -0.851193f, -0.099493f, -0.233764f, -1.2852f, +1.13611f, 3.12168f, -0.0699f, -1.86216f, 2.65292f, +-7.31036f, 2.44776f, -0.00111802f, -0.0632786f, -0.0376296f, +-0.149851f, 0.142963f, 0.184368f, 0.123433f, 0.0756158f, +0.117312f, 0.0933395f, 0.0692163f, 0.0842592f, 0.0704683f, +0.0589963f, 0.0942205f, -0.448862f, 0.0262677f, 0.270352f, +-0.262317f, 0.172586f, 2.00227f, -0.159216f, 0.038422f, +10.2073f, 4.15536f, -2.3407f, -0.0550265f, 0.00964792f, +-0.141336f, 0.0274501f, 0.0343921f, -0.0487428f, 0.0950172f, +-0.00775017f, -0.0372492f, -0.00548121f, -0.0663695f, 0.0960506f, +-0.200008f, -0.0412827f, 0.58728f, 0.0515787f, 0.337254f, +0.855024f, 0.668371f, -0.114904f, -3.62962f, -0.467477f, +-0.215472f, 2.61537f, 0.406117f, -1.36373f, 0.0425394f, +0.12208f, 0.0934502f, 0.123055f, 0.0340935f, -0.142466f, +0.035037f, -0.0490666f, 0.0733208f, 0.0576672f, 0.123984f, +-0.0517194f, -0.253018f, 0.590565f, 0.145849f, 0.315185f, +0.221534f, -0.149081f, 0.216161f, -0.349575f, 24.5664f, +-0.994196f, 0.614289f, -18.7905f, -2.83277f, -0.716801f, +-0.347201f, 0.479515f, -0.246027f, 0.0758683f, 0.137293f, +-0.17781f, 0.118751f, -0.00108329f, -0.237334f, 0.355732f, +-0.12991f, -0.0547627f, -0.318576f, -0.325524f, 0.180494f, +-0.0625604f, 0.141219f, 0.344064f, 0.37658f, -0.591772f, +5.8427f, -0.38075f, 0.221894f, -1.41934f, -1.87943e+06f, +1.34114f, 0.0283355f, -0.0447856f, -0.0211466f, -0.0256927f, +0.0139618f, 0.0207934f, -0.0107666f, 0.0110969f, 0.0586069f, +-0.0253545f, -0.0328433f, 0.11872f, -0.216943f, 0.145748f, +0.119808f, -0.0915211f, -0.120647f, -0.0787719f, -0.143644f, +-0.595116f, -1.152f, -1.25335f, -1.17092f, 4.34023f, +-975268.f, -1.37033f, -0.0401123f, 0.210602f, -0.136656f, +0.135962f, -0.0523293f, 0.0444604f, 0.0143928f, 0.00412666f, +-0.0193003f, 0.218452f, -0.110204f, -2.02563f, 0.918238f, +-2.45362f, 1.19542f, -0.061362f, -1.92243f, 0.308111f, +0.49764f, 0.912356f, 0.209272f, -2.34525f, 2.19326f, +-6.47121f, 1.69771f, -0.725123f, 0.0118929f, 0.0377944f, +0.0554003f, 0.0226452f, -0.0704421f, -0.0300309f, 0.0122978f, +-0.0041782f, -0.0686612f, 0.0313115f, 0.039111f, 0.364111f, +-0.0945548f, 0.0229876f, -0.17414f, 0.329795f, 0.114714f, +0.30022f, 0.106997f, 0.132355f, 5.79932f, 0.908058f, +-0.905324f, -3.3561f, 0.190647f, 0.184211f, -0.673648f, +0.231807f, -0.0586222f, 0.230752f, -0.438277f, 0.245857f, +-0.17215f, 0.0876383f, -0.720512f, 0.162515f, 0.0170571f, +0.101781f, 0.388477f, 1.32931f, 1.08548f, -0.936301f, +-2.36958f, -6.71988f, -3.44376f, 2.13818f, 14.2318f, +4.91459f, -3.09052f, -9.69191f, -0.768234f, 1.79604f, +0.0549653f, 0.163399f, 0.0797025f, 0.0343933f, -0.0555876f, +-0.00505673f, 0.0187258f, 0.0326628f, 0.0231486f, 0.15573f, +0.0476223f, -0.254824f, 1.60155f, -0.801221f, 2.55496f, +0.737629f, -1.36249f, -0.695463f, -2.44301f, -1.73188f, +3.95279f, 1.89068f, 0.486087f, -11.3343f, 3.9416e+06f, -static const opus_int8 layer2_bias[2] = { - 14, 117 -}; +/* output layer */ +-0.381439f, 0.12115f, -0.906927f, 2.93878f, 1.6388f, +0.882811f, 0.874344f, 1.21726f, -0.874545f, 0.321706f, +0.785055f, 0.946558f, -0.575066f, -3.46553f, 0.884905f, +0.0924047f, -9.90712f, 0.391338f, 0.160103f, -2.04954f, +4.1455f, 0.0684029f, -0.144761f, -0.285282f, 0.379244f, +-1.1584f, -0.0277241f, -9.85f, -4.82386f, 3.71333f, +3.87308f, 3.52558f}; -const DenseLayer layer0 = { - layer0_bias, - layer0_weights, - 25, 32, 0 -}; +static const int topo[3] = {25, 15, 2}; -const GRULayer layer1 = { - layer1_bias, - layer1_weights, - layer1_recur_weights, - 32, 24 +const MLP net = { + 3, + topo, + weights }; - -const DenseLayer layer2 = { - layer2_bias, - layer2_weights, - 24, 2, 1 -}; - diff --git a/thirdparty/opus/opus.c b/thirdparty/opus/opus.c index 538b5ea74e..f76f125cfa 100644 --- a/thirdparty/opus/opus.c +++ b/thirdparty/opus/opus.c @@ -107,7 +107,7 @@ OPUS_EXPORT void opus_pcm_soft_clip(float *_x, int N, int C, float *declip_mem) /* Slightly boost "a" by 2^-22. This is just enough to ensure -ffast-math does not cause output values larger than +/-1, but small enough not to matter even for 24-bit output. */ - a += a*2.4e-7f; + a += a*2.4e-7; if (x[i*C]>0) a = -a; /* Apply soft clipping */ @@ -252,7 +252,7 @@ int opus_packet_parse_impl(const unsigned char *data, opus_int32 len, /* Number of frames encoded in bits 0 to 5 */ ch = *data++; count = ch&0x3F; - if (count <= 0 || framesize*(opus_int32)count > 5760) + if (count <= 0 || framesize*count > 5760) return OPUS_INVALID_PACKET; len--; /* Padding flag is bit 6 */ diff --git a/thirdparty/opus/opus/opus.h b/thirdparty/opus/opus/opus.h index d282f21d25..5be73ddf4e 100644 --- a/thirdparty/opus/opus/opus.h +++ b/thirdparty/opus/opus/opus.h @@ -531,7 +531,7 @@ OPUS_EXPORT int opus_packet_parse( const unsigned char *frames[48], opus_int16 size[48], int *payload_offset -) OPUS_ARG_NONNULL(1) OPUS_ARG_NONNULL(5); +) OPUS_ARG_NONNULL(1) OPUS_ARG_NONNULL(4); /** Gets the bandwidth of an Opus packet. * @param [in] data <tt>char*</tt>: Opus packet diff --git a/thirdparty/opus/opus/opus_defines.h b/thirdparty/opus/opus/opus_defines.h index d141418b21..315412dd1d 100644 --- a/thirdparty/opus/opus/opus_defines.h +++ b/thirdparty/opus/opus/opus_defines.h @@ -165,13 +165,8 @@ extern "C" { #define OPUS_GET_EXPERT_FRAME_DURATION_REQUEST 4041 #define OPUS_SET_PREDICTION_DISABLED_REQUEST 4042 #define OPUS_GET_PREDICTION_DISABLED_REQUEST 4043 -/* Don't use 4045, it's already taken by OPUS_GET_GAIN_REQUEST */ -#define OPUS_SET_PHASE_INVERSION_DISABLED_REQUEST 4046 -#define OPUS_GET_PHASE_INVERSION_DISABLED_REQUEST 4047 -#define OPUS_GET_IN_DTX_REQUEST 4049 -/** Defines for the presence of extended APIs. */ -#define OPUS_HAVE_OPUS_PROJECTION_H +/* Don't use 4045, it's already taken by OPUS_GET_GAIN_REQUEST */ /* Macros to trigger compilation errors when the wrong types are provided to a CTL */ #define __opus_check_int(x) (((void)((x) == (opus_int32)0)), (opus_int32)(x)) @@ -213,9 +208,6 @@ extern "C" { #define OPUS_FRAMESIZE_20_MS 5004 /**< Use 20 ms frames */ #define OPUS_FRAMESIZE_40_MS 5005 /**< Use 40 ms frames */ #define OPUS_FRAMESIZE_60_MS 5006 /**< Use 60 ms frames */ -#define OPUS_FRAMESIZE_80_MS 5007 /**< Use 80 ms frames */ -#define OPUS_FRAMESIZE_100_MS 5008 /**< Use 100 ms frames */ -#define OPUS_FRAMESIZE_120_MS 5009 /**< Use 120 ms frames */ /**@}*/ @@ -574,9 +566,7 @@ extern "C" { * <dt>OPUS_FRAMESIZE_20_MS</dt><dd>Use 20 ms frames.</dd> * <dt>OPUS_FRAMESIZE_40_MS</dt><dd>Use 40 ms frames.</dd> * <dt>OPUS_FRAMESIZE_60_MS</dt><dd>Use 60 ms frames.</dd> - * <dt>OPUS_FRAMESIZE_80_MS</dt><dd>Use 80 ms frames.</dd> - * <dt>OPUS_FRAMESIZE_100_MS</dt><dd>Use 100 ms frames.</dd> - * <dt>OPUS_FRAMESIZE_120_MS</dt><dd>Use 120 ms frames.</dd> + * <dt>OPUS_FRAMESIZE_VARIABLE</dt><dd>Optimize the frame size dynamically.</dd> * </dl> * @hideinitializer */ #define OPUS_SET_EXPERT_FRAME_DURATION(x) OPUS_SET_EXPERT_FRAME_DURATION_REQUEST, __opus_check_int(x) @@ -591,9 +581,7 @@ extern "C" { * <dt>OPUS_FRAMESIZE_20_MS</dt><dd>Use 20 ms frames.</dd> * <dt>OPUS_FRAMESIZE_40_MS</dt><dd>Use 40 ms frames.</dd> * <dt>OPUS_FRAMESIZE_60_MS</dt><dd>Use 60 ms frames.</dd> - * <dt>OPUS_FRAMESIZE_80_MS</dt><dd>Use 80 ms frames.</dd> - * <dt>OPUS_FRAMESIZE_100_MS</dt><dd>Use 100 ms frames.</dd> - * <dt>OPUS_FRAMESIZE_120_MS</dt><dd>Use 120 ms frames.</dd> + * <dt>OPUS_FRAMESIZE_VARIABLE</dt><dd>Optimize the frame size dynamically.</dd> * </dl> * @hideinitializer */ #define OPUS_GET_EXPERT_FRAME_DURATION(x) OPUS_GET_EXPERT_FRAME_DURATION_REQUEST, __opus_check_int_ptr(x) @@ -693,40 +681,6 @@ extern "C" { */ #define OPUS_GET_SAMPLE_RATE(x) OPUS_GET_SAMPLE_RATE_REQUEST, __opus_check_int_ptr(x) -/** If set to 1, disables the use of phase inversion for intensity stereo, - * improving the quality of mono downmixes, but slightly reducing normal - * stereo quality. Disabling phase inversion in the decoder does not comply - * with RFC 6716, although it does not cause any interoperability issue and - * is expected to become part of the Opus standard once RFC 6716 is updated - * by draft-ietf-codec-opus-update. - * @see OPUS_GET_PHASE_INVERSION_DISABLED - * @param[in] x <tt>opus_int32</tt>: Allowed values: - * <dl> - * <dt>0</dt><dd>Enable phase inversion (default).</dd> - * <dt>1</dt><dd>Disable phase inversion.</dd> - * </dl> - * @hideinitializer */ -#define OPUS_SET_PHASE_INVERSION_DISABLED(x) OPUS_SET_PHASE_INVERSION_DISABLED_REQUEST, __opus_check_int(x) -/** Gets the encoder's configured phase inversion status. - * @see OPUS_SET_PHASE_INVERSION_DISABLED - * @param[out] x <tt>opus_int32 *</tt>: Returns one of the following values: - * <dl> - * <dt>0</dt><dd>Stereo phase inversion enabled (default).</dd> - * <dt>1</dt><dd>Stereo phase inversion disabled.</dd> - * </dl> - * @hideinitializer */ -#define OPUS_GET_PHASE_INVERSION_DISABLED(x) OPUS_GET_PHASE_INVERSION_DISABLED_REQUEST, __opus_check_int_ptr(x) -/** Gets the DTX state of the encoder. - * Returns whether the last encoded frame was either a comfort noise update - * during DTX or not encoded because of DTX. - * @param[out] x <tt>opus_int32 *</tt>: Returns one of the following values: - * <dl> - * <dt>0</dt><dd>The encoder is not in DTX.</dd> - * <dt>1</dt><dd>The encoder is in DTX.</dd> - * </dl> - * @hideinitializer */ -#define OPUS_GET_IN_DTX(x) OPUS_GET_IN_DTX_REQUEST, __opus_check_int_ptr(x) - /**@}*/ /** @defgroup opus_decoderctls Decoder related CTLs diff --git a/thirdparty/opus/opus/opus_multistream.h b/thirdparty/opus/opus/opus_multistream.h index babcee6905..3622e009fb 100644 --- a/thirdparty/opus/opus/opus_multistream.h +++ b/thirdparty/opus/opus/opus_multistream.h @@ -273,7 +273,7 @@ OPUS_EXPORT OPUS_WARN_UNUSED_RESULT OpusMSEncoder *opus_multistream_surround_enc unsigned char *mapping, int application, int *error -) OPUS_ARG_NONNULL(4) OPUS_ARG_NONNULL(5) OPUS_ARG_NONNULL(6); +) OPUS_ARG_NONNULL(5); /** Initialize a previously allocated multistream encoder state. * The memory pointed to by \a st must be at least the size returned by @@ -342,7 +342,7 @@ OPUS_EXPORT int opus_multistream_surround_encoder_init( int *coupled_streams, unsigned char *mapping, int application -) OPUS_ARG_NONNULL(1) OPUS_ARG_NONNULL(5) OPUS_ARG_NONNULL(6) OPUS_ARG_NONNULL(7); +) OPUS_ARG_NONNULL(1) OPUS_ARG_NONNULL(6); /** Encodes a multistream Opus frame. * @param st <tt>OpusMSEncoder*</tt>: Multistream encoder state. diff --git a/thirdparty/opus/opus/opus_projection.h b/thirdparty/opus/opus/opus_projection.h deleted file mode 100644 index 9dabf4e85c..0000000000 --- a/thirdparty/opus/opus/opus_projection.h +++ /dev/null @@ -1,568 +0,0 @@ -/* Copyright (c) 2017 Google Inc. - Written by Andrew Allen */ -/* - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - - Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - - Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER - OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, - EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR - PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF - LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -/** - * @file opus_projection.h - * @brief Opus projection reference API - */ - -#ifndef OPUS_PROJECTION_H -#define OPUS_PROJECTION_H - -#include "opus_multistream.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/** @cond OPUS_INTERNAL_DOC */ - -/** These are the actual encoder and decoder CTL ID numbers. - * They should not be used directly by applications.c - * In general, SETs should be even and GETs should be odd.*/ -/**@{*/ -#define OPUS_PROJECTION_GET_DEMIXING_MATRIX_GAIN_REQUEST 6001 -#define OPUS_PROJECTION_GET_DEMIXING_MATRIX_SIZE_REQUEST 6003 -#define OPUS_PROJECTION_GET_DEMIXING_MATRIX_REQUEST 6005 -/**@}*/ - - -/** @endcond */ - -/** @defgroup opus_projection_ctls Projection specific encoder and decoder CTLs - * - * These are convenience macros that are specific to the - * opus_projection_encoder_ctl() and opus_projection_decoder_ctl() - * interface. - * The CTLs from @ref opus_genericctls, @ref opus_encoderctls, - * @ref opus_decoderctls, and @ref opus_multistream_ctls may be applied to a - * projection encoder or decoder as well. - */ -/**@{*/ - -/** Gets the gain (in dB. S7.8-format) of the demixing matrix from the encoder. - * @param[out] x <tt>opus_int32 *</tt>: Returns the gain (in dB. S7.8-format) - * of the demixing matrix. - * @hideinitializer - */ -#define OPUS_PROJECTION_GET_DEMIXING_MATRIX_GAIN(x) OPUS_PROJECTION_GET_DEMIXING_MATRIX_GAIN_REQUEST, __opus_check_int_ptr(x) - - -/** Gets the size in bytes of the demixing matrix from the encoder. - * @param[out] x <tt>opus_int32 *</tt>: Returns the size in bytes of the - * demixing matrix. - * @hideinitializer - */ -#define OPUS_PROJECTION_GET_DEMIXING_MATRIX_SIZE(x) OPUS_PROJECTION_GET_DEMIXING_MATRIX_SIZE_REQUEST, __opus_check_int_ptr(x) - - -/** Copies the demixing matrix to the supplied pointer location. - * @param[out] x <tt>unsigned char *</tt>: Returns the demixing matrix to the - * supplied pointer location. - * @param y <tt>opus_int32</tt>: The size in bytes of the reserved memory at the - * pointer location. - * @hideinitializer - */ -#define OPUS_PROJECTION_GET_DEMIXING_MATRIX(x,y) OPUS_PROJECTION_GET_DEMIXING_MATRIX_REQUEST, x, __opus_check_int(y) - - -/**@}*/ - -/** Opus projection encoder state. - * This contains the complete state of a projection Opus encoder. - * It is position independent and can be freely copied. - * @see opus_projection_ambisonics_encoder_create - */ -typedef struct OpusProjectionEncoder OpusProjectionEncoder; - - -/** Opus projection decoder state. - * This contains the complete state of a projection Opus decoder. - * It is position independent and can be freely copied. - * @see opus_projection_decoder_create - * @see opus_projection_decoder_init - */ -typedef struct OpusProjectionDecoder OpusProjectionDecoder; - - -/**\name Projection encoder functions */ -/**@{*/ - -/** Gets the size of an OpusProjectionEncoder structure. - * @param channels <tt>int</tt>: The total number of input channels to encode. - * This must be no more than 255. - * @param mapping_family <tt>int</tt>: The mapping family to use for selecting - * the appropriate projection. - * @returns The size in bytes on success, or a negative error code - * (see @ref opus_errorcodes) on error. - */ -OPUS_EXPORT OPUS_WARN_UNUSED_RESULT opus_int32 opus_projection_ambisonics_encoder_get_size( - int channels, - int mapping_family -); - - -/** Allocates and initializes a projection encoder state. - * Call opus_projection_encoder_destroy() to release - * this object when finished. - * @param Fs <tt>opus_int32</tt>: Sampling rate of the input signal (in Hz). - * This must be one of 8000, 12000, 16000, - * 24000, or 48000. - * @param channels <tt>int</tt>: Number of channels in the input signal. - * This must be at most 255. - * It may be greater than the number of - * coded channels (<code>streams + - * coupled_streams</code>). - * @param mapping_family <tt>int</tt>: The mapping family to use for selecting - * the appropriate projection. - * @param[out] streams <tt>int *</tt>: The total number of streams that will - * be encoded from the input. - * @param[out] coupled_streams <tt>int *</tt>: Number of coupled (2 channel) - * streams that will be encoded from the input. - * @param application <tt>int</tt>: The target encoder application. - * This must be one of the following: - * <dl> - * <dt>#OPUS_APPLICATION_VOIP</dt> - * <dd>Process signal for improved speech intelligibility.</dd> - * <dt>#OPUS_APPLICATION_AUDIO</dt> - * <dd>Favor faithfulness to the original input.</dd> - * <dt>#OPUS_APPLICATION_RESTRICTED_LOWDELAY</dt> - * <dd>Configure the minimum possible coding delay by disabling certain modes - * of operation.</dd> - * </dl> - * @param[out] error <tt>int *</tt>: Returns #OPUS_OK on success, or an error - * code (see @ref opus_errorcodes) on - * failure. - */ -OPUS_EXPORT OPUS_WARN_UNUSED_RESULT OpusProjectionEncoder *opus_projection_ambisonics_encoder_create( - opus_int32 Fs, - int channels, - int mapping_family, - int *streams, - int *coupled_streams, - int application, - int *error -) OPUS_ARG_NONNULL(4) OPUS_ARG_NONNULL(5); - - -/** Initialize a previously allocated projection encoder state. - * The memory pointed to by \a st must be at least the size returned by - * opus_projection_ambisonics_encoder_get_size(). - * This is intended for applications which use their own allocator instead of - * malloc. - * To reset a previously initialized state, use the #OPUS_RESET_STATE CTL. - * @see opus_projection_ambisonics_encoder_create - * @see opus_projection_ambisonics_encoder_get_size - * @param st <tt>OpusProjectionEncoder*</tt>: Projection encoder state to initialize. - * @param Fs <tt>opus_int32</tt>: Sampling rate of the input signal (in Hz). - * This must be one of 8000, 12000, 16000, - * 24000, or 48000. - * @param channels <tt>int</tt>: Number of channels in the input signal. - * This must be at most 255. - * It may be greater than the number of - * coded channels (<code>streams + - * coupled_streams</code>). - * @param streams <tt>int</tt>: The total number of streams to encode from the - * input. - * This must be no more than the number of channels. - * @param coupled_streams <tt>int</tt>: Number of coupled (2 channel) streams - * to encode. - * This must be no larger than the total - * number of streams. - * Additionally, The total number of - * encoded channels (<code>streams + - * coupled_streams</code>) must be no - * more than the number of input channels. - * @param application <tt>int</tt>: The target encoder application. - * This must be one of the following: - * <dl> - * <dt>#OPUS_APPLICATION_VOIP</dt> - * <dd>Process signal for improved speech intelligibility.</dd> - * <dt>#OPUS_APPLICATION_AUDIO</dt> - * <dd>Favor faithfulness to the original input.</dd> - * <dt>#OPUS_APPLICATION_RESTRICTED_LOWDELAY</dt> - * <dd>Configure the minimum possible coding delay by disabling certain modes - * of operation.</dd> - * </dl> - * @returns #OPUS_OK on success, or an error code (see @ref opus_errorcodes) - * on failure. - */ -OPUS_EXPORT int opus_projection_ambisonics_encoder_init( - OpusProjectionEncoder *st, - opus_int32 Fs, - int channels, - int mapping_family, - int *streams, - int *coupled_streams, - int application -) OPUS_ARG_NONNULL(1) OPUS_ARG_NONNULL(5) OPUS_ARG_NONNULL(6); - - -/** Encodes a projection Opus frame. - * @param st <tt>OpusProjectionEncoder*</tt>: Projection encoder state. - * @param[in] pcm <tt>const opus_int16*</tt>: The input signal as interleaved - * samples. - * This must contain - * <code>frame_size*channels</code> - * samples. - * @param frame_size <tt>int</tt>: Number of samples per channel in the input - * signal. - * This must be an Opus frame size for the - * encoder's sampling rate. - * For example, at 48 kHz the permitted values - * are 120, 240, 480, 960, 1920, and 2880. - * Passing in a duration of less than 10 ms - * (480 samples at 48 kHz) will prevent the - * encoder from using the LPC or hybrid modes. - * @param[out] data <tt>unsigned char*</tt>: Output payload. - * This must contain storage for at - * least \a max_data_bytes. - * @param [in] max_data_bytes <tt>opus_int32</tt>: Size of the allocated - * memory for the output - * payload. This may be - * used to impose an upper limit on - * the instant bitrate, but should - * not be used as the only bitrate - * control. Use #OPUS_SET_BITRATE to - * control the bitrate. - * @returns The length of the encoded packet (in bytes) on success or a - * negative error code (see @ref opus_errorcodes) on failure. - */ -OPUS_EXPORT OPUS_WARN_UNUSED_RESULT int opus_projection_encode( - OpusProjectionEncoder *st, - const opus_int16 *pcm, - int frame_size, - unsigned char *data, - opus_int32 max_data_bytes -) OPUS_ARG_NONNULL(1) OPUS_ARG_NONNULL(2) OPUS_ARG_NONNULL(4); - - -/** Encodes a projection Opus frame from floating point input. - * @param st <tt>OpusProjectionEncoder*</tt>: Projection encoder state. - * @param[in] pcm <tt>const float*</tt>: The input signal as interleaved - * samples with a normal range of - * +/-1.0. - * Samples with a range beyond +/-1.0 - * are supported but will be clipped by - * decoders using the integer API and - * should only be used if it is known - * that the far end supports extended - * dynamic range. - * This must contain - * <code>frame_size*channels</code> - * samples. - * @param frame_size <tt>int</tt>: Number of samples per channel in the input - * signal. - * This must be an Opus frame size for the - * encoder's sampling rate. - * For example, at 48 kHz the permitted values - * are 120, 240, 480, 960, 1920, and 2880. - * Passing in a duration of less than 10 ms - * (480 samples at 48 kHz) will prevent the - * encoder from using the LPC or hybrid modes. - * @param[out] data <tt>unsigned char*</tt>: Output payload. - * This must contain storage for at - * least \a max_data_bytes. - * @param [in] max_data_bytes <tt>opus_int32</tt>: Size of the allocated - * memory for the output - * payload. This may be - * used to impose an upper limit on - * the instant bitrate, but should - * not be used as the only bitrate - * control. Use #OPUS_SET_BITRATE to - * control the bitrate. - * @returns The length of the encoded packet (in bytes) on success or a - * negative error code (see @ref opus_errorcodes) on failure. - */ -OPUS_EXPORT OPUS_WARN_UNUSED_RESULT int opus_projection_encode_float( - OpusProjectionEncoder *st, - const float *pcm, - int frame_size, - unsigned char *data, - opus_int32 max_data_bytes -) OPUS_ARG_NONNULL(1) OPUS_ARG_NONNULL(2) OPUS_ARG_NONNULL(4); - - -/** Frees an <code>OpusProjectionEncoder</code> allocated by - * opus_projection_ambisonics_encoder_create(). - * @param st <tt>OpusProjectionEncoder*</tt>: Projection encoder state to be freed. - */ -OPUS_EXPORT void opus_projection_encoder_destroy(OpusProjectionEncoder *st); - - -/** Perform a CTL function on a projection Opus encoder. - * - * Generally the request and subsequent arguments are generated by a - * convenience macro. - * @param st <tt>OpusProjectionEncoder*</tt>: Projection encoder state. - * @param request This and all remaining parameters should be replaced by one - * of the convenience macros in @ref opus_genericctls, - * @ref opus_encoderctls, @ref opus_multistream_ctls, or - * @ref opus_projection_ctls - * @see opus_genericctls - * @see opus_encoderctls - * @see opus_multistream_ctls - * @see opus_projection_ctls - */ -OPUS_EXPORT int opus_projection_encoder_ctl(OpusProjectionEncoder *st, int request, ...) OPUS_ARG_NONNULL(1); - - -/**@}*/ - -/**\name Projection decoder functions */ -/**@{*/ - -/** Gets the size of an <code>OpusProjectionDecoder</code> structure. - * @param channels <tt>int</tt>: The total number of output channels. - * This must be no more than 255. - * @param streams <tt>int</tt>: The total number of streams coded in the - * input. - * This must be no more than 255. - * @param coupled_streams <tt>int</tt>: Number streams to decode as coupled - * (2 channel) streams. - * This must be no larger than the total - * number of streams. - * Additionally, The total number of - * coded channels (<code>streams + - * coupled_streams</code>) must be no - * more than 255. - * @returns The size in bytes on success, or a negative error code - * (see @ref opus_errorcodes) on error. - */ -OPUS_EXPORT OPUS_WARN_UNUSED_RESULT opus_int32 opus_projection_decoder_get_size( - int channels, - int streams, - int coupled_streams -); - - -/** Allocates and initializes a projection decoder state. - * Call opus_projection_decoder_destroy() to release - * this object when finished. - * @param Fs <tt>opus_int32</tt>: Sampling rate to decode at (in Hz). - * This must be one of 8000, 12000, 16000, - * 24000, or 48000. - * @param channels <tt>int</tt>: Number of channels to output. - * This must be at most 255. - * It may be different from the number of coded - * channels (<code>streams + - * coupled_streams</code>). - * @param streams <tt>int</tt>: The total number of streams coded in the - * input. - * This must be no more than 255. - * @param coupled_streams <tt>int</tt>: Number of streams to decode as coupled - * (2 channel) streams. - * This must be no larger than the total - * number of streams. - * Additionally, The total number of - * coded channels (<code>streams + - * coupled_streams</code>) must be no - * more than 255. - * @param[in] demixing_matrix <tt>const unsigned char[demixing_matrix_size]</tt>: Demixing matrix - * that mapping from coded channels to output channels, - * as described in @ref opus_projection and - * @ref opus_projection_ctls. - * @param demixing_matrix_size <tt>opus_int32</tt>: The size in bytes of the - * demixing matrix, as - * described in @ref - * opus_projection_ctls. - * @param[out] error <tt>int *</tt>: Returns #OPUS_OK on success, or an error - * code (see @ref opus_errorcodes) on - * failure. - */ -OPUS_EXPORT OPUS_WARN_UNUSED_RESULT OpusProjectionDecoder *opus_projection_decoder_create( - opus_int32 Fs, - int channels, - int streams, - int coupled_streams, - unsigned char *demixing_matrix, - opus_int32 demixing_matrix_size, - int *error -) OPUS_ARG_NONNULL(5); - - -/** Intialize a previously allocated projection decoder state object. - * The memory pointed to by \a st must be at least the size returned by - * opus_projection_decoder_get_size(). - * This is intended for applications which use their own allocator instead of - * malloc. - * To reset a previously initialized state, use the #OPUS_RESET_STATE CTL. - * @see opus_projection_decoder_create - * @see opus_projection_deocder_get_size - * @param st <tt>OpusProjectionDecoder*</tt>: Projection encoder state to initialize. - * @param Fs <tt>opus_int32</tt>: Sampling rate to decode at (in Hz). - * This must be one of 8000, 12000, 16000, - * 24000, or 48000. - * @param channels <tt>int</tt>: Number of channels to output. - * This must be at most 255. - * It may be different from the number of coded - * channels (<code>streams + - * coupled_streams</code>). - * @param streams <tt>int</tt>: The total number of streams coded in the - * input. - * This must be no more than 255. - * @param coupled_streams <tt>int</tt>: Number of streams to decode as coupled - * (2 channel) streams. - * This must be no larger than the total - * number of streams. - * Additionally, The total number of - * coded channels (<code>streams + - * coupled_streams</code>) must be no - * more than 255. - * @param[in] demixing_matrix <tt>const unsigned char[demixing_matrix_size]</tt>: Demixing matrix - * that mapping from coded channels to output channels, - * as described in @ref opus_projection and - * @ref opus_projection_ctls. - * @param demixing_matrix_size <tt>opus_int32</tt>: The size in bytes of the - * demixing matrix, as - * described in @ref - * opus_projection_ctls. - * @returns #OPUS_OK on success, or an error code (see @ref opus_errorcodes) - * on failure. - */ -OPUS_EXPORT int opus_projection_decoder_init( - OpusProjectionDecoder *st, - opus_int32 Fs, - int channels, - int streams, - int coupled_streams, - unsigned char *demixing_matrix, - opus_int32 demixing_matrix_size -) OPUS_ARG_NONNULL(1) OPUS_ARG_NONNULL(6); - - -/** Decode a projection Opus packet. - * @param st <tt>OpusProjectionDecoder*</tt>: Projection decoder state. - * @param[in] data <tt>const unsigned char*</tt>: Input payload. - * Use a <code>NULL</code> - * pointer to indicate packet - * loss. - * @param len <tt>opus_int32</tt>: Number of bytes in payload. - * @param[out] pcm <tt>opus_int16*</tt>: Output signal, with interleaved - * samples. - * This must contain room for - * <code>frame_size*channels</code> - * samples. - * @param frame_size <tt>int</tt>: The number of samples per channel of - * available space in \a pcm. - * If this is less than the maximum packet duration - * (120 ms; 5760 for 48kHz), this function will not be capable - * of decoding some packets. In the case of PLC (data==NULL) - * or FEC (decode_fec=1), then frame_size needs to be exactly - * the duration of audio that is missing, otherwise the - * decoder will not be in the optimal state to decode the - * next incoming packet. For the PLC and FEC cases, frame_size - * <b>must</b> be a multiple of 2.5 ms. - * @param decode_fec <tt>int</tt>: Flag (0 or 1) to request that any in-band - * forward error correction data be decoded. - * If no such data is available, the frame is - * decoded as if it were lost. - * @returns Number of samples decoded on success or a negative error code - * (see @ref opus_errorcodes) on failure. - */ -OPUS_EXPORT OPUS_WARN_UNUSED_RESULT int opus_projection_decode( - OpusProjectionDecoder *st, - const unsigned char *data, - opus_int32 len, - opus_int16 *pcm, - int frame_size, - int decode_fec -) OPUS_ARG_NONNULL(1) OPUS_ARG_NONNULL(4); - - -/** Decode a projection Opus packet with floating point output. - * @param st <tt>OpusProjectionDecoder*</tt>: Projection decoder state. - * @param[in] data <tt>const unsigned char*</tt>: Input payload. - * Use a <code>NULL</code> - * pointer to indicate packet - * loss. - * @param len <tt>opus_int32</tt>: Number of bytes in payload. - * @param[out] pcm <tt>opus_int16*</tt>: Output signal, with interleaved - * samples. - * This must contain room for - * <code>frame_size*channels</code> - * samples. - * @param frame_size <tt>int</tt>: The number of samples per channel of - * available space in \a pcm. - * If this is less than the maximum packet duration - * (120 ms; 5760 for 48kHz), this function will not be capable - * of decoding some packets. In the case of PLC (data==NULL) - * or FEC (decode_fec=1), then frame_size needs to be exactly - * the duration of audio that is missing, otherwise the - * decoder will not be in the optimal state to decode the - * next incoming packet. For the PLC and FEC cases, frame_size - * <b>must</b> be a multiple of 2.5 ms. - * @param decode_fec <tt>int</tt>: Flag (0 or 1) to request that any in-band - * forward error correction data be decoded. - * If no such data is available, the frame is - * decoded as if it were lost. - * @returns Number of samples decoded on success or a negative error code - * (see @ref opus_errorcodes) on failure. - */ -OPUS_EXPORT OPUS_WARN_UNUSED_RESULT int opus_projection_decode_float( - OpusProjectionDecoder *st, - const unsigned char *data, - opus_int32 len, - float *pcm, - int frame_size, - int decode_fec -) OPUS_ARG_NONNULL(1) OPUS_ARG_NONNULL(4); - - -/** Perform a CTL function on a projection Opus decoder. - * - * Generally the request and subsequent arguments are generated by a - * convenience macro. - * @param st <tt>OpusProjectionDecoder*</tt>: Projection decoder state. - * @param request This and all remaining parameters should be replaced by one - * of the convenience macros in @ref opus_genericctls, - * @ref opus_decoderctls, @ref opus_multistream_ctls, or - * @ref opus_projection_ctls. - * @see opus_genericctls - * @see opus_decoderctls - * @see opus_multistream_ctls - * @see opus_projection_ctls - */ -OPUS_EXPORT int opus_projection_decoder_ctl(OpusProjectionDecoder *st, int request, ...) OPUS_ARG_NONNULL(1); - - -/** Frees an <code>OpusProjectionDecoder</code> allocated by - * opus_projection_decoder_create(). - * @param st <tt>OpusProjectionDecoder</tt>: Projection decoder state to be freed. - */ -OPUS_EXPORT void opus_projection_decoder_destroy(OpusProjectionDecoder *st); - - -/**@}*/ - -/**@}*/ - -#ifdef __cplusplus -} -#endif - -#endif /* OPUS_PROJECTION_H */ diff --git a/thirdparty/opus/opus/opus_types.h b/thirdparty/opus/opus/opus_types.h index 7cf675580f..b28e03aea2 100644 --- a/thirdparty/opus/opus/opus_types.h +++ b/thirdparty/opus/opus/opus_types.h @@ -33,29 +33,14 @@ #ifndef OPUS_TYPES_H #define OPUS_TYPES_H -#define opus_int int /* used for counters etc; at least 16 bits */ -#define opus_int64 long long -#define opus_int8 signed char - -#define opus_uint unsigned int /* used for counters etc; at least 16 bits */ -#define opus_uint64 unsigned long long -#define opus_uint8 unsigned char - /* Use the real stdint.h if it's there (taken from Paul Hsieh's pstdint.h) */ -#if (defined(__STDC__) && __STDC__ && defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || (defined(__GNUC__) && (defined(_STDINT_H) || defined(_STDINT_H_)) || defined (HAVE_STDINT_H)) +#if (defined(__STDC__) && __STDC__ && __STDC_VERSION__ >= 199901L) || (defined(__GNUC__) && (defined(_STDINT_H) || defined(_STDINT_H_)) || defined (HAVE_STDINT_H)) #include <stdint.h> -# undef opus_int64 -# undef opus_int8 -# undef opus_uint64 -# undef opus_uint8 - typedef int8_t opus_int8; - typedef uint8_t opus_uint8; + typedef int16_t opus_int16; typedef uint16_t opus_uint16; typedef int32_t opus_int32; typedef uint32_t opus_uint32; - typedef int64_t opus_int64; - typedef uint64_t opus_uint64; #elif defined(_WIN32) # if defined(__CYGWIN__) @@ -163,4 +148,12 @@ #endif +#define opus_int int /* used for counters etc; at least 16 bits */ +#define opus_int64 long long +#define opus_int8 signed char + +#define opus_uint unsigned int /* used for counters etc; at least 16 bits */ +#define opus_uint64 unsigned long long +#define opus_uint8 unsigned char + #endif /* OPUS_TYPES_H */ diff --git a/thirdparty/opus/opus/opusfile.h b/thirdparty/opus/opus/opusfile.h index e3a3dc8389..4bf2fba926 100644 --- a/thirdparty/opus/opus/opusfile.h +++ b/thirdparty/opus/opus/opusfile.h @@ -239,8 +239,7 @@ struct OpusHead{ -32768...32767. The <tt>libopusfile</tt> API will automatically apply this gain to the decoded output before returning it, scaling it by - <code>pow(10,output_gain/(20.0*256))</code>. - You can adjust this behavior with op_set_gain_offset().*/ + <code>pow(10,output_gain/(20.0*256))</code>.*/ int output_gain; /**The channel mapping family, in the range 0...255. Channel mapping family 0 covers mono or stereo in a single stream. @@ -1155,18 +1154,16 @@ OP_WARN_UNUSED_RESULT OggOpusFile *op_open_url(const char *_url, int *_error,...) OP_ARG_NONNULL(1); /**Open a stream using the given set of callbacks to access it. - \param _stream The stream to read from (e.g., a <code>FILE *</code>). - This value will be passed verbatim as the first - argument to all of the callbacks. + \param _source The stream to read from (e.g., a <code>FILE *</code>). \param _cb The callbacks with which to access the stream. <code><a href="#op_read_func">read()</a></code> must be implemented. <code><a href="#op_seek_func">seek()</a></code> and <code><a href="#op_tell_func">tell()</a></code> may be <code>NULL</code>, or may always return -1 to - indicate a stream is unseekable, but if + indicate a source is unseekable, but if <code><a href="#op_seek_func">seek()</a></code> is - implemented and succeeds on a particular stream, then + implemented and succeeds on a particular source, then <code><a href="#op_tell_func">tell()</a></code> must also. <code><a href="#op_close_func">close()</a></code> may @@ -1229,11 +1226,11 @@ OP_WARN_UNUSED_RESULT OggOpusFile *op_open_url(const char *_url, basic validity checks.</dd> </dl> \return A freshly opened \c OggOpusFile, or <code>NULL</code> on error. - <tt>libopusfile</tt> does <em>not</em> take ownership of the stream + <tt>libopusfile</tt> does <em>not</em> take ownership of the source if the call fails. - The calling application is responsible for closing the stream if + The calling application is responsible for closing the source if this call returns an error.*/ -OP_WARN_UNUSED_RESULT OggOpusFile *op_open_callbacks(void *_stream, +OP_WARN_UNUSED_RESULT OggOpusFile *op_open_callbacks(void *_source, const OpusFileCallbacks *_cb,const unsigned char *_initial_data, size_t _initial_bytes,int *_error) OP_ARG_NONNULL(2); @@ -1335,20 +1332,18 @@ OP_WARN_UNUSED_RESULT OggOpusFile *op_test_url(const char *_url, For new code, you are likely better off using op_test() instead, which is less resource-intensive, requires less data to succeed, and imposes a hard limit on the amount of data it examines (important for unseekable - streams, where all such data must be buffered until you are sure of the + sources, where all such data must be buffered until you are sure of the stream type). - \param _stream The stream to read from (e.g., a <code>FILE *</code>). - This value will be passed verbatim as the first - argument to all of the callbacks. + \param _source The stream to read from (e.g., a <code>FILE *</code>). \param _cb The callbacks with which to access the stream. <code><a href="#op_read_func">read()</a></code> must be implemented. <code><a href="#op_seek_func">seek()</a></code> and <code><a href="#op_tell_func">tell()</a></code> may be <code>NULL</code>, or may always return -1 to - indicate a stream is unseekable, but if + indicate a source is unseekable, but if <code><a href="#op_seek_func">seek()</a></code> is - implemented and succeeds on a particular stream, then + implemented and succeeds on a particular source, then <code><a href="#op_tell_func">tell()</a></code> must also. <code><a href="#op_close_func">close()</a></code> may @@ -1378,11 +1373,11 @@ OP_WARN_UNUSED_RESULT OggOpusFile *op_test_url(const char *_url, See op_open_callbacks() for a full list of failure codes. \return A partially opened \c OggOpusFile, or <code>NULL</code> on error. - <tt>libopusfile</tt> does <em>not</em> take ownership of the stream + <tt>libopusfile</tt> does <em>not</em> take ownership of the source if the call fails. - The calling application is responsible for closing the stream if + The calling application is responsible for closing the source if this call returns an error.*/ -OP_WARN_UNUSED_RESULT OggOpusFile *op_test_callbacks(void *_stream, +OP_WARN_UNUSED_RESULT OggOpusFile *op_test_callbacks(void *_source, const OpusFileCallbacks *_cb,const unsigned char *_initial_data, size_t _initial_bytes,int *_error) OP_ARG_NONNULL(2); @@ -1439,7 +1434,7 @@ void op_free(OggOpusFile *_of); Their documention will indicate so explicitly.*/ /*@{*/ -/**Returns whether or not the stream being read is seekable. +/**Returns whether or not the data source being read is seekable. This is true if <ol> <li>The <code><a href="#op_seek_func">seek()</a></code> and @@ -1460,9 +1455,9 @@ int op_seekable(const OggOpusFile *_of) OP_ARG_NONNULL(1); return 1. The actual number of links is not known until the stream is fully opened. \param _of The \c OggOpusFile from which to retrieve the link count. - \return For fully-open seekable streams, this returns the total number of + \return For fully-open seekable sources, this returns the total number of links in the whole stream, which will be at least 1. - For partially-open or unseekable streams, this always returns 1.*/ + For partially-open or unseekable sources, this always returns 1.*/ int op_link_count(const OggOpusFile *_of) OP_ARG_NONNULL(1); /**Get the serial number of the given link in a (possibly-chained) Ogg Opus @@ -1476,7 +1471,7 @@ int op_link_count(const OggOpusFile *_of) OP_ARG_NONNULL(1); \return The serial number of the given link. If \a _li is greater than the total number of links, this returns the serial number of the last link. - If the stream is not seekable, this always returns the serial number + If the source is not seekable, this always returns the serial number of the current link.*/ opus_uint32 op_serialno(const OggOpusFile *_of,int _li) OP_ARG_NONNULL(1); @@ -1493,7 +1488,7 @@ opus_uint32 op_serialno(const OggOpusFile *_of,int _li) OP_ARG_NONNULL(1); \return The channel count of the given link. If \a _li is greater than the total number of links, this returns the channel count of the last link. - If the stream is not seekable, this always returns the channel count + If the source is not seekable, this always returns the channel count of the current link.*/ int op_channel_count(const OggOpusFile *_of,int _li) OP_ARG_NONNULL(1); @@ -1512,9 +1507,9 @@ int op_channel_count(const OggOpusFile *_of,int _li) OP_ARG_NONNULL(1); compressed size of link \a _li if it is non-negative, or a negative value on error. The compressed size of the entire stream may be smaller than that - of the underlying stream if trailing garbage was detected in the + of the underlying source if trailing garbage was detected in the file. - \retval #OP_EINVAL The stream is not seekable (so we can't know the length), + \retval #OP_EINVAL The source is not seekable (so we can't know the length), \a _li wasn't less than the total number of links in the stream, or the stream was only partially open.*/ opus_int64 op_raw_total(const OggOpusFile *_of,int _li) OP_ARG_NONNULL(1); @@ -1532,7 +1527,7 @@ opus_int64 op_raw_total(const OggOpusFile *_of,int _li) OP_ARG_NONNULL(1); \return The PCM length of the entire stream if \a _li is negative, the PCM length of link \a _li if it is non-negative, or a negative value on error. - \retval #OP_EINVAL The stream is not seekable (so we can't know the length), + \retval #OP_EINVAL The source is not seekable (so we can't know the length), \a _li wasn't less than the total number of links in the stream, or the stream was only partially open.*/ ogg_int64_t op_pcm_total(const OggOpusFile *_of,int _li) OP_ARG_NONNULL(1); @@ -1580,8 +1575,8 @@ const OpusTags *op_tags(const OggOpusFile *_of,int _li) OP_ARG_NONNULL(1); \param _of The \c OggOpusFile from which to retrieve the current link index. \return The index of the current link on success, or a negative value on failure. - For seekable streams, this is a number between 0 (inclusive) and the - value returned by op_link_count() (exclusive). + For seekable streams, this is a number between 0 and the value + returned by op_link_count(). For unseekable streams, this value starts at 0 and increments by one each time a new link is encountered (even though op_link_count() always returns 1). @@ -1645,10 +1640,10 @@ ogg_int64_t op_pcm_tell(const OggOpusFile *_of) OP_ARG_NONNULL(1); /*@{*/ /**\name Functions for seeking in Opus streams - These functions let you seek in Opus streams, if the underlying stream + These functions let you seek in Opus streams, if the underlying source support it. Seeking is implemented for all built-in stream I/O routines, though some - individual streams may not be seekable (pipes, live HTTP streams, or HTTP + individual sources may not be seekable (pipes, live HTTP streams, or HTTP streams from a server that does not support <code>Range</code> requests). op_raw_seek() is the fastest: it is guaranteed to perform at most one @@ -1675,8 +1670,6 @@ ogg_int64_t op_pcm_tell(const OggOpusFile *_of) OP_ARG_NONNULL(1); packets out of the tail of the link to which it seeks. \param _of The \c OggOpusFile in which to seek. \param _byte_offset The byte position to seek to. - This must be between 0 and #op_raw_total(\a _of,\c -1) - (inclusive). \return 0 on success, or a negative error code on failure. \retval #OP_EREAD The underlying seek operation failed. \retval #OP_EINVAL The stream was only partially open, or the target was diff --git a/thirdparty/opus/opus_compare.c b/thirdparty/opus/opus_compare.c index 1956e08fa5..06c67d752f 100644 --- a/thirdparty/opus/opus_compare.c +++ b/thirdparty/opus/opus_compare.c @@ -363,9 +363,6 @@ int main(int _argc,const char **_argv){ Ef*=Ef; err+=Ef*Ef; } - free(xb); - free(X); - free(Y); err=pow(err/nframes,1.0/16); Q=100*(1-0.5*log(1+err)/log(1.13)); if(Q<0){ diff --git a/thirdparty/opus/opus_decoder.c b/thirdparty/opus/opus_decoder.c index 9113638a00..080bec5072 100644 --- a/thirdparty/opus/opus_decoder.c +++ b/thirdparty/opus/opus_decoder.c @@ -78,26 +78,6 @@ struct OpusDecoder { opus_uint32 rangeFinal; }; -#if defined(ENABLE_HARDENING) || defined(ENABLE_ASSERTIONS) -static void validate_opus_decoder(OpusDecoder *st) -{ - celt_assert(st->channels == 1 || st->channels == 2); - celt_assert(st->Fs == 48000 || st->Fs == 24000 || st->Fs == 16000 || st->Fs == 12000 || st->Fs == 8000); - celt_assert(st->DecControl.API_sampleRate == st->Fs); - celt_assert(st->DecControl.internalSampleRate == 0 || st->DecControl.internalSampleRate == 16000 || st->DecControl.internalSampleRate == 12000 || st->DecControl.internalSampleRate == 8000); - celt_assert(st->DecControl.nChannelsAPI == st->channels); - celt_assert(st->DecControl.nChannelsInternal == 0 || st->DecControl.nChannelsInternal == 1 || st->DecControl.nChannelsInternal == 2); - celt_assert(st->DecControl.payloadSize_ms == 0 || st->DecControl.payloadSize_ms == 10 || st->DecControl.payloadSize_ms == 20 || st->DecControl.payloadSize_ms == 40 || st->DecControl.payloadSize_ms == 60); -#ifdef OPUS_ARCHMASK - celt_assert(st->arch >= 0); - celt_assert(st->arch <= OPUS_ARCHMASK); -#endif - celt_assert(st->stream_channels == 1 || st->stream_channels == 2); -} -#define VALIDATE_OPUS_DECODER(st) validate_opus_decoder(st) -#else -#define VALIDATE_OPUS_DECODER(st) -#endif int opus_decoder_get_size(int channels) { @@ -124,7 +104,7 @@ int opus_decoder_init(OpusDecoder *st, opus_int32 Fs, int channels) return OPUS_BAD_ARG; OPUS_CLEAR((char*)st, opus_decoder_get_size(channels)); - /* Initialize SILK decoder */ + /* Initialize SILK encoder */ ret = silk_Get_Decoder_Size(&silkDecSizeBytes); if (ret) return OPUS_INTERNAL_ERROR; @@ -237,7 +217,6 @@ static int opus_decode_frame(OpusDecoder *st, const unsigned char *data, int audiosize; int mode; - int bandwidth; int transition=0; int start_band; int redundancy=0; @@ -274,12 +253,10 @@ static int opus_decode_frame(OpusDecoder *st, const unsigned char *data, { audiosize = st->frame_size; mode = st->mode; - bandwidth = st->bandwidth; ec_dec_init(&dec,(unsigned char*)data,len); } else { audiosize = frame_size; mode = st->prev_mode; - bandwidth = 0; if (mode == 0) { @@ -378,15 +355,15 @@ static int opus_decode_frame(OpusDecoder *st, const unsigned char *data, { st->DecControl.nChannelsInternal = st->stream_channels; if( mode == MODE_SILK_ONLY ) { - if( bandwidth == OPUS_BANDWIDTH_NARROWBAND ) { + if( st->bandwidth == OPUS_BANDWIDTH_NARROWBAND ) { st->DecControl.internalSampleRate = 8000; - } else if( bandwidth == OPUS_BANDWIDTH_MEDIUMBAND ) { + } else if( st->bandwidth == OPUS_BANDWIDTH_MEDIUMBAND ) { st->DecControl.internalSampleRate = 12000; - } else if( bandwidth == OPUS_BANDWIDTH_WIDEBAND ) { + } else if( st->bandwidth == OPUS_BANDWIDTH_WIDEBAND ) { st->DecControl.internalSampleRate = 16000; } else { st->DecControl.internalSampleRate = 16000; - celt_assert( 0 ); + silk_assert( 0 ); } } else { /* Hybrid mode */ @@ -450,26 +427,10 @@ static int opus_decode_frame(OpusDecoder *st, const unsigned char *data, if (mode != MODE_CELT_ONLY) start_band = 17; - if (redundancy) - { - transition = 0; - pcm_transition_silk_size=ALLOC_NONE; - } - - ALLOC(pcm_transition_silk, pcm_transition_silk_size, opus_val16); - - if (transition && mode != MODE_CELT_ONLY) - { - pcm_transition = pcm_transition_silk; - opus_decode_frame(st, NULL, 0, pcm_transition, IMIN(F5, audiosize), 0); - } - - - if (bandwidth) { int endband=21; - switch(bandwidth) + switch(st->bandwidth) { case OPUS_BANDWIDTH_NARROWBAND: endband = 13; @@ -484,13 +445,24 @@ static int opus_decode_frame(OpusDecoder *st, const unsigned char *data, case OPUS_BANDWIDTH_FULLBAND: endband = 21; break; - default: - celt_assert(0); - break; } - MUST_SUCCEED(celt_decoder_ctl(celt_dec, CELT_SET_END_BAND(endband))); + celt_decoder_ctl(celt_dec, CELT_SET_END_BAND(endband)); + celt_decoder_ctl(celt_dec, CELT_SET_CHANNELS(st->stream_channels)); + } + + if (redundancy) + { + transition = 0; + pcm_transition_silk_size=ALLOC_NONE; + } + + ALLOC(pcm_transition_silk, pcm_transition_silk_size, opus_val16); + + if (transition && mode != MODE_CELT_ONLY) + { + pcm_transition = pcm_transition_silk; + opus_decode_frame(st, NULL, 0, pcm_transition, IMIN(F5, audiosize), 0); } - MUST_SUCCEED(celt_decoder_ctl(celt_dec, CELT_SET_CHANNELS(st->stream_channels))); /* Only allocation memory for redundancy if/when needed */ redundant_audio_size = redundancy ? F5*st->channels : ALLOC_NONE; @@ -499,21 +471,21 @@ static int opus_decode_frame(OpusDecoder *st, const unsigned char *data, /* 5 ms redundant frame for CELT->SILK*/ if (redundancy && celt_to_silk) { - MUST_SUCCEED(celt_decoder_ctl(celt_dec, CELT_SET_START_BAND(0))); + celt_decoder_ctl(celt_dec, CELT_SET_START_BAND(0)); celt_decode_with_ec(celt_dec, data+len, redundancy_bytes, redundant_audio, F5, NULL, 0); - MUST_SUCCEED(celt_decoder_ctl(celt_dec, OPUS_GET_FINAL_RANGE(&redundant_rng))); + celt_decoder_ctl(celt_dec, OPUS_GET_FINAL_RANGE(&redundant_rng)); } /* MUST be after PLC */ - MUST_SUCCEED(celt_decoder_ctl(celt_dec, CELT_SET_START_BAND(start_band))); + celt_decoder_ctl(celt_dec, CELT_SET_START_BAND(start_band)); if (mode != MODE_SILK_ONLY) { int celt_frame_size = IMIN(F20, frame_size); /* Make sure to discard any previous CELT state */ if (mode != st->prev_mode && st->prev_mode > 0 && !st->prev_redundancy) - MUST_SUCCEED(celt_decoder_ctl(celt_dec, OPUS_RESET_STATE)); + celt_decoder_ctl(celt_dec, OPUS_RESET_STATE); /* Decode CELT */ celt_ret = celt_decode_with_ec(celt_dec, decode_fec ? NULL : data, len, pcm, celt_frame_size, &dec, celt_accum); @@ -528,7 +500,7 @@ static int opus_decode_frame(OpusDecoder *st, const unsigned char *data, do a fade-out by decoding a silence frame */ if (st->prev_mode == MODE_HYBRID && !(redundancy && celt_to_silk && st->prev_redundancy) ) { - MUST_SUCCEED(celt_decoder_ctl(celt_dec, CELT_SET_START_BAND(0))); + celt_decoder_ctl(celt_dec, CELT_SET_START_BAND(0)); celt_decode_with_ec(celt_dec, silence, 2, pcm, F2_5, NULL, celt_accum); } } @@ -546,18 +518,18 @@ static int opus_decode_frame(OpusDecoder *st, const unsigned char *data, { const CELTMode *celt_mode; - MUST_SUCCEED(celt_decoder_ctl(celt_dec, CELT_GET_MODE(&celt_mode))); + celt_decoder_ctl(celt_dec, CELT_GET_MODE(&celt_mode)); window = celt_mode->window; } /* 5 ms redundant frame for SILK->CELT */ if (redundancy && !celt_to_silk) { - MUST_SUCCEED(celt_decoder_ctl(celt_dec, OPUS_RESET_STATE)); - MUST_SUCCEED(celt_decoder_ctl(celt_dec, CELT_SET_START_BAND(0))); + celt_decoder_ctl(celt_dec, OPUS_RESET_STATE); + celt_decoder_ctl(celt_dec, CELT_SET_START_BAND(0)); celt_decode_with_ec(celt_dec, data+len, redundancy_bytes, redundant_audio, F5, NULL, 0); - MUST_SUCCEED(celt_decoder_ctl(celt_dec, OPUS_GET_FINAL_RANGE(&redundant_rng))); + celt_decoder_ctl(celt_dec, OPUS_GET_FINAL_RANGE(&redundant_rng)); smooth_fade(pcm+st->channels*(frame_size-F2_5), redundant_audio+st->channels*F2_5, pcm+st->channels*(frame_size-F2_5), F2_5, st->channels, window, st->Fs); } @@ -633,7 +605,6 @@ int opus_decode_native(OpusDecoder *st, const unsigned char *data, int packet_frame_size, packet_bandwidth, packet_mode, packet_stream_channels; /* 48 x 2.5 ms = 120 ms */ opus_int16 size[48]; - VALIDATE_OPUS_DECODER(st); if (decode_fec<0 || decode_fec>1) return OPUS_BAD_ARG; /* For FEC/PLC, frame_size has to be to have a multiple of 2.5 ms */ @@ -769,7 +740,6 @@ int opus_decode_float(OpusDecoder *st, const unsigned char *data, else return OPUS_INVALID_PACKET; } - celt_assert(st->channels == 1 || st->channels == 2); ALLOC(out, frame_size*st->channels, opus_int16); ret = opus_decode_native(st, data, len, out, frame_size, decode_fec, 0, NULL, 0); @@ -807,7 +777,6 @@ int opus_decode(OpusDecoder *st, const unsigned char *data, else return OPUS_INVALID_PACKET; } - celt_assert(st->channels == 1 || st->channels == 2); ALLOC(out, frame_size*st->channels, float); ret = opus_decode_native(st, data, len, out, frame_size, decode_fec, 0, NULL, 1); @@ -895,7 +864,7 @@ int opus_decoder_ctl(OpusDecoder *st, int request, ...) goto bad_arg; } if (st->prev_mode == MODE_CELT_ONLY) - ret = celt_decoder_ctl(celt_dec, OPUS_GET_PITCH(value)); + celt_decoder_ctl(celt_dec, OPUS_GET_PITCH(value)); else *value = st->DecControl.prevPitchLag; } @@ -922,7 +891,7 @@ int opus_decoder_ctl(OpusDecoder *st, int request, ...) break; case OPUS_GET_LAST_PACKET_DURATION_REQUEST: { - opus_int32 *value = va_arg(ap, opus_int32*); + opus_uint32 *value = va_arg(ap, opus_uint32*); if (!value) { goto bad_arg; @@ -930,26 +899,6 @@ int opus_decoder_ctl(OpusDecoder *st, int request, ...) *value = st->last_packet_duration; } break; - case OPUS_SET_PHASE_INVERSION_DISABLED_REQUEST: - { - opus_int32 value = va_arg(ap, opus_int32); - if(value<0 || value>1) - { - goto bad_arg; - } - ret = celt_decoder_ctl(celt_dec, OPUS_SET_PHASE_INVERSION_DISABLED(value)); - } - break; - case OPUS_GET_PHASE_INVERSION_DISABLED_REQUEST: - { - opus_int32 *value = va_arg(ap, opus_int32*); - if (!value) - { - goto bad_arg; - } - ret = celt_decoder_ctl(celt_dec, OPUS_GET_PHASE_INVERSION_DISABLED(value)); - } - break; default: /*fprintf(stderr, "unknown opus_decoder_ctl() request: %d", request);*/ ret = OPUS_UNIMPLEMENTED; diff --git a/thirdparty/opus/opus_encoder.c b/thirdparty/opus/opus_encoder.c index e98ac5b8d0..9a516a884a 100644 --- a/thirdparty/opus/opus_encoder.c +++ b/thirdparty/opus/opus_encoder.c @@ -53,10 +53,6 @@ #define MAX_ENCODER_BUFFER 480 -#ifndef DISABLE_FLOAT_API -#define PSEUDO_SNR_THRESHOLD 316.23f /* 10^(25/10) */ -#endif - typedef struct { opus_val32 XX, XY, YY; opus_val16 smoothed_width; @@ -86,7 +82,6 @@ struct OpusEncoder { int encoder_buffer; int lfe; int arch; - int use_dtx; /* general DTX for both SILK and CELT */ #ifndef DISABLE_FLOAT_API TonalityAnalysisState analysis; #endif @@ -102,8 +97,6 @@ struct OpusEncoder { int prev_channels; int prev_framesize; int bandwidth; - /* Bandwidth determined automatically from the rate (before any other adjustment) */ - int auto_bandwidth; int silk_bw_switch; /* Sampling rate (at the API level) */ int first; @@ -112,10 +105,7 @@ struct OpusEncoder { opus_val16 delay_buffer[MAX_ENCODER_BUFFER*2]; #ifndef DISABLE_FLOAT_API int detected_bandwidth; - int nb_no_activity_frames; - opus_val32 peak_signal_energy; #endif - int nonfinal_frame; /* current frame is not the final in a packet */ opus_uint32 rangeFinal; }; @@ -123,46 +113,38 @@ struct OpusEncoder { middle (memoriless) threshold. The second column is the hysteresis (difference with the middle) */ static const opus_int32 mono_voice_bandwidth_thresholds[8] = { - 9000, 700, /* NB<->MB */ - 9000, 700, /* MB<->WB */ - 13500, 1000, /* WB<->SWB */ - 14000, 2000, /* SWB<->FB */ + 11000, 1000, /* NB<->MB */ + 14000, 1000, /* MB<->WB */ + 17000, 1000, /* WB<->SWB */ + 21000, 2000, /* SWB<->FB */ }; static const opus_int32 mono_music_bandwidth_thresholds[8] = { - 9000, 700, /* NB<->MB */ - 9000, 700, /* MB<->WB */ - 11000, 1000, /* WB<->SWB */ - 12000, 2000, /* SWB<->FB */ + 12000, 1000, /* NB<->MB */ + 15000, 1000, /* MB<->WB */ + 18000, 2000, /* WB<->SWB */ + 22000, 2000, /* SWB<->FB */ }; static const opus_int32 stereo_voice_bandwidth_thresholds[8] = { - 9000, 700, /* NB<->MB */ - 9000, 700, /* MB<->WB */ - 13500, 1000, /* WB<->SWB */ - 14000, 2000, /* SWB<->FB */ + 11000, 1000, /* NB<->MB */ + 14000, 1000, /* MB<->WB */ + 21000, 2000, /* WB<->SWB */ + 28000, 2000, /* SWB<->FB */ }; static const opus_int32 stereo_music_bandwidth_thresholds[8] = { - 9000, 700, /* NB<->MB */ - 9000, 700, /* MB<->WB */ - 11000, 1000, /* WB<->SWB */ - 12000, 2000, /* SWB<->FB */ + 12000, 1000, /* NB<->MB */ + 18000, 2000, /* MB<->WB */ + 21000, 2000, /* WB<->SWB */ + 30000, 2000, /* SWB<->FB */ }; /* Threshold bit-rates for switching between mono and stereo */ -static const opus_int32 stereo_voice_threshold = 19000; -static const opus_int32 stereo_music_threshold = 17000; +static const opus_int32 stereo_voice_threshold = 30000; +static const opus_int32 stereo_music_threshold = 30000; /* Threshold bit-rate for switching between SILK/hybrid and CELT-only */ static const opus_int32 mode_thresholds[2][2] = { /* voice */ /* music */ - { 64000, 10000}, /* mono */ - { 44000, 10000}, /* stereo */ -}; - -static const opus_int32 fec_thresholds[] = { - 12000, 1000, /* NB */ - 14000, 1000, /* MB */ - 16000, 1000, /* WB */ - 20000, 1000, /* SWB */ - 22000, 1000, /* FB */ + { 64000, 16000}, /* mono */ + { 36000, 16000}, /* stereo */ }; int opus_encoder_get_size(int channels) @@ -263,8 +245,7 @@ int opus_encoder_init(OpusEncoder* st, opus_int32 Fs, int channels, int applicat st->bandwidth = OPUS_BANDWIDTH_FULLBAND; #ifndef DISABLE_FLOAT_API - tonality_analysis_init(&st->analysis, st->Fs); - st->analysis.application = st->application; + tonality_analysis_init(&st->analysis); #endif return OPUS_OK; @@ -342,11 +323,10 @@ static void silk_biquad_float( } #endif -static void hp_cutoff(const opus_val16 *in, opus_int32 cutoff_Hz, opus_val16 *out, opus_val32 *hp_mem, int len, int channels, opus_int32 Fs, int arch) +static void hp_cutoff(const opus_val16 *in, opus_int32 cutoff_Hz, opus_val16 *out, opus_val32 *hp_mem, int len, int channels, opus_int32 Fs) { opus_int32 B_Q28[ 3 ], A_Q28[ 2 ]; opus_int32 Fc_Q19, r_Q28, r_Q22; - (void)arch; silk_assert( cutoff_Hz <= silk_int32_MAX / SILK_FIX_CONST( 1.5 * 3.14159 / 1000, 19 ) ); Fc_Q19 = silk_DIV32_16( silk_SMULBB( SILK_FIX_CONST( 1.5 * 3.14159 / 1000, 19 ), cutoff_Hz ), Fs/1000 ); @@ -366,10 +346,9 @@ static void hp_cutoff(const opus_val16 *in, opus_int32 cutoff_Hz, opus_val16 *ou A_Q28[ 1 ] = silk_SMULWW( r_Q22, r_Q22 ); #ifdef FIXED_POINT - if( channels == 1 ) { - silk_biquad_alt_stride1( in, B_Q28, A_Q28, hp_mem, out, len ); - } else { - silk_biquad_alt_stride2( in, B_Q28, A_Q28, hp_mem, out, len, arch ); + silk_biquad_alt( in, B_Q28, A_Q28, hp_mem, out, len, channels ); + if( channels == 2 ) { + silk_biquad_alt( in+1, B_Q28, A_Q28, hp_mem+2, out+1, len, channels ); } #else silk_biquad_float( in, B_Q28, A_Q28, hp_mem, out, len, channels ); @@ -385,17 +364,21 @@ static void dc_reject(const opus_val16 *in, opus_int32 cutoff_Hz, opus_val16 *ou int c, i; int shift; - /* Approximates -round(log2(6.3*cutoff_Hz/Fs)) */ - shift=celt_ilog2(Fs/(cutoff_Hz*4)); + /* Approximates -round(log2(4.*cutoff_Hz/Fs)) */ + shift=celt_ilog2(Fs/(cutoff_Hz*3)); for (c=0;c<channels;c++) { for (i=0;i<len;i++) { - opus_val32 x, y; - x = SHL32(EXTEND32(in[channels*i+c]), 14); - y = x-hp_mem[2*c]; + opus_val32 x, tmp, y; + x = SHL32(EXTEND32(in[channels*i+c]), 15); + /* First stage */ + tmp = x-hp_mem[2*c]; hp_mem[2*c] = hp_mem[2*c] + PSHR32(x - hp_mem[2*c], shift); - out[channels*i+c] = EXTRACT16(SATURATE(PSHR32(y, 14), 32767)); + /* Second stage */ + y = tmp - hp_mem[2*c+1]; + hp_mem[2*c+1] = hp_mem[2*c+1] + PSHR32(tmp - hp_mem[2*c+1], shift); + out[channels*i+c] = EXTRACT16(SATURATE(PSHR32(y, 15), 32767)); } } } @@ -403,41 +386,24 @@ static void dc_reject(const opus_val16 *in, opus_int32 cutoff_Hz, opus_val16 *ou #else static void dc_reject(const opus_val16 *in, opus_int32 cutoff_Hz, opus_val16 *out, opus_val32 *hp_mem, int len, int channels, opus_int32 Fs) { - int i; - float coef, coef2; - coef = 6.3f*cutoff_Hz/Fs; - coef2 = 1-coef; - if (channels==2) + int c, i; + float coef; + + coef = 4.0f*cutoff_Hz/Fs; + for (c=0;c<channels;c++) { - float m0, m2; - m0 = hp_mem[0]; - m2 = hp_mem[2]; for (i=0;i<len;i++) { - opus_val32 x0, x1, out0, out1; - x0 = in[2*i+0]; - x1 = in[2*i+1]; - out0 = x0-m0; - out1 = x1-m2; - m0 = coef*x0 + VERY_SMALL + coef2*m0; - m2 = coef*x1 + VERY_SMALL + coef2*m2; - out[2*i+0] = out0; - out[2*i+1] = out1; + opus_val32 x, tmp, y; + x = in[channels*i+c]; + /* First stage */ + tmp = x-hp_mem[2*c]; + hp_mem[2*c] = hp_mem[2*c] + coef*(x - hp_mem[2*c]) + VERY_SMALL; + /* Second stage */ + y = tmp - hp_mem[2*c+1]; + hp_mem[2*c+1] = hp_mem[2*c+1] + coef*(tmp - hp_mem[2*c+1]) + VERY_SMALL; + out[channels*i+c] = y; } - hp_mem[0] = m0; - hp_mem[2] = m2; - } else { - float m0; - m0 = hp_mem[0]; - for (i=0;i<len;i++) - { - opus_val32 x, y; - x = in[i]; - y = x-m0; - m0 = coef*x + VERY_SMALL + coef2*m0; - out[i] = y; - } - hp_mem[0] = m0; } } #endif @@ -555,57 +521,287 @@ static opus_int32 user_bitrate_to_bitrate(OpusEncoder *st, int frame_size, int m } #ifndef DISABLE_FLOAT_API +/* Don't use more than 60 ms for the frame size analysis */ +#define MAX_DYNAMIC_FRAMESIZE 24 +/* Estimates how much the bitrate will be boosted based on the sub-frame energy */ +static float transient_boost(const float *E, const float *E_1, int LM, int maxM) +{ + int i; + int M; + float sumE=0, sumE_1=0; + float metric; + + M = IMIN(maxM, (1<<LM)+1); + for (i=0;i<M;i++) + { + sumE += E[i]; + sumE_1 += E_1[i]; + } + metric = sumE*sumE_1/(M*M); + /*if (LM==3) + printf("%f\n", metric);*/ + /*return metric>10 ? 1 : 0;*/ + /*return MAX16(0,1-exp(-.25*(metric-2.)));*/ + return MIN16(1,(float)sqrt(MAX16(0,.05f*(metric-2)))); +} + +/* Viterbi decoding trying to find the best frame size combination using look-ahead + + State numbering: + 0: unused + 1: 2.5 ms + 2: 5 ms (#1) + 3: 5 ms (#2) + 4: 10 ms (#1) + 5: 10 ms (#2) + 6: 10 ms (#3) + 7: 10 ms (#4) + 8: 20 ms (#1) + 9: 20 ms (#2) + 10: 20 ms (#3) + 11: 20 ms (#4) + 12: 20 ms (#5) + 13: 20 ms (#6) + 14: 20 ms (#7) + 15: 20 ms (#8) +*/ +static int transient_viterbi(const float *E, const float *E_1, int N, int frame_cost, int rate) +{ + int i; + float cost[MAX_DYNAMIC_FRAMESIZE][16]; + int states[MAX_DYNAMIC_FRAMESIZE][16]; + float best_cost; + int best_state; + float factor; + /* Take into account that we damp VBR in the 32 kb/s to 64 kb/s range. */ + if (rate<80) + factor=0; + else if (rate>160) + factor=1; + else + factor = (rate-80.f)/80.f; + /* Makes variable framesize less aggressive at lower bitrates, but I can't + find any valid theoretical justification for this (other than it seems + to help) */ + for (i=0;i<16;i++) + { + /* Impossible state */ + states[0][i] = -1; + cost[0][i] = 1e10; + } + for (i=0;i<4;i++) + { + cost[0][1<<i] = (frame_cost + rate*(1<<i))*(1+factor*transient_boost(E, E_1, i, N+1)); + states[0][1<<i] = i; + } + for (i=1;i<N;i++) + { + int j; + + /* Follow continuations */ + for (j=2;j<16;j++) + { + cost[i][j] = cost[i-1][j-1]; + states[i][j] = j-1; + } + + /* New frames */ + for(j=0;j<4;j++) + { + int k; + float min_cost; + float curr_cost; + states[i][1<<j] = 1; + min_cost = cost[i-1][1]; + for(k=1;k<4;k++) + { + float tmp = cost[i-1][(1<<(k+1))-1]; + if (tmp < min_cost) + { + states[i][1<<j] = (1<<(k+1))-1; + min_cost = tmp; + } + } + curr_cost = (frame_cost + rate*(1<<j))*(1+factor*transient_boost(E+i, E_1+i, j, N-i+1)); + cost[i][1<<j] = min_cost; + /* If part of the frame is outside the analysis window, only count part of the cost */ + if (N-i < (1<<j)) + cost[i][1<<j] += curr_cost*(float)(N-i)/(1<<j); + else + cost[i][1<<j] += curr_cost; + } + } + + best_state=1; + best_cost = cost[N-1][1]; + /* Find best end state (doesn't force a frame to end at N-1) */ + for (i=2;i<16;i++) + { + if (cost[N-1][i]<best_cost) + { + best_cost = cost[N-1][i]; + best_state = i; + } + } + + /* Follow transitions back */ + for (i=N-1;i>=0;i--) + { + /*printf("%d ", best_state);*/ + best_state = states[i][best_state]; + } + /*printf("%d\n", best_state);*/ + return best_state; +} + +static int optimize_framesize(const void *x, int len, int C, opus_int32 Fs, + int bitrate, opus_val16 tonality, float *mem, int buffering, + downmix_func downmix) +{ + int N; + int i; + float e[MAX_DYNAMIC_FRAMESIZE+4]; + float e_1[MAX_DYNAMIC_FRAMESIZE+3]; + opus_val32 memx; + int bestLM=0; + int subframe; + int pos; + int offset; + VARDECL(opus_val32, sub); + + subframe = Fs/400; + ALLOC(sub, subframe, opus_val32); + e[0]=mem[0]; + e_1[0]=1.f/(EPSILON+mem[0]); + if (buffering) + { + /* Consider the CELT delay when not in restricted-lowdelay */ + /* We assume the buffering is between 2.5 and 5 ms */ + offset = 2*subframe - buffering; + celt_assert(offset>=0 && offset <= subframe); + len -= offset; + e[1]=mem[1]; + e_1[1]=1.f/(EPSILON+mem[1]); + e[2]=mem[2]; + e_1[2]=1.f/(EPSILON+mem[2]); + pos = 3; + } else { + pos=1; + offset=0; + } + N=IMIN(len/subframe, MAX_DYNAMIC_FRAMESIZE); + /* Just silencing a warning, it's really initialized later */ + memx = 0; + for (i=0;i<N;i++) + { + float tmp; + opus_val32 tmpx; + int j; + tmp=EPSILON; + + downmix(x, sub, subframe, i*subframe+offset, 0, -2, C); + if (i==0) + memx = sub[0]; + for (j=0;j<subframe;j++) + { + tmpx = sub[j]; + tmp += (tmpx-memx)*(float)(tmpx-memx); + memx = tmpx; + } + e[i+pos] = tmp; + e_1[i+pos] = 1.f/tmp; + } + /* Hack to get 20 ms working with APPLICATION_AUDIO + The real problem is that the corresponding memory needs to use 1.5 ms + from this frame and 1 ms from the next frame */ + e[i+pos] = e[i+pos-1]; + if (buffering) + N=IMIN(MAX_DYNAMIC_FRAMESIZE, N+2); + bestLM = transient_viterbi(e, e_1, N, (int)((1.f+.5f*tonality)*(60*C+40)), bitrate/400); + mem[0] = e[1<<bestLM]; + if (buffering) + { + mem[1] = e[(1<<bestLM)+1]; + mem[2] = e[(1<<bestLM)+2]; + } + return bestLM; +} + +#endif + +#ifndef DISABLE_FLOAT_API #ifdef FIXED_POINT #define PCM2VAL(x) FLOAT2INT16(x) #else #define PCM2VAL(x) SCALEIN(x) #endif - -void downmix_float(const void *_x, opus_val32 *y, int subframe, int offset, int c1, int c2, int C) +void downmix_float(const void *_x, opus_val32 *sub, int subframe, int offset, int c1, int c2, int C) { const float *x; + opus_val32 scale; int j; - x = (const float *)_x; for (j=0;j<subframe;j++) - y[j] = PCM2VAL(x[(j+offset)*C+c1]); + sub[j] = PCM2VAL(x[(j+offset)*C+c1]); if (c2>-1) { for (j=0;j<subframe;j++) - y[j] += PCM2VAL(x[(j+offset)*C+c2]); + sub[j] += PCM2VAL(x[(j+offset)*C+c2]); } else if (c2==-2) { int c; for (c=1;c<C;c++) { for (j=0;j<subframe;j++) - y[j] += PCM2VAL(x[(j+offset)*C+c]); + sub[j] += PCM2VAL(x[(j+offset)*C+c]); } } +#ifdef FIXED_POINT + scale = (1<<SIG_SHIFT); +#else + scale = 1.f; +#endif + if (C==-2) + scale /= C; + else + scale /= 2; + for (j=0;j<subframe;j++) + sub[j] *= scale; } #endif -void downmix_int(const void *_x, opus_val32 *y, int subframe, int offset, int c1, int c2, int C) +void downmix_int(const void *_x, opus_val32 *sub, int subframe, int offset, int c1, int c2, int C) { const opus_int16 *x; + opus_val32 scale; int j; - x = (const opus_int16 *)_x; for (j=0;j<subframe;j++) - y[j] = x[(j+offset)*C+c1]; + sub[j] = x[(j+offset)*C+c1]; if (c2>-1) { for (j=0;j<subframe;j++) - y[j] += x[(j+offset)*C+c2]; + sub[j] += x[(j+offset)*C+c2]; } else if (c2==-2) { int c; for (c=1;c<C;c++) { for (j=0;j<subframe;j++) - y[j] += x[(j+offset)*C+c]; + sub[j] += x[(j+offset)*C+c]; } } +#ifdef FIXED_POINT + scale = (1<<SIG_SHIFT); +#else + scale = 1.f/32768; +#endif + if (C==-2) + scale /= C; + else + scale /= 2; + for (j=0;j<subframe;j++) + sub[j] *= scale; } opus_int32 frame_size_select(opus_int32 frame_size, int variable_duration, opus_int32 Fs) @@ -615,24 +811,53 @@ opus_int32 frame_size_select(opus_int32 frame_size, int variable_duration, opus_ return -1; if (variable_duration == OPUS_FRAMESIZE_ARG) new_size = frame_size; - else if (variable_duration >= OPUS_FRAMESIZE_2_5_MS && variable_duration <= OPUS_FRAMESIZE_120_MS) - { - if (variable_duration <= OPUS_FRAMESIZE_40_MS) - new_size = (Fs/400)<<(variable_duration-OPUS_FRAMESIZE_2_5_MS); - else - new_size = (variable_duration-OPUS_FRAMESIZE_2_5_MS-2)*Fs/50; - } + else if (variable_duration == OPUS_FRAMESIZE_VARIABLE) + new_size = Fs/50; + else if (variable_duration >= OPUS_FRAMESIZE_2_5_MS && variable_duration <= OPUS_FRAMESIZE_60_MS) + new_size = IMIN(3*Fs/50, (Fs/400)<<(variable_duration-OPUS_FRAMESIZE_2_5_MS)); else return -1; if (new_size>frame_size) return -1; - if (400*new_size!=Fs && 200*new_size!=Fs && 100*new_size!=Fs && - 50*new_size!=Fs && 25*new_size!=Fs && 50*new_size!=3*Fs && - 50*new_size!=4*Fs && 50*new_size!=5*Fs && 50*new_size!=6*Fs) + if (400*new_size!=Fs && 200*new_size!=Fs && 100*new_size!=Fs && + 50*new_size!=Fs && 25*new_size!=Fs && 50*new_size!=3*Fs) return -1; return new_size; } +opus_int32 compute_frame_size(const void *analysis_pcm, int frame_size, + int variable_duration, int C, opus_int32 Fs, int bitrate_bps, + int delay_compensation, downmix_func downmix +#ifndef DISABLE_FLOAT_API + , float *subframe_mem +#endif + ) +{ +#ifndef DISABLE_FLOAT_API + if (variable_duration == OPUS_FRAMESIZE_VARIABLE && frame_size >= Fs/200) + { + int LM = 3; + LM = optimize_framesize(analysis_pcm, frame_size, C, Fs, bitrate_bps, + 0, subframe_mem, delay_compensation, downmix); + while ((Fs/400<<LM)>frame_size) + LM--; + frame_size = (Fs/400<<LM); + } else +#else + (void)analysis_pcm; + (void)C; + (void)bitrate_bps; + (void)delay_compensation; + (void)downmix; +#endif + { + frame_size = frame_size_select(frame_size, variable_duration, Fs); + } + if (frame_size<0) + return -1; + return frame_size; +} + opus_val16 compute_stereo_width(const opus_val16 *pcm, int frame_size, opus_int32 Fs, StereoWidthState *mem) { opus_val32 xx, xy, yy; @@ -679,12 +904,6 @@ opus_val16 compute_stereo_width(const opus_val16 *pcm, int frame_size, opus_int3 xy += SHR32(pxy, 10); yy += SHR32(pyy, 10); } -#ifndef FIXED_POINT - if (!(xx < 1e9f) || celt_isnan(xx) || !(yy < 1e9f) || celt_isnan(yy)) - { - xy = xx = yy = 0; - } -#endif mem->XX += MULT16_32_Q15(short_alpha, xx-mem->XX); mem->XY += MULT16_32_Q15(short_alpha, xy-mem->XY); mem->YY += MULT16_32_Q15(short_alpha, yy-mem->YY); @@ -715,354 +934,6 @@ opus_val16 compute_stereo_width(const opus_val16 *pcm, int frame_size, opus_int3 return EXTRACT16(MIN32(Q15ONE, MULT16_16(20, mem->max_follower))); } -static int decide_fec(int useInBandFEC, int PacketLoss_perc, int last_fec, int mode, int *bandwidth, opus_int32 rate) -{ - int orig_bandwidth; - if (!useInBandFEC || PacketLoss_perc == 0 || mode == MODE_CELT_ONLY) - return 0; - orig_bandwidth = *bandwidth; - for (;;) - { - opus_int32 hysteresis; - opus_int32 LBRR_rate_thres_bps; - /* Compute threshold for using FEC at the current bandwidth setting */ - LBRR_rate_thres_bps = fec_thresholds[2*(*bandwidth - OPUS_BANDWIDTH_NARROWBAND)]; - hysteresis = fec_thresholds[2*(*bandwidth - OPUS_BANDWIDTH_NARROWBAND) + 1]; - if (last_fec == 1) LBRR_rate_thres_bps -= hysteresis; - if (last_fec == 0) LBRR_rate_thres_bps += hysteresis; - LBRR_rate_thres_bps = silk_SMULWB( silk_MUL( LBRR_rate_thres_bps, - 125 - silk_min( PacketLoss_perc, 25 ) ), SILK_FIX_CONST( 0.01, 16 ) ); - /* If loss <= 5%, we look at whether we have enough rate to enable FEC. - If loss > 5%, we decrease the bandwidth until we can enable FEC. */ - if (rate > LBRR_rate_thres_bps) - return 1; - else if (PacketLoss_perc <= 5) - return 0; - else if (*bandwidth > OPUS_BANDWIDTH_NARROWBAND) - (*bandwidth)--; - else - break; - } - /* Couldn't find any bandwidth to enable FEC, keep original bandwidth. */ - *bandwidth = orig_bandwidth; - return 0; -} - -static int compute_silk_rate_for_hybrid(int rate, int bandwidth, int frame20ms, int vbr, int fec, int channels) { - int entry; - int i; - int N; - int silk_rate; - static int rate_table[][5] = { - /* |total| |-------- SILK------------| - |-- No FEC -| |--- FEC ---| - 10ms 20ms 10ms 20ms */ - { 0, 0, 0, 0, 0}, - {12000, 10000, 10000, 11000, 11000}, - {16000, 13500, 13500, 15000, 15000}, - {20000, 16000, 16000, 18000, 18000}, - {24000, 18000, 18000, 21000, 21000}, - {32000, 22000, 22000, 28000, 28000}, - {64000, 38000, 38000, 50000, 50000} - }; - /* Do the allocation per-channel. */ - rate /= channels; - entry = 1 + frame20ms + 2*fec; - N = sizeof(rate_table)/sizeof(rate_table[0]); - for (i=1;i<N;i++) - { - if (rate_table[i][0] > rate) break; - } - if (i == N) - { - silk_rate = rate_table[i-1][entry]; - /* For now, just give 50% of the extra bits to SILK. */ - silk_rate += (rate-rate_table[i-1][0])/2; - } else { - opus_int32 lo, hi, x0, x1; - lo = rate_table[i-1][entry]; - hi = rate_table[i][entry]; - x0 = rate_table[i-1][0]; - x1 = rate_table[i][0]; - silk_rate = (lo*(x1-rate) + hi*(rate-x0))/(x1-x0); - } - if (!vbr) - { - /* Tiny boost to SILK for CBR. We should probably tune this better. */ - silk_rate += 100; - } - if (bandwidth==OPUS_BANDWIDTH_SUPERWIDEBAND) - silk_rate += 300; - silk_rate *= channels; - /* Small adjustment for stereo (calibrated for 32 kb/s, haven't tried other bitrates). */ - if (channels == 2 && rate >= 12000) - silk_rate -= 1000; - return silk_rate; -} - -/* Returns the equivalent bitrate corresponding to 20 ms frames, - complexity 10 VBR operation. */ -static opus_int32 compute_equiv_rate(opus_int32 bitrate, int channels, - int frame_rate, int vbr, int mode, int complexity, int loss) -{ - opus_int32 equiv; - equiv = bitrate; - /* Take into account overhead from smaller frames. */ - if (frame_rate > 50) - equiv -= (40*channels+20)*(frame_rate - 50); - /* CBR is about a 8% penalty for both SILK and CELT. */ - if (!vbr) - equiv -= equiv/12; - /* Complexity makes about 10% difference (from 0 to 10) in general. */ - equiv = equiv * (90+complexity)/100; - if (mode == MODE_SILK_ONLY || mode == MODE_HYBRID) - { - /* SILK complexity 0-1 uses the non-delayed-decision NSQ, which - costs about 20%. */ - if (complexity<2) - equiv = equiv*4/5; - equiv -= equiv*loss/(6*loss + 10); - } else if (mode == MODE_CELT_ONLY) { - /* CELT complexity 0-4 doesn't have the pitch filter, which costs - about 10%. */ - if (complexity<5) - equiv = equiv*9/10; - } else { - /* Mode not known yet */ - /* Half the SILK loss*/ - equiv -= equiv*loss/(12*loss + 20); - } - return equiv; -} - -#ifndef DISABLE_FLOAT_API - -int is_digital_silence(const opus_val16* pcm, int frame_size, int channels, int lsb_depth) -{ - int silence = 0; - opus_val32 sample_max = 0; -#ifdef MLP_TRAINING - return 0; -#endif - sample_max = celt_maxabs16(pcm, frame_size*channels); - -#ifdef FIXED_POINT - silence = (sample_max == 0); - (void)lsb_depth; -#else - silence = (sample_max <= (opus_val16) 1 / (1 << lsb_depth)); -#endif - - return silence; -} - -#ifdef FIXED_POINT -static opus_val32 compute_frame_energy(const opus_val16 *pcm, int frame_size, int channels, int arch) -{ - int i; - opus_val32 sample_max; - int max_shift; - int shift; - opus_val32 energy = 0; - int len = frame_size*channels; - (void)arch; - /* Max amplitude in the signal */ - sample_max = celt_maxabs16(pcm, len); - - /* Compute the right shift required in the MAC to avoid an overflow */ - max_shift = celt_ilog2(len); - shift = IMAX(0, (celt_ilog2(sample_max) << 1) + max_shift - 28); - - /* Compute the energy */ - for (i=0; i<len; i++) - energy += SHR32(MULT16_16(pcm[i], pcm[i]), shift); - - /* Normalize energy by the frame size and left-shift back to the original position */ - energy /= len; - energy = SHL32(energy, shift); - - return energy; -} -#else -static opus_val32 compute_frame_energy(const opus_val16 *pcm, int frame_size, int channels, int arch) -{ - int len = frame_size*channels; - return celt_inner_prod(pcm, pcm, len, arch)/len; -} -#endif - -/* Decides if DTX should be turned on (=1) or off (=0) */ -static int decide_dtx_mode(float activity_probability, /* probability that current frame contains speech/music */ - int *nb_no_activity_frames, /* number of consecutive frames with no activity */ - opus_val32 peak_signal_energy, /* peak energy of desired signal detected so far */ - const opus_val16 *pcm, /* input pcm signal */ - int frame_size, /* frame size */ - int channels, - int is_silence, /* only digital silence detected in this frame */ - int arch - ) -{ - opus_val32 noise_energy; - - if (!is_silence) - { - if (activity_probability < DTX_ACTIVITY_THRESHOLD) /* is noise */ - { - noise_energy = compute_frame_energy(pcm, frame_size, channels, arch); - - /* but is sufficiently quiet */ - is_silence = peak_signal_energy >= (PSEUDO_SNR_THRESHOLD * noise_energy); - } - } - - if (is_silence) - { - /* The number of consecutive DTX frames should be within the allowed bounds */ - (*nb_no_activity_frames)++; - - if (*nb_no_activity_frames > NB_SPEECH_FRAMES_BEFORE_DTX) - { - if (*nb_no_activity_frames <= (NB_SPEECH_FRAMES_BEFORE_DTX + MAX_CONSECUTIVE_DTX)) - /* Valid frame for DTX! */ - return 1; - else - (*nb_no_activity_frames) = NB_SPEECH_FRAMES_BEFORE_DTX; - } - } else - (*nb_no_activity_frames) = 0; - - return 0; -} - -#endif - -static opus_int32 encode_multiframe_packet(OpusEncoder *st, - const opus_val16 *pcm, - int nb_frames, - int frame_size, - unsigned char *data, - opus_int32 out_data_bytes, - int to_celt, - int lsb_depth, - int float_api) -{ - int i; - int ret = 0; - VARDECL(unsigned char, tmp_data); - int bak_mode, bak_bandwidth, bak_channels, bak_to_mono; - VARDECL(OpusRepacketizer, rp); - int max_header_bytes; - opus_int32 bytes_per_frame; - opus_int32 cbr_bytes; - opus_int32 repacketize_len; - int tmp_len; - ALLOC_STACK; - - /* Worst cases: - * 2 frames: Code 2 with different compressed sizes - * >2 frames: Code 3 VBR */ - max_header_bytes = nb_frames == 2 ? 3 : (2+(nb_frames-1)*2); - - if (st->use_vbr || st->user_bitrate_bps==OPUS_BITRATE_MAX) - repacketize_len = out_data_bytes; - else { - cbr_bytes = 3*st->bitrate_bps/(3*8*st->Fs/(frame_size*nb_frames)); - repacketize_len = IMIN(cbr_bytes, out_data_bytes); - } - bytes_per_frame = IMIN(1276, 1+(repacketize_len-max_header_bytes)/nb_frames); - - ALLOC(tmp_data, nb_frames*bytes_per_frame, unsigned char); - ALLOC(rp, 1, OpusRepacketizer); - opus_repacketizer_init(rp); - - bak_mode = st->user_forced_mode; - bak_bandwidth = st->user_bandwidth; - bak_channels = st->force_channels; - - st->user_forced_mode = st->mode; - st->user_bandwidth = st->bandwidth; - st->force_channels = st->stream_channels; - - bak_to_mono = st->silk_mode.toMono; - if (bak_to_mono) - st->force_channels = 1; - else - st->prev_channels = st->stream_channels; - - for (i=0;i<nb_frames;i++) - { - st->silk_mode.toMono = 0; - st->nonfinal_frame = i<(nb_frames-1); - - /* When switching from SILK/Hybrid to CELT, only ask for a switch at the last frame */ - if (to_celt && i==nb_frames-1) - st->user_forced_mode = MODE_CELT_ONLY; - - tmp_len = opus_encode_native(st, pcm+i*(st->channels*frame_size), frame_size, - tmp_data+i*bytes_per_frame, bytes_per_frame, lsb_depth, NULL, 0, 0, 0, 0, - NULL, float_api); - - if (tmp_len<0) - { - RESTORE_STACK; - return OPUS_INTERNAL_ERROR; - } - - ret = opus_repacketizer_cat(rp, tmp_data+i*bytes_per_frame, tmp_len); - - if (ret<0) - { - RESTORE_STACK; - return OPUS_INTERNAL_ERROR; - } - } - - ret = opus_repacketizer_out_range_impl(rp, 0, nb_frames, data, repacketize_len, 0, !st->use_vbr); - - if (ret<0) - { - RESTORE_STACK; - return OPUS_INTERNAL_ERROR; - } - - /* Discard configs that were forced locally for the purpose of repacketization */ - st->user_forced_mode = bak_mode; - st->user_bandwidth = bak_bandwidth; - st->force_channels = bak_channels; - st->silk_mode.toMono = bak_to_mono; - - RESTORE_STACK; - return ret; -} - -static int compute_redundancy_bytes(opus_int32 max_data_bytes, opus_int32 bitrate_bps, int frame_rate, int channels) -{ - int redundancy_bytes_cap; - int redundancy_bytes; - opus_int32 redundancy_rate; - int base_bits; - opus_int32 available_bits; - base_bits = (40*channels+20); - - /* Equivalent rate for 5 ms frames. */ - redundancy_rate = bitrate_bps + base_bits*(200 - frame_rate); - /* For VBR, further increase the bitrate if we can afford it. It's pretty short - and we'll avoid artefacts. */ - redundancy_rate = 3*redundancy_rate/2; - redundancy_bytes = redundancy_rate/1600; - - /* Compute the max rate we can use given CBR or VBR with cap. */ - available_bits = max_data_bytes*8 - 2*base_bits; - redundancy_bytes_cap = (available_bits*240/(240+48000/frame_rate) + base_bits)/8; - redundancy_bytes = IMIN(redundancy_bytes, redundancy_bytes_cap); - /* It we can't get enough bits for redundancy to be worth it, rely on the decoder PLC. */ - if (redundancy_bytes > 4 + 8*channels) - redundancy_bytes = IMIN(257, redundancy_bytes); - else - redundancy_bytes = 0; - return redundancy_bytes; -} - opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_size, unsigned char *data, opus_int32 out_data_bytes, int lsb_depth, const void *analysis_pcm, opus_int32 analysis_size, int c1, int c2, @@ -1100,7 +971,6 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ AnalysisInfo analysis_info; int analysis_read_pos_bak=-1; int analysis_read_subframe_bak=-1; - int is_silence = 0; #endif VARDECL(opus_val16, tmp_prefill); @@ -1109,19 +979,15 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ max_data_bytes = IMIN(1276, out_data_bytes); st->rangeFinal = 0; - if (frame_size <= 0 || max_data_bytes <= 0) + if ((!st->variable_duration && 400*frame_size != st->Fs && 200*frame_size != st->Fs && 100*frame_size != st->Fs && + 50*frame_size != st->Fs && 25*frame_size != st->Fs && 50*frame_size != 3*st->Fs) + || (400*frame_size < st->Fs) + || max_data_bytes<=0 + ) { RESTORE_STACK; return OPUS_BAD_ARG; } - - /* Cannot encode 100 ms in 1 byte */ - if (max_data_bytes==1 && st->Fs==(frame_size*10)) - { - RESTORE_STACK; - return OPUS_BUFFER_TOO_SMALL; - } - silk_enc = (char*)st+st->silk_enc_offset; celt_enc = (CELTEncoder*)((char*)st+st->celt_enc_offset); if (st->application == OPUS_APPLICATION_RESTRICTED_LOWDELAY) @@ -1135,55 +1001,31 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ #ifndef DISABLE_FLOAT_API analysis_info.valid = 0; #ifdef FIXED_POINT - if (st->silk_mode.complexity >= 10 && st->Fs>=16000) + if (st->silk_mode.complexity >= 10 && st->Fs==48000) #else - if (st->silk_mode.complexity >= 7 && st->Fs>=16000) + if (st->silk_mode.complexity >= 7 && st->Fs==48000) #endif { - is_silence = is_digital_silence(pcm, frame_size, st->channels, lsb_depth); analysis_read_pos_bak = st->analysis.read_pos; analysis_read_subframe_bak = st->analysis.read_subframe; run_analysis(&st->analysis, celt_mode, analysis_pcm, analysis_size, frame_size, c1, c2, analysis_channels, st->Fs, lsb_depth, downmix, &analysis_info); - - /* Track the peak signal energy */ - if (!is_silence && analysis_info.activity_probability > DTX_ACTIVITY_THRESHOLD) - st->peak_signal_energy = MAX32(MULT16_32_Q15(QCONST16(0.999f, 15), st->peak_signal_energy), - compute_frame_energy(pcm, frame_size, st->channels, st->arch)); - } else if (st->analysis.initialized) { - tonality_analysis_reset(&st->analysis); } #else (void)analysis_pcm; (void)analysis_size; - (void)c1; - (void)c2; - (void)analysis_channels; - (void)downmix; #endif -#ifndef DISABLE_FLOAT_API - /* Reset voice_ratio if this frame is not silent or if analysis is disabled. - * Otherwise, preserve voice_ratio from the last non-silent frame */ - if (!is_silence) - st->voice_ratio = -1; + st->voice_ratio = -1; +#ifndef DISABLE_FLOAT_API st->detected_bandwidth = 0; if (analysis_info.valid) { int analysis_bandwidth; if (st->signal_type == OPUS_AUTO) - { - float prob; - if (st->prev_mode == 0) - prob = analysis_info.music_prob; - else if (st->prev_mode == MODE_CELT_ONLY) - prob = analysis_info.music_prob_max; - else - prob = analysis_info.music_prob_min; - st->voice_ratio = (int)floor(.5+100*(1-prob)); - } + st->voice_ratio = (int)floor(.5+100*(1-analysis_info.music_prob)); analysis_bandwidth = analysis_info.bandwidth; if (analysis_bandwidth<=12) @@ -1197,8 +1039,6 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ else st->detected_bandwidth = OPUS_BANDWIDTH_FULLBAND; } -#else - st->voice_ratio = -1; #endif if (st->channels==2 && st->force_channels!=1) @@ -1212,13 +1052,12 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ if (!st->use_vbr) { int cbrBytes; - /* Multiply by 12 to make sure the division is exact. */ - int frame_rate12 = 12*st->Fs/frame_size; + /* Multiply by 3 to make sure the division is exact. */ + int frame_rate3 = 3*st->Fs/frame_size; /* We need to make sure that "int" values always fit in 16 bits. */ - cbrBytes = IMIN( (12*st->bitrate_bps/8 + frame_rate12/2)/frame_rate12, max_data_bytes); - st->bitrate_bps = cbrBytes*(opus_int32)frame_rate12*8/12; - /* Make sure we provide at least one byte to avoid failing. */ - max_data_bytes = IMAX(1, cbrBytes); + cbrBytes = IMIN( (3*st->bitrate_bps/8 + frame_rate3/2)/frame_rate3, max_data_bytes); + st->bitrate_bps = cbrBytes*(opus_int32)frame_rate3*8/3; + max_data_bytes = cbrBytes; } if (max_data_bytes<3 || st->bitrate_bps < 3*frame_rate*8 || (frame_rate<50 && (max_data_bytes*frame_rate<300 || st->bitrate_bps < 2400))) @@ -1226,63 +1065,25 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ /*If the space is too low to do something useful, emit 'PLC' frames.*/ int tocmode = st->mode; int bw = st->bandwidth == 0 ? OPUS_BANDWIDTH_NARROWBAND : st->bandwidth; - int packet_code = 0; - int num_multiframes = 0; - if (tocmode==0) tocmode = MODE_SILK_ONLY; if (frame_rate>100) tocmode = MODE_CELT_ONLY; - /* 40 ms -> 2 x 20 ms if in CELT_ONLY or HYBRID mode */ - if (frame_rate==25 && tocmode!=MODE_SILK_ONLY) - { - frame_rate = 50; - packet_code = 1; - } - - /* >= 60 ms frames */ - if (frame_rate<=16) - { - /* 1 x 60 ms, 2 x 40 ms, 2 x 60 ms */ - if (out_data_bytes==1 || (tocmode==MODE_SILK_ONLY && frame_rate!=10)) - { - tocmode = MODE_SILK_ONLY; - - packet_code = frame_rate <= 12; - frame_rate = frame_rate == 12 ? 25 : 16; - } - else - { - num_multiframes = 50/frame_rate; - frame_rate = 50; - packet_code = 3; - } - } - + if (frame_rate < 50) + tocmode = MODE_SILK_ONLY; if(tocmode==MODE_SILK_ONLY&&bw>OPUS_BANDWIDTH_WIDEBAND) bw=OPUS_BANDWIDTH_WIDEBAND; else if (tocmode==MODE_CELT_ONLY&&bw==OPUS_BANDWIDTH_MEDIUMBAND) bw=OPUS_BANDWIDTH_NARROWBAND; else if (tocmode==MODE_HYBRID&&bw<=OPUS_BANDWIDTH_SUPERWIDEBAND) bw=OPUS_BANDWIDTH_SUPERWIDEBAND; - data[0] = gen_toc(tocmode, frame_rate, bw, st->stream_channels); - data[0] |= packet_code; - - ret = packet_code <= 1 ? 1 : 2; - - max_data_bytes = IMAX(max_data_bytes, ret); - - if (packet_code==3) - data[1] = num_multiframes; - + ret = 1; if (!st->use_vbr) { ret = opus_packet_pad(data, ret, max_data_bytes); if (ret == OPUS_OK) ret = max_data_bytes; - else - ret = OPUS_INTERNAL_ERROR; } RESTORE_STACK; return ret; @@ -1290,8 +1091,7 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ max_rate = frame_rate*max_data_bytes*8; /* Equivalent 20-ms rate for mode/channel/bandwidth decisions */ - equiv_rate = compute_equiv_rate(st->bitrate_bps, st->channels, st->Fs/frame_size, - st->use_vbr, 0, st->silk_mode.complexity, st->silk_mode.packetLossPercentage); + equiv_rate = st->bitrate_bps - (40*st->channels+20)*(st->Fs/frame_size - 50); if (st->signal_type == OPUS_SIGNAL_VOICE) voice_est = 127; @@ -1332,17 +1132,7 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ } #endif } - /* Update equivalent rate for channels decision. */ - equiv_rate = compute_equiv_rate(st->bitrate_bps, st->stream_channels, st->Fs/frame_size, - st->use_vbr, 0, st->silk_mode.complexity, st->silk_mode.packetLossPercentage); - - /* Allow SILK DTX if DTX is enabled but the generalized DTX cannot be used, - e.g. because of the complexity setting or sample rate. */ -#ifndef DISABLE_FLOAT_API - st->silk_mode.useDTX = st->use_dtx && !(analysis_info.valid || is_silence); -#else - st->silk_mode.useDTX = st->use_dtx; -#endif + equiv_rate = st->bitrate_bps - (40*st->stream_channels+20)*(st->Fs/frame_size - 50); /* Mode selection depending on application and signal type */ if (st->application == OPUS_APPLICATION_RESTRICTED_LOWDELAY) @@ -1391,15 +1181,10 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ /* When FEC is enabled and there's enough packet loss, use SILK */ if (st->silk_mode.useInBandFEC && st->silk_mode.packetLossPercentage > (128-voice_est)>>4) st->mode = MODE_SILK_ONLY; - /* When encoding voice and DTX is enabled but the generalized DTX cannot be used, - use SILK in order to make use of its DTX. */ + /* When encoding voice and DTX is enabled, set the encoder to SILK mode (at least for now) */ if (st->silk_mode.useDTX && voice_est > 100) st->mode = MODE_SILK_ONLY; #endif - - /* If max_data_bytes represents less than 6 kb/s, switch to CELT-only mode */ - if (max_data_bytes < (frame_rate > 50 ? 9000 : 6000)*frame_size / (st->Fs * 8)) - st->mode = MODE_CELT_ONLY; } else { st->mode = st->user_forced_mode; } @@ -1409,6 +1194,19 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ st->mode = MODE_CELT_ONLY; if (st->lfe) st->mode = MODE_CELT_ONLY; + /* If max_data_bytes represents less than 8 kb/s, switch to CELT-only mode */ + if (max_data_bytes < (frame_rate > 50 ? 12000 : 8000)*frame_size / (st->Fs * 8)) + st->mode = MODE_CELT_ONLY; + + if (st->stream_channels == 1 && st->prev_channels ==2 && st->silk_mode.toMono==0 + && st->mode != MODE_CELT_ONLY && st->prev_mode != MODE_CELT_ONLY) + { + /* Delay stereo->mono transition by two frames so that SILK can do a smooth downmix */ + st->silk_mode.toMono = 1; + st->stream_channels = 2; + } else { + st->silk_mode.toMono = 0; + } if (st->prev_mode > 0 && ((st->mode != MODE_CELT_ONLY && st->prev_mode == MODE_CELT_ONLY) || @@ -1428,22 +1226,23 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ } } } - - /* When encoding multiframes, we can ask for a switch to CELT only in the last frame. This switch - * is processed above as the requested mode shouldn't interrupt stereo->mono transition. */ - if (st->stream_channels == 1 && st->prev_channels ==2 && st->silk_mode.toMono==0 - && st->mode != MODE_CELT_ONLY && st->prev_mode != MODE_CELT_ONLY) + /* For the first frame at a new SILK bandwidth */ + if (st->silk_bw_switch) { - /* Delay stereo->mono transition by two frames so that SILK can do a smooth downmix */ - st->silk_mode.toMono = 1; - st->stream_channels = 2; - } else { - st->silk_mode.toMono = 0; + redundancy = 1; + celt_to_silk = 1; + st->silk_bw_switch = 0; + prefill=1; } - /* Update equivalent rate with mode decision. */ - equiv_rate = compute_equiv_rate(st->bitrate_bps, st->stream_channels, st->Fs/frame_size, - st->use_vbr, st->mode, st->silk_mode.complexity, st->silk_mode.packetLossPercentage); + if (redundancy) + { + /* Fair share of the max size allowed */ + redundancy_bytes = IMIN(257, max_data_bytes*(opus_int32)(st->Fs/200)/(frame_size+st->Fs/200)); + /* For VBR, target the actual bitrate (subject to the limit above) */ + if (st->use_vbr) + redundancy_bytes = IMIN(redundancy_bytes, st->bitrate_bps/1600); + } if (st->mode != MODE_CELT_ONLY && st->prev_mode == MODE_CELT_ONLY) { @@ -1458,7 +1257,17 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ const opus_int32 *voice_bandwidth_thresholds, *music_bandwidth_thresholds; opus_int32 bandwidth_thresholds[8]; int bandwidth = OPUS_BANDWIDTH_FULLBAND; + opus_int32 equiv_rate2; + equiv_rate2 = equiv_rate; + if (st->mode != MODE_CELT_ONLY) + { + /* Adjust the threshold +/- 10% depending on complexity */ + equiv_rate2 = equiv_rate2 * (45+st->silk_mode.complexity)/50; + /* CBR is less efficient by ~1 kb/s */ + if (!st->use_vbr) + equiv_rate2 -= 1000; + } if (st->channels==2 && st->force_channels!=1) { voice_bandwidth_thresholds = stereo_voice_bandwidth_thresholds; @@ -1479,19 +1288,15 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ hysteresis = bandwidth_thresholds[2*(bandwidth-OPUS_BANDWIDTH_MEDIUMBAND)+1]; if (!st->first) { - if (st->auto_bandwidth >= bandwidth) + if (st->bandwidth >= bandwidth) threshold -= hysteresis; else threshold += hysteresis; } - if (equiv_rate >= threshold) + if (equiv_rate2 >= threshold) break; } while (--bandwidth>OPUS_BANDWIDTH_NARROWBAND); - /* We don't use mediumband anymore, except when explicitly requested or during - mode transitions. */ - if (bandwidth == OPUS_BANDWIDTH_MEDIUMBAND) - bandwidth = OPUS_BANDWIDTH_WIDEBAND; - st->bandwidth = st->auto_bandwidth = bandwidth; + st->bandwidth = bandwidth; /* Prevents any transition to SWB/FB until the SILK layer has fully switched to WB mode and turned the variable LP filter off */ if (!st->first && st->mode != MODE_CELT_ONLY && !st->silk_mode.inWBmodeWithoutVariableLP && st->bandwidth > OPUS_BANDWIDTH_WIDEBAND) @@ -1544,8 +1349,6 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ st->bandwidth = IMIN(st->bandwidth, st->detected_bandwidth); } #endif - st->silk_mode.LBRR_coded = decide_fec(st->silk_mode.useInBandFEC, st->silk_mode.packetLossPercentage, - st->silk_mode.LBRR_coded, st->mode, &st->bandwidth, equiv_rate); celt_encoder_ctl(celt_enc, OPUS_SET_LSB_DEPTH(lsb_depth)); /* CELT mode doesn't support mediumband, use wideband instead */ @@ -1554,34 +1357,15 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ if (st->lfe) st->bandwidth = OPUS_BANDWIDTH_NARROWBAND; - curr_bandwidth = st->bandwidth; - - /* Chooses the appropriate mode for speech - *NEVER* switch to/from CELT-only mode here as this will invalidate some assumptions */ - if (st->mode == MODE_SILK_ONLY && curr_bandwidth > OPUS_BANDWIDTH_WIDEBAND) - st->mode = MODE_HYBRID; - if (st->mode == MODE_HYBRID && curr_bandwidth <= OPUS_BANDWIDTH_WIDEBAND) - st->mode = MODE_SILK_ONLY; - - /* Can't support higher than >60 ms frames, and >20 ms when in Hybrid or CELT-only modes */ - if ((frame_size > st->Fs/50 && (st->mode != MODE_SILK_ONLY)) || frame_size > 3*st->Fs/50) + /* Can't support higher than wideband for >20 ms frames */ + if (frame_size > st->Fs/50 && (st->mode == MODE_CELT_ONLY || st->bandwidth > OPUS_BANDWIDTH_WIDEBAND)) { - int enc_frame_size; + VARDECL(unsigned char, tmp_data); int nb_frames; - - if (st->mode == MODE_SILK_ONLY) - { - if (frame_size == 2*st->Fs/25) /* 80 ms -> 2x 40 ms */ - enc_frame_size = st->Fs/25; - else if (frame_size == 3*st->Fs/25) /* 120 ms -> 2x 60 ms */ - enc_frame_size = 3*st->Fs/50; - else /* 100 ms -> 5x 20 ms */ - enc_frame_size = st->Fs/50; - } - else - enc_frame_size = st->Fs/50; - - nb_frames = frame_size/enc_frame_size; + int bak_mode, bak_bandwidth, bak_channels, bak_to_mono; + VARDECL(OpusRepacketizer, rp); + opus_int32 bytes_per_frame; + opus_int32 repacketize_len; #ifndef DISABLE_FLOAT_API if (analysis_read_pos_bak!= -1) @@ -1591,34 +1375,74 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ } #endif - ret = encode_multiframe_packet(st, pcm, nb_frames, enc_frame_size, data, - out_data_bytes, to_celt, lsb_depth, float_api); + nb_frames = frame_size > st->Fs/25 ? 3 : 2; + bytes_per_frame = IMIN(1276,(out_data_bytes-3)/nb_frames); - RESTORE_STACK; - return ret; - } + ALLOC(tmp_data, nb_frames*bytes_per_frame, unsigned char); - /* For the first frame at a new SILK bandwidth */ - if (st->silk_bw_switch) - { - redundancy = 1; - celt_to_silk = 1; - st->silk_bw_switch = 0; - /* Do a prefill without reseting the sampling rate control. */ - prefill=2; - } + ALLOC(rp, 1, OpusRepacketizer); + opus_repacketizer_init(rp); - /* If we decided to go with CELT, make sure redundancy is off, no matter what - we decided earlier. */ - if (st->mode == MODE_CELT_ONLY) - redundancy = 0; + bak_mode = st->user_forced_mode; + bak_bandwidth = st->user_bandwidth; + bak_channels = st->force_channels; - if (redundancy) - { - redundancy_bytes = compute_redundancy_bytes(max_data_bytes, st->bitrate_bps, frame_rate, st->stream_channels); - if (redundancy_bytes == 0) - redundancy = 0; + st->user_forced_mode = st->mode; + st->user_bandwidth = st->bandwidth; + st->force_channels = st->stream_channels; + bak_to_mono = st->silk_mode.toMono; + + if (bak_to_mono) + st->force_channels = 1; + else + st->prev_channels = st->stream_channels; + for (i=0;i<nb_frames;i++) + { + int tmp_len; + st->silk_mode.toMono = 0; + /* When switching from SILK/Hybrid to CELT, only ask for a switch at the last frame */ + if (to_celt && i==nb_frames-1) + st->user_forced_mode = MODE_CELT_ONLY; + tmp_len = opus_encode_native(st, pcm+i*(st->channels*st->Fs/50), st->Fs/50, + tmp_data+i*bytes_per_frame, bytes_per_frame, lsb_depth, + NULL, 0, c1, c2, analysis_channels, downmix, float_api); + if (tmp_len<0) + { + RESTORE_STACK; + return OPUS_INTERNAL_ERROR; + } + ret = opus_repacketizer_cat(rp, tmp_data+i*bytes_per_frame, tmp_len); + if (ret<0) + { + RESTORE_STACK; + return OPUS_INTERNAL_ERROR; + } + } + if (st->use_vbr) + repacketize_len = out_data_bytes; + else + repacketize_len = IMIN(3*st->bitrate_bps/(3*8*50/nb_frames), out_data_bytes); + ret = opus_repacketizer_out_range_impl(rp, 0, nb_frames, data, repacketize_len, 0, !st->use_vbr); + if (ret<0) + { + RESTORE_STACK; + return OPUS_INTERNAL_ERROR; + } + st->user_forced_mode = bak_mode; + st->user_bandwidth = bak_bandwidth; + st->force_channels = bak_channels; + st->silk_mode.toMono = bak_to_mono; + RESTORE_STACK; + return ret; } + curr_bandwidth = st->bandwidth; + + /* Chooses the appropriate mode for speech + *NEVER* switch to/from CELT-only mode here as this will invalidate some assumptions */ + if (st->mode == MODE_SILK_ONLY && curr_bandwidth > OPUS_BANDWIDTH_WIDEBAND) + st->mode = MODE_HYBRID; + if (st->mode == MODE_HYBRID && curr_bandwidth <= OPUS_BANDWIDTH_WIDEBAND) + st->mode = MODE_SILK_ONLY; /* printf("%d %d %d %d\n", st->bitrate_bps, st->stream_channels, st->mode, curr_bandwidth); */ bytes_target = IMIN(max_data_bytes-redundancy_bytes, st->bitrate_bps * frame_size / (st->Fs * 8)) - 1; @@ -1643,7 +1467,7 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ if (st->application == OPUS_APPLICATION_VOIP) { - hp_cutoff(pcm, cutoff_Hz, &pcm_buf[total_buffer*st->channels], st->hp_mem, frame_size, st->channels, st->Fs, st->arch); + hp_cutoff(pcm, cutoff_Hz, &pcm_buf[total_buffer*st->channels], st->hp_mem, frame_size, st->channels, st->Fs); } else { dc_reject(pcm, 3, &pcm_buf[total_buffer*st->channels], st->hp_mem, frame_size, st->channels, st->Fs); } @@ -1668,7 +1492,6 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ if (st->mode != MODE_CELT_ONLY) { opus_int32 total_bitRate, celt_rate; - opus_int activity; #ifdef FIXED_POINT const opus_int16 *pcm_silk; #else @@ -1676,26 +1499,30 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ ALLOC(pcm_silk, st->channels*frame_size, opus_int16); #endif - activity = VAD_NO_DECISION; -#ifndef DISABLE_FLOAT_API - if( analysis_info.valid ) { - /* Inform SILK about the Opus VAD decision */ - activity = ( analysis_info.activity_probability >= DTX_ACTIVITY_THRESHOLD ); - } -#endif - /* Distribute bits between SILK and CELT */ total_bitRate = 8 * bytes_target * frame_rate; if( st->mode == MODE_HYBRID ) { + int HB_gain_ref; /* Base rate for SILK */ - st->silk_mode.bitRate = compute_silk_rate_for_hybrid(total_bitRate, - curr_bandwidth, st->Fs == 50 * frame_size, st->use_vbr, st->silk_mode.LBRR_coded, - st->stream_channels); + st->silk_mode.bitRate = st->stream_channels * ( 5000 + 1000 * ( st->Fs == 100 * frame_size ) ); + if( curr_bandwidth == OPUS_BANDWIDTH_SUPERWIDEBAND ) { + /* SILK gets 2/3 of the remaining bits */ + st->silk_mode.bitRate += ( total_bitRate - st->silk_mode.bitRate ) * 2 / 3; + } else { /* FULLBAND */ + /* SILK gets 3/5 of the remaining bits */ + st->silk_mode.bitRate += ( total_bitRate - st->silk_mode.bitRate ) * 3 / 5; + } + /* Don't let SILK use more than 80% */ + if( st->silk_mode.bitRate > total_bitRate * 4/5 ) { + st->silk_mode.bitRate = total_bitRate * 4/5; + } if (!st->energy_masking) { /* Increasingly attenuate high band when it gets allocated fewer bits */ celt_rate = total_bitRate - st->silk_mode.bitRate; - HB_gain = Q15ONE - SHR32(celt_exp2(-celt_rate * QCONST16(1.f/1024, 10)), 1); + HB_gain_ref = (curr_bandwidth == OPUS_BANDWIDTH_SUPERWIDEBAND) ? 3000 : 3600; + HB_gain = SHL32((opus_val32)celt_rate, 9) / SHR32((opus_val32)celt_rate + st->stream_channels * HB_gain_ref, 6); + HB_gain = HB_gain < (opus_val32)Q15ONE*6/7 ? HB_gain + Q15ONE/7 : Q15ONE; } } else { /* SILK gets all bits */ @@ -1742,6 +1569,7 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ st->silk_mode.bitRate += 3*rate_offset/5; else st->silk_mode.bitRate += rate_offset; + bytes_target += rate_offset * frame_size / (8 * st->Fs); } st->silk_mode.payloadSize_ms = 1000 * frame_size / st->Fs; @@ -1752,7 +1580,7 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ } else if (curr_bandwidth == OPUS_BANDWIDTH_MEDIUMBAND) { st->silk_mode.desiredInternalSampleRate = 12000; } else { - celt_assert( st->mode == MODE_HYBRID || curr_bandwidth == OPUS_BANDWIDTH_WIDEBAND ); + silk_assert( st->mode == MODE_HYBRID || curr_bandwidth == OPUS_BANDWIDTH_WIDEBAND ); st->silk_mode.desiredInternalSampleRate = 16000; } if( st->mode == MODE_HYBRID ) { @@ -1762,53 +1590,40 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ st->silk_mode.minInternalSampleRate = 8000; } - st->silk_mode.maxInternalSampleRate = 16000; if (st->mode == MODE_SILK_ONLY) { opus_int32 effective_max_rate = max_rate; + st->silk_mode.maxInternalSampleRate = 16000; if (frame_rate > 50) effective_max_rate = effective_max_rate*2/3; - if (effective_max_rate < 8000) + if (effective_max_rate < 13000) { st->silk_mode.maxInternalSampleRate = 12000; st->silk_mode.desiredInternalSampleRate = IMIN(12000, st->silk_mode.desiredInternalSampleRate); } - if (effective_max_rate < 7000) + if (effective_max_rate < 9600) { st->silk_mode.maxInternalSampleRate = 8000; st->silk_mode.desiredInternalSampleRate = IMIN(8000, st->silk_mode.desiredInternalSampleRate); } + } else { + st->silk_mode.maxInternalSampleRate = 16000; } st->silk_mode.useCBR = !st->use_vbr; /* Call SILK encoder for the low band */ + nBytes = IMIN(1275, max_data_bytes-1-redundancy_bytes); - /* Max bits for SILK, counting ToC, redundancy bytes, and optionally redundancy. */ - st->silk_mode.maxBits = (max_data_bytes-1)*8; - if (redundancy && redundancy_bytes >= 2) - { - /* Counting 1 bit for redundancy position and 20 bits for flag+size (only for hybrid). */ - st->silk_mode.maxBits -= redundancy_bytes*8 + 1; - if (st->mode == MODE_HYBRID) - st->silk_mode.maxBits -= 20; - } + st->silk_mode.maxBits = nBytes*8; + /* Only allow up to 90% of the bits for hybrid mode*/ + if (st->mode == MODE_HYBRID) + st->silk_mode.maxBits = (opus_int32)st->silk_mode.maxBits*9/10; if (st->silk_mode.useCBR) { - if (st->mode == MODE_HYBRID) - { - st->silk_mode.maxBits = IMIN(st->silk_mode.maxBits, st->silk_mode.bitRate * frame_size / st->Fs); - } - } else { - /* Constrained VBR. */ - if (st->mode == MODE_HYBRID) - { - /* Compute SILK bitrate corresponding to the max total bits available */ - opus_int32 maxBitRate = compute_silk_rate_for_hybrid(st->silk_mode.maxBits*st->Fs / frame_size, - curr_bandwidth, st->Fs == 50 * frame_size, st->use_vbr, st->silk_mode.LBRR_coded, - st->stream_channels); - st->silk_mode.maxBits = maxBitRate * frame_size / st->Fs; - } + st->silk_mode.maxBits = (st->silk_mode.bitRate * frame_size / (st->Fs * 8))*8; + /* Reduce the initial target to make it easier to reach the CBR rate */ + st->silk_mode.bitRate = IMAX(1, st->silk_mode.bitRate-2000); } if (prefill) @@ -1831,9 +1646,7 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ for (i=0;i<st->encoder_buffer*st->channels;i++) pcm_silk[i] = FLOAT2INT16(st->delay_buffer[i]); #endif - silk_Encode( silk_enc, &st->silk_mode, pcm_silk, st->encoder_buffer, NULL, &zero, prefill, activity ); - /* Prevent a second switch in the real encode call. */ - st->silk_mode.opusCanSwitch = 0; + silk_Encode( silk_enc, &st->silk_mode, pcm_silk, st->encoder_buffer, NULL, &zero, 1 ); } #ifdef FIXED_POINT @@ -1842,14 +1655,20 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ for (i=0;i<frame_size*st->channels;i++) pcm_silk[i] = FLOAT2INT16(pcm_buf[total_buffer*st->channels + i]); #endif - ret = silk_Encode( silk_enc, &st->silk_mode, pcm_silk, frame_size, &enc, &nBytes, 0, activity ); + ret = silk_Encode( silk_enc, &st->silk_mode, pcm_silk, frame_size, &enc, &nBytes, 0 ); if( ret ) { /*fprintf (stderr, "SILK encode error: %d\n", ret);*/ /* Handle error */ RESTORE_STACK; return OPUS_INTERNAL_ERROR; } - + if (nBytes==0) + { + st->rangeFinal = 0; + data[-1] = gen_toc(st->mode, st->Fs/frame_size, curr_bandwidth, st->stream_channels); + RESTORE_STACK; + return 1; + } /* Extract SILK internal bandwidth for signaling in first byte */ if( st->mode == MODE_SILK_ONLY ) { if( st->silk_mode.internalSampleRate == 8000 ) { @@ -1860,24 +1679,14 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ curr_bandwidth = OPUS_BANDWIDTH_WIDEBAND; } } else { - celt_assert( st->silk_mode.internalSampleRate == 16000 ); - } - - st->silk_mode.opusCanSwitch = st->silk_mode.switchReady && !st->nonfinal_frame; - - if (nBytes==0) - { - st->rangeFinal = 0; - data[-1] = gen_toc(st->mode, st->Fs/frame_size, curr_bandwidth, st->stream_channels); - RESTORE_STACK; - return 1; + silk_assert( st->silk_mode.internalSampleRate == 16000 ); } + st->silk_mode.opusCanSwitch = st->silk_mode.switchReady; /* FIXME: How do we allocate the redundancy for CBR? */ if (st->silk_mode.opusCanSwitch) { - redundancy_bytes = compute_redundancy_bytes(max_data_bytes, st->bitrate_bps, frame_rate, st->stream_channels); - redundancy = (redundancy_bytes != 0); + redundancy = 1; celt_to_silk = 0; st->silk_bw_switch = 1; } @@ -1918,18 +1727,40 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ if (st->mode == MODE_HYBRID) { + int len; + + len = (ec_tell(&enc)+7)>>3; + if (redundancy) + len += st->mode == MODE_HYBRID ? 3 : 1; if( st->use_vbr ) { - celt_encoder_ctl(celt_enc, OPUS_SET_BITRATE(st->bitrate_bps-st->silk_mode.bitRate)); - celt_encoder_ctl(celt_enc, OPUS_SET_VBR_CONSTRAINT(0)); + nb_compr_bytes = len + bytes_target - (st->silk_mode.bitRate * frame_size) / (8 * st->Fs); + } else { + /* check if SILK used up too much */ + nb_compr_bytes = len > bytes_target ? len : bytes_target; } } else { if (st->use_vbr) { + opus_int32 bonus=0; +#ifndef DISABLE_FLOAT_API + if (st->variable_duration==OPUS_FRAMESIZE_VARIABLE && frame_size != st->Fs/50) + { + bonus = (60*st->stream_channels+40)*(st->Fs/frame_size-50); + if (analysis_info.valid) + bonus = (opus_int32)(bonus*(1.f+.5f*analysis_info.tonality)); + } +#endif celt_encoder_ctl(celt_enc, OPUS_SET_VBR(1)); celt_encoder_ctl(celt_enc, OPUS_SET_VBR_CONSTRAINT(st->vbr_constraint)); - celt_encoder_ctl(celt_enc, OPUS_SET_BITRATE(st->bitrate_bps)); + celt_encoder_ctl(celt_enc, OPUS_SET_BITRATE(st->bitrate_bps+bonus)); + nb_compr_bytes = max_data_bytes-1-redundancy_bytes; + } else { + nb_compr_bytes = bytes_target; } } + + } else { + nb_compr_bytes = 0; } ALLOC(tmp_prefill, st->channels*st->Fs/400, opus_val16); @@ -1955,14 +1786,7 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ } st->prev_HB_gain = HB_gain; if (st->mode != MODE_HYBRID || st->stream_channels==1) - { - if (equiv_rate > 32000) - st->silk_mode.stereoWidth_Q14 = 16384; - else if (equiv_rate < 16000) - st->silk_mode.stereoWidth_Q14 = 0; - else - st->silk_mode.stereoWidth_Q14 = 16384 - 2048*(opus_int32)(32000-equiv_rate)/(equiv_rate-14000); - } + st->silk_mode.stereoWidth_Q14 = IMIN((1<<14),2*IMAX(0,equiv_rate-30000)); if( !st->energy_masking && st->channels == 2 ) { /* Apply stereo width reduction (at low bitrates) */ if( st->hybrid_stereo_width_Q14 < (1 << 14) || st->silk_mode.stereoWidth_Q14 < (1 << 14) ) { @@ -1985,23 +1809,19 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ if ( st->mode != MODE_CELT_ONLY && ec_tell(&enc)+17+20*(st->mode == MODE_HYBRID) <= 8*(max_data_bytes-1)) { /* For SILK mode, the redundancy is inferred from the length */ - if (st->mode == MODE_HYBRID) + if (st->mode == MODE_HYBRID && (redundancy || ec_tell(&enc)+37 <= 8*nb_compr_bytes)) ec_enc_bit_logp(&enc, redundancy, 12); if (redundancy) { int max_redundancy; ec_enc_bit_logp(&enc, celt_to_silk, 1); if (st->mode == MODE_HYBRID) - { - /* Reserve the 8 bits needed for the redundancy length, - and at least a few bits for CELT if possible */ - max_redundancy = (max_data_bytes-1)-((ec_tell(&enc)+8+3+7)>>3); - } + max_redundancy = (max_data_bytes-1)-nb_compr_bytes; else max_redundancy = (max_data_bytes-1)-((ec_tell(&enc)+7)>>3); /* Target the same bit-rate for redundancy as for the rest, up to a max of 257 bytes */ - redundancy_bytes = IMIN(max_redundancy, redundancy_bytes); + redundancy_bytes = IMIN(max_redundancy, st->bitrate_bps/1600); redundancy_bytes = IMIN(257, IMAX(2, redundancy_bytes)); if (st->mode == MODE_HYBRID) ec_enc_uint(&enc, redundancy_bytes-2, 256); @@ -2023,7 +1843,7 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ ec_enc_done(&enc); nb_compr_bytes = ret; } else { - nb_compr_bytes = (max_data_bytes-1)-redundancy_bytes; + nb_compr_bytes = IMIN((max_data_bytes-1)-redundancy_bytes, nb_compr_bytes); ec_enc_shrink(&enc, nb_compr_bytes); } @@ -2031,12 +1851,6 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ if (redundancy || st->mode != MODE_SILK_ONLY) celt_encoder_ctl(celt_enc, CELT_SET_ANALYSIS(&analysis_info)); #endif - if (st->mode == MODE_HYBRID) { - SILKInfo info; - info.signalType = st->silk_mode.signalType; - info.offset = st->silk_mode.offset; - celt_encoder_ctl(celt_enc, CELT_SET_SILK_INFO(&info)); - } /* 5 ms redundant frame for CELT->SILK */ if (redundancy && celt_to_silk) @@ -2044,7 +1858,6 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ int err; celt_encoder_ctl(celt_enc, CELT_SET_START_BAND(0)); celt_encoder_ctl(celt_enc, OPUS_SET_VBR(0)); - celt_encoder_ctl(celt_enc, OPUS_SET_BITRATE(OPUS_BITRATE_MAX)); err = celt_encode_with_ec(celt_enc, pcm_buf, st->Fs/200, data+nb_compr_bytes, redundancy_bytes, NULL); if (err < 0) { @@ -2068,25 +1881,15 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ celt_encode_with_ec(celt_enc, tmp_prefill, st->Fs/400, dummy, 2, NULL); celt_encoder_ctl(celt_enc, CELT_SET_PREDICTION(0)); } - /* If false, we already busted the budget and we'll end up with a "PLC frame" */ + /* If false, we already busted the budget and we'll end up with a "PLC packet" */ if (ec_tell(&enc) <= 8*nb_compr_bytes) { - /* Set the bitrate again if it was overridden in the redundancy code above*/ - if (redundancy && celt_to_silk && st->mode==MODE_HYBRID && st->use_vbr) - celt_encoder_ctl(celt_enc, OPUS_SET_BITRATE(st->bitrate_bps-st->silk_mode.bitRate)); - celt_encoder_ctl(celt_enc, OPUS_SET_VBR(st->use_vbr)); ret = celt_encode_with_ec(celt_enc, pcm_buf, frame_size, NULL, nb_compr_bytes, &enc); if (ret < 0) { RESTORE_STACK; return OPUS_INTERNAL_ERROR; } - /* Put CELT->SILK redundancy data in the right place. */ - if (redundancy && celt_to_silk && st->mode==MODE_HYBRID && st->use_vbr) - { - OPUS_MOVE(data+ret, data+nb_compr_bytes, redundancy_bytes); - nb_compr_bytes = nb_compr_bytes+redundancy_bytes; - } } } @@ -2102,15 +1905,7 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ celt_encoder_ctl(celt_enc, OPUS_RESET_STATE); celt_encoder_ctl(celt_enc, CELT_SET_START_BAND(0)); celt_encoder_ctl(celt_enc, CELT_SET_PREDICTION(0)); - celt_encoder_ctl(celt_enc, OPUS_SET_VBR(0)); - celt_encoder_ctl(celt_enc, OPUS_SET_BITRATE(OPUS_BITRATE_MAX)); - if (st->mode == MODE_HYBRID) - { - /* Shrink packet to what the encoder actually used. */ - nb_compr_bytes = ret; - ec_enc_shrink(&enc, nb_compr_bytes); - } /* NOTE: We could speed this up slightly (at the expense of code size) by just adding a function that prefills the buffer */ celt_encode_with_ec(celt_enc, pcm_buf+st->channels*(frame_size-N2-N4), N4, dummy, 2, NULL); @@ -2140,23 +1935,6 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ st->first = 0; - /* DTX decision */ -#ifndef DISABLE_FLOAT_API - if (st->use_dtx && (analysis_info.valid || is_silence)) - { - if (decide_dtx_mode(analysis_info.activity_probability, &st->nb_no_activity_frames, - st->peak_signal_energy, pcm, frame_size, st->channels, is_silence, st->arch)) - { - st->rangeFinal = 0; - data[0] = gen_toc(st->mode, st->Fs/frame_size, curr_bandwidth, st->stream_channels); - RESTORE_STACK; - return 1; - } - } else { - st->nb_no_activity_frames = 0; - } -#endif - /* In the unlikely case that the SILK encoder busted its target, tell the decoder to call the PLC */ if (ec_tell(&enc) > (max_data_bytes-1)*8) @@ -2184,6 +1962,7 @@ opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_ if (!st->use_vbr) { if (opus_packet_pad(data, ret, max_data_bytes) != OPUS_OK) + { RESTORE_STACK; return OPUS_INTERNAL_ERROR; @@ -2202,15 +1981,18 @@ opus_int32 opus_encode_float(OpusEncoder *st, const float *pcm, int analysis_fra { int i, ret; int frame_size; + int delay_compensation; VARDECL(opus_int16, in); ALLOC_STACK; - frame_size = frame_size_select(analysis_frame_size, st->variable_duration, st->Fs); - if (frame_size <= 0) - { - RESTORE_STACK; - return OPUS_BAD_ARG; - } + if (st->application == OPUS_APPLICATION_RESTRICTED_LOWDELAY) + delay_compensation = 0; + else + delay_compensation = st->delay_compensation; + frame_size = compute_frame_size(pcm, analysis_frame_size, + st->variable_duration, st->channels, st->Fs, st->bitrate_bps, + delay_compensation, downmix_float, st->analysis.subframe_mem); + ALLOC(in, frame_size*st->channels, opus_int16); for (i=0;i<frame_size*st->channels;i++) @@ -2226,7 +2008,18 @@ opus_int32 opus_encode(OpusEncoder *st, const opus_int16 *pcm, int analysis_fram unsigned char *data, opus_int32 out_data_bytes) { int frame_size; - frame_size = frame_size_select(analysis_frame_size, st->variable_duration, st->Fs); + int delay_compensation; + if (st->application == OPUS_APPLICATION_RESTRICTED_LOWDELAY) + delay_compensation = 0; + else + delay_compensation = st->delay_compensation; + frame_size = compute_frame_size(pcm, analysis_frame_size, + st->variable_duration, st->channels, st->Fs, st->bitrate_bps, + delay_compensation, downmix_int +#ifndef DISABLE_FLOAT_API + , st->analysis.subframe_mem +#endif + ); return opus_encode_native(st, pcm, frame_size, data, out_data_bytes, 16, pcm, analysis_frame_size, 0, -2, st->channels, downmix_int, 0); } @@ -2237,15 +2030,18 @@ opus_int32 opus_encode(OpusEncoder *st, const opus_int16 *pcm, int analysis_fram { int i, ret; int frame_size; + int delay_compensation; VARDECL(float, in); ALLOC_STACK; - frame_size = frame_size_select(analysis_frame_size, st->variable_duration, st->Fs); - if (frame_size <= 0) - { - RESTORE_STACK; - return OPUS_BAD_ARG; - } + if (st->application == OPUS_APPLICATION_RESTRICTED_LOWDELAY) + delay_compensation = 0; + else + delay_compensation = st->delay_compensation; + frame_size = compute_frame_size(pcm, analysis_frame_size, + st->variable_duration, st->channels, st->Fs, st->bitrate_bps, + delay_compensation, downmix_int, st->analysis.subframe_mem); + ALLOC(in, frame_size*st->channels, float); for (i=0;i<frame_size*st->channels;i++) @@ -2259,7 +2055,14 @@ opus_int32 opus_encode_float(OpusEncoder *st, const float *pcm, int analysis_fra unsigned char *data, opus_int32 out_data_bytes) { int frame_size; - frame_size = frame_size_select(analysis_frame_size, st->variable_duration, st->Fs); + int delay_compensation; + if (st->application == OPUS_APPLICATION_RESTRICTED_LOWDELAY) + delay_compensation = 0; + else + delay_compensation = st->delay_compensation; + frame_size = compute_frame_size(pcm, analysis_frame_size, + st->variable_duration, st->channels, st->Fs, st->bitrate_bps, + delay_compensation, downmix_float, st->analysis.subframe_mem); return opus_encode_native(st, pcm, frame_size, data, out_data_bytes, 24, pcm, analysis_frame_size, 0, -2, st->channels, downmix_float, 1); } @@ -2290,9 +2093,6 @@ int opus_encoder_ctl(OpusEncoder *st, int request, ...) break; } st->application = value; -#ifndef DISABLE_FLOAT_API - st->analysis.application = value; -#endif } break; case OPUS_GET_APPLICATION_REQUEST: @@ -2411,7 +2211,7 @@ int opus_encoder_ctl(OpusEncoder *st, int request, ...) { goto bad_arg; } - st->use_dtx = value; + st->silk_mode.useDTX = value; } break; case OPUS_GET_DTX_REQUEST: @@ -2421,7 +2221,7 @@ int opus_encoder_ctl(OpusEncoder *st, int request, ...) { goto bad_arg; } - *value = st->use_dtx; + *value = st->silk_mode.useDTX; } break; case OPUS_SET_COMPLEXITY_REQUEST: @@ -2622,15 +2422,15 @@ int opus_encoder_ctl(OpusEncoder *st, int request, ...) case OPUS_SET_EXPERT_FRAME_DURATION_REQUEST: { opus_int32 value = va_arg(ap, opus_int32); - if (value != OPUS_FRAMESIZE_ARG && value != OPUS_FRAMESIZE_2_5_MS && - value != OPUS_FRAMESIZE_5_MS && value != OPUS_FRAMESIZE_10_MS && - value != OPUS_FRAMESIZE_20_MS && value != OPUS_FRAMESIZE_40_MS && - value != OPUS_FRAMESIZE_60_MS && value != OPUS_FRAMESIZE_80_MS && - value != OPUS_FRAMESIZE_100_MS && value != OPUS_FRAMESIZE_120_MS) + if (value != OPUS_FRAMESIZE_ARG && value != OPUS_FRAMESIZE_2_5_MS && + value != OPUS_FRAMESIZE_5_MS && value != OPUS_FRAMESIZE_10_MS && + value != OPUS_FRAMESIZE_20_MS && value != OPUS_FRAMESIZE_40_MS && + value != OPUS_FRAMESIZE_60_MS && value != OPUS_FRAMESIZE_VARIABLE) { goto bad_arg; } st->variable_duration = value; + celt_encoder_ctl(celt_enc, OPUS_SET_EXPERT_FRAME_DURATION(value)); } break; case OPUS_GET_EXPERT_FRAME_DURATION_REQUEST: @@ -2659,26 +2459,6 @@ int opus_encoder_ctl(OpusEncoder *st, int request, ...) *value = st->silk_mode.reducedDependency; } break; - case OPUS_SET_PHASE_INVERSION_DISABLED_REQUEST: - { - opus_int32 value = va_arg(ap, opus_int32); - if(value<0 || value>1) - { - goto bad_arg; - } - celt_encoder_ctl(celt_enc, OPUS_SET_PHASE_INVERSION_DISABLED(value)); - } - break; - case OPUS_GET_PHASE_INVERSION_DISABLED_REQUEST: - { - opus_int32 *value = va_arg(ap, opus_int32*); - if (!value) - { - goto bad_arg; - } - celt_encoder_ctl(celt_enc, OPUS_GET_PHASE_INVERSION_DISABLED(value)); - } - break; case OPUS_RESET_STATE: { void *silk_enc; @@ -2727,33 +2507,6 @@ int opus_encoder_ctl(OpusEncoder *st, int request, ...) ret = celt_encoder_ctl(celt_enc, OPUS_SET_ENERGY_MASK(value)); } break; - case OPUS_GET_IN_DTX_REQUEST: - { - opus_int32 *value = va_arg(ap, opus_int32*); - if (!value) - { - goto bad_arg; - } - if (st->silk_mode.useDTX && (st->prev_mode == MODE_SILK_ONLY || st->prev_mode == MODE_HYBRID)) { - /* DTX determined by Silk. */ - int n; - void *silk_enc = (char*)st+st->silk_enc_offset; - *value = 1; - for (n=0;n<st->silk_mode.nChannelsInternal;n++) { - *value = *value && ((silk_encoder*)silk_enc)->state_Fxx[n].sCmn.noSpeechCounter >= NB_SPEECH_FRAMES_BEFORE_DTX; - } - } -#ifndef DISABLE_FLOAT_API - else if (st->use_dtx) { - /* DTX determined by Opus. */ - *value = st->nb_no_activity_frames >= NB_SPEECH_FRAMES_BEFORE_DTX; - } -#endif - else { - *value = 0; - } - } - break; case CELT_GET_MODE_REQUEST: { diff --git a/thirdparty/opus/opus_multistream_decoder.c b/thirdparty/opus/opus_multistream_decoder.c index 0018517aeb..b95eaa6eac 100644 --- a/thirdparty/opus/opus_multistream_decoder.c +++ b/thirdparty/opus/opus_multistream_decoder.c @@ -37,19 +37,16 @@ #include "float_cast.h" #include "os_support.h" -/* DECODER */ +struct OpusMSDecoder { + ChannelLayout layout; + /* Decoder states go here */ +}; -#if defined(ENABLE_HARDENING) || defined(ENABLE_ASSERTIONS) -static void validate_ms_decoder(OpusMSDecoder *st) -{ - validate_layout(&st->layout); -} -#define VALIDATE_MS_DECODER(st) validate_ms_decoder(st) -#else -#define VALIDATE_MS_DECODER(st) -#endif + +/* DECODER */ + opus_int32 opus_multistream_decoder_get_size(int nb_streams, int nb_coupled_streams) { int coupled_size; @@ -146,6 +143,15 @@ OpusMSDecoder *opus_multistream_decoder_create( return st; } +typedef void (*opus_copy_channel_out_func)( + void *dst, + int dst_stride, + int dst_channel, + const opus_val16 *src, + int src_stride, + int frame_size +); + static int opus_multistream_packet_validate(const unsigned char *data, opus_int32 len, int nb_streams, opus_int32 Fs) { @@ -175,7 +181,7 @@ static int opus_multistream_packet_validate(const unsigned char *data, return samples; } -int opus_multistream_decode_native( +static int opus_multistream_decode_native( OpusMSDecoder *st, const unsigned char *data, opus_int32 len, @@ -183,8 +189,7 @@ int opus_multistream_decode_native( opus_copy_channel_out_func copy_channel_out, int frame_size, int decode_fec, - int soft_clip, - void *user_data + int soft_clip ) { opus_int32 Fs; @@ -196,14 +201,8 @@ int opus_multistream_decode_native( VARDECL(opus_val16, buf); ALLOC_STACK; - VALIDATE_MS_DECODER(st); - if (frame_size <= 0) - { - RESTORE_STACK; - return OPUS_BAD_ARG; - } /* Limit frame_size to avoid excessive stack allocations. */ - MUST_SUCCEED(opus_multistream_decoder_ctl(st, OPUS_GET_SAMPLE_RATE(&Fs))); + opus_multistream_decoder_ctl(st, OPUS_GET_SAMPLE_RATE(&Fs)); frame_size = IMIN(frame_size, Fs/25*3); ALLOC(buf, 2*frame_size, opus_val16); ptr = (char*)st + align(sizeof(OpusMSDecoder)); @@ -238,8 +237,7 @@ int opus_multistream_decode_native( for (s=0;s<st->layout.nb_streams;s++) { OpusDecoder *dec; - opus_int32 packet_offset; - int ret; + int packet_offset, ret; dec = (OpusDecoder*)ptr; ptr += (s < st->layout.nb_coupled_streams) ? align(coupled_size) : align(mono_size); @@ -267,7 +265,7 @@ int opus_multistream_decode_native( while ( (chan = get_left_channel(&st->layout, s, prev)) != -1) { (*copy_channel_out)(pcm, st->layout.nb_channels, chan, - buf, 2, frame_size, user_data); + buf, 2, frame_size); prev = chan; } prev = -1; @@ -275,7 +273,7 @@ int opus_multistream_decode_native( while ( (chan = get_right_channel(&st->layout, s, prev)) != -1) { (*copy_channel_out)(pcm, st->layout.nb_channels, chan, - buf+1, 2, frame_size, user_data); + buf+1, 2, frame_size); prev = chan; } } else { @@ -285,7 +283,7 @@ int opus_multistream_decode_native( while ( (chan = get_mono_channel(&st->layout, s, prev)) != -1) { (*copy_channel_out)(pcm, st->layout.nb_channels, chan, - buf, 1, frame_size, user_data); + buf, 1, frame_size); prev = chan; } } @@ -296,7 +294,7 @@ int opus_multistream_decode_native( if (st->layout.mapping[c] == 255) { (*copy_channel_out)(pcm, st->layout.nb_channels, c, - NULL, 0, frame_size, user_data); + NULL, 0, frame_size); } } RESTORE_STACK; @@ -310,13 +308,11 @@ static void opus_copy_channel_out_float( int dst_channel, const opus_val16 *src, int src_stride, - int frame_size, - void *user_data + int frame_size ) { float *float_dst; opus_int32 i; - (void)user_data; float_dst = (float*)dst; if (src != NULL) { @@ -341,13 +337,11 @@ static void opus_copy_channel_out_short( int dst_channel, const opus_val16 *src, int src_stride, - int frame_size, - void *user_data + int frame_size ) { opus_int16 *short_dst; opus_int32 i; - (void)user_data; short_dst = (opus_int16*)dst; if (src != NULL) { @@ -378,7 +372,7 @@ int opus_multistream_decode( ) { return opus_multistream_decode_native(st, data, len, - pcm, opus_copy_channel_out_short, frame_size, decode_fec, 0, NULL); + pcm, opus_copy_channel_out_short, frame_size, decode_fec, 0); } #ifndef DISABLE_FLOAT_API @@ -386,7 +380,7 @@ int opus_multistream_decode_float(OpusMSDecoder *st, const unsigned char *data, opus_int32 len, float *pcm, int frame_size, int decode_fec) { return opus_multistream_decode_native(st, data, len, - pcm, opus_copy_channel_out_float, frame_size, decode_fec, 0, NULL); + pcm, opus_copy_channel_out_float, frame_size, decode_fec, 0); } #endif @@ -396,30 +390,32 @@ int opus_multistream_decode(OpusMSDecoder *st, const unsigned char *data, opus_int32 len, opus_int16 *pcm, int frame_size, int decode_fec) { return opus_multistream_decode_native(st, data, len, - pcm, opus_copy_channel_out_short, frame_size, decode_fec, 1, NULL); + pcm, opus_copy_channel_out_short, frame_size, decode_fec, 1); } int opus_multistream_decode_float( OpusMSDecoder *st, const unsigned char *data, opus_int32 len, - opus_val16 *pcm, + float *pcm, int frame_size, int decode_fec ) { return opus_multistream_decode_native(st, data, len, - pcm, opus_copy_channel_out_float, frame_size, decode_fec, 0, NULL); + pcm, opus_copy_channel_out_float, frame_size, decode_fec, 0); } #endif -int opus_multistream_decoder_ctl_va_list(OpusMSDecoder *st, int request, - va_list ap) +int opus_multistream_decoder_ctl(OpusMSDecoder *st, int request, ...) { + va_list ap; int coupled_size, mono_size; char *ptr; int ret = OPUS_OK; + va_start(ap, request); + coupled_size = opus_decoder_get_size(2); mono_size = opus_decoder_get_size(1); ptr = (char*)st + align(sizeof(OpusMSDecoder)); @@ -429,7 +425,6 @@ int opus_multistream_decoder_ctl_va_list(OpusMSDecoder *st, int request, case OPUS_GET_SAMPLE_RATE_REQUEST: case OPUS_GET_GAIN_REQUEST: case OPUS_GET_LAST_PACKET_DURATION_REQUEST: - case OPUS_GET_PHASE_INVERSION_DISABLED_REQUEST: { OpusDecoder *dec; /* For int32* GET params, just query the first stream */ @@ -487,7 +482,7 @@ int opus_multistream_decoder_ctl_va_list(OpusMSDecoder *st, int request, OpusDecoder **value; stream_id = va_arg(ap, opus_int32); if (stream_id<0 || stream_id >= st->layout.nb_streams) - goto bad_arg; + ret = OPUS_BAD_ARG; value = va_arg(ap, OpusDecoder**); if (!value) { @@ -504,7 +499,6 @@ int opus_multistream_decoder_ctl_va_list(OpusMSDecoder *st, int request, } break; case OPUS_SET_GAIN_REQUEST: - case OPUS_SET_PHASE_INVERSION_DISABLED_REQUEST: { int s; /* This works for int32 params */ @@ -528,20 +522,14 @@ int opus_multistream_decoder_ctl_va_list(OpusMSDecoder *st, int request, ret = OPUS_UNIMPLEMENTED; break; } + + va_end(ap); return ret; bad_arg: + va_end(ap); return OPUS_BAD_ARG; } -int opus_multistream_decoder_ctl(OpusMSDecoder *st, int request, ...) -{ - int ret; - va_list ap; - va_start(ap, request); - ret = opus_multistream_decoder_ctl_va_list(st, request, ap); - va_end(ap); - return ret; -} void opus_multistream_decoder_destroy(OpusMSDecoder *st) { diff --git a/thirdparty/opus/opus_multistream_encoder.c b/thirdparty/opus/opus_multistream_encoder.c index 93204a14c1..1698223a16 100644 --- a/thirdparty/opus/opus_multistream_encoder.c +++ b/thirdparty/opus/opus_multistream_encoder.c @@ -61,6 +61,38 @@ static const VorbisLayout vorbis_mappings[8] = { {5, 3, {0, 6, 1, 2, 3, 4, 5, 7}}, /* 8: 7.1 surround */ }; +typedef void (*opus_copy_channel_in_func)( + opus_val16 *dst, + int dst_stride, + const void *src, + int src_stride, + int src_channel, + int frame_size +); + +typedef enum { + MAPPING_TYPE_NONE, + MAPPING_TYPE_SURROUND +#ifdef ENABLE_EXPERIMENTAL_AMBISONICS + , /* Do not include comma at end of enumerator list */ + MAPPING_TYPE_AMBISONICS +#endif +} MappingType; + +struct OpusMSEncoder { + ChannelLayout layout; + int arch; + int lfe_stream; + int application; + int variable_duration; + MappingType mapping_type; + opus_int32 bitrate_bps; + float subframe_mem[3]; + /* Encoder states go here */ + /* then opus_val32 window_mem[channels*120]; */ + /* then opus_val32 preemph_mem[channels]; */ +}; + static opus_val32 *ms_get_preemph_mem(OpusMSEncoder *st) { int s; @@ -101,29 +133,6 @@ static opus_val32 *ms_get_window_mem(OpusMSEncoder *st) return (opus_val32*)(void*)ptr; } -static int validate_ambisonics(int nb_channels, int *nb_streams, int *nb_coupled_streams) -{ - int order_plus_one; - int acn_channels; - int nondiegetic_channels; - - if (nb_channels < 1 || nb_channels > 227) - return 0; - - order_plus_one = isqrt32(nb_channels); - acn_channels = order_plus_one * order_plus_one; - nondiegetic_channels = nb_channels - acn_channels; - - if (nondiegetic_channels != 0 && nondiegetic_channels != 2) - return 0; - - if (nb_streams) - *nb_streams = acn_channels + (nondiegetic_channels != 0); - if (nb_coupled_streams) - *nb_coupled_streams = nondiegetic_channels != 0; - return 1; -} - static int validate_encoder_layout(const ChannelLayout *layout) { int s; @@ -231,7 +240,6 @@ void surround_analysis(const CELTMode *celt_mode, const void *pcm, opus_val16 *b int pos[8] = {0}; int upsample; int frame_size; - int freq_size; opus_val16 channel_offset; opus_val32 bandE[21]; opus_val16 maskLogE[3][21]; @@ -242,7 +250,6 @@ void surround_analysis(const CELTMode *celt_mode, const void *pcm, opus_val16 *b upsample = resampling_factor(rate); frame_size = len*upsample; - freq_size = IMIN(960, frame_size); /* LM = log2(frame_size / 120) */ for (LM=0;LM<celt_mode->maxLM;LM++) @@ -251,7 +258,7 @@ void surround_analysis(const CELTMode *celt_mode, const void *pcm, opus_val16 *b ALLOC(in, frame_size+overlap, opus_val32); ALLOC(x, len, opus_val16); - ALLOC(freq, freq_size, opus_val32); + ALLOC(freq, frame_size, opus_val32); channel_pos(channels, pos); @@ -261,11 +268,8 @@ void surround_analysis(const CELTMode *celt_mode, const void *pcm, opus_val16 *b for (c=0;c<channels;c++) { - int frame; - int nb_frames = frame_size/freq_size; - celt_assert(nb_frames*freq_size == frame_size); OPUS_COPY(in, mem+c*overlap, overlap); - (*copy_channel_in)(x, 1, pcm, channels, c, len, NULL); + (*copy_channel_in)(x, 1, pcm, channels, c, len); celt_preemphasis(x, in+overlap, frame_size, 1, upsample, celt_mode->preemph, preemph_mem+c, 0); #ifndef FIXED_POINT { @@ -280,26 +284,18 @@ void surround_analysis(const CELTMode *celt_mode, const void *pcm, opus_val16 *b } } #endif - OPUS_CLEAR(bandE, 21); - for (frame=0;frame<nb_frames;frame++) + clt_mdct_forward(&celt_mode->mdct, in, freq, celt_mode->window, + overlap, celt_mode->maxLM-LM, 1, arch); + if (upsample != 1) { - opus_val32 tmpE[21]; - clt_mdct_forward(&celt_mode->mdct, in+960*frame, freq, celt_mode->window, - overlap, celt_mode->maxLM-LM, 1, arch); - if (upsample != 1) - { - int bound = freq_size/upsample; - for (i=0;i<bound;i++) - freq[i] *= upsample; - for (;i<freq_size;i++) - freq[i] = 0; - } - - compute_band_energies(celt_mode, freq, tmpE, 21, 1, LM, arch); - /* If we have multiple frames, take the max energy. */ - for (i=0;i<21;i++) - bandE[i] = MAX32(bandE[i], tmpE[i]); + int bound = len; + for (i=0;i<bound;i++) + freq[i] *= upsample; + for (;i<frame_size;i++) + freq[i] = 0; } + + compute_band_energies(celt_mode, freq, bandE, 21, 1, LM); amp2Log2(celt_mode, 21, 21, bandE, bandLogE+21*c, 1); /* Apply spreading function with -6 dB/band going up and -12 dB/band going down. */ for (i=1;i<21;i++) @@ -412,10 +408,12 @@ opus_int32 opus_multistream_surround_encoder_get_size(int channels, int mapping_ { nb_streams=channels; nb_coupled_streams=0; - } else if (mapping_family==2) +#ifdef ENABLE_EXPERIMENTAL_AMBISONICS + } else if (mapping_family==254) { - if (!validate_ambisonics(channels, &nb_streams, &nb_coupled_streams)) - return 0; + nb_streams=channels; + nb_coupled_streams=0; +#endif } else return 0; size = opus_multistream_encoder_get_size(nb_streams, nb_coupled_streams); @@ -450,6 +448,7 @@ static int opus_multistream_encoder_init_impl( st->layout.nb_channels = channels; st->layout.nb_streams = streams; st->layout.nb_coupled_streams = coupled_streams; + st->subframe_mem[0]=st->subframe_mem[1]=st->subframe_mem[2]=0; if (mapping_type != MAPPING_TYPE_SURROUND) st->lfe_stream = -1; st->bitrate_bps = OPUS_AUTO; @@ -457,13 +456,7 @@ static int opus_multistream_encoder_init_impl( st->variable_duration = OPUS_FRAMESIZE_ARG; for (i=0;i<st->layout.nb_channels;i++) st->layout.mapping[i] = mapping[i]; - if (!validate_layout(&st->layout)) - return OPUS_BAD_ARG; - if (mapping_type == MAPPING_TYPE_SURROUND && - !validate_encoder_layout(&st->layout)) - return OPUS_BAD_ARG; - if (mapping_type == MAPPING_TYPE_AMBISONICS && - !validate_ambisonics(st->layout.nb_channels, NULL, NULL)) + if (!validate_layout(&st->layout) || !validate_encoder_layout(&st->layout)) return OPUS_BAD_ARG; ptr = (char*)st + align(sizeof(OpusMSEncoder)); coupled_size = opus_encoder_get_size(2); @@ -556,23 +549,25 @@ int opus_multistream_surround_encoder_init( *coupled_streams=0; for(i=0;i<channels;i++) mapping[i] = i; - } else if (mapping_family==2) +#ifdef ENABLE_EXPERIMENTAL_AMBISONICS + } else if (mapping_family==254) { int i; - if (!validate_ambisonics(channels, streams, coupled_streams)) - return OPUS_BAD_ARG; - for(i = 0; i < (*streams - *coupled_streams); i++) - mapping[i] = i + (*coupled_streams * 2); - for(i = 0; i < *coupled_streams * 2; i++) - mapping[i + (*streams - *coupled_streams)] = i; + *streams=channels; + *coupled_streams=0; + for(i=0;i<channels;i++) + mapping[i] = i; +#endif } else return OPUS_UNIMPLEMENTED; if (channels>2 && mapping_family==1) { mapping_type = MAPPING_TYPE_SURROUND; - } else if (mapping_family==2) +#ifdef ENABLE_EXPERIMENTAL_AMBISONICS + } else if (mapping_family==254) { mapping_type = MAPPING_TYPE_AMBISONICS; +#endif } else { mapping_type = MAPPING_TYPE_NONE; @@ -677,62 +672,62 @@ static void surround_rate_allocation( int lfe_offset; int coupled_ratio; /* Q8 */ int lfe_ratio; /* Q8 */ - int nb_lfe; - int nb_uncoupled; - int nb_coupled; - int nb_normal; - opus_int32 channel_offset; - opus_int32 bitrate; - int total; - - nb_lfe = (st->lfe_stream!=-1); - nb_coupled = st->layout.nb_coupled_streams; - nb_uncoupled = st->layout.nb_streams-nb_coupled-nb_lfe; - nb_normal = 2*nb_coupled + nb_uncoupled; - - /* Give each non-LFE channel enough bits per channel for coding band energy. */ - channel_offset = 40*IMAX(50, Fs/frame_size); + if (st->bitrate_bps > st->layout.nb_channels*40000) + stream_offset = 20000; + else + stream_offset = st->bitrate_bps/st->layout.nb_channels/2; + stream_offset += 60*(Fs/frame_size-50); + /* We start by giving each stream (coupled or uncoupled) the same bitrate. + This models the main saving of coupled channels over uncoupled. */ + /* The LFE stream is an exception to the above and gets fewer bits. */ + lfe_offset = 3500 + 60*(Fs/frame_size-50); + /* Coupled streams get twice the mono rate after the first 20 kb/s. */ + coupled_ratio = 512; + /* Should depend on the bitrate, for now we assume LFE gets 1/8 the bits of mono */ + lfe_ratio = 32; + + /* Compute bitrate allocation between streams */ if (st->bitrate_bps==OPUS_AUTO) { - bitrate = nb_normal*(channel_offset + Fs + 10000) + 8000*nb_lfe; + channel_rate = Fs+60*Fs/frame_size; } else if (st->bitrate_bps==OPUS_BITRATE_MAX) { - bitrate = nb_normal*300000 + nb_lfe*128000; + channel_rate = 300000; } else { - bitrate = st->bitrate_bps; + int nb_lfe; + int nb_uncoupled; + int nb_coupled; + int total; + nb_lfe = (st->lfe_stream!=-1); + nb_coupled = st->layout.nb_coupled_streams; + nb_uncoupled = st->layout.nb_streams-nb_coupled-nb_lfe; + total = (nb_uncoupled<<8) /* mono */ + + coupled_ratio*nb_coupled /* stereo */ + + nb_lfe*lfe_ratio; + channel_rate = 256*(st->bitrate_bps-lfe_offset*nb_lfe-stream_offset*(nb_coupled+nb_uncoupled))/total; } - - /* Give LFE some basic stream_channel allocation but never exceed 1/20 of the - total rate for the non-energy part to avoid problems at really low rate. */ - lfe_offset = IMIN(bitrate/20, 3000) + 15*IMAX(50, Fs/frame_size); - - /* We give each stream (coupled or uncoupled) a starting bitrate. - This models the main saving of coupled channels over uncoupled. */ - stream_offset = (bitrate - channel_offset*nb_normal - lfe_offset*nb_lfe)/nb_normal/2; - stream_offset = IMAX(0, IMIN(20000, stream_offset)); - - /* Coupled streams get twice the mono rate after the offset is allocated. */ - coupled_ratio = 512; - /* Should depend on the bitrate, for now we assume LFE gets 1/8 the bits of mono */ - lfe_ratio = 32; - - total = (nb_uncoupled<<8) /* mono */ - + coupled_ratio*nb_coupled /* stereo */ - + nb_lfe*lfe_ratio; - channel_rate = 256*(opus_int64)(bitrate - lfe_offset*nb_lfe - stream_offset*(nb_coupled+nb_uncoupled) - channel_offset*nb_normal)/total; +#ifndef FIXED_POINT + if (st->variable_duration==OPUS_FRAMESIZE_VARIABLE && frame_size != Fs/50) + { + opus_int32 bonus; + bonus = 60*(Fs/frame_size-50); + channel_rate += bonus; + } +#endif for (i=0;i<st->layout.nb_streams;i++) { if (i<st->layout.nb_coupled_streams) - rate[i] = 2*channel_offset + IMAX(0, stream_offset+(channel_rate*coupled_ratio>>8)); + rate[i] = stream_offset+(channel_rate*coupled_ratio>>8); else if (i!=st->lfe_stream) - rate[i] = channel_offset + IMAX(0, stream_offset + channel_rate); + rate[i] = stream_offset+channel_rate; else - rate[i] = IMAX(0, lfe_offset+(channel_rate*lfe_ratio>>8)); + rate[i] = lfe_offset+(channel_rate*lfe_ratio>>8); } } +#ifdef ENABLE_EXPERIMENTAL_AMBISONICS static void ambisonics_rate_allocation( OpusMSEncoder *st, opus_int32 *rate, @@ -741,31 +736,50 @@ static void ambisonics_rate_allocation( ) { int i; - opus_int32 total_rate; - opus_int32 per_stream_rate; + int non_mono_rate; + int total_rate; - const int nb_channels = st->layout.nb_streams + st->layout.nb_coupled_streams; + /* The mono channel gets (rate_ratio_num / rate_ratio_den) times as many bits + * as all other channels */ + const int rate_ratio_num = 4; + const int rate_ratio_den = 3; + const int num_channels = st->layout.nb_streams; if (st->bitrate_bps==OPUS_AUTO) { - total_rate = (st->layout.nb_coupled_streams + st->layout.nb_streams) * - (Fs+60*Fs/frame_size) + st->layout.nb_streams * (opus_int32)15000; + total_rate = num_channels * (20000 + st->layout.nb_streams*(Fs+60*Fs/frame_size)); } else if (st->bitrate_bps==OPUS_BITRATE_MAX) { - total_rate = nb_channels * 320000; - } else - { + total_rate = num_channels * 320000; + } else { total_rate = st->bitrate_bps; } - /* Allocate equal number of bits to Ambisonic (uncoupled) and non-diegetic - * (coupled) streams */ - per_stream_rate = total_rate / st->layout.nb_streams; - for (i = 0; i < st->layout.nb_streams; i++) + /* Let y be the non-mono rate and let p, q be integers such that the mono + * channel rate is (p/q) * y. + * Also let T be the total bitrate to allocate. Then + * (n - 1) y + (p/q) y = T + * y = (T q) / (qn - q + p) + */ + non_mono_rate = + total_rate * rate_ratio_den + / (rate_ratio_den*num_channels + rate_ratio_num - rate_ratio_den); + +#ifndef FIXED_POINT + if (st->variable_duration==OPUS_FRAMESIZE_VARIABLE && frame_size != Fs/50) { - rate[i] = per_stream_rate; + opus_int32 bonus = 60*(Fs/frame_size-50); + non_mono_rate += bonus; + } +#endif + + rate[0] = total_rate - (num_channels - 1) * non_mono_rate; + for (i=1;i<st->layout.nb_streams;i++) + { + rate[i] = non_mono_rate; } } +#endif /* ENABLE_EXPERIMENTAL_AMBISONICS */ static opus_int32 rate_allocation( OpusMSEncoder *st, @@ -781,9 +795,11 @@ static opus_int32 rate_allocation( ptr = (char*)st + align(sizeof(OpusMSEncoder)); opus_encoder_ctl((OpusEncoder*)ptr, OPUS_GET_SAMPLE_RATE(&Fs)); +#ifdef ENABLE_EXPERIMENTAL_AMBISONICS if (st->mapping_type == MAPPING_TYPE_AMBISONICS) { ambisonics_rate_allocation(st, rate, frame_size, Fs); } else +#endif { surround_rate_allocation(st, rate, frame_size, Fs); } @@ -796,9 +812,9 @@ static opus_int32 rate_allocation( return rate_sum; } -/* Max size in case the encoder decides to return six frames (6 x 20 ms = 120 ms) */ -#define MS_FRAME_TMP (6*1275+12) -int opus_multistream_encode_native +/* Max size in case the encoder decides to return three frames */ +#define MS_FRAME_TMP (3*1275+7) +static int opus_multistream_encode_native ( OpusMSEncoder *st, opus_copy_channel_in_func copy_channel_in, @@ -808,8 +824,7 @@ int opus_multistream_encode_native opus_int32 max_data_bytes, int lsb_depth, downmix_func downmix, - int float_api, - void *user_data + int float_api ) { opus_int32 Fs; @@ -844,8 +859,32 @@ int opus_multistream_encode_native opus_encoder_ctl((OpusEncoder*)ptr, OPUS_GET_VBR(&vbr)); opus_encoder_ctl((OpusEncoder*)ptr, CELT_GET_MODE(&celt_mode)); - frame_size = frame_size_select(analysis_frame_size, st->variable_duration, Fs); - if (frame_size <= 0) + { + opus_int32 delay_compensation; + int channels; + + channels = st->layout.nb_streams + st->layout.nb_coupled_streams; + opus_encoder_ctl((OpusEncoder*)ptr, OPUS_GET_LOOKAHEAD(&delay_compensation)); + delay_compensation -= Fs/400; + frame_size = compute_frame_size(pcm, analysis_frame_size, + st->variable_duration, channels, Fs, st->bitrate_bps, + delay_compensation, downmix +#ifndef DISABLE_FLOAT_API + , st->subframe_mem +#endif + ); + } + + if (400*frame_size < Fs) + { + RESTORE_STACK; + return OPUS_BAD_ARG; + } + /* Validate frame_size before using it to allocate stack space. + This mirrors the checks in opus_encode[_float](). */ + if (400*frame_size != Fs && 200*frame_size != Fs && + 100*frame_size != Fs && 50*frame_size != Fs && + 25*frame_size != Fs && 50*frame_size != 3*Fs) { RESTORE_STACK; return OPUS_BAD_ARG; @@ -853,9 +892,6 @@ int opus_multistream_encode_native /* Smallest packet the encoder can produce. */ smallest_packet = st->layout.nb_streams*2-1; - /* 100 ms needs an extra byte per stream for the ToC. */ - if (Fs/frame_size == 10) - smallest_packet += st->layout.nb_streams; if (max_data_bytes < smallest_packet) { RESTORE_STACK; @@ -916,9 +952,11 @@ int opus_multistream_encode_native opus_encoder_ctl(enc, OPUS_SET_FORCE_CHANNELS(2)); } } +#ifdef ENABLE_EXPERIMENTAL_AMBISONICS else if (st->mapping_type == MAPPING_TYPE_AMBISONICS) { opus_encoder_ctl(enc, OPUS_SET_FORCE_MODE(MODE_CELT_ONLY)); } +#endif } ptr = (char*)st + align(sizeof(OpusMSEncoder)); @@ -941,9 +979,9 @@ int opus_multistream_encode_native left = get_left_channel(&st->layout, s, -1); right = get_right_channel(&st->layout, s, -1); (*copy_channel_in)(buf, 2, - pcm, st->layout.nb_channels, left, frame_size, user_data); + pcm, st->layout.nb_channels, left, frame_size); (*copy_channel_in)(buf+1, 2, - pcm, st->layout.nb_channels, right, frame_size, user_data); + pcm, st->layout.nb_channels, right, frame_size); ptr += align(coupled_size); if (st->mapping_type == MAPPING_TYPE_SURROUND) { @@ -959,7 +997,7 @@ int opus_multistream_encode_native int i; int chan = get_mono_channel(&st->layout, s, -1); (*copy_channel_in)(buf, 1, - pcm, st->layout.nb_channels, chan, frame_size, user_data); + pcm, st->layout.nb_channels, chan, frame_size); ptr += align(mono_size); if (st->mapping_type == MAPPING_TYPE_SURROUND) { @@ -975,9 +1013,6 @@ int opus_multistream_encode_native curr_max = max_data_bytes - tot_size; /* Reserve one byte for the last stream and two for the others */ curr_max -= IMAX(0,2*(st->layout.nb_streams-s-1)-1); - /* For 100 ms, reserve an extra byte per stream for the ToC */ - if (Fs/frame_size == 10) - curr_max -= st->layout.nb_streams-s-1; curr_max = IMIN(curr_max,MS_FRAME_TMP); /* Repacketizer will add one or two bytes for self-delimited frames */ if (s != st->layout.nb_streams-1) curr_max -= curr_max>253 ? 2 : 1; @@ -1018,13 +1053,11 @@ static void opus_copy_channel_in_float( const void *src, int src_stride, int src_channel, - int frame_size, - void *user_data + int frame_size ) { const float *float_src; opus_int32 i; - (void)user_data; float_src = (const float *)src; for (i=0;i<frame_size;i++) #if defined(FIXED_POINT) @@ -1041,13 +1074,11 @@ static void opus_copy_channel_in_short( const void *src, int src_stride, int src_channel, - int frame_size, - void *user_data + int frame_size ) { const opus_int16 *short_src; opus_int32 i; - (void)user_data; short_src = (const opus_int16 *)src; for (i=0;i<frame_size;i++) #if defined(FIXED_POINT) @@ -1068,7 +1099,7 @@ int opus_multistream_encode( ) { return opus_multistream_encode_native(st, opus_copy_channel_in_short, - pcm, frame_size, data, max_data_bytes, 16, downmix_int, 0, NULL); + pcm, frame_size, data, max_data_bytes, 16, downmix_int, 0); } #ifndef DISABLE_FLOAT_API @@ -1081,7 +1112,7 @@ int opus_multistream_encode_float( ) { return opus_multistream_encode_native(st, opus_copy_channel_in_float, - pcm, frame_size, data, max_data_bytes, 16, downmix_float, 1, NULL); + pcm, frame_size, data, max_data_bytes, 16, downmix_float, 1); } #endif @@ -1097,7 +1128,7 @@ int opus_multistream_encode_float ) { return opus_multistream_encode_native(st, opus_copy_channel_in_float, - pcm, frame_size, data, max_data_bytes, 24, downmix_float, 1, NULL); + pcm, frame_size, data, max_data_bytes, 24, downmix_float, 1); } int opus_multistream_encode( @@ -1109,17 +1140,19 @@ int opus_multistream_encode( ) { return opus_multistream_encode_native(st, opus_copy_channel_in_short, - pcm, frame_size, data, max_data_bytes, 16, downmix_int, 0, NULL); + pcm, frame_size, data, max_data_bytes, 16, downmix_int, 0); } #endif -int opus_multistream_encoder_ctl_va_list(OpusMSEncoder *st, int request, - va_list ap) +int opus_multistream_encoder_ctl(OpusMSEncoder *st, int request, ...) { + va_list ap; int coupled_size, mono_size; char *ptr; int ret = OPUS_OK; + va_start(ap, request); + coupled_size = opus_encoder_get_size(2); mono_size = opus_encoder_get_size(1); ptr = (char*)st + align(sizeof(OpusMSEncoder)); @@ -1128,11 +1161,9 @@ int opus_multistream_encoder_ctl_va_list(OpusMSEncoder *st, int request, case OPUS_SET_BITRATE_REQUEST: { opus_int32 value = va_arg(ap, opus_int32); - if (value != OPUS_AUTO && value != OPUS_BITRATE_MAX) + if (value<0 && value!=OPUS_AUTO && value!=OPUS_BITRATE_MAX) { - if (value <= 0) - goto bad_arg; - value = IMIN(300000*st->layout.nb_channels, IMAX(500*st->layout.nb_channels, value)); + goto bad_arg; } st->bitrate_bps = value; } @@ -1175,7 +1206,6 @@ int opus_multistream_encoder_ctl_va_list(OpusMSEncoder *st, int request, case OPUS_GET_INBAND_FEC_REQUEST: case OPUS_GET_FORCE_CHANNELS_REQUEST: case OPUS_GET_PREDICTION_DISABLED_REQUEST: - case OPUS_GET_PHASE_INVERSION_DISABLED_REQUEST: { OpusEncoder *enc; /* For int32* GET params, just query the first stream */ @@ -1222,7 +1252,6 @@ int opus_multistream_encoder_ctl_va_list(OpusMSEncoder *st, int request, case OPUS_SET_FORCE_MODE_REQUEST: case OPUS_SET_FORCE_CHANNELS_REQUEST: case OPUS_SET_PREDICTION_DISABLED_REQUEST: - case OPUS_SET_PHASE_INVERSION_DISABLED_REQUEST: { int s; /* This works for int32 params */ @@ -1249,7 +1278,7 @@ int opus_multistream_encoder_ctl_va_list(OpusMSEncoder *st, int request, OpusEncoder **value; stream_id = va_arg(ap, opus_int32); if (stream_id<0 || stream_id >= st->layout.nb_streams) - goto bad_arg; + ret = OPUS_BAD_ARG; value = va_arg(ap, OpusEncoder**); if (!value) { @@ -1284,6 +1313,7 @@ int opus_multistream_encoder_ctl_va_list(OpusMSEncoder *st, int request, case OPUS_RESET_STATE: { int s; + st->subframe_mem[0] = st->subframe_mem[1] = st->subframe_mem[2] = 0; if (st->mapping_type == MAPPING_TYPE_SURROUND) { OPUS_CLEAR(ms_get_preemph_mem(st), st->layout.nb_channels); @@ -1307,19 +1337,12 @@ int opus_multistream_encoder_ctl_va_list(OpusMSEncoder *st, int request, ret = OPUS_UNIMPLEMENTED; break; } - return ret; -bad_arg: - return OPUS_BAD_ARG; -} -int opus_multistream_encoder_ctl(OpusMSEncoder *st, int request, ...) -{ - int ret; - va_list ap; - va_start(ap, request); - ret = opus_multistream_encoder_ctl_va_list(st, request, ap); va_end(ap); return ret; +bad_arg: + va_end(ap); + return OPUS_BAD_ARG; } void opus_multistream_encoder_destroy(OpusMSEncoder *st) diff --git a/thirdparty/opus/opus_private.h b/thirdparty/opus/opus_private.h index 5e2463f546..3b62eed096 100644 --- a/thirdparty/opus/opus_private.h +++ b/thirdparty/opus/opus_private.h @@ -33,7 +33,6 @@ #include "opus.h" #include "celt.h" -#include <stdarg.h> /* va_list */ #include <stddef.h> /* offsetof */ struct OpusRepacketizer { @@ -51,59 +50,12 @@ typedef struct ChannelLayout { unsigned char mapping[256]; } ChannelLayout; -typedef enum { - MAPPING_TYPE_NONE, - MAPPING_TYPE_SURROUND, - MAPPING_TYPE_AMBISONICS -} MappingType; - -struct OpusMSEncoder { - ChannelLayout layout; - int arch; - int lfe_stream; - int application; - int variable_duration; - MappingType mapping_type; - opus_int32 bitrate_bps; - /* Encoder states go here */ - /* then opus_val32 window_mem[channels*120]; */ - /* then opus_val32 preemph_mem[channels]; */ -}; - -struct OpusMSDecoder { - ChannelLayout layout; - /* Decoder states go here */ -}; - -int opus_multistream_encoder_ctl_va_list(struct OpusMSEncoder *st, int request, - va_list ap); -int opus_multistream_decoder_ctl_va_list(struct OpusMSDecoder *st, int request, - va_list ap); - int validate_layout(const ChannelLayout *layout); int get_left_channel(const ChannelLayout *layout, int stream_id, int prev); int get_right_channel(const ChannelLayout *layout, int stream_id, int prev); int get_mono_channel(const ChannelLayout *layout, int stream_id, int prev); -typedef void (*opus_copy_channel_in_func)( - opus_val16 *dst, - int dst_stride, - const void *src, - int src_stride, - int src_channel, - int frame_size, - void *user_data -); - -typedef void (*opus_copy_channel_out_func)( - void *dst, - int dst_stride, - int dst_channel, - const opus_val16 *src, - int src_stride, - int frame_size, - void *user_data -); + #define MODE_SILK_ONLY 1000 #define MODE_HYBRID 1001 @@ -135,12 +87,19 @@ typedef void (*opus_copy_channel_out_func)( typedef void (*downmix_func)(const void *, opus_val32 *, int, int, int, int, int); void downmix_float(const void *_x, opus_val32 *sub, int subframe, int offset, int c1, int c2, int C); void downmix_int(const void *_x, opus_val32 *sub, int subframe, int offset, int c1, int c2, int C); -int is_digital_silence(const opus_val16* pcm, int frame_size, int channels, int lsb_depth); int encode_size(int size, unsigned char *data); opus_int32 frame_size_select(opus_int32 frame_size, int variable_duration, opus_int32 Fs); +opus_int32 compute_frame_size(const void *analysis_pcm, int frame_size, + int variable_duration, int C, opus_int32 Fs, int bitrate_bps, + int delay_compensation, downmix_func downmix +#ifndef DISABLE_FLOAT_API + , float *subframe_mem +#endif + ); + opus_int32 opus_encode_native(OpusEncoder *st, const opus_val16 *pcm, int frame_size, unsigned char *data, opus_int32 out_data_bytes, int lsb_depth, const void *analysis_pcm, opus_int32 analysis_size, int c1, int c2, @@ -172,30 +131,4 @@ opus_int32 opus_repacketizer_out_range_impl(OpusRepacketizer *rp, int begin, int int pad_frame(unsigned char *data, opus_int32 len, opus_int32 new_len); -int opus_multistream_encode_native -( - struct OpusMSEncoder *st, - opus_copy_channel_in_func copy_channel_in, - const void *pcm, - int analysis_frame_size, - unsigned char *data, - opus_int32 max_data_bytes, - int lsb_depth, - downmix_func downmix, - int float_api, - void *user_data -); - -int opus_multistream_decode_native( - struct OpusMSDecoder *st, - const unsigned char *data, - opus_int32 len, - void *pcm, - opus_copy_channel_out_func copy_channel_out, - int frame_size, - int decode_fec, - int soft_clip, - void *user_data -); - #endif /* OPUS_PRIVATE_H */ diff --git a/thirdparty/opus/opus_projection_decoder.c b/thirdparty/opus/opus_projection_decoder.c deleted file mode 100644 index c2e07d5bcf..0000000000 --- a/thirdparty/opus/opus_projection_decoder.c +++ /dev/null @@ -1,258 +0,0 @@ -/* Copyright (c) 2017 Google Inc. - Written by Andrew Allen */ -/* - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - - Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - - Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER - OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, - EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR - PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF - LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -#ifdef HAVE_CONFIG_H -#include "config.h" -#endif - -#include "mathops.h" -#include "os_support.h" -#include "opus_private.h" -#include "opus_defines.h" -#include "opus_projection.h" -#include "opus_multistream.h" -#include "mapping_matrix.h" -#include "stack_alloc.h" - -struct OpusProjectionDecoder -{ - opus_int32 demixing_matrix_size_in_bytes; - /* Encoder states go here */ -}; - -#if !defined(DISABLE_FLOAT_API) -static void opus_projection_copy_channel_out_float( - void *dst, - int dst_stride, - int dst_channel, - const opus_val16 *src, - int src_stride, - int frame_size, - void *user_data) -{ - float *float_dst; - const MappingMatrix *matrix; - float_dst = (float *)dst; - matrix = (const MappingMatrix *)user_data; - - if (dst_channel == 0) - OPUS_CLEAR(float_dst, frame_size * dst_stride); - - if (src != NULL) - mapping_matrix_multiply_channel_out_float(matrix, src, dst_channel, - src_stride, float_dst, dst_stride, frame_size); -} -#endif - -static void opus_projection_copy_channel_out_short( - void *dst, - int dst_stride, - int dst_channel, - const opus_val16 *src, - int src_stride, - int frame_size, - void *user_data) -{ - opus_int16 *short_dst; - const MappingMatrix *matrix; - short_dst = (opus_int16 *)dst; - matrix = (const MappingMatrix *)user_data; - if (dst_channel == 0) - OPUS_CLEAR(short_dst, frame_size * dst_stride); - - if (src != NULL) - mapping_matrix_multiply_channel_out_short(matrix, src, dst_channel, - src_stride, short_dst, dst_stride, frame_size); -} - -static MappingMatrix *get_dec_demixing_matrix(OpusProjectionDecoder *st) -{ - /* void* cast avoids clang -Wcast-align warning */ - return (MappingMatrix*)(void*)((char*)st + - align(sizeof(OpusProjectionDecoder))); -} - -static OpusMSDecoder *get_multistream_decoder(OpusProjectionDecoder *st) -{ - /* void* cast avoids clang -Wcast-align warning */ - return (OpusMSDecoder*)(void*)((char*)st + - align(sizeof(OpusProjectionDecoder) + - st->demixing_matrix_size_in_bytes)); -} - -opus_int32 opus_projection_decoder_get_size(int channels, int streams, - int coupled_streams) -{ - opus_int32 matrix_size; - opus_int32 decoder_size; - - matrix_size = - mapping_matrix_get_size(streams + coupled_streams, channels); - if (!matrix_size) - return 0; - - decoder_size = opus_multistream_decoder_get_size(streams, coupled_streams); - if (!decoder_size) - return 0; - - return align(sizeof(OpusProjectionDecoder)) + matrix_size + decoder_size; -} - -int opus_projection_decoder_init(OpusProjectionDecoder *st, opus_int32 Fs, - int channels, int streams, int coupled_streams, - unsigned char *demixing_matrix, opus_int32 demixing_matrix_size) -{ - int nb_input_streams; - opus_int32 expected_matrix_size; - int i, ret; - unsigned char mapping[255]; - VARDECL(opus_int16, buf); - ALLOC_STACK; - - /* Verify supplied matrix size. */ - nb_input_streams = streams + coupled_streams; - expected_matrix_size = nb_input_streams * channels * sizeof(opus_int16); - if (expected_matrix_size != demixing_matrix_size) - { - RESTORE_STACK; - return OPUS_BAD_ARG; - } - - /* Convert demixing matrix input into internal format. */ - ALLOC(buf, nb_input_streams * channels, opus_int16); - for (i = 0; i < nb_input_streams * channels; i++) - { - int s = demixing_matrix[2*i + 1] << 8 | demixing_matrix[2*i]; - s = ((s & 0xFFFF) ^ 0x8000) - 0x8000; - buf[i] = (opus_int16)s; - } - - /* Assign demixing matrix. */ - st->demixing_matrix_size_in_bytes = - mapping_matrix_get_size(channels, nb_input_streams); - if (!st->demixing_matrix_size_in_bytes) - { - RESTORE_STACK; - return OPUS_BAD_ARG; - } - - mapping_matrix_init(get_dec_demixing_matrix(st), channels, nb_input_streams, 0, - buf, demixing_matrix_size); - - /* Set trivial mapping so each input channel pairs with a matrix column. */ - for (i = 0; i < channels; i++) - mapping[i] = i; - - ret = opus_multistream_decoder_init( - get_multistream_decoder(st), Fs, channels, streams, coupled_streams, mapping); - RESTORE_STACK; - return ret; -} - -OpusProjectionDecoder *opus_projection_decoder_create( - opus_int32 Fs, int channels, int streams, int coupled_streams, - unsigned char *demixing_matrix, opus_int32 demixing_matrix_size, int *error) -{ - int size; - int ret; - OpusProjectionDecoder *st; - - /* Allocate space for the projection decoder. */ - size = opus_projection_decoder_get_size(channels, streams, coupled_streams); - if (!size) { - if (error) - *error = OPUS_ALLOC_FAIL; - return NULL; - } - st = (OpusProjectionDecoder *)opus_alloc(size); - if (!st) - { - if (error) - *error = OPUS_ALLOC_FAIL; - return NULL; - } - - /* Initialize projection decoder with provided settings. */ - ret = opus_projection_decoder_init(st, Fs, channels, streams, coupled_streams, - demixing_matrix, demixing_matrix_size); - if (ret != OPUS_OK) - { - opus_free(st); - st = NULL; - } - if (error) - *error = ret; - return st; -} - -#ifdef FIXED_POINT -int opus_projection_decode(OpusProjectionDecoder *st, const unsigned char *data, - opus_int32 len, opus_int16 *pcm, int frame_size, - int decode_fec) -{ - return opus_multistream_decode_native(get_multistream_decoder(st), data, len, - pcm, opus_projection_copy_channel_out_short, frame_size, decode_fec, 0, - get_dec_demixing_matrix(st)); -} -#else -int opus_projection_decode(OpusProjectionDecoder *st, const unsigned char *data, - opus_int32 len, opus_int16 *pcm, int frame_size, - int decode_fec) -{ - return opus_multistream_decode_native(get_multistream_decoder(st), data, len, - pcm, opus_projection_copy_channel_out_short, frame_size, decode_fec, 1, - get_dec_demixing_matrix(st)); -} -#endif - -#ifndef DISABLE_FLOAT_API -int opus_projection_decode_float(OpusProjectionDecoder *st, const unsigned char *data, - opus_int32 len, float *pcm, int frame_size, int decode_fec) -{ - return opus_multistream_decode_native(get_multistream_decoder(st), data, len, - pcm, opus_projection_copy_channel_out_float, frame_size, decode_fec, 0, - get_dec_demixing_matrix(st)); -} -#endif - -int opus_projection_decoder_ctl(OpusProjectionDecoder *st, int request, ...) -{ - va_list ap; - int ret = OPUS_OK; - - va_start(ap, request); - ret = opus_multistream_decoder_ctl_va_list(get_multistream_decoder(st), - request, ap); - va_end(ap); - return ret; -} - -void opus_projection_decoder_destroy(OpusProjectionDecoder *st) -{ - opus_free(st); -} - diff --git a/thirdparty/opus/opus_projection_encoder.c b/thirdparty/opus/opus_projection_encoder.c deleted file mode 100644 index 06fb2d2526..0000000000 --- a/thirdparty/opus/opus_projection_encoder.c +++ /dev/null @@ -1,468 +0,0 @@ -/* Copyright (c) 2017 Google Inc. - Written by Andrew Allen */ -/* - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - - Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - - Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER - OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, - EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR - PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF - LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -#ifdef HAVE_CONFIG_H -#include "config.h" -#endif - -#include "mathops.h" -#include "os_support.h" -#include "opus_private.h" -#include "opus_defines.h" -#include "opus_projection.h" -#include "opus_multistream.h" -#include "stack_alloc.h" -#include "mapping_matrix.h" - -struct OpusProjectionEncoder -{ - opus_int32 mixing_matrix_size_in_bytes; - opus_int32 demixing_matrix_size_in_bytes; - /* Encoder states go here */ -}; - -#if !defined(DISABLE_FLOAT_API) -static void opus_projection_copy_channel_in_float( - opus_val16 *dst, - int dst_stride, - const void *src, - int src_stride, - int src_channel, - int frame_size, - void *user_data -) -{ - mapping_matrix_multiply_channel_in_float((const MappingMatrix*)user_data, - (const float*)src, src_stride, dst, src_channel, dst_stride, frame_size); -} -#endif - -static void opus_projection_copy_channel_in_short( - opus_val16 *dst, - int dst_stride, - const void *src, - int src_stride, - int src_channel, - int frame_size, - void *user_data -) -{ - mapping_matrix_multiply_channel_in_short((const MappingMatrix*)user_data, - (const opus_int16*)src, src_stride, dst, src_channel, dst_stride, frame_size); -} - -static int get_order_plus_one_from_channels(int channels, int *order_plus_one) -{ - int order_plus_one_; - int acn_channels; - int nondiegetic_channels; - - /* Allowed numbers of channels: - * (1 + n)^2 + 2j, for n = 0...14 and j = 0 or 1. - */ - if (channels < 1 || channels > 227) - return OPUS_BAD_ARG; - - order_plus_one_ = isqrt32(channels); - acn_channels = order_plus_one_ * order_plus_one_; - nondiegetic_channels = channels - acn_channels; - if (nondiegetic_channels != 0 && nondiegetic_channels != 2) - return OPUS_BAD_ARG; - - if (order_plus_one) - *order_plus_one = order_plus_one_; - return OPUS_OK; -} - -static int get_streams_from_channels(int channels, int mapping_family, - int *streams, int *coupled_streams, - int *order_plus_one) -{ - if (mapping_family == 3) - { - if (get_order_plus_one_from_channels(channels, order_plus_one) != OPUS_OK) - return OPUS_BAD_ARG; - if (streams) - *streams = (channels + 1) / 2; - if (coupled_streams) - *coupled_streams = channels / 2; - return OPUS_OK; - } - return OPUS_BAD_ARG; -} - -static MappingMatrix *get_mixing_matrix(OpusProjectionEncoder *st) -{ - /* void* cast avoids clang -Wcast-align warning */ - return (MappingMatrix *)(void*)((char*)st + - align(sizeof(OpusProjectionEncoder))); -} - -static MappingMatrix *get_enc_demixing_matrix(OpusProjectionEncoder *st) -{ - /* void* cast avoids clang -Wcast-align warning */ - return (MappingMatrix *)(void*)((char*)st + - align(sizeof(OpusProjectionEncoder) + - st->mixing_matrix_size_in_bytes)); -} - -static OpusMSEncoder *get_multistream_encoder(OpusProjectionEncoder *st) -{ - /* void* cast avoids clang -Wcast-align warning */ - return (OpusMSEncoder *)(void*)((char*)st + - align(sizeof(OpusProjectionEncoder) + - st->mixing_matrix_size_in_bytes + - st->demixing_matrix_size_in_bytes)); -} - -opus_int32 opus_projection_ambisonics_encoder_get_size(int channels, - int mapping_family) -{ - int nb_streams; - int nb_coupled_streams; - int order_plus_one; - int mixing_matrix_rows, mixing_matrix_cols; - int demixing_matrix_rows, demixing_matrix_cols; - opus_int32 mixing_matrix_size, demixing_matrix_size; - opus_int32 encoder_size; - int ret; - - ret = get_streams_from_channels(channels, mapping_family, &nb_streams, - &nb_coupled_streams, &order_plus_one); - if (ret != OPUS_OK) - return 0; - - if (order_plus_one == 2) - { - mixing_matrix_rows = mapping_matrix_foa_mixing.rows; - mixing_matrix_cols = mapping_matrix_foa_mixing.cols; - demixing_matrix_rows = mapping_matrix_foa_demixing.rows; - demixing_matrix_cols = mapping_matrix_foa_demixing.cols; - } - else if (order_plus_one == 3) - { - mixing_matrix_rows = mapping_matrix_soa_mixing.rows; - mixing_matrix_cols = mapping_matrix_soa_mixing.cols; - demixing_matrix_rows = mapping_matrix_soa_demixing.rows; - demixing_matrix_cols = mapping_matrix_soa_demixing.cols; - } - else if (order_plus_one == 4) - { - mixing_matrix_rows = mapping_matrix_toa_mixing.rows; - mixing_matrix_cols = mapping_matrix_toa_mixing.cols; - demixing_matrix_rows = mapping_matrix_toa_demixing.rows; - demixing_matrix_cols = mapping_matrix_toa_demixing.cols; - } - else - return 0; - - mixing_matrix_size = - mapping_matrix_get_size(mixing_matrix_rows, mixing_matrix_cols); - if (!mixing_matrix_size) - return 0; - - demixing_matrix_size = - mapping_matrix_get_size(demixing_matrix_rows, demixing_matrix_cols); - if (!demixing_matrix_size) - return 0; - - encoder_size = - opus_multistream_encoder_get_size(nb_streams, nb_coupled_streams); - if (!encoder_size) - return 0; - - return align(sizeof(OpusProjectionEncoder)) + - mixing_matrix_size + demixing_matrix_size + encoder_size; -} - -int opus_projection_ambisonics_encoder_init(OpusProjectionEncoder *st, opus_int32 Fs, - int channels, int mapping_family, - int *streams, int *coupled_streams, - int application) -{ - MappingMatrix *mixing_matrix; - MappingMatrix *demixing_matrix; - OpusMSEncoder *ms_encoder; - int i; - int ret; - int order_plus_one; - unsigned char mapping[255]; - - if (streams == NULL || coupled_streams == NULL) { - return OPUS_BAD_ARG; - } - - if (get_streams_from_channels(channels, mapping_family, streams, - coupled_streams, &order_plus_one) != OPUS_OK) - return OPUS_BAD_ARG; - - if (mapping_family == 3) - { - /* Assign mixing matrix based on available pre-computed matrices. */ - mixing_matrix = get_mixing_matrix(st); - if (order_plus_one == 2) - { - mapping_matrix_init(mixing_matrix, mapping_matrix_foa_mixing.rows, - mapping_matrix_foa_mixing.cols, mapping_matrix_foa_mixing.gain, - mapping_matrix_foa_mixing_data, - sizeof(mapping_matrix_foa_mixing_data)); - } - else if (order_plus_one == 3) - { - mapping_matrix_init(mixing_matrix, mapping_matrix_soa_mixing.rows, - mapping_matrix_soa_mixing.cols, mapping_matrix_soa_mixing.gain, - mapping_matrix_soa_mixing_data, - sizeof(mapping_matrix_soa_mixing_data)); - } - else if (order_plus_one == 4) - { - mapping_matrix_init(mixing_matrix, mapping_matrix_toa_mixing.rows, - mapping_matrix_toa_mixing.cols, mapping_matrix_toa_mixing.gain, - mapping_matrix_toa_mixing_data, - sizeof(mapping_matrix_toa_mixing_data)); - } - else - return OPUS_BAD_ARG; - - st->mixing_matrix_size_in_bytes = mapping_matrix_get_size( - mixing_matrix->rows, mixing_matrix->cols); - if (!st->mixing_matrix_size_in_bytes) - return OPUS_BAD_ARG; - - /* Assign demixing matrix based on available pre-computed matrices. */ - demixing_matrix = get_enc_demixing_matrix(st); - if (order_plus_one == 2) - { - mapping_matrix_init(demixing_matrix, mapping_matrix_foa_demixing.rows, - mapping_matrix_foa_demixing.cols, mapping_matrix_foa_demixing.gain, - mapping_matrix_foa_demixing_data, - sizeof(mapping_matrix_foa_demixing_data)); - } - else if (order_plus_one == 3) - { - mapping_matrix_init(demixing_matrix, mapping_matrix_soa_demixing.rows, - mapping_matrix_soa_demixing.cols, mapping_matrix_soa_demixing.gain, - mapping_matrix_soa_demixing_data, - sizeof(mapping_matrix_soa_demixing_data)); - } - else if (order_plus_one == 4) - { - mapping_matrix_init(demixing_matrix, mapping_matrix_toa_demixing.rows, - mapping_matrix_toa_demixing.cols, mapping_matrix_toa_demixing.gain, - mapping_matrix_toa_demixing_data, - sizeof(mapping_matrix_toa_demixing_data)); - } - else - return OPUS_BAD_ARG; - - st->demixing_matrix_size_in_bytes = mapping_matrix_get_size( - demixing_matrix->rows, demixing_matrix->cols); - if (!st->demixing_matrix_size_in_bytes) - return OPUS_BAD_ARG; - } - else - return OPUS_UNIMPLEMENTED; - - /* Ensure matrices are large enough for desired coding scheme. */ - if (*streams + *coupled_streams > mixing_matrix->rows || - channels > mixing_matrix->cols || - channels > demixing_matrix->rows || - *streams + *coupled_streams > demixing_matrix->cols) - return OPUS_BAD_ARG; - - /* Set trivial mapping so each input channel pairs with a matrix column. */ - for (i = 0; i < channels; i++) - mapping[i] = i; - - /* Initialize multistream encoder with provided settings. */ - ms_encoder = get_multistream_encoder(st); - ret = opus_multistream_encoder_init(ms_encoder, Fs, channels, *streams, - *coupled_streams, mapping, application); - return ret; -} - -OpusProjectionEncoder *opus_projection_ambisonics_encoder_create( - opus_int32 Fs, int channels, int mapping_family, int *streams, - int *coupled_streams, int application, int *error) -{ - int size; - int ret; - OpusProjectionEncoder *st; - - /* Allocate space for the projection encoder. */ - size = opus_projection_ambisonics_encoder_get_size(channels, mapping_family); - if (!size) { - if (error) - *error = OPUS_ALLOC_FAIL; - return NULL; - } - st = (OpusProjectionEncoder *)opus_alloc(size); - if (!st) - { - if (error) - *error = OPUS_ALLOC_FAIL; - return NULL; - } - - /* Initialize projection encoder with provided settings. */ - ret = opus_projection_ambisonics_encoder_init(st, Fs, channels, - mapping_family, streams, coupled_streams, application); - if (ret != OPUS_OK) - { - opus_free(st); - st = NULL; - } - if (error) - *error = ret; - return st; -} - -int opus_projection_encode(OpusProjectionEncoder *st, const opus_int16 *pcm, - int frame_size, unsigned char *data, - opus_int32 max_data_bytes) -{ - return opus_multistream_encode_native(get_multistream_encoder(st), - opus_projection_copy_channel_in_short, pcm, frame_size, data, - max_data_bytes, 16, downmix_int, 0, get_mixing_matrix(st)); -} - -#ifndef DISABLE_FLOAT_API -#ifdef FIXED_POINT -int opus_projection_encode_float(OpusProjectionEncoder *st, const float *pcm, - int frame_size, unsigned char *data, - opus_int32 max_data_bytes) -{ - return opus_multistream_encode_native(get_multistream_encoder(st), - opus_projection_copy_channel_in_float, pcm, frame_size, data, - max_data_bytes, 16, downmix_float, 1, get_mixing_matrix(st)); -} -#else -int opus_projection_encode_float(OpusProjectionEncoder *st, const float *pcm, - int frame_size, unsigned char *data, - opus_int32 max_data_bytes) -{ - return opus_multistream_encode_native(get_multistream_encoder(st), - opus_projection_copy_channel_in_float, pcm, frame_size, data, - max_data_bytes, 24, downmix_float, 1, get_mixing_matrix(st)); -} -#endif -#endif - -void opus_projection_encoder_destroy(OpusProjectionEncoder *st) -{ - opus_free(st); -} - -int opus_projection_encoder_ctl(OpusProjectionEncoder *st, int request, ...) -{ - va_list ap; - MappingMatrix *demixing_matrix; - OpusMSEncoder *ms_encoder; - int ret = OPUS_OK; - - ms_encoder = get_multistream_encoder(st); - demixing_matrix = get_enc_demixing_matrix(st); - - va_start(ap, request); - switch(request) - { - case OPUS_PROJECTION_GET_DEMIXING_MATRIX_SIZE_REQUEST: - { - opus_int32 *value = va_arg(ap, opus_int32*); - if (!value) - { - goto bad_arg; - } - *value = - ms_encoder->layout.nb_channels * (ms_encoder->layout.nb_streams - + ms_encoder->layout.nb_coupled_streams) * sizeof(opus_int16); - } - break; - case OPUS_PROJECTION_GET_DEMIXING_MATRIX_GAIN_REQUEST: - { - opus_int32 *value = va_arg(ap, opus_int32*); - if (!value) - { - goto bad_arg; - } - *value = demixing_matrix->gain; - } - break; - case OPUS_PROJECTION_GET_DEMIXING_MATRIX_REQUEST: - { - int i, j, k, l; - int nb_input_streams; - int nb_output_streams; - unsigned char *external_char; - opus_int16 *internal_short; - opus_int32 external_size; - opus_int32 internal_size; - - /* (I/O is in relation to the decoder's perspective). */ - nb_input_streams = ms_encoder->layout.nb_streams + - ms_encoder->layout.nb_coupled_streams; - nb_output_streams = ms_encoder->layout.nb_channels; - - external_char = va_arg(ap, unsigned char *); - external_size = va_arg(ap, opus_int32); - if (!external_char) - { - goto bad_arg; - } - internal_short = mapping_matrix_get_data(demixing_matrix); - internal_size = nb_input_streams * nb_output_streams * sizeof(opus_int16); - if (external_size != internal_size) - { - goto bad_arg; - } - - /* Copy demixing matrix subset to output destination. */ - l = 0; - for (i = 0; i < nb_input_streams; i++) { - for (j = 0; j < nb_output_streams; j++) { - k = demixing_matrix->rows * i + j; - external_char[2*l] = (unsigned char)internal_short[k]; - external_char[2*l+1] = (unsigned char)(internal_short[k] >> 8); - l++; - } - } - } - break; - default: - { - ret = opus_multistream_encoder_ctl_va_list(ms_encoder, request, ap); - } - break; - } - va_end(ap); - return ret; - -bad_arg: - va_end(ap); - return OPUS_BAD_ARG; -} - diff --git a/thirdparty/opus/opusfile.c b/thirdparty/opus/opusfile.c index 8b000a2c58..b8b3a354cf 100644 --- a/thirdparty/opus/opusfile.c +++ b/thirdparty/opus/opusfile.c @@ -86,15 +86,14 @@ int op_test(OpusHead *_head, This is to prevent us spending a lot of time allocating memory and looking for Ogg pages in non-Ogg files.*/ if(memcmp(_initial_data,"OggS",4)!=0)return OP_ENOTFORMAT; - if(OP_UNLIKELY(_initial_bytes>(size_t)LONG_MAX))return OP_EFAULT; ogg_sync_init(&oy); - data=ogg_sync_buffer(&oy,(long)_initial_bytes); + data=ogg_sync_buffer(&oy,_initial_bytes); if(data!=NULL){ ogg_stream_state os; ogg_page og; int ret; memcpy(data,_initial_data,_initial_bytes); - ogg_sync_wrote(&oy,(long)_initial_bytes); + ogg_sync_wrote(&oy,_initial_bytes); ogg_stream_init(&os,-1); err=OP_FALSE; do{ @@ -148,7 +147,7 @@ static int op_get_data(OggOpusFile *_of,int _nbytes){ int nbytes; OP_ASSERT(_nbytes>0); buffer=(unsigned char *)ogg_sync_buffer(&_of->oy,_nbytes); - nbytes=(int)(*_of->callbacks.read)(_of->stream,buffer,_nbytes); + nbytes=(int)(*_of->callbacks.read)(_of->source,buffer,_nbytes); OP_ASSERT(nbytes<=_nbytes); if(OP_LIKELY(nbytes>0))ogg_sync_wrote(&_of->oy,nbytes); return nbytes; @@ -158,7 +157,7 @@ static int op_get_data(OggOpusFile *_of,int _nbytes){ static int op_seek_helper(OggOpusFile *_of,opus_int64 _offset){ if(_offset==_of->offset)return 0; if(_of->callbacks.seek==NULL - ||(*_of->callbacks.seek)(_of->stream,_offset,SEEK_SET)){ + ||(*_of->callbacks.seek)(_of->source,_offset,SEEK_SET)){ return OP_EREAD; } _of->offset=_offset; @@ -166,7 +165,7 @@ static int op_seek_helper(OggOpusFile *_of,opus_int64 _offset){ return 0; } -/*Get the current position indicator of the underlying stream. +/*Get the current position indicator of the underlying source. This should be the same as the value reported by tell().*/ static opus_int64 op_position(const OggOpusFile *_of){ /*The current position indicator is _not_ simply offset. @@ -370,7 +369,7 @@ static int op_get_prev_page_serial(OggOpusFile *_of,OpusSeekRecord *_sr, search_start=llret+1; } /*We started from the beginning of the stream and found nothing. - This should be impossible unless the contents of the stream changed out + This should be impossible unless the contents of the source changed out from under us after we read from it.*/ if(OP_UNLIKELY(!begin)&&OP_UNLIKELY(_offset<0))return OP_EBADLINK; /*Bump up the chunk size. @@ -456,7 +455,7 @@ static opus_int64 op_get_last_page(OggOpusFile *_of,ogg_int64_t *_gp, } } /*We started from at or before the beginning of the link and found nothing. - This should be impossible unless the contents of the stream changed out + This should be impossible unless the contents of the source changed out from under us after we read from it.*/ if((OP_UNLIKELY(left_link)||OP_UNLIKELY(!begin))&&OP_UNLIKELY(_offset<0)){ return OP_EBADLINK; @@ -856,7 +855,6 @@ static int op_find_initial_pcm_offset(OggOpusFile *_of, /*Fail if the pre-skip is non-zero, since it's asking us to skip more samples than exist.*/ if(_link->head.pre_skip>0)return OP_EBADTIMESTAMP; - _link->pcm_file_offset=0; /*Set pcm_end and end_offset so we can skip the call to op_find_final_pcm_offset().*/ _link->pcm_start=_link->pcm_end=0; @@ -868,8 +866,7 @@ static int op_find_initial_pcm_offset(OggOpusFile *_of, if(_link->head.pre_skip>0)return OP_EBADTIMESTAMP; /*Set pcm_end and end_offset so we can skip the call to op_find_final_pcm_offset().*/ - _link->pcm_file_offset=0; - _link->pcm_start=_link->pcm_end=0; + _link->pcm_end=_link->pcm_start=0; _link->end_offset=_link->data_offset; /*Tell the caller we've got a buffered page for them.*/ return 1; @@ -954,7 +951,6 @@ static int op_find_initial_pcm_offset(OggOpusFile *_of, /*Update the packet count after end-trimming.*/ _of->op_count=pi; _of->cur_discard_count=_link->head.pre_skip; - _link->pcm_file_offset=0; _of->prev_packet_gp=_link->pcm_start=pcm_start; _of->prev_page_offset=page_offset; return 0; @@ -1275,7 +1271,6 @@ static int op_bisect_forward_serialno(OggOpusFile *_of, always starts with a seek.*/ ret=op_find_initial_pcm_offset(_of,links+nlinks,NULL); if(OP_UNLIKELY(ret<0))return ret; - links[nlinks].pcm_file_offset=total_duration; _searched=_of->offset; /*Mark the current link count so it can be cleaned up on error.*/ _of->nlinks=++nlinks; @@ -1395,8 +1390,8 @@ static int op_open_seekable2_impl(OggOpusFile *_of){ opus_int64 data_offset; int ret; /*We can seek, so set out learning all about this file.*/ - (*_of->callbacks.seek)(_of->stream,0,SEEK_END); - _of->offset=_of->end=(*_of->callbacks.tell)(_of->stream); + (*_of->callbacks.seek)(_of->source,0,SEEK_END); + _of->offset=_of->end=(*_of->callbacks.tell)(_of->source); if(OP_UNLIKELY(_of->end<0))return OP_EREAD; data_offset=_of->links[0].data_offset; if(OP_UNLIKELY(_of->end<data_offset))return OP_EBADLINK; @@ -1441,7 +1436,7 @@ static int op_open_seekable2(OggOpusFile *_of){ prev_page_offset=_of->prev_page_offset; start_offset=_of->offset; memcpy(op_start,_of->op,sizeof(*op_start)*start_op_count); - OP_ASSERT((*_of->callbacks.tell)(_of->stream)==op_position(_of)); + OP_ASSERT((*_of->callbacks.tell)(_of->source)==op_position(_of)); ogg_sync_init(&_of->oy); ogg_stream_init(&_of->os,-1); ret=op_open_seekable2_impl(_of); @@ -1459,7 +1454,7 @@ static int op_open_seekable2(OggOpusFile *_of){ _of->cur_discard_count=_of->links[0].head.pre_skip; if(OP_UNLIKELY(ret<0))return ret; /*And restore the position indicator.*/ - ret=(*_of->callbacks.seek)(_of->stream,op_position(_of),SEEK_SET); + ret=(*_of->callbacks.seek)(_of->source,op_position(_of),SEEK_SET); return OP_UNLIKELY(ret<0)?OP_EREAD:0; } @@ -1498,20 +1493,19 @@ static void op_clear(OggOpusFile *_of){ _ogg_free(_of->serialnos); ogg_stream_clear(&_of->os); ogg_sync_clear(&_of->oy); - if(_of->callbacks.close!=NULL)(*_of->callbacks.close)(_of->stream); + if(_of->callbacks.close!=NULL)(*_of->callbacks.close)(_of->source); } static int op_open1(OggOpusFile *_of, - void *_stream,const OpusFileCallbacks *_cb, + void *_source,const OpusFileCallbacks *_cb, const unsigned char *_initial_data,size_t _initial_bytes){ ogg_page og; ogg_page *pog; int seekable; int ret; memset(_of,0,sizeof(*_of)); - if(OP_UNLIKELY(_initial_bytes>(size_t)LONG_MAX))return OP_EFAULT; _of->end=-1; - _of->stream=_stream; + _of->source=_source; *&_of->callbacks=*_cb; /*At a minimum, we need to be able to read data.*/ if(OP_UNLIKELY(_of->callbacks.read==NULL))return OP_EREAD; @@ -1526,18 +1520,18 @@ static int op_open1(OggOpusFile *_of, decoding entire files from RAM.*/ if(_initial_bytes>0){ char *buffer; - buffer=ogg_sync_buffer(&_of->oy,(long)_initial_bytes); + buffer=ogg_sync_buffer(&_of->oy,_initial_bytes); memcpy(buffer,_initial_data,_initial_bytes*sizeof(*buffer)); - ogg_sync_wrote(&_of->oy,(long)_initial_bytes); + ogg_sync_wrote(&_of->oy,_initial_bytes); } /*Can we seek? Stevens suggests the seek test is portable.*/ - seekable=_cb->seek!=NULL&&(*_cb->seek)(_stream,0,SEEK_CUR)!=-1; + seekable=_cb->seek!=NULL&&(*_cb->seek)(_source,0,SEEK_CUR)!=-1; /*If seek is implemented, tell must also be implemented.*/ if(seekable){ opus_int64 pos; if(OP_UNLIKELY(_of->callbacks.tell==NULL))return OP_EINVAL; - pos=(*_of->callbacks.tell)(_of->stream); + pos=(*_of->callbacks.tell)(_of->source); /*If the current position is not equal to the initial bytes consumed, absolute seeking will not work.*/ if(OP_UNLIKELY(pos!=(opus_int64)_initial_bytes))return OP_EINVAL; @@ -1596,14 +1590,14 @@ static int op_open2(OggOpusFile *_of){ return ret; } -OggOpusFile *op_test_callbacks(void *_stream,const OpusFileCallbacks *_cb, +OggOpusFile *op_test_callbacks(void *_source,const OpusFileCallbacks *_cb, const unsigned char *_initial_data,size_t _initial_bytes,int *_error){ OggOpusFile *of; int ret; of=(OggOpusFile *)_ogg_malloc(sizeof(*of)); ret=OP_EFAULT; if(OP_LIKELY(of!=NULL)){ - ret=op_open1(of,_stream,_cb,_initial_data,_initial_bytes); + ret=op_open1(of,_source,_cb,_initial_data,_initial_bytes); if(OP_LIKELY(ret>=0)){ if(_error!=NULL)*_error=0; return of; @@ -1617,10 +1611,10 @@ OggOpusFile *op_test_callbacks(void *_stream,const OpusFileCallbacks *_cb, return NULL; } -OggOpusFile *op_open_callbacks(void *_stream,const OpusFileCallbacks *_cb, +OggOpusFile *op_open_callbacks(void *_source,const OpusFileCallbacks *_cb, const unsigned char *_initial_data,size_t _initial_bytes,int *_error){ OggOpusFile *of; - of=op_test_callbacks(_stream,_cb,_initial_data,_initial_bytes,_error); + of=op_test_callbacks(_source,_cb,_initial_data,_initial_bytes,_error); if(OP_LIKELY(of!=NULL)){ int ret; ret=op_open2(of); @@ -1633,15 +1627,15 @@ OggOpusFile *op_open_callbacks(void *_stream,const OpusFileCallbacks *_cb, /*Convenience routine to clean up from failure for the open functions that create their own streams.*/ -static OggOpusFile *op_open_close_on_failure(void *_stream, +static OggOpusFile *op_open_close_on_failure(void *_source, const OpusFileCallbacks *_cb,int *_error){ OggOpusFile *of; - if(OP_UNLIKELY(_stream==NULL)){ + if(OP_UNLIKELY(_source==NULL)){ if(_error!=NULL)*_error=OP_EFAULT; return NULL; } - of=op_open_callbacks(_stream,_cb,NULL,0,_error); - if(OP_UNLIKELY(of==NULL))(*_cb->close)(_stream); + of=op_open_callbacks(_source,_cb,NULL,0,_error); + if(OP_UNLIKELY(of==NULL))(*_cb->close)(_source); return of; } @@ -1659,15 +1653,15 @@ OggOpusFile *op_open_memory(const unsigned char *_data,size_t _size, /*Convenience routine to clean up from failure for the open functions that create their own streams.*/ -static OggOpusFile *op_test_close_on_failure(void *_stream, +static OggOpusFile *op_test_close_on_failure(void *_source, const OpusFileCallbacks *_cb,int *_error){ OggOpusFile *of; - if(OP_UNLIKELY(_stream==NULL)){ + if(OP_UNLIKELY(_source==NULL)){ if(_error!=NULL)*_error=OP_EFAULT; return NULL; } - of=op_test_callbacks(_stream,_cb,NULL,0,_error); - if(OP_UNLIKELY(of==NULL))(*_cb->close)(_stream); + of=op_test_callbacks(_source,_cb,NULL,0,_error); + if(OP_UNLIKELY(of==NULL))(*_cb->close)(_source); return of; } @@ -1708,7 +1702,7 @@ int op_link_count(const OggOpusFile *_of){ return _of->nlinks; } -opus_uint32 op_serialno(const OggOpusFile *_of,int _li){ +ogg_uint32_t op_serialno(const OggOpusFile *_of,int _li){ if(OP_UNLIKELY(_li>=_of->nlinks))_li=_of->nlinks-1; if(!_of->seekable)_li=0; return _of->links[_li<0?_of->cur_link:_li].serialno; @@ -1724,14 +1718,13 @@ opus_int64 op_raw_total(const OggOpusFile *_of,int _li){ ||OP_UNLIKELY(_li>=_of->nlinks)){ return OP_EINVAL; } - if(_li<0)return _of->end; + if(_li<0)return _of->end-_of->links[0].offset; return (_li+1>=_of->nlinks?_of->end:_of->links[_li+1].offset) - -(_li>0?_of->links[_li].offset:0); + -_of->links[_li].offset; } ogg_int64_t op_pcm_total(const OggOpusFile *_of,int _li){ OggOpusLink *links; - ogg_int64_t pcm_total; ogg_int64_t diff; int nlinks; nlinks=_of->nlinks; @@ -1744,14 +1737,20 @@ ogg_int64_t op_pcm_total(const OggOpusFile *_of,int _li){ /*We verify that the granule position differences are larger than the pre-skip and that the total duration does not overflow during link enumeration, so we don't have to check here.*/ - pcm_total=0; if(_li<0){ - pcm_total=links[nlinks-1].pcm_file_offset; - _li=nlinks-1; + ogg_int64_t pcm_total; + int li; + pcm_total=0; + for(li=0;li<nlinks;li++){ + OP_ALWAYS_TRUE(!op_granpos_diff(&diff, + links[li].pcm_end,links[li].pcm_start)); + pcm_total+=diff-links[li].head.pre_skip; + } + return pcm_total; } OP_ALWAYS_TRUE(!op_granpos_diff(&diff, links[_li].pcm_end,links[_li].pcm_start)); - return pcm_total+diff-links[_li].head.pre_skip; + return diff-links[_li].head.pre_skip; } const OpusHead *op_head(const OggOpusFile *_of,int _li){ @@ -1821,34 +1820,6 @@ opus_int32 op_bitrate_instant(OggOpusFile *_of){ return ret; } -/*Given a serialno, find a link with a corresponding Opus stream, if it exists. - Return: The index of the link to which the page belongs, or a negative number - if it was not a desired Opus bitstream section.*/ -static int op_get_link_from_serialno(const OggOpusFile *_of,int _cur_link, - opus_int64 _page_offset,ogg_uint32_t _serialno){ - const OggOpusLink *links; - int nlinks; - int li_lo; - int li_hi; - OP_ASSERT(_of->seekable); - links=_of->links; - nlinks=_of->nlinks; - li_lo=0; - /*Start off by guessing we're just a multiplexed page in the current link.*/ - li_hi=_cur_link+1<nlinks&&_page_offset<links[_cur_link+1].offset? - _cur_link+1:nlinks; - do{ - if(_page_offset>=links[_cur_link].offset)li_lo=_cur_link; - else li_hi=_cur_link; - _cur_link=li_lo+(li_hi-li_lo>>1); - } - while(li_hi-li_lo>1); - /*We've identified the link that should contain this page. - Make sure it's a page we care about.*/ - if(links[_cur_link].serialno!=_serialno)return OP_FALSE; - return _cur_link; -} - /*Fetch and process a page. This handles the case where we're at a bitstream boundary and dumps the decoding machine. @@ -1905,28 +1876,19 @@ static int op_fetch_and_process_page(OggOpusFile *_of, if(OP_UNLIKELY(_of->ready_state<OP_STREAMSET)){ if(seekable){ ogg_uint32_t serialno; + int nlinks; + int li; serialno=ogg_page_serialno(&og); - /*Match the serialno to bitstream section.*/ - OP_ASSERT(cur_link>=0&&cur_link<_of->nlinks); - if(links[cur_link].serialno!=serialno){ - /*It wasn't a page from the current link. - Is it from the next one?*/ - if(OP_LIKELY(cur_link+1<_of->nlinks&&links[cur_link+1].serialno== - serialno)){ - cur_link++; - } - else{ - int new_link; - new_link= - op_get_link_from_serialno(_of,cur_link,_page_offset,serialno); - /*Not a desired Opus bitstream section. - Keep trying.*/ - if(new_link<0)continue; - cur_link=new_link; - } - } + /*Match the serialno to bitstream section. + We use this rather than offset positions to avoid problems near + logical bitstream boundaries.*/ + nlinks=_of->nlinks; + for(li=0;li<nlinks&&links[li].serialno!=serialno;li++); + /*Not a desired Opus bitstream section. + Keep trying.*/ + if(li>=nlinks)continue; cur_serialno=serialno; - _of->cur_link=cur_link; + _of->cur_link=cur_link=li; ogg_stream_reset_serialno(&_of->os,serialno); _of->ready_state=OP_STREAMSET; /*If we're at the start of this link, initialize the granule position @@ -1980,32 +1942,13 @@ static int op_fetch_and_process_page(OggOpusFile *_of, opus_int32 total_duration; int durations[255]; int op_count; - int report_hole; - report_hole=0; total_duration=op_collect_audio_packets(_of,durations); if(OP_UNLIKELY(total_duration<0)){ - /*libogg reported a hole (a gap in the page sequence numbers). - Drain the packets from the page anyway. - If we don't, they'll still be there when we fetch the next page. - Then, when we go to pull out packets, we might get more than 255, - which would overrun our packet buffer.*/ + /*Drain the packets from the page anyway.*/ total_duration=op_collect_audio_packets(_of,durations); OP_ASSERT(total_duration>=0); - if(!_ignore_holes){ - /*Report the hole to the caller after we finish timestamping the - packets.*/ - report_hole=1; - /*We had lost or damaged pages, so reset our granule position - tracking. - This makes holes behave the same as a small raw seek. - If the next page is the EOS page, we'll discard it (because we - can't perform end trimming properly), and we'll always discard at - least 80 ms of audio (to allow decoder state to re-converge). - We could try to fill in the gap with PLC by looking at timestamps - in the non-EOS case, but that's complicated and error prone and we - can't rely on the timestamps being valid.*/ - _of->prev_packet_gp=-1; - } + /*Report holes to the caller.*/ + if(!_ignore_holes)return OP_HOLE; } op_count=_of->op_count; /*If we found at least one audio data packet, compute per-packet granule @@ -2032,7 +1975,6 @@ static int op_fetch_and_process_page(OggOpusFile *_of, Proceed to the next link, rather than risk playing back some samples that shouldn't have been played.*/ _of->op_count=0; - if(report_hole)return OP_HOLE; continue; } /*By default discard 80 ms of data after a seek, unless we seek @@ -2078,11 +2020,7 @@ static int op_fetch_and_process_page(OggOpusFile *_of, &&OP_LIKELY(diff<total_duration)){ cur_packet_gp=prev_packet_gp; for(pi=0;pi<op_count;pi++){ - /*Check for overflow.*/ - if(diff<0&&OP_UNLIKELY(OP_INT64_MAX+diff<durations[pi])){ - diff=durations[pi]+1; - } - else diff=durations[pi]-diff; + diff=durations[pi]-diff; /*If we have samples to trim...*/ if(diff>0){ /*If we trimmed the entire packet, stop (the spec says encoders @@ -2138,11 +2076,10 @@ static int op_fetch_and_process_page(OggOpusFile *_of, } _of->prev_packet_gp=prev_packet_gp; _of->prev_page_offset=_page_offset; - _of->op_count=op_count=pi; + _of->op_count=pi; + /*If end-trimming didn't trim all the packets, we're done.*/ + if(OP_LIKELY(pi>0))return 0; } - if(report_hole)return OP_HOLE; - /*If end-trimming didn't trim all the packets, we're done.*/ - if(op_count>0)return 0; } } } @@ -2180,41 +2117,35 @@ static ogg_int64_t op_get_granulepos(const OggOpusFile *_of, ogg_int64_t _pcm_offset,int *_li){ const OggOpusLink *links; ogg_int64_t duration; - ogg_int64_t pcm_start; - opus_int32 pre_skip; int nlinks; - int li_lo; - int li_hi; + int li; OP_ASSERT(_pcm_offset>=0); nlinks=_of->nlinks; links=_of->links; - li_lo=0; - li_hi=nlinks; - do{ - int li; - li=li_lo+(li_hi-li_lo>>1); - if(links[li].pcm_file_offset<=_pcm_offset)li_lo=li; - else li_hi=li; - } - while(li_hi-li_lo>1); - _pcm_offset-=links[li_lo].pcm_file_offset; - pcm_start=links[li_lo].pcm_start; - pre_skip=links[li_lo].head.pre_skip; - OP_ALWAYS_TRUE(!op_granpos_diff(&duration,links[li_lo].pcm_end,pcm_start)); - duration-=pre_skip; - if(_pcm_offset>=duration)return -1; - _pcm_offset+=pre_skip; - if(OP_UNLIKELY(pcm_start>OP_INT64_MAX-_pcm_offset)){ - /*Adding this amount to the granule position would overflow the positive - half of its 64-bit range. - Since signed overflow is undefined in C, do it in a way the compiler - isn't allowed to screw up.*/ - _pcm_offset-=OP_INT64_MAX-pcm_start+1; - pcm_start=OP_INT64_MIN; - } - pcm_start+=_pcm_offset; - *_li=li_lo; - return pcm_start; + for(li=0;OP_LIKELY(li<nlinks);li++){ + ogg_int64_t pcm_start; + opus_int32 pre_skip; + pcm_start=links[li].pcm_start; + pre_skip=links[li].head.pre_skip; + OP_ALWAYS_TRUE(!op_granpos_diff(&duration,links[li].pcm_end,pcm_start)); + duration-=pre_skip; + if(_pcm_offset<duration){ + _pcm_offset+=pre_skip; + if(OP_UNLIKELY(pcm_start>OP_INT64_MAX-_pcm_offset)){ + /*Adding this amount to the granule position would overflow the positive + half of its 64-bit range. + Since signed overflow is undefined in C, do it in a way the compiler + isn't allowed to screw up.*/ + _pcm_offset-=OP_INT64_MAX-pcm_start+1; + pcm_start=OP_INT64_MIN; + } + pcm_start+=_pcm_offset; + *_li=li; + return pcm_start; + } + _pcm_offset-=duration; + } + return -1; } /*A small helper to determine if an Ogg page contains data that continues onto @@ -2601,14 +2532,15 @@ int op_pcm_seek(OggOpusFile *_of,ogg_int64_t _pcm_offset){ ogg_int64_t gp; gp=_of->prev_packet_gp; if(OP_LIKELY(gp!=-1)){ - ogg_int64_t discard_count; - int nbuffered; + int nbuffered; nbuffered=OP_MAX(_of->od_buffer_size-_of->od_buffer_pos,0); OP_ALWAYS_TRUE(!op_granpos_add(&gp,gp,-nbuffered)); /*We do _not_ add cur_discard_count to gp. Otherwise the total amount to discard could grow without bound, and it would be better just to do a full seek.*/ - if(OP_LIKELY(!op_granpos_diff(&discard_count,target_gp,gp))){ + if(OP_LIKELY(!op_granpos_diff(&diff,gp,pcm_start))){ + ogg_int64_t discard_count; + discard_count=_pcm_offset-diff; /*We use a threshold of 90 ms instead of 80, since 80 ms is the _minimum_ we would have discarded after a full seek. Assuming 20 ms frames (the default), we'd discard 90 ms on average.*/ @@ -2674,14 +2606,22 @@ static ogg_int64_t op_get_pcm_offset(const OggOpusFile *_of, ogg_int64_t _gp,int _li){ const OggOpusLink *links; ogg_int64_t pcm_offset; + ogg_int64_t delta; + int li; links=_of->links; - OP_ASSERT(_li>=0&&_li<_of->nlinks); - pcm_offset=links[_li].pcm_file_offset; + pcm_offset=0; + OP_ASSERT(_li<_of->nlinks); + for(li=0;li<_li;li++){ + OP_ALWAYS_TRUE(!op_granpos_diff(&delta, + links[li].pcm_end,links[li].pcm_start)); + delta-=links[li].head.pre_skip; + pcm_offset+=delta; + } + OP_ASSERT(_li>=0); if(_of->seekable&&OP_UNLIKELY(op_granpos_cmp(_gp,links[_li].pcm_end)>0)){ _gp=links[_li].pcm_end; } if(OP_LIKELY(op_granpos_cmp(_gp,links[_li].pcm_start)>0)){ - ogg_int64_t delta; if(OP_UNLIKELY(op_granpos_diff(&delta,_gp,links[_li].pcm_start)<0)){ /*This means an unseekable stream claimed to have a page from more than 2 billion days after we joined.*/ diff --git a/thirdparty/opus/repacketizer.c b/thirdparty/opus/repacketizer.c index bda44a148a..c80ee7f001 100644 --- a/thirdparty/opus/repacketizer.c +++ b/thirdparty/opus/repacketizer.c @@ -213,8 +213,7 @@ opus_int32 opus_repacketizer_out_range_impl(OpusRepacketizer *rp, int begin, int { /* Using OPUS_MOVE() instead of OPUS_COPY() in case we're doing in-place padding from opus_packet_pad or opus_packet_unpad(). */ - /* assert disabled because it's not valid in C. */ - /* celt_assert(frames[i] + len[i] <= data || ptr <= frames[i]); */ + celt_assert(frames[i] + len[i] <= data || ptr <= frames[i]); OPUS_MOVE(ptr, frames[i], len[i]); ptr += len[i]; } diff --git a/thirdparty/opus/silk/A2NLSF.c b/thirdparty/opus/silk/A2NLSF.c index b487686ff9..b6e9e5ffcc 100644 --- a/thirdparty/opus/silk/A2NLSF.c +++ b/thirdparty/opus/silk/A2NLSF.c @@ -40,7 +40,7 @@ POSSIBILITY OF SUCH DAMAGE. /* Number of binary divisions, when not in low complexity mode */ #define BIN_DIV_STEPS_A2NLSF_FIX 3 /* must be no higher than 16 - log2( LSF_COS_TAB_SZ_FIX ) */ -#define MAX_ITERATIONS_A2NLSF_FIX 16 +#define MAX_ITERATIONS_A2NLSF_FIX 30 /* Helper function for A2NLSF(..) */ /* Transforms polynomials from cos(n*f) to cos(f)^n */ @@ -130,7 +130,7 @@ void silk_A2NLSF( const opus_int d /* I Filter order (must be even) */ ) { - opus_int i, k, m, dd, root_ix, ffrac; + opus_int i, k, m, dd, root_ix, ffrac; opus_int32 xlo, xhi, xmid; opus_int32 ylo, yhi, ymid, thr; opus_int32 nom, den; @@ -239,13 +239,13 @@ void silk_A2NLSF( /* Set NLSFs to white spectrum and exit */ NLSF[ 0 ] = (opus_int16)silk_DIV32_16( 1 << 15, d + 1 ); for( k = 1; k < d; k++ ) { - NLSF[ k ] = (opus_int16)silk_ADD16( NLSF[ k-1 ], NLSF[ 0 ] ); + NLSF[ k ] = (opus_int16)silk_SMULBB( k + 1, NLSF[ 0 ] ); } return; } /* Error: Apply progressively more bandwidth expansion and run again */ - silk_bwexpander_32( a_Q16, d, 65536 - silk_LSHIFT( 1, i ) ); + silk_bwexpander_32( a_Q16, d, 65536 - silk_SMULBB( 10 + i, i ) ); /* 10_Q16 = 0.00015*/ silk_A2NLSF_init( a_Q16, P, Q, dd ); p = P; /* Pointer to polynomial */ diff --git a/thirdparty/opus/silk/API.h b/thirdparty/opus/silk/API.h index 4d90ff9aa3..0131acbb08 100644 --- a/thirdparty/opus/silk/API.h +++ b/thirdparty/opus/silk/API.h @@ -80,8 +80,7 @@ opus_int silk_Encode( /* O Returns error co opus_int nSamplesIn, /* I Number of samples in input vector */ ec_enc *psRangeEnc, /* I/O Compressor data structure */ opus_int32 *nBytesOut, /* I/O Number of bytes in payload (input: Max bytes) */ - const opus_int prefillFlag, /* I Flag to indicate prefilling buffers no coding */ - int activity /* I Decision of Opus voice activity detector */ + const opus_int prefillFlag /* I Flag to indicate prefilling buffers no coding */ ); /****************************************/ diff --git a/thirdparty/opus/silk/CNG.c b/thirdparty/opus/silk/CNG.c index ef8e38df9f..8443ad63bb 100644 --- a/thirdparty/opus/silk/CNG.c +++ b/thirdparty/opus/silk/CNG.c @@ -138,16 +138,16 @@ void silk_CNG( gain_Q16 = silk_LSHIFT32( silk_SQRT_APPROX( gain_Q16 ), 8 ); } gain_Q10 = silk_RSHIFT( gain_Q16, 6 ); - + silk_CNG_exc( CNG_sig_Q14 + MAX_LPC_ORDER, psCNG->CNG_exc_buf_Q14, length, &psCNG->rand_seed ); /* Convert CNG NLSF to filter representation */ - silk_NLSF2A( A_Q12, psCNG->CNG_smth_NLSF_Q15, psDec->LPC_order, psDec->arch ); + silk_NLSF2A( A_Q12, psCNG->CNG_smth_NLSF_Q15, psDec->LPC_order ); /* Generate CNG signal, by synthesis filtering */ silk_memcpy( CNG_sig_Q14, psCNG->CNG_synth_state, MAX_LPC_ORDER * sizeof( opus_int32 ) ); - celt_assert( psDec->LPC_order == 10 || psDec->LPC_order == 16 ); for( i = 0; i < length; i++ ) { + silk_assert( psDec->LPC_order == 10 || psDec->LPC_order == 16 ); /* Avoids introducing a bias because silk_SMLAWB() always rounds to -inf */ LPC_pred_Q10 = silk_RSHIFT( psDec->LPC_order, 1 ); LPC_pred_Q10 = silk_SMLAWB( LPC_pred_Q10, CNG_sig_Q14[ MAX_LPC_ORDER + i - 1 ], A_Q12[ 0 ] ); @@ -170,11 +170,11 @@ void silk_CNG( } /* Update states */ - CNG_sig_Q14[ MAX_LPC_ORDER + i ] = silk_ADD_SAT32( CNG_sig_Q14[ MAX_LPC_ORDER + i ], silk_LSHIFT_SAT32( LPC_pred_Q10, 4 ) ); - + CNG_sig_Q14[ MAX_LPC_ORDER + i ] = silk_ADD_LSHIFT( CNG_sig_Q14[ MAX_LPC_ORDER + i ], LPC_pred_Q10, 4 ); + /* Scale with Gain and add to input signal */ frame[ i ] = (opus_int16)silk_ADD_SAT16( frame[ i ], silk_SAT16( silk_RSHIFT_ROUND( silk_SMULWW( CNG_sig_Q14[ MAX_LPC_ORDER + i ], gain_Q10 ), 8 ) ) ); - + } silk_memcpy( psCNG->CNG_synth_state, &CNG_sig_Q14[ length ], MAX_LPC_ORDER * sizeof( opus_int32 ) ); } else { diff --git a/thirdparty/opus/silk/LPC_analysis_filter.c b/thirdparty/opus/silk/LPC_analysis_filter.c index d34b5eb709..20906673ff 100644 --- a/thirdparty/opus/silk/LPC_analysis_filter.c +++ b/thirdparty/opus/silk/LPC_analysis_filter.c @@ -39,13 +39,6 @@ POSSIBILITY OF SUCH DAMAGE. /* first d output samples are set to zero */ /*******************************************/ -/* OPT: Using celt_fir() for this function should be faster, but it may cause - integer overflows in intermediate values (not final results), which the - current implementation silences by casting to unsigned. Enabling - this should be safe in pretty much all cases, even though it is not technically - C89-compliant. */ -#define USE_CELT_FIR 0 - void silk_LPC_analysis_filter( opus_int16 *out, /* O Output signal */ const opus_int16 *in, /* I Input signal */ @@ -56,7 +49,8 @@ void silk_LPC_analysis_filter( ) { opus_int j; -#if defined(FIXED_POINT) && USE_CELT_FIR +#ifdef FIXED_POINT + opus_int16 mem[SILK_MAX_ORDER_LPC]; opus_int16 num[SILK_MAX_ORDER_LPC]; #else int ix; @@ -64,16 +58,19 @@ void silk_LPC_analysis_filter( const opus_int16 *in_ptr; #endif - celt_assert( d >= 6 ); - celt_assert( (d & 1) == 0 ); - celt_assert( d <= len ); + silk_assert( d >= 6 ); + silk_assert( (d & 1) == 0 ); + silk_assert( d <= len ); -#if defined(FIXED_POINT) && USE_CELT_FIR - celt_assert( d <= SILK_MAX_ORDER_LPC ); +#ifdef FIXED_POINT + silk_assert( d <= SILK_MAX_ORDER_LPC ); for ( j = 0; j < d; j++ ) { num[ j ] = -B[ j ]; } - celt_fir( in + d, num, out + d, len - d, d, arch ); + for (j=0;j<d;j++) { + mem[ j ] = in[ d - j - 1 ]; + } + celt_fir( in + d, num, out + d, len - d, d, mem, arch ); for ( j = 0; j < d; j++ ) { out[ j ] = 0; } diff --git a/thirdparty/opus/silk/LPC_fit.c b/thirdparty/opus/silk/LPC_fit.c deleted file mode 100644 index cdea4f3abc..0000000000 --- a/thirdparty/opus/silk/LPC_fit.c +++ /dev/null @@ -1,81 +0,0 @@ -/*********************************************************************** -Copyright (c) 2013, Koen Vos. All rights reserved. -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: -- Redistributions of source code must retain the above copyright notice, -this list of conditions and the following disclaimer. -- Redistributions in binary form must reproduce the above copyright -notice, this list of conditions and the following disclaimer in the -documentation and/or other materials provided with the distribution. -- Neither the name of Internet Society, IETF or IETF Trust, nor the -names of specific contributors, may be used to endorse or promote -products derived from this software without specific prior written -permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. -***********************************************************************/ - -#ifdef HAVE_CONFIG_H -#include "config.h" -#endif - -#include "SigProc_FIX.h" - -/* Convert int32 coefficients to int16 coefs and make sure there's no wrap-around */ -void silk_LPC_fit( - opus_int16 *a_QOUT, /* O Output signal */ - opus_int32 *a_QIN, /* I/O Input signal */ - const opus_int QOUT, /* I Input Q domain */ - const opus_int QIN, /* I Input Q domain */ - const opus_int d /* I Filter order */ -) -{ - opus_int i, k, idx = 0; - opus_int32 maxabs, absval, chirp_Q16; - - /* Limit the maximum absolute value of the prediction coefficients, so that they'll fit in int16 */ - for( i = 0; i < 10; i++ ) { - /* Find maximum absolute value and its index */ - maxabs = 0; - for( k = 0; k < d; k++ ) { - absval = silk_abs( a_QIN[k] ); - if( absval > maxabs ) { - maxabs = absval; - idx = k; - } - } - maxabs = silk_RSHIFT_ROUND( maxabs, QIN - QOUT ); - - if( maxabs > silk_int16_MAX ) { - /* Reduce magnitude of prediction coefficients */ - maxabs = silk_min( maxabs, 163838 ); /* ( silk_int32_MAX >> 14 ) + silk_int16_MAX = 163838 */ - chirp_Q16 = SILK_FIX_CONST( 0.999, 16 ) - silk_DIV32( silk_LSHIFT( maxabs - silk_int16_MAX, 14 ), - silk_RSHIFT32( silk_MUL( maxabs, idx + 1), 2 ) ); - silk_bwexpander_32( a_QIN, d, chirp_Q16 ); - } else { - break; - } - } - - if( i == 10 ) { - /* Reached the last iteration, clip the coefficients */ - for( k = 0; k < d; k++ ) { - a_QOUT[ k ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( a_QIN[ k ], QIN - QOUT ) ); - a_QIN[ k ] = silk_LSHIFT( (opus_int32)a_QOUT[ k ], QIN - QOUT ); - } - } else { - for( k = 0; k < d; k++ ) { - a_QOUT[ k ] = (opus_int16)silk_RSHIFT_ROUND( a_QIN[ k ], QIN - QOUT ); - } - } -} diff --git a/thirdparty/opus/silk/LPC_inv_pred_gain.c b/thirdparty/opus/silk/LPC_inv_pred_gain.c index a3746a6ef9..4af89aa5fa 100644 --- a/thirdparty/opus/silk/LPC_inv_pred_gain.c +++ b/thirdparty/opus/silk/LPC_inv_pred_gain.c @@ -30,7 +30,6 @@ POSSIBILITY OF SUCH DAMAGE. #endif #include "SigProc_FIX.h" -#include "define.h" #define QA 24 #define A_LIMIT SILK_FIX_CONST( 0.99975, QA ) @@ -39,103 +38,117 @@ POSSIBILITY OF SUCH DAMAGE. /* Compute inverse of LPC prediction gain, and */ /* test if LPC coefficients are stable (all poles within unit circle) */ -static opus_int32 LPC_inverse_pred_gain_QA_c( /* O Returns inverse prediction gain in energy domain, Q30 */ - opus_int32 A_QA[ SILK_MAX_ORDER_LPC ], /* I Prediction coefficients */ +static opus_int32 LPC_inverse_pred_gain_QA( /* O Returns inverse prediction gain in energy domain, Q30 */ + opus_int32 A_QA[ 2 ][ SILK_MAX_ORDER_LPC ], /* I Prediction coefficients */ const opus_int order /* I Prediction order */ ) { opus_int k, n, mult2Q; - opus_int32 invGain_Q30, rc_Q31, rc_mult1_Q30, rc_mult2, tmp1, tmp2; + opus_int32 invGain_Q30, rc_Q31, rc_mult1_Q30, rc_mult2, tmp_QA; + opus_int32 *Aold_QA, *Anew_QA; - invGain_Q30 = SILK_FIX_CONST( 1, 30 ); + Anew_QA = A_QA[ order & 1 ]; + + invGain_Q30 = (opus_int32)1 << 30; for( k = order - 1; k > 0; k-- ) { /* Check for stability */ - if( ( A_QA[ k ] > A_LIMIT ) || ( A_QA[ k ] < -A_LIMIT ) ) { + if( ( Anew_QA[ k ] > A_LIMIT ) || ( Anew_QA[ k ] < -A_LIMIT ) ) { return 0; } /* Set RC equal to negated AR coef */ - rc_Q31 = -silk_LSHIFT( A_QA[ k ], 31 - QA ); + rc_Q31 = -silk_LSHIFT( Anew_QA[ k ], 31 - QA ); /* rc_mult1_Q30 range: [ 1 : 2^30 ] */ - rc_mult1_Q30 = silk_SUB32( SILK_FIX_CONST( 1, 30 ), silk_SMMUL( rc_Q31, rc_Q31 ) ); + rc_mult1_Q30 = ( (opus_int32)1 << 30 ) - silk_SMMUL( rc_Q31, rc_Q31 ); silk_assert( rc_mult1_Q30 > ( 1 << 15 ) ); /* reduce A_LIMIT if fails */ silk_assert( rc_mult1_Q30 <= ( 1 << 30 ) ); + /* rc_mult2 range: [ 2^30 : silk_int32_MAX ] */ + mult2Q = 32 - silk_CLZ32( silk_abs( rc_mult1_Q30 ) ); + rc_mult2 = silk_INVERSE32_varQ( rc_mult1_Q30, mult2Q + 30 ); + /* Update inverse gain */ /* invGain_Q30 range: [ 0 : 2^30 ] */ invGain_Q30 = silk_LSHIFT( silk_SMMUL( invGain_Q30, rc_mult1_Q30 ), 2 ); silk_assert( invGain_Q30 >= 0 ); silk_assert( invGain_Q30 <= ( 1 << 30 ) ); - if( invGain_Q30 < SILK_FIX_CONST( 1.0f / MAX_PREDICTION_POWER_GAIN, 30 ) ) { - return 0; - } - /* rc_mult2 range: [ 2^30 : silk_int32_MAX ] */ - mult2Q = 32 - silk_CLZ32( silk_abs( rc_mult1_Q30 ) ); - rc_mult2 = silk_INVERSE32_varQ( rc_mult1_Q30, mult2Q + 30 ); + /* Swap pointers */ + Aold_QA = Anew_QA; + Anew_QA = A_QA[ k & 1 ]; /* Update AR coefficient */ - for( n = 0; n < (k + 1) >> 1; n++ ) { - opus_int64 tmp64; - tmp1 = A_QA[ n ]; - tmp2 = A_QA[ k - n - 1 ]; - tmp64 = silk_RSHIFT_ROUND64( silk_SMULL( silk_SUB_SAT32(tmp1, - MUL32_FRAC_Q( tmp2, rc_Q31, 31 ) ), rc_mult2 ), mult2Q); - if( tmp64 > silk_int32_MAX || tmp64 < silk_int32_MIN ) { - return 0; - } - A_QA[ n ] = ( opus_int32 )tmp64; - tmp64 = silk_RSHIFT_ROUND64( silk_SMULL( silk_SUB_SAT32(tmp2, - MUL32_FRAC_Q( tmp1, rc_Q31, 31 ) ), rc_mult2), mult2Q); - if( tmp64 > silk_int32_MAX || tmp64 < silk_int32_MIN ) { - return 0; - } - A_QA[ k - n - 1 ] = ( opus_int32 )tmp64; + for( n = 0; n < k; n++ ) { + tmp_QA = Aold_QA[ n ] - MUL32_FRAC_Q( Aold_QA[ k - n - 1 ], rc_Q31, 31 ); + Anew_QA[ n ] = MUL32_FRAC_Q( tmp_QA, rc_mult2 , mult2Q ); } } /* Check for stability */ - if( ( A_QA[ k ] > A_LIMIT ) || ( A_QA[ k ] < -A_LIMIT ) ) { + if( ( Anew_QA[ 0 ] > A_LIMIT ) || ( Anew_QA[ 0 ] < -A_LIMIT ) ) { return 0; } /* Set RC equal to negated AR coef */ - rc_Q31 = -silk_LSHIFT( A_QA[ 0 ], 31 - QA ); + rc_Q31 = -silk_LSHIFT( Anew_QA[ 0 ], 31 - QA ); /* Range: [ 1 : 2^30 ] */ - rc_mult1_Q30 = silk_SUB32( SILK_FIX_CONST( 1, 30 ), silk_SMMUL( rc_Q31, rc_Q31 ) ); + rc_mult1_Q30 = ( (opus_int32)1 << 30 ) - silk_SMMUL( rc_Q31, rc_Q31 ); /* Update inverse gain */ /* Range: [ 0 : 2^30 ] */ invGain_Q30 = silk_LSHIFT( silk_SMMUL( invGain_Q30, rc_mult1_Q30 ), 2 ); - silk_assert( invGain_Q30 >= 0 ); - silk_assert( invGain_Q30 <= ( 1 << 30 ) ); - if( invGain_Q30 < SILK_FIX_CONST( 1.0f / MAX_PREDICTION_POWER_GAIN, 30 ) ) { - return 0; - } + silk_assert( invGain_Q30 >= 0 ); + silk_assert( invGain_Q30 <= 1<<30 ); return invGain_Q30; } /* For input in Q12 domain */ -opus_int32 silk_LPC_inverse_pred_gain_c( /* O Returns inverse prediction gain in energy domain, Q30 */ +opus_int32 silk_LPC_inverse_pred_gain( /* O Returns inverse prediction gain in energy domain, Q30 */ const opus_int16 *A_Q12, /* I Prediction coefficients, Q12 [order] */ const opus_int order /* I Prediction order */ ) { opus_int k; - opus_int32 Atmp_QA[ SILK_MAX_ORDER_LPC ]; + opus_int32 Atmp_QA[ 2 ][ SILK_MAX_ORDER_LPC ]; + opus_int32 *Anew_QA; opus_int32 DC_resp = 0; + Anew_QA = Atmp_QA[ order & 1 ]; + /* Increase Q domain of the AR coefficients */ for( k = 0; k < order; k++ ) { DC_resp += (opus_int32)A_Q12[ k ]; - Atmp_QA[ k ] = silk_LSHIFT32( (opus_int32)A_Q12[ k ], QA - 12 ); + Anew_QA[ k ] = silk_LSHIFT32( (opus_int32)A_Q12[ k ], QA - 12 ); } /* If the DC is unstable, we don't even need to do the full calculations */ if( DC_resp >= 4096 ) { return 0; } - return LPC_inverse_pred_gain_QA_c( Atmp_QA, order ); + return LPC_inverse_pred_gain_QA( Atmp_QA, order ); } + +#ifdef FIXED_POINT + +/* For input in Q24 domain */ +opus_int32 silk_LPC_inverse_pred_gain_Q24( /* O Returns inverse prediction gain in energy domain, Q30 */ + const opus_int32 *A_Q24, /* I Prediction coefficients [order] */ + const opus_int order /* I Prediction order */ +) +{ + opus_int k; + opus_int32 Atmp_QA[ 2 ][ SILK_MAX_ORDER_LPC ]; + opus_int32 *Anew_QA; + + Anew_QA = Atmp_QA[ order & 1 ]; + + /* Increase Q domain of the AR coefficients */ + for( k = 0; k < order; k++ ) { + Anew_QA[ k ] = silk_RSHIFT32( A_Q24[ k ], 24 - QA ); + } + + return LPC_inverse_pred_gain_QA( Atmp_QA, order ); +} +#endif diff --git a/thirdparty/opus/silk/LP_variable_cutoff.c b/thirdparty/opus/silk/LP_variable_cutoff.c index 79112ad354..f639e1f899 100644 --- a/thirdparty/opus/silk/LP_variable_cutoff.c +++ b/thirdparty/opus/silk/LP_variable_cutoff.c @@ -130,6 +130,6 @@ void silk_LP_variable_cutoff( /* ARMA low-pass filtering */ silk_assert( TRANSITION_NB == 3 && TRANSITION_NA == 2 ); - silk_biquad_alt_stride1( frame, B_Q28, A_Q28, psLP->In_LP_State, frame, frame_length); + silk_biquad_alt( frame, B_Q28, A_Q28, psLP->In_LP_State, frame, frame_length, 1); } } diff --git a/thirdparty/opus/silk/MacroCount.h b/thirdparty/opus/silk/MacroCount.h index 78100ffede..834817d058 100644 --- a/thirdparty/opus/silk/MacroCount.h +++ b/thirdparty/opus/silk/MacroCount.h @@ -319,6 +319,14 @@ static OPUS_INLINE opus_int32 silk_ADD_POS_SAT32(opus_int64 a, opus_int64 b){ return(tmp); } +#undef silk_ADD_POS_SAT64 +static OPUS_INLINE opus_int64 silk_ADD_POS_SAT64(opus_int64 a, opus_int64 b){ + opus_int64 tmp; + ops_count += 1; + tmp = ((((a)+(b)) & 0x8000000000000000LL) ? silk_int64_MAX : ((a)+(b))); + return(tmp); +} + #undef silk_LSHIFT8 static OPUS_INLINE opus_int8 silk_LSHIFT8(opus_int8 a, opus_int32 shift){ opus_int8 ret; @@ -691,7 +699,7 @@ return(ret); #undef silk_LIMIT_32 -static OPUS_INLINE opus_int32 silk_LIMIT_32(opus_int32 a, opus_int32 limit1, opus_int32 limit2) +static OPUS_INLINE opus_int silk_LIMIT_32(opus_int32 a, opus_int32 limit1, opus_int32 limit2) { opus_int32 ret; ops_count += 6; diff --git a/thirdparty/opus/silk/MacroDebug.h b/thirdparty/opus/silk/MacroDebug.h index 8dd4ce2ee2..35aedc5c5f 100644 --- a/thirdparty/opus/silk/MacroDebug.h +++ b/thirdparty/opus/silk/MacroDebug.h @@ -539,7 +539,8 @@ static OPUS_INLINE opus_int32 silk_DIV32_16_(opus_int32 a32, opus_int32 b32, cha no checking needed for silk_POS_SAT32 no checking needed for silk_ADD_POS_SAT8 no checking needed for silk_ADD_POS_SAT16 - no checking needed for silk_ADD_POS_SAT32 */ + no checking needed for silk_ADD_POS_SAT32 + no checking needed for silk_ADD_POS_SAT64 */ #undef silk_LSHIFT8 #define silk_LSHIFT8(a,b) silk_LSHIFT8_((a), (b), __FILE__, __LINE__) diff --git a/thirdparty/opus/silk/NLSF2A.c b/thirdparty/opus/silk/NLSF2A.c index d5b7730638..b1c559ea68 100644 --- a/thirdparty/opus/silk/NLSF2A.c +++ b/thirdparty/opus/silk/NLSF2A.c @@ -66,8 +66,7 @@ static OPUS_INLINE void silk_NLSF2A_find_poly( void silk_NLSF2A( opus_int16 *a_Q12, /* O monic whitening filter coefficients in Q12, [ d ] */ const opus_int16 *NLSF, /* I normalized line spectral frequencies in Q15, [ d ] */ - const opus_int d, /* I filter order (should be even) */ - int arch /* I Run-time architecture */ + const opus_int d /* I filter order (should be even) */ ) { /* This ordering was found to maximize quality. It improves numerical accuracy of @@ -84,14 +83,15 @@ void silk_NLSF2A( opus_int32 P[ SILK_MAX_ORDER_LPC / 2 + 1 ], Q[ SILK_MAX_ORDER_LPC / 2 + 1 ]; opus_int32 Ptmp, Qtmp, f_int, f_frac, cos_val, delta; opus_int32 a32_QA1[ SILK_MAX_ORDER_LPC ]; + opus_int32 maxabs, absval, idx=0, sc_Q16; silk_assert( LSF_COS_TAB_SZ_FIX == 128 ); - celt_assert( d==10 || d==16 ); + silk_assert( d==10||d==16 ); /* convert LSFs to 2*cos(LSF), using piecewise linear curve from table */ ordering = d == 16 ? ordering16 : ordering10; for( k = 0; k < d; k++ ) { - silk_assert( NLSF[k] >= 0 ); + silk_assert(NLSF[k] >= 0 ); /* f_int on a scale 0-127 (rounded down) */ f_int = silk_RSHIFT( NLSF[k], 15 - 7 ); @@ -126,15 +126,52 @@ void silk_NLSF2A( a32_QA1[ d-k-1 ] = Qtmp - Ptmp; /* QA+1 */ } - /* Convert int32 coefficients to Q12 int16 coefs */ - silk_LPC_fit( a_Q12, a32_QA1, 12, QA + 1, d ); + /* Limit the maximum absolute value of the prediction coefficients, so that they'll fit in int16 */ + for( i = 0; i < 10; i++ ) { + /* Find maximum absolute value and its index */ + maxabs = 0; + for( k = 0; k < d; k++ ) { + absval = silk_abs( a32_QA1[k] ); + if( absval > maxabs ) { + maxabs = absval; + idx = k; + } + } + maxabs = silk_RSHIFT_ROUND( maxabs, QA + 1 - 12 ); /* QA+1 -> Q12 */ + + if( maxabs > silk_int16_MAX ) { + /* Reduce magnitude of prediction coefficients */ + maxabs = silk_min( maxabs, 163838 ); /* ( silk_int32_MAX >> 14 ) + silk_int16_MAX = 163838 */ + sc_Q16 = SILK_FIX_CONST( 0.999, 16 ) - silk_DIV32( silk_LSHIFT( maxabs - silk_int16_MAX, 14 ), + silk_RSHIFT32( silk_MUL( maxabs, idx + 1), 2 ) ); + silk_bwexpander_32( a32_QA1, d, sc_Q16 ); + } else { + break; + } + } - for( i = 0; silk_LPC_inverse_pred_gain( a_Q12, d, arch ) == 0 && i < MAX_LPC_STABILIZE_ITERATIONS; i++ ) { - /* Prediction coefficients are (too close to) unstable; apply bandwidth expansion */ - /* on the unscaled coefficients, convert to Q12 and measure again */ - silk_bwexpander_32( a32_QA1, d, 65536 - silk_LSHIFT( 2, i ) ); + if( i == 10 ) { + /* Reached the last iteration, clip the coefficients */ for( k = 0; k < d; k++ ) { - a_Q12[ k ] = (opus_int16)silk_RSHIFT_ROUND( a32_QA1[ k ], QA + 1 - 12 ); /* QA+1 -> Q12 */ + a_Q12[ k ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( a32_QA1[ k ], QA + 1 - 12 ) ); /* QA+1 -> Q12 */ + a32_QA1[ k ] = silk_LSHIFT( (opus_int32)a_Q12[ k ], QA + 1 - 12 ); + } + } else { + for( k = 0; k < d; k++ ) { + a_Q12[ k ] = (opus_int16)silk_RSHIFT_ROUND( a32_QA1[ k ], QA + 1 - 12 ); /* QA+1 -> Q12 */ + } + } + + for( i = 0; i < MAX_LPC_STABILIZE_ITERATIONS; i++ ) { + if( silk_LPC_inverse_pred_gain( a_Q12, d ) < SILK_FIX_CONST( 1.0 / MAX_PREDICTION_POWER_GAIN, 30 ) ) { + /* Prediction coefficients are (too close to) unstable; apply bandwidth expansion */ + /* on the unscaled coefficients, convert to Q12 and measure again */ + silk_bwexpander_32( a32_QA1, d, 65536 - silk_LSHIFT( 2, i ) ); + for( k = 0; k < d; k++ ) { + a_Q12[ k ] = (opus_int16)silk_RSHIFT_ROUND( a32_QA1[ k ], QA + 1 - 12 ); /* QA+1 -> Q12 */ + } + } else { + break; } } } diff --git a/thirdparty/opus/silk/NLSF_VQ.c b/thirdparty/opus/silk/NLSF_VQ.c index b83182a79c..69b6e22e18 100644 --- a/thirdparty/opus/silk/NLSF_VQ.c +++ b/thirdparty/opus/silk/NLSF_VQ.c @@ -33,44 +33,36 @@ POSSIBILITY OF SUCH DAMAGE. /* Compute quantization errors for an LPC_order element input vector for a VQ codebook */ void silk_NLSF_VQ( - opus_int32 err_Q24[], /* O Quantization errors [K] */ + opus_int32 err_Q26[], /* O Quantization errors [K] */ const opus_int16 in_Q15[], /* I Input vectors to be quantized [LPC_order] */ const opus_uint8 pCB_Q8[], /* I Codebook vectors [K*LPC_order] */ - const opus_int16 pWght_Q9[], /* I Codebook weights [K*LPC_order] */ const opus_int K, /* I Number of codebook vectors */ const opus_int LPC_order /* I Number of LPCs */ ) { - opus_int i, m; - opus_int32 diff_Q15, diffw_Q24, sum_error_Q24, pred_Q24; - const opus_int16 *w_Q9_ptr; - const opus_uint8 *cb_Q8_ptr; + opus_int i, m; + opus_int32 diff_Q15, sum_error_Q30, sum_error_Q26; - celt_assert( ( LPC_order & 1 ) == 0 ); + silk_assert( LPC_order <= 16 ); + silk_assert( ( LPC_order & 1 ) == 0 ); /* Loop over codebook */ - cb_Q8_ptr = pCB_Q8; - w_Q9_ptr = pWght_Q9; for( i = 0; i < K; i++ ) { - sum_error_Q24 = 0; - pred_Q24 = 0; - for( m = LPC_order-2; m >= 0; m -= 2 ) { - /* Compute weighted absolute predictive quantization error for index m + 1 */ - diff_Q15 = silk_SUB_LSHIFT32( in_Q15[ m + 1 ], (opus_int32)cb_Q8_ptr[ m + 1 ], 7 ); /* range: [ -32767 : 32767 ]*/ - diffw_Q24 = silk_SMULBB( diff_Q15, w_Q9_ptr[ m + 1 ] ); - sum_error_Q24 = silk_ADD32( sum_error_Q24, silk_abs( silk_SUB_RSHIFT32( diffw_Q24, pred_Q24, 1 ) ) ); - pred_Q24 = diffw_Q24; + sum_error_Q26 = 0; + for( m = 0; m < LPC_order; m += 2 ) { + /* Compute weighted squared quantization error for index m */ + diff_Q15 = silk_SUB_LSHIFT32( in_Q15[ m ], (opus_int32)*pCB_Q8++, 7 ); /* range: [ -32767 : 32767 ]*/ + sum_error_Q30 = silk_SMULBB( diff_Q15, diff_Q15 ); - /* Compute weighted absolute predictive quantization error for index m */ - diff_Q15 = silk_SUB_LSHIFT32( in_Q15[ m ], (opus_int32)cb_Q8_ptr[ m ], 7 ); /* range: [ -32767 : 32767 ]*/ - diffw_Q24 = silk_SMULBB( diff_Q15, w_Q9_ptr[ m ] ); - sum_error_Q24 = silk_ADD32( sum_error_Q24, silk_abs( silk_SUB_RSHIFT32( diffw_Q24, pred_Q24, 1 ) ) ); - pred_Q24 = diffw_Q24; + /* Compute weighted squared quantization error for index m + 1 */ + diff_Q15 = silk_SUB_LSHIFT32( in_Q15[m + 1], (opus_int32)*pCB_Q8++, 7 ); /* range: [ -32767 : 32767 ]*/ + sum_error_Q30 = silk_SMLABB( sum_error_Q30, diff_Q15, diff_Q15 ); - silk_assert( sum_error_Q24 >= 0 ); + sum_error_Q26 = silk_ADD_RSHIFT32( sum_error_Q26, sum_error_Q30, 4 ); + + silk_assert( sum_error_Q26 >= 0 ); + silk_assert( sum_error_Q30 >= 0 ); } - err_Q24[ i ] = sum_error_Q24; - cb_Q8_ptr += LPC_order; - w_Q9_ptr += LPC_order; + err_Q26[ i ] = sum_error_Q26; } } diff --git a/thirdparty/opus/silk/NLSF_VQ_weights_laroia.c b/thirdparty/opus/silk/NLSF_VQ_weights_laroia.c index 9873bcde10..04894c59ab 100644 --- a/thirdparty/opus/silk/NLSF_VQ_weights_laroia.c +++ b/thirdparty/opus/silk/NLSF_VQ_weights_laroia.c @@ -48,8 +48,8 @@ void silk_NLSF_VQ_weights_laroia( opus_int k; opus_int32 tmp1_int, tmp2_int; - celt_assert( D > 0 ); - celt_assert( ( D & 1 ) == 0 ); + silk_assert( D > 0 ); + silk_assert( ( D & 1 ) == 0 ); /* First value */ tmp1_int = silk_max_int( pNLSF_Q15[ 0 ], 1 ); diff --git a/thirdparty/opus/silk/NLSF_decode.c b/thirdparty/opus/silk/NLSF_decode.c index eeb0ba8c92..9f715060b8 100644 --- a/thirdparty/opus/silk/NLSF_decode.c +++ b/thirdparty/opus/silk/NLSF_decode.c @@ -32,7 +32,7 @@ POSSIBILITY OF SUCH DAMAGE. #include "main.h" /* Predictive dequantizer for NLSF residuals */ -static OPUS_INLINE void silk_NLSF_residual_dequant( /* O Returns RD value in Q30 */ +static OPUS_INLINE void silk_NLSF_residual_dequant( /* O Returns RD value in Q30 */ opus_int16 x_Q10[], /* O Output [ order ] */ const opus_int8 indices[], /* I Quantization indices [ order ] */ const opus_uint8 pred_coef_Q8[], /* I Backward predictor coefs [ order ] */ @@ -70,9 +70,15 @@ void silk_NLSF_decode( opus_uint8 pred_Q8[ MAX_LPC_ORDER ]; opus_int16 ec_ix[ MAX_LPC_ORDER ]; opus_int16 res_Q10[ MAX_LPC_ORDER ]; - opus_int32 NLSF_Q15_tmp; + opus_int16 W_tmp_QW[ MAX_LPC_ORDER ]; + opus_int32 W_tmp_Q9, NLSF_Q15_tmp; const opus_uint8 *pCB_element; - const opus_int16 *pCB_Wght_Q9; + + /* Decode first stage */ + pCB_element = &psNLSF_CB->CB1_NLSF_Q8[ NLSFIndices[ 0 ] * psNLSF_CB->order ]; + for( i = 0; i < psNLSF_CB->order; i++ ) { + pNLSF_Q15[ i ] = silk_LSHIFT( (opus_int16)pCB_element[ i ], 7 ); + } /* Unpack entropy table indices and predictor for current CB1 index */ silk_NLSF_unpack( ec_ix, pred_Q8, psNLSF_CB, NLSFIndices[ 0 ] ); @@ -80,11 +86,13 @@ void silk_NLSF_decode( /* Predictive residual dequantizer */ silk_NLSF_residual_dequant( res_Q10, &NLSFIndices[ 1 ], pred_Q8, psNLSF_CB->quantStepSize_Q16, psNLSF_CB->order ); - /* Apply inverse square-rooted weights to first stage and add to output */ - pCB_element = &psNLSF_CB->CB1_NLSF_Q8[ NLSFIndices[ 0 ] * psNLSF_CB->order ]; - pCB_Wght_Q9 = &psNLSF_CB->CB1_Wght_Q9[ NLSFIndices[ 0 ] * psNLSF_CB->order ]; + /* Weights from codebook vector */ + silk_NLSF_VQ_weights_laroia( W_tmp_QW, pNLSF_Q15, psNLSF_CB->order ); + + /* Apply inverse square-rooted weights and add to output */ for( i = 0; i < psNLSF_CB->order; i++ ) { - NLSF_Q15_tmp = silk_ADD_LSHIFT32( silk_DIV32_16( silk_LSHIFT( (opus_int32)res_Q10[ i ], 14 ), pCB_Wght_Q9[ i ] ), (opus_int16)pCB_element[ i ], 7 ); + W_tmp_Q9 = silk_SQRT_APPROX( silk_LSHIFT( (opus_int32)W_tmp_QW[ i ], 18 - NLSF_W_Q ) ); + NLSF_Q15_tmp = silk_ADD32( pNLSF_Q15[ i ], silk_DIV32_16( silk_LSHIFT( (opus_int32)res_Q10[ i ], 14 ), W_tmp_Q9 ) ); pNLSF_Q15[ i ] = (opus_int16)silk_LIMIT( NLSF_Q15_tmp, 0, 32767 ); } diff --git a/thirdparty/opus/silk/NLSF_del_dec_quant.c b/thirdparty/opus/silk/NLSF_del_dec_quant.c index 44a16acd0b..de88fee060 100644 --- a/thirdparty/opus/silk/NLSF_del_dec_quant.c +++ b/thirdparty/opus/silk/NLSF_del_dec_quant.c @@ -84,7 +84,7 @@ opus_int32 silk_NLSF_del_dec_quant( /* O Returns nStates = 1; RD_Q25[ 0 ] = 0; prev_out_Q10[ 0 ] = 0; - for( i = order - 1; i >= 0; i-- ) { + for( i = order - 1; ; i-- ) { rates_Q5 = &ec_rates_Q5[ ec_ix[ i ] ]; in_Q10 = x_Q10[ i ]; for( j = 0; j < nStates; j++ ) { @@ -131,7 +131,7 @@ opus_int32 silk_NLSF_del_dec_quant( /* O Returns RD_Q25[ j + nStates ] = silk_SMLABB( silk_MLA( RD_tmp_Q25, silk_SMULBB( diff_Q10, diff_Q10 ), w_Q5[ i ] ), mu_Q20, rate1_Q5 ); } - if( nStates <= NLSF_QUANT_DEL_DEC_STATES/2 ) { + if( nStates <= ( NLSF_QUANT_DEL_DEC_STATES >> 1 ) ) { /* double number of states and copy */ for( j = 0; j < nStates; j++ ) { ind[ j + nStates ][ i ] = ind[ j ][ i ] + 1; @@ -140,7 +140,7 @@ opus_int32 silk_NLSF_del_dec_quant( /* O Returns for( j = nStates; j < NLSF_QUANT_DEL_DEC_STATES; j++ ) { ind[ j ][ i ] = ind[ j - nStates ][ i ]; } - } else { + } else if( i > 0 ) { /* sort lower and upper half of RD_Q25, pairwise */ for( j = 0; j < NLSF_QUANT_DEL_DEC_STATES; j++ ) { if( RD_Q25[ j ] > RD_Q25[ j + NLSF_QUANT_DEL_DEC_STATES ] ) { @@ -191,6 +191,8 @@ opus_int32 silk_NLSF_del_dec_quant( /* O Returns for( j = 0; j < NLSF_QUANT_DEL_DEC_STATES; j++ ) { ind[ j ][ i ] += silk_RSHIFT( ind_sort[ j ], NLSF_QUANT_DEL_DEC_STATES_LOG2 ); } + } else { /* i == 0 */ + break; } } diff --git a/thirdparty/opus/silk/NLSF_encode.c b/thirdparty/opus/silk/NLSF_encode.c index 01ac7db78c..f03c3f1c35 100644 --- a/thirdparty/opus/silk/NLSF_encode.c +++ b/thirdparty/opus/silk/NLSF_encode.c @@ -37,9 +37,9 @@ POSSIBILITY OF SUCH DAMAGE. /***********************/ opus_int32 silk_NLSF_encode( /* O Returns RD value in Q25 */ opus_int8 *NLSFIndices, /* I Codebook path vector [ LPC_ORDER + 1 ] */ - opus_int16 *pNLSF_Q15, /* I/O (Un)quantized NLSF vector [ LPC_ORDER ] */ + opus_int16 *pNLSF_Q15, /* I/O Quantized NLSF vector [ LPC_ORDER ] */ const silk_NLSF_CB_struct *psNLSF_CB, /* I Codebook object */ - const opus_int16 *pW_Q2, /* I NLSF weight vector [ LPC_ORDER ] */ + const opus_int16 *pW_QW, /* I NLSF weight vector [ LPC_ORDER ] */ const opus_int NLSF_mu_Q20, /* I Rate weight for the RD optimization */ const opus_int nSurvivors, /* I Max survivors after first stage */ const opus_int signalType /* I Signal type: 0/1/2 */ @@ -47,32 +47,34 @@ opus_int32 silk_NLSF_encode( /* O Returns { opus_int i, s, ind1, bestIndex, prob_Q8, bits_q7; opus_int32 W_tmp_Q9, ret; - VARDECL( opus_int32, err_Q24 ); + VARDECL( opus_int32, err_Q26 ); VARDECL( opus_int32, RD_Q25 ); VARDECL( opus_int, tempIndices1 ); VARDECL( opus_int8, tempIndices2 ); + opus_int16 res_Q15[ MAX_LPC_ORDER ]; opus_int16 res_Q10[ MAX_LPC_ORDER ]; opus_int16 NLSF_tmp_Q15[ MAX_LPC_ORDER ]; + opus_int16 W_tmp_QW[ MAX_LPC_ORDER ]; opus_int16 W_adj_Q5[ MAX_LPC_ORDER ]; opus_uint8 pred_Q8[ MAX_LPC_ORDER ]; opus_int16 ec_ix[ MAX_LPC_ORDER ]; const opus_uint8 *pCB_element, *iCDF_ptr; - const opus_int16 *pCB_Wght_Q9; SAVE_STACK; - celt_assert( signalType >= 0 && signalType <= 2 ); + silk_assert( nSurvivors <= NLSF_VQ_MAX_SURVIVORS ); + silk_assert( signalType >= 0 && signalType <= 2 ); silk_assert( NLSF_mu_Q20 <= 32767 && NLSF_mu_Q20 >= 0 ); /* NLSF stabilization */ silk_NLSF_stabilize( pNLSF_Q15, psNLSF_CB->deltaMin_Q15, psNLSF_CB->order ); /* First stage: VQ */ - ALLOC( err_Q24, psNLSF_CB->nVectors, opus_int32 ); - silk_NLSF_VQ( err_Q24, pNLSF_Q15, psNLSF_CB->CB1_NLSF_Q8, psNLSF_CB->CB1_Wght_Q9, psNLSF_CB->nVectors, psNLSF_CB->order ); + ALLOC( err_Q26, psNLSF_CB->nVectors, opus_int32 ); + silk_NLSF_VQ( err_Q26, pNLSF_Q15, psNLSF_CB->CB1_NLSF_Q8, psNLSF_CB->nVectors, psNLSF_CB->order ); /* Sort the quantization errors */ ALLOC( tempIndices1, nSurvivors, opus_int ); - silk_insertion_sort_increasing( err_Q24, tempIndices1, psNLSF_CB->nVectors, nSurvivors ); + silk_insertion_sort_increasing( err_Q26, tempIndices1, psNLSF_CB->nVectors, nSurvivors ); ALLOC( RD_Q25, nSurvivors, opus_int32 ); ALLOC( tempIndices2, nSurvivors * MAX_LPC_ORDER, opus_int8 ); @@ -83,12 +85,23 @@ opus_int32 silk_NLSF_encode( /* O Returns /* Residual after first stage */ pCB_element = &psNLSF_CB->CB1_NLSF_Q8[ ind1 * psNLSF_CB->order ]; - pCB_Wght_Q9 = &psNLSF_CB->CB1_Wght_Q9[ ind1 * psNLSF_CB->order ]; for( i = 0; i < psNLSF_CB->order; i++ ) { NLSF_tmp_Q15[ i ] = silk_LSHIFT16( (opus_int16)pCB_element[ i ], 7 ); - W_tmp_Q9 = pCB_Wght_Q9[ i ]; - res_Q10[ i ] = (opus_int16)silk_RSHIFT( silk_SMULBB( pNLSF_Q15[ i ] - NLSF_tmp_Q15[ i ], W_tmp_Q9 ), 14 ); - W_adj_Q5[ i ] = silk_DIV32_varQ( (opus_int32)pW_Q2[ i ], silk_SMULBB( W_tmp_Q9, W_tmp_Q9 ), 21 ); + res_Q15[ i ] = pNLSF_Q15[ i ] - NLSF_tmp_Q15[ i ]; + } + + /* Weights from codebook vector */ + silk_NLSF_VQ_weights_laroia( W_tmp_QW, NLSF_tmp_Q15, psNLSF_CB->order ); + + /* Apply square-rooted weights */ + for( i = 0; i < psNLSF_CB->order; i++ ) { + W_tmp_Q9 = silk_SQRT_APPROX( silk_LSHIFT( (opus_int32)W_tmp_QW[ i ], 18 - NLSF_W_Q ) ); + res_Q10[ i ] = (opus_int16)silk_RSHIFT( silk_SMULBB( res_Q15[ i ], W_tmp_Q9 ), 14 ); + } + + /* Modify input weights accordingly */ + for( i = 0; i < psNLSF_CB->order; i++ ) { + W_adj_Q5[ i ] = silk_DIV32_16( silk_LSHIFT( (opus_int32)pW_QW[ i ], 5 ), W_tmp_QW[ i ] ); } /* Unpack entropy table indices and predictor for current CB1 index */ diff --git a/thirdparty/opus/silk/NSQ.c b/thirdparty/opus/silk/NSQ.c index 1d64d8e257..43e3fee7e0 100644 --- a/thirdparty/opus/silk/NSQ.c +++ b/thirdparty/opus/silk/NSQ.c @@ -37,7 +37,7 @@ POSSIBILITY OF SUCH DAMAGE. static OPUS_INLINE void silk_nsq_scale_states( const silk_encoder_state *psEncC, /* I Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ - const opus_int16 x16[], /* I input */ + const opus_int32 x_Q3[], /* I input in Q3 */ opus_int32 x_sc_Q10[], /* O input scaled with 1/Gain */ const opus_int16 sLTP[], /* I re-whitened LTP state in Q0 */ opus_int32 sLTP_Q15[], /* O LTP state matching scaled input */ @@ -75,14 +75,14 @@ static OPUS_INLINE void silk_noise_shape_quantizer( void silk_NSQ_c ( - const silk_encoder_state *psEncC, /* I Encoder State */ + const silk_encoder_state *psEncC, /* I/O Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ SideInfoIndices *psIndices, /* I/O Quantization Indices */ - const opus_int16 x16[], /* I Input */ + const opus_int32 x_Q3[], /* I Prefiltered input signal */ opus_int8 pulses[], /* O Quantized pulse signal */ const opus_int16 PredCoef_Q12[ 2 * MAX_LPC_ORDER ], /* I Short term prediction coefs */ const opus_int16 LTPCoef_Q14[ LTP_ORDER * MAX_NB_SUBFR ], /* I Long term prediction coefs */ - const opus_int16 AR_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ], /* I Noise shaping coefs */ + const opus_int16 AR2_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ], /* I Noise shaping coefs */ const opus_int HarmShapeGain_Q14[ MAX_NB_SUBFR ], /* I Long term shaping coefs */ const opus_int Tilt_Q14[ MAX_NB_SUBFR ], /* I Spectral tilt */ const opus_int32 LF_shp_Q14[ MAX_NB_SUBFR ], /* I Low frequency shaping coefs */ @@ -117,7 +117,8 @@ void silk_NSQ_c LSF_interpolation_flag = 1; } - ALLOC( sLTP_Q15, psEncC->ltp_mem_length + psEncC->frame_length, opus_int32 ); + ALLOC( sLTP_Q15, + psEncC->ltp_mem_length + psEncC->frame_length, opus_int32 ); ALLOC( sLTP, psEncC->ltp_mem_length + psEncC->frame_length, opus_int16 ); ALLOC( x_sc_Q10, psEncC->subfr_length, opus_int32 ); /* Set up pointers to start of sub frame */ @@ -127,7 +128,7 @@ void silk_NSQ_c for( k = 0; k < psEncC->nb_subfr; k++ ) { A_Q12 = &PredCoef_Q12[ (( k >> 1 ) | ( 1 - LSF_interpolation_flag )) * MAX_LPC_ORDER ]; B_Q14 = <PCoef_Q14[ k * LTP_ORDER ]; - AR_shp_Q13 = &AR_Q13[ k * MAX_SHAPE_LPC_ORDER ]; + AR_shp_Q13 = &AR2_Q13[ k * MAX_SHAPE_LPC_ORDER ]; /* Noise shape parameters */ silk_assert( HarmShapeGain_Q14[ k ] >= 0 ); @@ -143,7 +144,7 @@ void silk_NSQ_c if( ( k & ( 3 - silk_LSHIFT( LSF_interpolation_flag, 1 ) ) ) == 0 ) { /* Rewhiten with new A coefs */ start_idx = psEncC->ltp_mem_length - lag - psEncC->predictLPCOrder - LTP_ORDER / 2; - celt_assert( start_idx > 0 ); + silk_assert( start_idx > 0 ); silk_LPC_analysis_filter( &sLTP[ start_idx ], &NSQ->xq[ start_idx + k * psEncC->subfr_length ], A_Q12, psEncC->ltp_mem_length - start_idx, psEncC->predictLPCOrder, psEncC->arch ); @@ -153,13 +154,13 @@ void silk_NSQ_c } } - silk_nsq_scale_states( psEncC, NSQ, x16, x_sc_Q10, sLTP, sLTP_Q15, k, LTP_scale_Q14, Gains_Q16, pitchL, psIndices->signalType ); + silk_nsq_scale_states( psEncC, NSQ, x_Q3, x_sc_Q10, sLTP, sLTP_Q15, k, LTP_scale_Q14, Gains_Q16, pitchL, psIndices->signalType ); silk_noise_shape_quantizer( NSQ, psIndices->signalType, x_sc_Q10, pulses, pxq, sLTP_Q15, A_Q12, B_Q14, AR_shp_Q13, lag, HarmShapeFIRPacked_Q14, Tilt_Q14[ k ], LF_shp_Q14[ k ], Gains_Q16[ k ], Lambda_Q10, offset_Q10, psEncC->subfr_length, psEncC->shapingLPCOrder, psEncC->predictLPCOrder, psEncC->arch ); - x16 += psEncC->subfr_length; + x_Q3 += psEncC->subfr_length; pulses += psEncC->subfr_length; pxq += psEncC->subfr_length; } @@ -168,6 +169,7 @@ void silk_NSQ_c NSQ->lagPrev = pitchL[ psEncC->nb_subfr - 1 ]; /* Save quantized speech and noise shaping signals */ + /* DEBUG_STORE_DATA( enc.pcm, &NSQ->xq[ psEncC->ltp_mem_length ], psEncC->frame_length * sizeof( opus_int16 ) ) */ silk_memmove( NSQ->xq, &NSQ->xq[ psEncC->frame_length ], psEncC->ltp_mem_length * sizeof( opus_int16 ) ); silk_memmove( NSQ->sLTP_shp_Q14, &NSQ->sLTP_shp_Q14[ psEncC->frame_length ], psEncC->ltp_mem_length * sizeof( opus_int32 ) ); RESTORE_STACK; @@ -247,15 +249,15 @@ void silk_noise_shape_quantizer( } /* Noise shape feedback */ - celt_assert( ( shapingLPCOrder & 1 ) == 0 ); /* check that order is even */ - n_AR_Q12 = silk_NSQ_noise_shape_feedback_loop(&NSQ->sDiff_shp_Q14, NSQ->sAR2_Q14, AR_shp_Q13, shapingLPCOrder, arch); + silk_assert( ( shapingLPCOrder & 1 ) == 0 ); /* check that order is even */ + n_AR_Q12 = silk_NSQ_noise_shape_feedback_loop(psLPC_Q14, NSQ->sAR2_Q14, AR_shp_Q13, shapingLPCOrder, arch); n_AR_Q12 = silk_SMLAWB( n_AR_Q12, NSQ->sLF_AR_shp_Q14, Tilt_Q14 ); n_LF_Q12 = silk_SMULWB( NSQ->sLTP_shp_Q14[ NSQ->sLTP_shp_buf_idx - 1 ], LF_shp_Q14 ); n_LF_Q12 = silk_SMLAWT( n_LF_Q12, NSQ->sLF_AR_shp_Q14, LF_shp_Q14 ); - celt_assert( lag > 0 || signalType != TYPE_VOICED ); + silk_assert( lag > 0 || signalType != TYPE_VOICED ); /* Combine prediction and noise shaping signals */ tmp1 = silk_SUB32( silk_LSHIFT32( LPC_pred_Q10, 2 ), n_AR_Q12 ); /* Q12 */ @@ -277,27 +279,14 @@ void silk_noise_shape_quantizer( r_Q10 = silk_SUB32( x_sc_Q10[ i ], tmp1 ); /* residual error Q10 */ /* Flip sign depending on dither */ - if( NSQ->rand_seed < 0 ) { - r_Q10 = -r_Q10; + if ( NSQ->rand_seed < 0 ) { + r_Q10 = -r_Q10; } r_Q10 = silk_LIMIT_32( r_Q10, -(31 << 10), 30 << 10 ); /* Find two quantization level candidates and measure their rate-distortion */ q1_Q10 = silk_SUB32( r_Q10, offset_Q10 ); q1_Q0 = silk_RSHIFT( q1_Q10, 10 ); - if (Lambda_Q10 > 2048) { - /* For aggressive RDO, the bias becomes more than one pulse. */ - int rdo_offset = Lambda_Q10/2 - 512; - if (q1_Q10 > rdo_offset) { - q1_Q0 = silk_RSHIFT( q1_Q10 - rdo_offset, 10 ); - } else if (q1_Q10 < -rdo_offset) { - q1_Q0 = silk_RSHIFT( q1_Q10 + rdo_offset, 10 ); - } else if (q1_Q10 < 0) { - q1_Q0 = -1; - } else { - q1_Q0 = 0; - } - } if( q1_Q0 > 0 ) { q1_Q10 = silk_SUB32( silk_LSHIFT( q1_Q0, 10 ), QUANT_LEVEL_ADJUST_Q10 ); q1_Q10 = silk_ADD32( q1_Q10, offset_Q10 ); @@ -348,8 +337,7 @@ void silk_noise_shape_quantizer( /* Update states */ psLPC_Q14++; *psLPC_Q14 = xq_Q14; - NSQ->sDiff_shp_Q14 = silk_SUB_LSHIFT32( xq_Q14, x_sc_Q10[ i ], 4 ); - sLF_AR_shp_Q14 = silk_SUB_LSHIFT32( NSQ->sDiff_shp_Q14, n_AR_Q12, 2 ); + sLF_AR_shp_Q14 = silk_SUB_LSHIFT32( xq_Q14, n_AR_Q12, 2 ); NSQ->sLF_AR_shp_Q14 = sLF_AR_shp_Q14; NSQ->sLTP_shp_Q14[ NSQ->sLTP_shp_buf_idx ] = silk_SUB_LSHIFT32( sLF_AR_shp_Q14, n_LF_Q12, 2 ); @@ -368,7 +356,7 @@ void silk_noise_shape_quantizer( static OPUS_INLINE void silk_nsq_scale_states( const silk_encoder_state *psEncC, /* I Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ - const opus_int16 x16[], /* I input */ + const opus_int32 x_Q3[], /* I input in Q3 */ opus_int32 x_sc_Q10[], /* O input scaled with 1/Gain */ const opus_int16 sLTP[], /* I re-whitened LTP state in Q0 */ opus_int32 sLTP_Q15[], /* O LTP state matching scaled input */ @@ -380,18 +368,28 @@ static OPUS_INLINE void silk_nsq_scale_states( ) { opus_int i, lag; - opus_int32 gain_adj_Q16, inv_gain_Q31, inv_gain_Q26; + opus_int32 gain_adj_Q16, inv_gain_Q31, inv_gain_Q23; lag = pitchL[ subfr ]; inv_gain_Q31 = silk_INVERSE32_varQ( silk_max( Gains_Q16[ subfr ], 1 ), 47 ); silk_assert( inv_gain_Q31 != 0 ); + /* Calculate gain adjustment factor */ + if( Gains_Q16[ subfr ] != NSQ->prev_gain_Q16 ) { + gain_adj_Q16 = silk_DIV32_varQ( NSQ->prev_gain_Q16, Gains_Q16[ subfr ], 16 ); + } else { + gain_adj_Q16 = (opus_int32)1 << 16; + } + /* Scale input */ - inv_gain_Q26 = silk_RSHIFT_ROUND( inv_gain_Q31, 5 ); + inv_gain_Q23 = silk_RSHIFT_ROUND( inv_gain_Q31, 8 ); for( i = 0; i < psEncC->subfr_length; i++ ) { - x_sc_Q10[ i ] = silk_SMULWW( x16[ i ], inv_gain_Q26 ); + x_sc_Q10[ i ] = silk_SMULWW( x_Q3[ i ], inv_gain_Q23 ); } + /* Save inverse gain */ + NSQ->prev_gain_Q16 = Gains_Q16[ subfr ]; + /* After rewhitening the LTP state is un-scaled, so scale with inv_gain_Q16 */ if( NSQ->rewhite_flag ) { if( subfr == 0 ) { @@ -405,9 +403,7 @@ static OPUS_INLINE void silk_nsq_scale_states( } /* Adjust for changing gain */ - if( Gains_Q16[ subfr ] != NSQ->prev_gain_Q16 ) { - gain_adj_Q16 = silk_DIV32_varQ( NSQ->prev_gain_Q16, Gains_Q16[ subfr ], 16 ); - + if( gain_adj_Q16 != (opus_int32)1 << 16 ) { /* Scale long-term shaping state */ for( i = NSQ->sLTP_shp_buf_idx - psEncC->ltp_mem_length; i < NSQ->sLTP_shp_buf_idx; i++ ) { NSQ->sLTP_shp_Q14[ i ] = silk_SMULWW( gain_adj_Q16, NSQ->sLTP_shp_Q14[ i ] ); @@ -421,7 +417,6 @@ static OPUS_INLINE void silk_nsq_scale_states( } NSQ->sLF_AR_shp_Q14 = silk_SMULWW( gain_adj_Q16, NSQ->sLF_AR_shp_Q14 ); - NSQ->sDiff_shp_Q14 = silk_SMULWW( gain_adj_Q16, NSQ->sDiff_shp_Q14 ); /* Scale short-term prediction and shaping states */ for( i = 0; i < NSQ_LPC_BUF_LENGTH; i++ ) { @@ -430,8 +425,5 @@ static OPUS_INLINE void silk_nsq_scale_states( for( i = 0; i < MAX_SHAPE_LPC_ORDER; i++ ) { NSQ->sAR2_Q14[ i ] = silk_SMULWW( gain_adj_Q16, NSQ->sAR2_Q14[ i ] ); } - - /* Save inverse gain */ - NSQ->prev_gain_Q16 = Gains_Q16[ subfr ]; } } diff --git a/thirdparty/opus/silk/NSQ_del_dec.c b/thirdparty/opus/silk/NSQ_del_dec.c index 3fd9fa0d5b..ab6feeac98 100644 --- a/thirdparty/opus/silk/NSQ_del_dec.c +++ b/thirdparty/opus/silk/NSQ_del_dec.c @@ -43,7 +43,6 @@ typedef struct { opus_int32 Shape_Q14[ DECISION_DELAY ]; opus_int32 sAR2_Q14[ MAX_SHAPE_LPC_ORDER ]; opus_int32 LF_AR_Q14; - opus_int32 Diff_Q14; opus_int32 Seed; opus_int32 SeedInit; opus_int32 RD_Q10; @@ -54,7 +53,6 @@ typedef struct { opus_int32 RD_Q10; opus_int32 xq_Q14; opus_int32 LF_AR_Q14; - opus_int32 Diff_Q14; opus_int32 sLTP_shp_Q14; opus_int32 LPC_exc_Q14; } NSQ_sample_struct; @@ -68,7 +66,7 @@ static OPUS_INLINE void silk_nsq_del_dec_scale_states( const silk_encoder_state *psEncC, /* I Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ NSQ_del_dec_struct psDelDec[], /* I/O Delayed decision states */ - const opus_int16 x16[], /* I Input */ + const opus_int32 x_Q3[], /* I Input in Q3 */ opus_int32 x_sc_Q10[], /* O Input scaled with 1/Gain in Q10 */ const opus_int16 sLTP[], /* I Re-whitened LTP state in Q0 */ opus_int32 sLTP_Q15[], /* O LTP state matching scaled input */ @@ -109,20 +107,20 @@ static OPUS_INLINE void silk_noise_shape_quantizer_del_dec( opus_int predictLPCOrder, /* I Prediction filter order */ opus_int warping_Q16, /* I */ opus_int nStatesDelayedDecision, /* I Number of states in decision tree */ - opus_int *smpl_buf_idx, /* I/O Index to newest samples in buffers */ + opus_int *smpl_buf_idx, /* I Index to newest samples in buffers */ opus_int decisionDelay, /* I */ int arch /* I */ ); void silk_NSQ_del_dec_c( - const silk_encoder_state *psEncC, /* I Encoder State */ + const silk_encoder_state *psEncC, /* I/O Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ SideInfoIndices *psIndices, /* I/O Quantization Indices */ - const opus_int16 x16[], /* I Input */ + const opus_int32 x_Q3[], /* I Prefiltered input signal */ opus_int8 pulses[], /* O Quantized pulse signal */ const opus_int16 PredCoef_Q12[ 2 * MAX_LPC_ORDER ], /* I Short term prediction coefs */ const opus_int16 LTPCoef_Q14[ LTP_ORDER * MAX_NB_SUBFR ], /* I Long term prediction coefs */ - const opus_int16 AR_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ], /* I Noise shaping coefs */ + const opus_int16 AR2_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ], /* I Noise shaping coefs */ const opus_int HarmShapeGain_Q14[ MAX_NB_SUBFR ], /* I Long term shaping coefs */ const opus_int Tilt_Q14[ MAX_NB_SUBFR ], /* I Spectral tilt */ const opus_int32 LF_shp_Q14[ MAX_NB_SUBFR ], /* I Low frequency shaping coefs */ @@ -161,7 +159,6 @@ void silk_NSQ_del_dec_c( psDD->SeedInit = psDD->Seed; psDD->RD_Q10 = 0; psDD->LF_AR_Q14 = NSQ->sLF_AR_shp_Q14; - psDD->Diff_Q14 = NSQ->sDiff_shp_Q14; psDD->Shape_Q14[ 0 ] = NSQ->sLTP_shp_Q14[ psEncC->ltp_mem_length - 1 ]; silk_memcpy( psDD->sLPC_Q14, NSQ->sLPC_Q14, NSQ_LPC_BUF_LENGTH * sizeof( opus_int32 ) ); silk_memcpy( psDD->sAR2_Q14, NSQ->sAR2_Q14, sizeof( NSQ->sAR2_Q14 ) ); @@ -189,7 +186,8 @@ void silk_NSQ_del_dec_c( LSF_interpolation_flag = 1; } - ALLOC( sLTP_Q15, psEncC->ltp_mem_length + psEncC->frame_length, opus_int32 ); + ALLOC( sLTP_Q15, + psEncC->ltp_mem_length + psEncC->frame_length, opus_int32 ); ALLOC( sLTP, psEncC->ltp_mem_length + psEncC->frame_length, opus_int16 ); ALLOC( x_sc_Q10, psEncC->subfr_length, opus_int32 ); ALLOC( delayedGain_Q10, DECISION_DELAY, opus_int32 ); @@ -201,7 +199,7 @@ void silk_NSQ_del_dec_c( for( k = 0; k < psEncC->nb_subfr; k++ ) { A_Q12 = &PredCoef_Q12[ ( ( k >> 1 ) | ( 1 - LSF_interpolation_flag ) ) * MAX_LPC_ORDER ]; B_Q14 = <PCoef_Q14[ k * LTP_ORDER ]; - AR_shp_Q13 = &AR_Q13[ k * MAX_SHAPE_LPC_ORDER ]; + AR_shp_Q13 = &AR2_Q13[ k * MAX_SHAPE_LPC_ORDER ]; /* Noise shape parameters */ silk_assert( HarmShapeGain_Q14[ k ] >= 0 ); @@ -237,8 +235,7 @@ void silk_NSQ_del_dec_c( psDD = &psDelDec[ Winner_ind ]; last_smple_idx = smpl_buf_idx + decisionDelay; for( i = 0; i < decisionDelay; i++ ) { - last_smple_idx = ( last_smple_idx - 1 ) % DECISION_DELAY; - if( last_smple_idx < 0 ) last_smple_idx += DECISION_DELAY; + last_smple_idx = ( last_smple_idx - 1 ) & DECISION_DELAY_MASK; pulses[ i - decisionDelay ] = (opus_int8)silk_RSHIFT_ROUND( psDD->Q_Q10[ last_smple_idx ], 10 ); pxq[ i - decisionDelay ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( silk_SMULWW( psDD->Xq_Q14[ last_smple_idx ], Gains_Q16[ 1 ] ), 14 ) ); @@ -250,7 +247,7 @@ void silk_NSQ_del_dec_c( /* Rewhiten with new A coefs */ start_idx = psEncC->ltp_mem_length - lag - psEncC->predictLPCOrder - LTP_ORDER / 2; - celt_assert( start_idx > 0 ); + silk_assert( start_idx > 0 ); silk_LPC_analysis_filter( &sLTP[ start_idx ], &NSQ->xq[ start_idx + k * psEncC->subfr_length ], A_Q12, psEncC->ltp_mem_length - start_idx, psEncC->predictLPCOrder, psEncC->arch ); @@ -260,7 +257,7 @@ void silk_NSQ_del_dec_c( } } - silk_nsq_del_dec_scale_states( psEncC, NSQ, psDelDec, x16, x_sc_Q10, sLTP, sLTP_Q15, k, + silk_nsq_del_dec_scale_states( psEncC, NSQ, psDelDec, x_Q3, x_sc_Q10, sLTP, sLTP_Q15, k, psEncC->nStatesDelayedDecision, LTP_scale_Q14, Gains_Q16, pitchL, psIndices->signalType, decisionDelay ); silk_noise_shape_quantizer_del_dec( NSQ, psDelDec, psIndices->signalType, x_sc_Q10, pulses, pxq, sLTP_Q15, @@ -268,7 +265,7 @@ void silk_NSQ_del_dec_c( Gains_Q16[ k ], Lambda_Q10, offset_Q10, psEncC->subfr_length, subfr++, psEncC->shapingLPCOrder, psEncC->predictLPCOrder, psEncC->warping_Q16, psEncC->nStatesDelayedDecision, &smpl_buf_idx, decisionDelay, psEncC->arch ); - x16 += psEncC->subfr_length; + x_Q3 += psEncC->subfr_length; pulses += psEncC->subfr_length; pxq += psEncC->subfr_length; } @@ -289,9 +286,7 @@ void silk_NSQ_del_dec_c( last_smple_idx = smpl_buf_idx + decisionDelay; Gain_Q10 = silk_RSHIFT32( Gains_Q16[ psEncC->nb_subfr - 1 ], 6 ); for( i = 0; i < decisionDelay; i++ ) { - last_smple_idx = ( last_smple_idx - 1 ) % DECISION_DELAY; - if( last_smple_idx < 0 ) last_smple_idx += DECISION_DELAY; - + last_smple_idx = ( last_smple_idx - 1 ) & DECISION_DELAY_MASK; pulses[ i - decisionDelay ] = (opus_int8)silk_RSHIFT_ROUND( psDD->Q_Q10[ last_smple_idx ], 10 ); pxq[ i - decisionDelay ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( silk_SMULWW( psDD->Xq_Q14[ last_smple_idx ], Gain_Q10 ), 8 ) ); @@ -302,10 +297,10 @@ void silk_NSQ_del_dec_c( /* Update states */ NSQ->sLF_AR_shp_Q14 = psDD->LF_AR_Q14; - NSQ->sDiff_shp_Q14 = psDD->Diff_Q14; NSQ->lagPrev = pitchL[ psEncC->nb_subfr - 1 ]; /* Save quantized speech signal */ + /* DEBUG_STORE_DATA( enc.pcm, &NSQ->xq[psEncC->ltp_mem_length], psEncC->frame_length * sizeof( opus_int16 ) ) */ silk_memmove( NSQ->xq, &NSQ->xq[ psEncC->frame_length ], psEncC->ltp_mem_length * sizeof( opus_int16 ) ); silk_memmove( NSQ->sLTP_shp_Q14, &NSQ->sLTP_shp_Q14[ psEncC->frame_length ], psEncC->ltp_mem_length * sizeof( opus_int32 ) ); RESTORE_STACK; @@ -340,7 +335,7 @@ static OPUS_INLINE void silk_noise_shape_quantizer_del_dec( opus_int predictLPCOrder, /* I Prediction filter order */ opus_int warping_Q16, /* I */ opus_int nStatesDelayedDecision, /* I Number of states in decision tree */ - opus_int *smpl_buf_idx, /* I/O Index to newest samples in buffers */ + opus_int *smpl_buf_idx, /* I Index to newest samples in buffers */ opus_int decisionDelay, /* I */ int arch /* I */ ) @@ -361,7 +356,7 @@ static OPUS_INLINE void silk_noise_shape_quantizer_del_dec( NSQ_sample_struct *psSS; SAVE_STACK; - celt_assert( nStatesDelayedDecision > 0 ); + silk_assert( nStatesDelayedDecision > 0 ); ALLOC( psSampleState, nStatesDelayedDecision, NSQ_sample_pair ); shp_lag_ptr = &NSQ->sLTP_shp_Q14[ NSQ->sLTP_shp_buf_idx - lag + HARM_SHAPE_FIR_TAPS / 2 ]; @@ -419,9 +414,9 @@ static OPUS_INLINE void silk_noise_shape_quantizer_del_dec( LPC_pred_Q14 = silk_LSHIFT( LPC_pred_Q14, 4 ); /* Q10 -> Q14 */ /* Noise shape feedback */ - celt_assert( ( shapingLPCOrder & 1 ) == 0 ); /* check that order is even */ + silk_assert( ( shapingLPCOrder & 1 ) == 0 ); /* check that order is even */ /* Output of lowpass section */ - tmp2 = silk_SMLAWB( psDD->Diff_Q14, psDD->sAR2_Q14[ 0 ], warping_Q16 ); + tmp2 = silk_SMLAWB( psLPC_Q14[ 0 ], psDD->sAR2_Q14[ 0 ], warping_Q16 ); /* Output of allpass section */ tmp1 = silk_SMLAWB( psDD->sAR2_Q14[ 0 ], psDD->sAR2_Q14[ 1 ] - tmp2, warping_Q16 ); psDD->sAR2_Q14[ 0 ] = tmp2; @@ -467,19 +462,6 @@ static OPUS_INLINE void silk_noise_shape_quantizer_del_dec( /* Find two quantization level candidates and measure their rate-distortion */ q1_Q10 = silk_SUB32( r_Q10, offset_Q10 ); q1_Q0 = silk_RSHIFT( q1_Q10, 10 ); - if (Lambda_Q10 > 2048) { - /* For aggressive RDO, the bias becomes more than one pulse. */ - int rdo_offset = Lambda_Q10/2 - 512; - if (q1_Q10 > rdo_offset) { - q1_Q0 = silk_RSHIFT( q1_Q10 - rdo_offset, 10 ); - } else if (q1_Q10 < -rdo_offset) { - q1_Q0 = silk_RSHIFT( q1_Q10 + rdo_offset, 10 ); - } else if (q1_Q10 < 0) { - q1_Q0 = -1; - } else { - q1_Q0 = 0; - } - } if( q1_Q0 > 0 ) { q1_Q10 = silk_SUB32( silk_LSHIFT( q1_Q0, 10 ), QUANT_LEVEL_ADJUST_Q10 ); q1_Q10 = silk_ADD32( q1_Q10, offset_Q10 ); @@ -533,8 +515,7 @@ static OPUS_INLINE void silk_noise_shape_quantizer_del_dec( xq_Q14 = silk_ADD32( LPC_exc_Q14, LPC_pred_Q14 ); /* Update states */ - psSS[ 0 ].Diff_Q14 = silk_SUB_LSHIFT32( xq_Q14, x_Q10[ i ], 4 ); - sLF_AR_shp_Q14 = silk_SUB32( psSS[ 0 ].Diff_Q14, n_AR_Q14 ); + sLF_AR_shp_Q14 = silk_SUB32( xq_Q14, n_AR_Q14 ); psSS[ 0 ].sLTP_shp_Q14 = silk_SUB32( sLF_AR_shp_Q14, n_LF_Q14 ); psSS[ 0 ].LF_AR_Q14 = sLF_AR_shp_Q14; psSS[ 0 ].LPC_exc_Q14 = LPC_exc_Q14; @@ -548,22 +529,21 @@ static OPUS_INLINE void silk_noise_shape_quantizer_del_dec( exc_Q14 = -exc_Q14; } + /* Add predictions */ LPC_exc_Q14 = silk_ADD32( exc_Q14, LTP_pred_Q14 ); xq_Q14 = silk_ADD32( LPC_exc_Q14, LPC_pred_Q14 ); /* Update states */ - psSS[ 1 ].Diff_Q14 = silk_SUB_LSHIFT32( xq_Q14, x_Q10[ i ], 4 ); - sLF_AR_shp_Q14 = silk_SUB32( psSS[ 1 ].Diff_Q14, n_AR_Q14 ); + sLF_AR_shp_Q14 = silk_SUB32( xq_Q14, n_AR_Q14 ); psSS[ 1 ].sLTP_shp_Q14 = silk_SUB32( sLF_AR_shp_Q14, n_LF_Q14 ); psSS[ 1 ].LF_AR_Q14 = sLF_AR_shp_Q14; psSS[ 1 ].LPC_exc_Q14 = LPC_exc_Q14; psSS[ 1 ].xq_Q14 = xq_Q14; } - *smpl_buf_idx = ( *smpl_buf_idx - 1 ) % DECISION_DELAY; - if( *smpl_buf_idx < 0 ) *smpl_buf_idx += DECISION_DELAY; - last_smple_idx = ( *smpl_buf_idx + decisionDelay ) % DECISION_DELAY; + *smpl_buf_idx = ( *smpl_buf_idx - 1 ) & DECISION_DELAY_MASK; /* Index to newest samples */ + last_smple_idx = ( *smpl_buf_idx + decisionDelay ) & DECISION_DELAY_MASK; /* Index to decisionDelay old samples */ /* Find winner */ RDmin_Q10 = psSampleState[ 0 ][ 0 ].RD_Q10; @@ -627,7 +607,6 @@ static OPUS_INLINE void silk_noise_shape_quantizer_del_dec( psDD = &psDelDec[ k ]; psSS = &psSampleState[ k ][ 0 ]; psDD->LF_AR_Q14 = psSS->LF_AR_Q14; - psDD->Diff_Q14 = psSS->Diff_Q14; psDD->sLPC_Q14[ NSQ_LPC_BUF_LENGTH + i ] = psSS->xq_Q14; psDD->Xq_Q14[ *smpl_buf_idx ] = psSS->xq_Q14; psDD->Q_Q10[ *smpl_buf_idx ] = psSS->Q_Q10; @@ -652,7 +631,7 @@ static OPUS_INLINE void silk_nsq_del_dec_scale_states( const silk_encoder_state *psEncC, /* I Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ NSQ_del_dec_struct psDelDec[], /* I/O Delayed decision states */ - const opus_int16 x16[], /* I Input */ + const opus_int32 x_Q3[], /* I Input in Q3 */ opus_int32 x_sc_Q10[], /* O Input scaled with 1/Gain in Q10 */ const opus_int16 sLTP[], /* I Re-whitened LTP state in Q0 */ opus_int32 sLTP_Q15[], /* O LTP state matching scaled input */ @@ -666,19 +645,29 @@ static OPUS_INLINE void silk_nsq_del_dec_scale_states( ) { opus_int i, k, lag; - opus_int32 gain_adj_Q16, inv_gain_Q31, inv_gain_Q26; + opus_int32 gain_adj_Q16, inv_gain_Q31, inv_gain_Q23; NSQ_del_dec_struct *psDD; lag = pitchL[ subfr ]; inv_gain_Q31 = silk_INVERSE32_varQ( silk_max( Gains_Q16[ subfr ], 1 ), 47 ); silk_assert( inv_gain_Q31 != 0 ); + /* Calculate gain adjustment factor */ + if( Gains_Q16[ subfr ] != NSQ->prev_gain_Q16 ) { + gain_adj_Q16 = silk_DIV32_varQ( NSQ->prev_gain_Q16, Gains_Q16[ subfr ], 16 ); + } else { + gain_adj_Q16 = (opus_int32)1 << 16; + } + /* Scale input */ - inv_gain_Q26 = silk_RSHIFT_ROUND( inv_gain_Q31, 5 ); + inv_gain_Q23 = silk_RSHIFT_ROUND( inv_gain_Q31, 8 ); for( i = 0; i < psEncC->subfr_length; i++ ) { - x_sc_Q10[ i ] = silk_SMULWW( x16[ i ], inv_gain_Q26 ); + x_sc_Q10[ i ] = silk_SMULWW( x_Q3[ i ], inv_gain_Q23 ); } + /* Save inverse gain */ + NSQ->prev_gain_Q16 = Gains_Q16[ subfr ]; + /* After rewhitening the LTP state is un-scaled, so scale with inv_gain_Q16 */ if( NSQ->rewhite_flag ) { if( subfr == 0 ) { @@ -692,9 +681,7 @@ static OPUS_INLINE void silk_nsq_del_dec_scale_states( } /* Adjust for changing gain */ - if( Gains_Q16[ subfr ] != NSQ->prev_gain_Q16 ) { - gain_adj_Q16 = silk_DIV32_varQ( NSQ->prev_gain_Q16, Gains_Q16[ subfr ], 16 ); - + if( gain_adj_Q16 != (opus_int32)1 << 16 ) { /* Scale long-term shaping state */ for( i = NSQ->sLTP_shp_buf_idx - psEncC->ltp_mem_length; i < NSQ->sLTP_shp_buf_idx; i++ ) { NSQ->sLTP_shp_Q14[ i ] = silk_SMULWW( gain_adj_Q16, NSQ->sLTP_shp_Q14[ i ] ); @@ -712,7 +699,6 @@ static OPUS_INLINE void silk_nsq_del_dec_scale_states( /* Scale scalar states */ psDD->LF_AR_Q14 = silk_SMULWW( gain_adj_Q16, psDD->LF_AR_Q14 ); - psDD->Diff_Q14 = silk_SMULWW( gain_adj_Q16, psDD->Diff_Q14 ); /* Scale short-term prediction and shaping states */ for( i = 0; i < NSQ_LPC_BUF_LENGTH; i++ ) { @@ -726,8 +712,5 @@ static OPUS_INLINE void silk_nsq_del_dec_scale_states( psDD->Shape_Q14[ i ] = silk_SMULWW( gain_adj_Q16, psDD->Shape_Q14[ i ] ); } } - - /* Save inverse gain */ - NSQ->prev_gain_Q16 = Gains_Q16[ subfr ]; } } diff --git a/thirdparty/opus/silk/PLC.c b/thirdparty/opus/silk/PLC.c index f89391651c..fb6ea887b7 100644 --- a/thirdparty/opus/silk/PLC.c +++ b/thirdparty/opus/silk/PLC.c @@ -275,7 +275,7 @@ static OPUS_INLINE void silk_PLC_conceal( /* Reduce random noise for unvoiced frames with high LPC gain */ opus_int32 invGain_Q30, down_scale_Q30; - invGain_Q30 = silk_LPC_inverse_pred_gain( psPLC->prevLPC_Q12, psDec->LPC_order, arch ); + invGain_Q30 = silk_LPC_inverse_pred_gain( psPLC->prevLPC_Q12, psDec->LPC_order ); down_scale_Q30 = silk_min_32( silk_RSHIFT( (opus_int32)1 << 30, LOG2_INV_LPC_GAIN_HIGH_THRES ), invGain_Q30 ); down_scale_Q30 = silk_max_32( silk_RSHIFT( (opus_int32)1 << 30, LOG2_INV_LPC_GAIN_LOW_THRES ), down_scale_Q30 ); @@ -291,7 +291,7 @@ static OPUS_INLINE void silk_PLC_conceal( /* Rewhiten LTP state */ idx = psDec->ltp_mem_length - lag - psDec->LPC_order - LTP_ORDER / 2; - celt_assert( idx > 0 ); + silk_assert( idx > 0 ); silk_LPC_analysis_filter( &sLTP[ idx ], &psDec->outBuf[ idx ], A_Q12, psDec->ltp_mem_length - idx, psDec->LPC_order, arch ); /* Scale LTP state */ inv_gain_Q30 = silk_INVERSE32_varQ( psPLC->prevGain_Q16[ 1 ], 46 ); @@ -328,10 +328,8 @@ static OPUS_INLINE void silk_PLC_conceal( for( j = 0; j < LTP_ORDER; j++ ) { B_Q14[ j ] = silk_RSHIFT( silk_SMULBB( harm_Gain_Q15, B_Q14[ j ] ), 15 ); } - if ( psDec->indices.signalType != TYPE_NO_VOICE_ACTIVITY ) { - /* Gradually reduce excitation gain */ - rand_scale_Q14 = silk_RSHIFT( silk_SMULBB( rand_scale_Q14, rand_Gain_Q15 ), 15 ); - } + /* Gradually reduce excitation gain */ + rand_scale_Q14 = silk_RSHIFT( silk_SMULBB( rand_scale_Q14, rand_Gain_Q15 ), 15 ); /* Slowly increase pitch lag */ psPLC->pitchL_Q8 = silk_SMLAWB( psPLC->pitchL_Q8, psPLC->pitchL_Q8, PITCH_DRIFT_FAC_Q16 ); @@ -347,7 +345,7 @@ static OPUS_INLINE void silk_PLC_conceal( /* Copy LPC state */ silk_memcpy( sLPC_Q14_ptr, psDec->sLPC_Q14_buf, MAX_LPC_ORDER * sizeof( opus_int32 ) ); - celt_assert( psDec->LPC_order >= 10 ); /* check that unrolling works */ + silk_assert( psDec->LPC_order >= 10 ); /* check that unrolling works */ for( i = 0; i < psDec->frame_length; i++ ) { /* partly unrolled */ /* Avoids introducing a bias because silk_SMLAWB() always rounds to -inf */ diff --git a/thirdparty/opus/silk/SigProc_FIX.h b/thirdparty/opus/silk/SigProc_FIX.h index f9ae326326..b63299441e 100644 --- a/thirdparty/opus/silk/SigProc_FIX.h +++ b/thirdparty/opus/silk/SigProc_FIX.h @@ -35,7 +35,7 @@ extern "C" /*#define silk_MACRO_COUNT */ /* Used to enable WMOPS counting */ -#define SILK_MAX_ORDER_LPC 24 /* max order of the LPC analysis in schur() and k2a() */ +#define SILK_MAX_ORDER_LPC 16 /* max order of the LPC analysis in schur() and k2a() */ #include <string.h> /* for memset(), memcpy(), memmove() */ #include "typedef.h" @@ -47,11 +47,6 @@ extern "C" #include "x86/SigProc_FIX_sse.h" #endif -#if (defined(OPUS_ARM_ASM) || defined(OPUS_ARM_MAY_HAVE_NEON_INTR)) -#include "arm/biquad_alt_arm.h" -#include "arm/LPC_inv_pred_gain_arm.h" -#endif - /********************************************************************/ /* SIGNAL PROCESSING FUNCTIONS */ /********************************************************************/ @@ -101,22 +96,14 @@ void silk_resampler_down2_3( * slower than biquad() but uses more precise coefficients * can handle (slowly) varying coefficients */ -void silk_biquad_alt_stride1( +void silk_biquad_alt( const opus_int16 *in, /* I input signal */ const opus_int32 *B_Q28, /* I MA coefficients [3] */ const opus_int32 *A_Q28, /* I AR coefficients [2] */ opus_int32 *S, /* I/O State vector [2] */ opus_int16 *out, /* O output signal */ - const opus_int32 len /* I signal length (must be even) */ -); - -void silk_biquad_alt_stride2_c( - const opus_int16 *in, /* I input signal */ - const opus_int32 *B_Q28, /* I MA coefficients [3] */ - const opus_int32 *A_Q28, /* I AR coefficients [2] */ - opus_int32 *S, /* I/O State vector [4] */ - opus_int16 *out, /* O output signal */ - const opus_int32 len /* I signal length (must be even) */ + const opus_int32 len, /* I signal length (must be even) */ + opus_int stride /* I Operate on interleaved signal if > 1 */ ); /* Variable order MA prediction error filter. */ @@ -145,11 +132,17 @@ void silk_bwexpander_32( /* Compute inverse of LPC prediction gain, and */ /* test if LPC coefficients are stable (all poles within unit circle) */ -opus_int32 silk_LPC_inverse_pred_gain_c( /* O Returns inverse prediction gain in energy domain, Q30 */ +opus_int32 silk_LPC_inverse_pred_gain( /* O Returns inverse prediction gain in energy domain, Q30 */ const opus_int16 *A_Q12, /* I Prediction coefficients, Q12 [order] */ const opus_int order /* I Prediction order */ ); +/* For input in Q24 domain */ +opus_int32 silk_LPC_inverse_pred_gain_Q24( /* O Returns inverse prediction gain in energy domain, Q30 */ + const opus_int32 *A_Q24, /* I Prediction coefficients [order] */ + const opus_int order /* I Prediction order */ +); + /* Split signal in two decimated bands using first-order allpass filters */ void silk_ana_filt_bank_1( const opus_int16 *in, /* I Input signal [N] */ @@ -159,14 +152,6 @@ void silk_ana_filt_bank_1( const opus_int32 N /* I Number of input samples */ ); -#if !defined(OVERRIDE_silk_biquad_alt_stride2) -#define silk_biquad_alt_stride2(in, B_Q28, A_Q28, S, out, len, arch) ((void)(arch), silk_biquad_alt_stride2_c(in, B_Q28, A_Q28, S, out, len)) -#endif - -#if !defined(OVERRIDE_silk_LPC_inverse_pred_gain) -#define silk_LPC_inverse_pred_gain(A_Q12, order, arch) ((void)(arch), silk_LPC_inverse_pred_gain_c(A_Q12, order)) -#endif - /********************************************************************/ /* SCALAR FUNCTIONS */ /********************************************************************/ @@ -286,17 +271,7 @@ void silk_A2NLSF( void silk_NLSF2A( opus_int16 *a_Q12, /* O monic whitening filter coefficients in Q12, [ d ] */ const opus_int16 *NLSF, /* I normalized line spectral frequencies in Q15, [ d ] */ - const opus_int d, /* I filter order (should be even) */ - int arch /* I Run-time architecture */ -); - -/* Convert int32 coefficients to int16 coefs and make sure there's no wrap-around */ -void silk_LPC_fit( - opus_int16 *a_QOUT, /* O Output signal */ - opus_int32 *a_QIN, /* I/O Input signal */ - const opus_int QOUT, /* I Input Q domain */ - const opus_int QIN, /* I Input Q domain */ - const opus_int d /* I Filter order */ + const opus_int d /* I filter order (should be even) */ ); void silk_insertion_sort_increasing( @@ -496,7 +471,8 @@ static OPUS_INLINE opus_int32 silk_ROR32( opus_int32 a32, opus_int rot ) /* Add with saturation for positive input values */ #define silk_ADD_POS_SAT8(a, b) ((((a)+(b)) & 0x80) ? silk_int8_MAX : ((a)+(b))) #define silk_ADD_POS_SAT16(a, b) ((((a)+(b)) & 0x8000) ? silk_int16_MAX : ((a)+(b))) -#define silk_ADD_POS_SAT32(a, b) ((((opus_uint32)(a)+(opus_uint32)(b)) & 0x80000000) ? silk_int32_MAX : ((a)+(b))) +#define silk_ADD_POS_SAT32(a, b) ((((a)+(b)) & 0x80000000) ? silk_int32_MAX : ((a)+(b))) +#define silk_ADD_POS_SAT64(a, b) ((((a)+(b)) & 0x8000000000000000LL) ? silk_int64_MAX : ((a)+(b))) #define silk_LSHIFT8(a, shift) ((opus_int8)((opus_uint8)(a)<<(shift))) /* shift >= 0, shift < 8 */ #define silk_LSHIFT16(a, shift) ((opus_int16)((opus_uint16)(a)<<(shift))) /* shift >= 0, shift < 16 */ @@ -596,9 +572,7 @@ static OPUS_INLINE opus_int64 silk_max_64(opus_int64 a, opus_int64 b) /* Make sure to store the result as the seed for the next call (also in between */ /* frames), otherwise result won't be random at all. When only using some of the */ /* bits, take the most significant bits by right-shifting. */ -#define RAND_MULTIPLIER 196314165 -#define RAND_INCREMENT 907633515 -#define silk_RAND(seed) (silk_MLA_ovflw((RAND_INCREMENT), (seed), (RAND_MULTIPLIER))) +#define silk_RAND(seed) (silk_MLA_ovflw(907633515, (seed), 196314165)) /* Add some multiplication functions that can be easily mapped to ARM. */ diff --git a/thirdparty/opus/silk/VAD.c b/thirdparty/opus/silk/VAD.c index d0cda52162..0a782af2f1 100644 --- a/thirdparty/opus/silk/VAD.c +++ b/thirdparty/opus/silk/VAD.c @@ -101,9 +101,9 @@ opus_int silk_VAD_GetSA_Q8_c( /* O Return v /* Safety checks */ silk_assert( VAD_N_BANDS == 4 ); - celt_assert( MAX_FRAME_LENGTH >= psEncC->frame_length ); - celt_assert( psEncC->frame_length <= 512 ); - celt_assert( psEncC->frame_length == 8 * silk_RSHIFT( psEncC->frame_length, 3 ) ); + silk_assert( MAX_FRAME_LENGTH >= psEncC->frame_length ); + silk_assert( psEncC->frame_length <= 512 ); + silk_assert( psEncC->frame_length == 8 * silk_RSHIFT( psEncC->frame_length, 3 ) ); /***********************/ /* Filter and Decimate */ @@ -252,14 +252,15 @@ opus_int silk_VAD_GetSA_Q8_c( /* O Return v speech_nrg += ( b + 1 ) * silk_RSHIFT( Xnrg[ b ] - psSilk_VAD->NL[ b ], 4 ); } - if( psEncC->frame_length == 20 * psEncC->fs_kHz ) { - speech_nrg = silk_RSHIFT32( speech_nrg, 1 ); - } /* Power scaling */ if( speech_nrg <= 0 ) { SA_Q15 = silk_RSHIFT( SA_Q15, 1 ); - } else if( speech_nrg < 16384 ) { - speech_nrg = silk_LSHIFT32( speech_nrg, 16 ); + } else if( speech_nrg < 32768 ) { + if( psEncC->frame_length == 10 * psEncC->fs_kHz ) { + speech_nrg = silk_LSHIFT_SAT32( speech_nrg, 16 ); + } else { + speech_nrg = silk_LSHIFT_SAT32( speech_nrg, 15 ); + } /* square-root */ speech_nrg = silk_SQRT_APPROX( speech_nrg ); @@ -312,8 +313,6 @@ void silk_VAD_GetNoiseLevels( /* Initially faster smoothing */ if( psSilk_VAD->counter < 1000 ) { /* 1000 = 20 sec */ min_coef = silk_DIV32_16( silk_int16_MAX, silk_RSHIFT( psSilk_VAD->counter, 4 ) + 1 ); - /* Increment frame counter */ - psSilk_VAD->counter++; } else { min_coef = 0; } @@ -357,4 +356,7 @@ void silk_VAD_GetNoiseLevels( /* Store as part of state */ psSilk_VAD->NL[ k ] = nl; } + + /* Increment frame counter */ + psSilk_VAD->counter++; } diff --git a/thirdparty/opus/silk/VQ_WMat_EC.c b/thirdparty/opus/silk/VQ_WMat_EC.c index 0f3d545c4e..7983f1db80 100644 --- a/thirdparty/opus/silk/VQ_WMat_EC.c +++ b/thirdparty/opus/silk/VQ_WMat_EC.c @@ -34,95 +34,84 @@ POSSIBILITY OF SUCH DAMAGE. /* Entropy constrained matrix-weighted VQ, hard-coded to 5-element vectors, for a single input data vector */ void silk_VQ_WMat_EC_c( opus_int8 *ind, /* O index of best codebook vector */ - opus_int32 *res_nrg_Q15, /* O best residual energy */ - opus_int32 *rate_dist_Q8, /* O best total bitrate */ + opus_int32 *rate_dist_Q14, /* O best weighted quant error + mu * rate */ opus_int *gain_Q7, /* O sum of absolute LTP coefficients */ - const opus_int32 *XX_Q17, /* I correlation matrix */ - const opus_int32 *xX_Q17, /* I correlation vector */ + const opus_int16 *in_Q14, /* I input vector to be quantized */ + const opus_int32 *W_Q18, /* I weighting matrix */ const opus_int8 *cb_Q7, /* I codebook */ const opus_uint8 *cb_gain_Q7, /* I codebook effective gain */ const opus_uint8 *cl_Q5, /* I code length for each codebook vector */ - const opus_int subfr_len, /* I number of samples per subframe */ + const opus_int mu_Q9, /* I tradeoff betw. weighted error and rate */ const opus_int32 max_gain_Q7, /* I maximum sum of absolute LTP coefficients */ - const opus_int L /* I number of vectors in codebook */ + opus_int L /* I number of vectors in codebook */ ) { opus_int k, gain_tmp_Q7; const opus_int8 *cb_row_Q7; - opus_int32 neg_xX_Q24[ 5 ]; - opus_int32 sum1_Q15, sum2_Q24; - opus_int32 bits_res_Q8, bits_tot_Q8; - - /* Negate and convert to new Q domain */ - neg_xX_Q24[ 0 ] = -silk_LSHIFT32( xX_Q17[ 0 ], 7 ); - neg_xX_Q24[ 1 ] = -silk_LSHIFT32( xX_Q17[ 1 ], 7 ); - neg_xX_Q24[ 2 ] = -silk_LSHIFT32( xX_Q17[ 2 ], 7 ); - neg_xX_Q24[ 3 ] = -silk_LSHIFT32( xX_Q17[ 3 ], 7 ); - neg_xX_Q24[ 4 ] = -silk_LSHIFT32( xX_Q17[ 4 ], 7 ); + opus_int16 diff_Q14[ 5 ]; + opus_int32 sum1_Q14, sum2_Q16; /* Loop over codebook */ - *rate_dist_Q8 = silk_int32_MAX; - *res_nrg_Q15 = silk_int32_MAX; + *rate_dist_Q14 = silk_int32_MAX; cb_row_Q7 = cb_Q7; - /* In things go really bad, at least *ind is set to something safe. */ - *ind = 0; for( k = 0; k < L; k++ ) { - opus_int32 penalty; gain_tmp_Q7 = cb_gain_Q7[k]; + + diff_Q14[ 0 ] = in_Q14[ 0 ] - silk_LSHIFT( cb_row_Q7[ 0 ], 7 ); + diff_Q14[ 1 ] = in_Q14[ 1 ] - silk_LSHIFT( cb_row_Q7[ 1 ], 7 ); + diff_Q14[ 2 ] = in_Q14[ 2 ] - silk_LSHIFT( cb_row_Q7[ 2 ], 7 ); + diff_Q14[ 3 ] = in_Q14[ 3 ] - silk_LSHIFT( cb_row_Q7[ 3 ], 7 ); + diff_Q14[ 4 ] = in_Q14[ 4 ] - silk_LSHIFT( cb_row_Q7[ 4 ], 7 ); + /* Weighted rate */ - /* Quantization error: 1 - 2 * xX * cb + cb' * XX * cb */ - sum1_Q15 = SILK_FIX_CONST( 1.001, 15 ); + sum1_Q14 = silk_SMULBB( mu_Q9, cl_Q5[ k ] ); /* Penalty for too large gain */ - penalty = silk_LSHIFT32( silk_max( silk_SUB32( gain_tmp_Q7, max_gain_Q7 ), 0 ), 11 ); - - /* first row of XX_Q17 */ - sum2_Q24 = silk_MLA( neg_xX_Q24[ 0 ], XX_Q17[ 1 ], cb_row_Q7[ 1 ] ); - sum2_Q24 = silk_MLA( sum2_Q24, XX_Q17[ 2 ], cb_row_Q7[ 2 ] ); - sum2_Q24 = silk_MLA( sum2_Q24, XX_Q17[ 3 ], cb_row_Q7[ 3 ] ); - sum2_Q24 = silk_MLA( sum2_Q24, XX_Q17[ 4 ], cb_row_Q7[ 4 ] ); - sum2_Q24 = silk_LSHIFT32( sum2_Q24, 1 ); - sum2_Q24 = silk_MLA( sum2_Q24, XX_Q17[ 0 ], cb_row_Q7[ 0 ] ); - sum1_Q15 = silk_SMLAWB( sum1_Q15, sum2_Q24, cb_row_Q7[ 0 ] ); - - /* second row of XX_Q17 */ - sum2_Q24 = silk_MLA( neg_xX_Q24[ 1 ], XX_Q17[ 7 ], cb_row_Q7[ 2 ] ); - sum2_Q24 = silk_MLA( sum2_Q24, XX_Q17[ 8 ], cb_row_Q7[ 3 ] ); - sum2_Q24 = silk_MLA( sum2_Q24, XX_Q17[ 9 ], cb_row_Q7[ 4 ] ); - sum2_Q24 = silk_LSHIFT32( sum2_Q24, 1 ); - sum2_Q24 = silk_MLA( sum2_Q24, XX_Q17[ 6 ], cb_row_Q7[ 1 ] ); - sum1_Q15 = silk_SMLAWB( sum1_Q15, sum2_Q24, cb_row_Q7[ 1 ] ); - - /* third row of XX_Q17 */ - sum2_Q24 = silk_MLA( neg_xX_Q24[ 2 ], XX_Q17[ 13 ], cb_row_Q7[ 3 ] ); - sum2_Q24 = silk_MLA( sum2_Q24, XX_Q17[ 14 ], cb_row_Q7[ 4 ] ); - sum2_Q24 = silk_LSHIFT32( sum2_Q24, 1 ); - sum2_Q24 = silk_MLA( sum2_Q24, XX_Q17[ 12 ], cb_row_Q7[ 2 ] ); - sum1_Q15 = silk_SMLAWB( sum1_Q15, sum2_Q24, cb_row_Q7[ 2 ] ); - - /* fourth row of XX_Q17 */ - sum2_Q24 = silk_MLA( neg_xX_Q24[ 3 ], XX_Q17[ 19 ], cb_row_Q7[ 4 ] ); - sum2_Q24 = silk_LSHIFT32( sum2_Q24, 1 ); - sum2_Q24 = silk_MLA( sum2_Q24, XX_Q17[ 18 ], cb_row_Q7[ 3 ] ); - sum1_Q15 = silk_SMLAWB( sum1_Q15, sum2_Q24, cb_row_Q7[ 3 ] ); - - /* last row of XX_Q17 */ - sum2_Q24 = silk_LSHIFT32( neg_xX_Q24[ 4 ], 1 ); - sum2_Q24 = silk_MLA( sum2_Q24, XX_Q17[ 24 ], cb_row_Q7[ 4 ] ); - sum1_Q15 = silk_SMLAWB( sum1_Q15, sum2_Q24, cb_row_Q7[ 4 ] ); + sum1_Q14 = silk_ADD_LSHIFT32( sum1_Q14, silk_max( silk_SUB32( gain_tmp_Q7, max_gain_Q7 ), 0 ), 10 ); + + silk_assert( sum1_Q14 >= 0 ); + + /* first row of W_Q18 */ + sum2_Q16 = silk_SMULWB( W_Q18[ 1 ], diff_Q14[ 1 ] ); + sum2_Q16 = silk_SMLAWB( sum2_Q16, W_Q18[ 2 ], diff_Q14[ 2 ] ); + sum2_Q16 = silk_SMLAWB( sum2_Q16, W_Q18[ 3 ], diff_Q14[ 3 ] ); + sum2_Q16 = silk_SMLAWB( sum2_Q16, W_Q18[ 4 ], diff_Q14[ 4 ] ); + sum2_Q16 = silk_LSHIFT( sum2_Q16, 1 ); + sum2_Q16 = silk_SMLAWB( sum2_Q16, W_Q18[ 0 ], diff_Q14[ 0 ] ); + sum1_Q14 = silk_SMLAWB( sum1_Q14, sum2_Q16, diff_Q14[ 0 ] ); + + /* second row of W_Q18 */ + sum2_Q16 = silk_SMULWB( W_Q18[ 7 ], diff_Q14[ 2 ] ); + sum2_Q16 = silk_SMLAWB( sum2_Q16, W_Q18[ 8 ], diff_Q14[ 3 ] ); + sum2_Q16 = silk_SMLAWB( sum2_Q16, W_Q18[ 9 ], diff_Q14[ 4 ] ); + sum2_Q16 = silk_LSHIFT( sum2_Q16, 1 ); + sum2_Q16 = silk_SMLAWB( sum2_Q16, W_Q18[ 6 ], diff_Q14[ 1 ] ); + sum1_Q14 = silk_SMLAWB( sum1_Q14, sum2_Q16, diff_Q14[ 1 ] ); + + /* third row of W_Q18 */ + sum2_Q16 = silk_SMULWB( W_Q18[ 13 ], diff_Q14[ 3 ] ); + sum2_Q16 = silk_SMLAWB( sum2_Q16, W_Q18[ 14 ], diff_Q14[ 4 ] ); + sum2_Q16 = silk_LSHIFT( sum2_Q16, 1 ); + sum2_Q16 = silk_SMLAWB( sum2_Q16, W_Q18[ 12 ], diff_Q14[ 2 ] ); + sum1_Q14 = silk_SMLAWB( sum1_Q14, sum2_Q16, diff_Q14[ 2 ] ); + + /* fourth row of W_Q18 */ + sum2_Q16 = silk_SMULWB( W_Q18[ 19 ], diff_Q14[ 4 ] ); + sum2_Q16 = silk_LSHIFT( sum2_Q16, 1 ); + sum2_Q16 = silk_SMLAWB( sum2_Q16, W_Q18[ 18 ], diff_Q14[ 3 ] ); + sum1_Q14 = silk_SMLAWB( sum1_Q14, sum2_Q16, diff_Q14[ 3 ] ); + + /* last row of W_Q18 */ + sum2_Q16 = silk_SMULWB( W_Q18[ 24 ], diff_Q14[ 4 ] ); + sum1_Q14 = silk_SMLAWB( sum1_Q14, sum2_Q16, diff_Q14[ 4 ] ); + + silk_assert( sum1_Q14 >= 0 ); /* find best */ - if( sum1_Q15 >= 0 ) { - /* Translate residual energy to bits using high-rate assumption (6 dB ==> 1 bit/sample) */ - bits_res_Q8 = silk_SMULBB( subfr_len, silk_lin2log( sum1_Q15 + penalty) - (15 << 7) ); - /* In the following line we reduce the codelength component by half ("-1"); seems to slghtly improve quality */ - bits_tot_Q8 = silk_ADD_LSHIFT32( bits_res_Q8, cl_Q5[ k ], 3-1 ); - if( bits_tot_Q8 <= *rate_dist_Q8 ) { - *rate_dist_Q8 = bits_tot_Q8; - *res_nrg_Q15 = sum1_Q15 + penalty; - *ind = (opus_int8)k; - *gain_Q7 = gain_tmp_Q7; - } + if( sum1_Q14 < *rate_dist_Q14 ) { + *rate_dist_Q14 = sum1_Q14; + *ind = (opus_int8)k; + *gain_Q7 = gain_tmp_Q7; } /* Go to next cbk vector */ diff --git a/thirdparty/opus/silk/arm/LPC_inv_pred_gain_arm.h b/thirdparty/opus/silk/arm/LPC_inv_pred_gain_arm.h deleted file mode 100644 index 9895b555c8..0000000000 --- a/thirdparty/opus/silk/arm/LPC_inv_pred_gain_arm.h +++ /dev/null @@ -1,57 +0,0 @@ -/*********************************************************************** -Copyright (c) 2017 Google Inc. -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: -- Redistributions of source code must retain the above copyright notice, -this list of conditions and the following disclaimer. -- Redistributions in binary form must reproduce the above copyright -notice, this list of conditions and the following disclaimer in the -documentation and/or other materials provided with the distribution. -- Neither the name of Internet Society, IETF or IETF Trust, nor the -names of specific contributors, may be used to endorse or promote -products derived from this software without specific prior written -permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. -***********************************************************************/ - -#ifndef SILK_LPC_INV_PRED_GAIN_ARM_H -# define SILK_LPC_INV_PRED_GAIN_ARM_H - -# include "celt/arm/armcpu.h" - -# if defined(OPUS_ARM_MAY_HAVE_NEON_INTR) -opus_int32 silk_LPC_inverse_pred_gain_neon( /* O Returns inverse prediction gain in energy domain, Q30 */ - const opus_int16 *A_Q12, /* I Prediction coefficients, Q12 [order] */ - const opus_int order /* I Prediction order */ -); - -# if !defined(OPUS_HAVE_RTCD) && defined(OPUS_ARM_PRESUME_NEON) -# define OVERRIDE_silk_LPC_inverse_pred_gain (1) -# define silk_LPC_inverse_pred_gain(A_Q12, order, arch) ((void)(arch), PRESUME_NEON(silk_LPC_inverse_pred_gain)(A_Q12, order)) -# endif -# endif - -# if !defined(OVERRIDE_silk_LPC_inverse_pred_gain) -/*Is run-time CPU detection enabled on this platform?*/ -# if defined(OPUS_HAVE_RTCD) && (defined(OPUS_ARM_MAY_HAVE_NEON_INTR) && !defined(OPUS_ARM_PRESUME_NEON_INTR)) -extern opus_int32 (*const SILK_LPC_INVERSE_PRED_GAIN_IMPL[OPUS_ARCHMASK+1])(const opus_int16 *A_Q12, const opus_int order); -# define OVERRIDE_silk_LPC_inverse_pred_gain (1) -# define silk_LPC_inverse_pred_gain(A_Q12, order, arch) ((*SILK_LPC_INVERSE_PRED_GAIN_IMPL[(arch)&OPUS_ARCHMASK])(A_Q12, order)) -# elif defined(OPUS_ARM_PRESUME_NEON_INTR) -# define OVERRIDE_silk_LPC_inverse_pred_gain (1) -# define silk_LPC_inverse_pred_gain(A_Q12, order, arch) ((void)(arch), silk_LPC_inverse_pred_gain_neon(A_Q12, order)) -# endif -# endif - -#endif /* end SILK_LPC_INV_PRED_GAIN_ARM_H */ diff --git a/thirdparty/opus/silk/arm/LPC_inv_pred_gain_neon_intr.c b/thirdparty/opus/silk/arm/LPC_inv_pred_gain_neon_intr.c deleted file mode 100644 index ab426bcd66..0000000000 --- a/thirdparty/opus/silk/arm/LPC_inv_pred_gain_neon_intr.c +++ /dev/null @@ -1,280 +0,0 @@ -/*********************************************************************** -Copyright (c) 2017 Google Inc. -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: -- Redistributions of source code must retain the above copyright notice, -this list of conditions and the following disclaimer. -- Redistributions in binary form must reproduce the above copyright -notice, this list of conditions and the following disclaimer in the -documentation and/or other materials provided with the distribution. -- Neither the name of Internet Society, IETF or IETF Trust, nor the -names of specific contributors, may be used to endorse or promote -products derived from this software without specific prior written -permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. -***********************************************************************/ - -#ifdef HAVE_CONFIG_H -#include "config.h" -#endif - -#include <arm_neon.h> -#include "SigProc_FIX.h" -#include "define.h" - -#define QA 24 -#define A_LIMIT SILK_FIX_CONST( 0.99975, QA ) - -#define MUL32_FRAC_Q(a32, b32, Q) ((opus_int32)(silk_RSHIFT_ROUND64(silk_SMULL(a32, b32), Q))) - -/* The difficulty is how to judge a 64-bit signed integer tmp64 is 32-bit overflowed, - * since NEON has no 64-bit min, max or comparison instructions. - * A failed idea is to compare the results of vmovn(tmp64) and vqmovn(tmp64) whether they are equal or not. - * However, this idea fails when the tmp64 is something like 0xFFFFFFF980000000. - * Here we know that mult2Q >= 1, so the highest bit (bit 63, sign bit) of tmp64 must equal to bit 62. - * tmp64 was shifted left by 1 and we got tmp64'. If high_half(tmp64') != 0 and high_half(tmp64') != -1, - * then we know that bit 31 to bit 63 of tmp64 can not all be the sign bit, and therefore tmp64 is 32-bit overflowed. - * That is, we judge if tmp64' > 0x00000000FFFFFFFF, or tmp64' <= 0xFFFFFFFF00000000. - * We use narrowing shift right 31 bits to tmp32' to save data bandwidth and instructions. - * That is, we judge if tmp32' > 0x00000000, or tmp32' <= 0xFFFFFFFF. - */ - -/* Compute inverse of LPC prediction gain, and */ -/* test if LPC coefficients are stable (all poles within unit circle) */ -static OPUS_INLINE opus_int32 LPC_inverse_pred_gain_QA_neon( /* O Returns inverse prediction gain in energy domain, Q30 */ - opus_int32 A_QA[ SILK_MAX_ORDER_LPC ], /* I Prediction coefficients */ - const opus_int order /* I Prediction order */ -) -{ - opus_int k, n, mult2Q; - opus_int32 invGain_Q30, rc_Q31, rc_mult1_Q30, rc_mult2, tmp1, tmp2; - opus_int32 max, min; - int32x4_t max_s32x4, min_s32x4; - int32x2_t max_s32x2, min_s32x2; - - max_s32x4 = vdupq_n_s32( silk_int32_MIN ); - min_s32x4 = vdupq_n_s32( silk_int32_MAX ); - invGain_Q30 = SILK_FIX_CONST( 1, 30 ); - for( k = order - 1; k > 0; k-- ) { - int32x2_t rc_Q31_s32x2, rc_mult2_s32x2; - int64x2_t mult2Q_s64x2; - - /* Check for stability */ - if( ( A_QA[ k ] > A_LIMIT ) || ( A_QA[ k ] < -A_LIMIT ) ) { - return 0; - } - - /* Set RC equal to negated AR coef */ - rc_Q31 = -silk_LSHIFT( A_QA[ k ], 31 - QA ); - - /* rc_mult1_Q30 range: [ 1 : 2^30 ] */ - rc_mult1_Q30 = silk_SUB32( SILK_FIX_CONST( 1, 30 ), silk_SMMUL( rc_Q31, rc_Q31 ) ); - silk_assert( rc_mult1_Q30 > ( 1 << 15 ) ); /* reduce A_LIMIT if fails */ - silk_assert( rc_mult1_Q30 <= ( 1 << 30 ) ); - - /* Update inverse gain */ - /* invGain_Q30 range: [ 0 : 2^30 ] */ - invGain_Q30 = silk_LSHIFT( silk_SMMUL( invGain_Q30, rc_mult1_Q30 ), 2 ); - silk_assert( invGain_Q30 >= 0 ); - silk_assert( invGain_Q30 <= ( 1 << 30 ) ); - if( invGain_Q30 < SILK_FIX_CONST( 1.0f / MAX_PREDICTION_POWER_GAIN, 30 ) ) { - return 0; - } - - /* rc_mult2 range: [ 2^30 : silk_int32_MAX ] */ - mult2Q = 32 - silk_CLZ32( silk_abs( rc_mult1_Q30 ) ); - rc_mult2 = silk_INVERSE32_varQ( rc_mult1_Q30, mult2Q + 30 ); - - /* Update AR coefficient */ - rc_Q31_s32x2 = vdup_n_s32( rc_Q31 ); - mult2Q_s64x2 = vdupq_n_s64( -mult2Q ); - rc_mult2_s32x2 = vdup_n_s32( rc_mult2 ); - - for( n = 0; n < ( ( k + 1 ) >> 1 ) - 3; n += 4 ) { - /* We always calculate extra elements of A_QA buffer when ( k % 4 ) != 0, to take the advantage of SIMD parallelization. */ - int32x4_t tmp1_s32x4, tmp2_s32x4, t0_s32x4, t1_s32x4, s0_s32x4, s1_s32x4, t_QA0_s32x4, t_QA1_s32x4; - int64x2_t t0_s64x2, t1_s64x2, t2_s64x2, t3_s64x2; - tmp1_s32x4 = vld1q_s32( A_QA + n ); - tmp2_s32x4 = vld1q_s32( A_QA + k - n - 4 ); - tmp2_s32x4 = vrev64q_s32( tmp2_s32x4 ); - tmp2_s32x4 = vcombine_s32( vget_high_s32( tmp2_s32x4 ), vget_low_s32( tmp2_s32x4 ) ); - t0_s32x4 = vqrdmulhq_lane_s32( tmp2_s32x4, rc_Q31_s32x2, 0 ); - t1_s32x4 = vqrdmulhq_lane_s32( tmp1_s32x4, rc_Q31_s32x2, 0 ); - t_QA0_s32x4 = vqsubq_s32( tmp1_s32x4, t0_s32x4 ); - t_QA1_s32x4 = vqsubq_s32( tmp2_s32x4, t1_s32x4 ); - t0_s64x2 = vmull_s32( vget_low_s32 ( t_QA0_s32x4 ), rc_mult2_s32x2 ); - t1_s64x2 = vmull_s32( vget_high_s32( t_QA0_s32x4 ), rc_mult2_s32x2 ); - t2_s64x2 = vmull_s32( vget_low_s32 ( t_QA1_s32x4 ), rc_mult2_s32x2 ); - t3_s64x2 = vmull_s32( vget_high_s32( t_QA1_s32x4 ), rc_mult2_s32x2 ); - t0_s64x2 = vrshlq_s64( t0_s64x2, mult2Q_s64x2 ); - t1_s64x2 = vrshlq_s64( t1_s64x2, mult2Q_s64x2 ); - t2_s64x2 = vrshlq_s64( t2_s64x2, mult2Q_s64x2 ); - t3_s64x2 = vrshlq_s64( t3_s64x2, mult2Q_s64x2 ); - t0_s32x4 = vcombine_s32( vmovn_s64( t0_s64x2 ), vmovn_s64( t1_s64x2 ) ); - t1_s32x4 = vcombine_s32( vmovn_s64( t2_s64x2 ), vmovn_s64( t3_s64x2 ) ); - s0_s32x4 = vcombine_s32( vshrn_n_s64( t0_s64x2, 31 ), vshrn_n_s64( t1_s64x2, 31 ) ); - s1_s32x4 = vcombine_s32( vshrn_n_s64( t2_s64x2, 31 ), vshrn_n_s64( t3_s64x2, 31 ) ); - max_s32x4 = vmaxq_s32( max_s32x4, s0_s32x4 ); - min_s32x4 = vminq_s32( min_s32x4, s0_s32x4 ); - max_s32x4 = vmaxq_s32( max_s32x4, s1_s32x4 ); - min_s32x4 = vminq_s32( min_s32x4, s1_s32x4 ); - t1_s32x4 = vrev64q_s32( t1_s32x4 ); - t1_s32x4 = vcombine_s32( vget_high_s32( t1_s32x4 ), vget_low_s32( t1_s32x4 ) ); - vst1q_s32( A_QA + n, t0_s32x4 ); - vst1q_s32( A_QA + k - n - 4, t1_s32x4 ); - } - for( ; n < (k + 1) >> 1; n++ ) { - opus_int64 tmp64; - tmp1 = A_QA[ n ]; - tmp2 = A_QA[ k - n - 1 ]; - tmp64 = silk_RSHIFT_ROUND64( silk_SMULL( silk_SUB_SAT32(tmp1, - MUL32_FRAC_Q( tmp2, rc_Q31, 31 ) ), rc_mult2 ), mult2Q); - if( tmp64 > silk_int32_MAX || tmp64 < silk_int32_MIN ) { - return 0; - } - A_QA[ n ] = ( opus_int32 )tmp64; - tmp64 = silk_RSHIFT_ROUND64( silk_SMULL( silk_SUB_SAT32(tmp2, - MUL32_FRAC_Q( tmp1, rc_Q31, 31 ) ), rc_mult2), mult2Q); - if( tmp64 > silk_int32_MAX || tmp64 < silk_int32_MIN ) { - return 0; - } - A_QA[ k - n - 1 ] = ( opus_int32 )tmp64; - } - } - - /* Check for stability */ - if( ( A_QA[ k ] > A_LIMIT ) || ( A_QA[ k ] < -A_LIMIT ) ) { - return 0; - } - - max_s32x2 = vmax_s32( vget_low_s32( max_s32x4 ), vget_high_s32( max_s32x4 ) ); - min_s32x2 = vmin_s32( vget_low_s32( min_s32x4 ), vget_high_s32( min_s32x4 ) ); - max_s32x2 = vmax_s32( max_s32x2, vreinterpret_s32_s64( vshr_n_s64( vreinterpret_s64_s32( max_s32x2 ), 32 ) ) ); - min_s32x2 = vmin_s32( min_s32x2, vreinterpret_s32_s64( vshr_n_s64( vreinterpret_s64_s32( min_s32x2 ), 32 ) ) ); - max = vget_lane_s32( max_s32x2, 0 ); - min = vget_lane_s32( min_s32x2, 0 ); - if( ( max > 0 ) || ( min < -1 ) ) { - return 0; - } - - /* Set RC equal to negated AR coef */ - rc_Q31 = -silk_LSHIFT( A_QA[ 0 ], 31 - QA ); - - /* Range: [ 1 : 2^30 ] */ - rc_mult1_Q30 = silk_SUB32( SILK_FIX_CONST( 1, 30 ), silk_SMMUL( rc_Q31, rc_Q31 ) ); - - /* Update inverse gain */ - /* Range: [ 0 : 2^30 ] */ - invGain_Q30 = silk_LSHIFT( silk_SMMUL( invGain_Q30, rc_mult1_Q30 ), 2 ); - silk_assert( invGain_Q30 >= 0 ); - silk_assert( invGain_Q30 <= ( 1 << 30 ) ); - if( invGain_Q30 < SILK_FIX_CONST( 1.0f / MAX_PREDICTION_POWER_GAIN, 30 ) ) { - return 0; - } - - return invGain_Q30; -} - -/* For input in Q12 domain */ -opus_int32 silk_LPC_inverse_pred_gain_neon( /* O Returns inverse prediction gain in energy domain, Q30 */ - const opus_int16 *A_Q12, /* I Prediction coefficients, Q12 [order] */ - const opus_int order /* I Prediction order */ -) -{ -#ifdef OPUS_CHECK_ASM - const opus_int32 invGain_Q30_c = silk_LPC_inverse_pred_gain_c( A_Q12, order ); -#endif - - opus_int32 invGain_Q30; - if( ( SILK_MAX_ORDER_LPC != 24 ) || ( order & 1 )) { - invGain_Q30 = silk_LPC_inverse_pred_gain_c( A_Q12, order ); - } - else { - opus_int32 Atmp_QA[ SILK_MAX_ORDER_LPC ]; - opus_int32 DC_resp; - int16x8_t t0_s16x8, t1_s16x8, t2_s16x8; - int32x4_t t0_s32x4; - const opus_int leftover = order & 7; - - /* Increase Q domain of the AR coefficients */ - t0_s16x8 = vld1q_s16( A_Q12 + 0 ); - t1_s16x8 = vld1q_s16( A_Q12 + 8 ); - t2_s16x8 = vld1q_s16( A_Q12 + 16 ); - t0_s32x4 = vpaddlq_s16( t0_s16x8 ); - - switch( order - leftover ) - { - case 24: - t0_s32x4 = vpadalq_s16( t0_s32x4, t2_s16x8 ); - /* FALLTHROUGH */ - - case 16: - t0_s32x4 = vpadalq_s16( t0_s32x4, t1_s16x8 ); - vst1q_s32( Atmp_QA + 16, vshll_n_s16( vget_low_s16 ( t2_s16x8 ), QA - 12 ) ); - vst1q_s32( Atmp_QA + 20, vshll_n_s16( vget_high_s16( t2_s16x8 ), QA - 12 ) ); - /* FALLTHROUGH */ - - case 8: - { - const int32x2_t t_s32x2 = vpadd_s32( vget_low_s32( t0_s32x4 ), vget_high_s32( t0_s32x4 ) ); - const int64x1_t t_s64x1 = vpaddl_s32( t_s32x2 ); - DC_resp = vget_lane_s32( vreinterpret_s32_s64( t_s64x1 ), 0 ); - vst1q_s32( Atmp_QA + 8, vshll_n_s16( vget_low_s16 ( t1_s16x8 ), QA - 12 ) ); - vst1q_s32( Atmp_QA + 12, vshll_n_s16( vget_high_s16( t1_s16x8 ), QA - 12 ) ); - } - break; - - default: - DC_resp = 0; - break; - } - A_Q12 += order - leftover; - - switch( leftover ) - { - case 6: - DC_resp += (opus_int32)A_Q12[ 5 ]; - DC_resp += (opus_int32)A_Q12[ 4 ]; - /* FALLTHROUGH */ - - case 4: - DC_resp += (opus_int32)A_Q12[ 3 ]; - DC_resp += (opus_int32)A_Q12[ 2 ]; - /* FALLTHROUGH */ - - case 2: - DC_resp += (opus_int32)A_Q12[ 1 ]; - DC_resp += (opus_int32)A_Q12[ 0 ]; - /* FALLTHROUGH */ - - default: - break; - } - - /* If the DC is unstable, we don't even need to do the full calculations */ - if( DC_resp >= 4096 ) { - invGain_Q30 = 0; - } else { - vst1q_s32( Atmp_QA + 0, vshll_n_s16( vget_low_s16 ( t0_s16x8 ), QA - 12 ) ); - vst1q_s32( Atmp_QA + 4, vshll_n_s16( vget_high_s16( t0_s16x8 ), QA - 12 ) ); - invGain_Q30 = LPC_inverse_pred_gain_QA_neon( Atmp_QA, order ); - } - } - -#ifdef OPUS_CHECK_ASM - silk_assert( invGain_Q30_c == invGain_Q30 ); -#endif - - return invGain_Q30; -} diff --git a/thirdparty/opus/silk/arm/NSQ_del_dec_arm.h b/thirdparty/opus/silk/arm/NSQ_del_dec_arm.h deleted file mode 100644 index 9e76e16927..0000000000 --- a/thirdparty/opus/silk/arm/NSQ_del_dec_arm.h +++ /dev/null @@ -1,100 +0,0 @@ -/*********************************************************************** -Copyright (c) 2017 Google Inc. -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: -- Redistributions of source code must retain the above copyright notice, -this list of conditions and the following disclaimer. -- Redistributions in binary form must reproduce the above copyright -notice, this list of conditions and the following disclaimer in the -documentation and/or other materials provided with the distribution. -- Neither the name of Internet Society, IETF or IETF Trust, nor the -names of specific contributors, may be used to endorse or promote -products derived from this software without specific prior written -permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. -***********************************************************************/ - -#ifndef SILK_NSQ_DEL_DEC_ARM_H -#define SILK_NSQ_DEL_DEC_ARM_H - -#include "celt/arm/armcpu.h" - -#if defined(OPUS_ARM_MAY_HAVE_NEON_INTR) -void silk_NSQ_del_dec_neon( - const silk_encoder_state *psEncC, silk_nsq_state *NSQ, - SideInfoIndices *psIndices, const opus_int16 x16[], opus_int8 pulses[], - const opus_int16 PredCoef_Q12[2 * MAX_LPC_ORDER], - const opus_int16 LTPCoef_Q14[LTP_ORDER * MAX_NB_SUBFR], - const opus_int16 AR_Q13[MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER], - const opus_int HarmShapeGain_Q14[MAX_NB_SUBFR], - const opus_int Tilt_Q14[MAX_NB_SUBFR], - const opus_int32 LF_shp_Q14[MAX_NB_SUBFR], - const opus_int32 Gains_Q16[MAX_NB_SUBFR], - const opus_int pitchL[MAX_NB_SUBFR], const opus_int Lambda_Q10, - const opus_int LTP_scale_Q14); - -#if !defined(OPUS_HAVE_RTCD) -#define OVERRIDE_silk_NSQ_del_dec (1) -#define silk_NSQ_del_dec(psEncC, NSQ, psIndices, x16, pulses, PredCoef_Q12, \ - LTPCoef_Q14, AR_Q13, HarmShapeGain_Q14, Tilt_Q14, \ - LF_shp_Q14, Gains_Q16, pitchL, Lambda_Q10, \ - LTP_scale_Q14, arch) \ - ((void)(arch), \ - PRESUME_NEON(silk_NSQ_del_dec)( \ - psEncC, NSQ, psIndices, x16, pulses, PredCoef_Q12, LTPCoef_Q14, \ - AR_Q13, HarmShapeGain_Q14, Tilt_Q14, LF_shp_Q14, Gains_Q16, pitchL, \ - Lambda_Q10, LTP_scale_Q14)) -#endif -#endif - -#if !defined(OVERRIDE_silk_NSQ_del_dec) -/*Is run-time CPU detection enabled on this platform?*/ -#if defined(OPUS_HAVE_RTCD) && (defined(OPUS_ARM_MAY_HAVE_NEON_INTR) && \ - !defined(OPUS_ARM_PRESUME_NEON_INTR)) -extern void (*const SILK_NSQ_DEL_DEC_IMPL[OPUS_ARCHMASK + 1])( - const silk_encoder_state *psEncC, silk_nsq_state *NSQ, - SideInfoIndices *psIndices, const opus_int16 x16[], opus_int8 pulses[], - const opus_int16 PredCoef_Q12[2 * MAX_LPC_ORDER], - const opus_int16 LTPCoef_Q14[LTP_ORDER * MAX_NB_SUBFR], - const opus_int16 AR_Q13[MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER], - const opus_int HarmShapeGain_Q14[MAX_NB_SUBFR], - const opus_int Tilt_Q14[MAX_NB_SUBFR], - const opus_int32 LF_shp_Q14[MAX_NB_SUBFR], - const opus_int32 Gains_Q16[MAX_NB_SUBFR], - const opus_int pitchL[MAX_NB_SUBFR], const opus_int Lambda_Q10, - const opus_int LTP_scale_Q14); -#define OVERRIDE_silk_NSQ_del_dec (1) -#define silk_NSQ_del_dec(psEncC, NSQ, psIndices, x16, pulses, PredCoef_Q12, \ - LTPCoef_Q14, AR_Q13, HarmShapeGain_Q14, Tilt_Q14, \ - LF_shp_Q14, Gains_Q16, pitchL, Lambda_Q10, \ - LTP_scale_Q14, arch) \ - ((*SILK_NSQ_DEL_DEC_IMPL[(arch)&OPUS_ARCHMASK])( \ - psEncC, NSQ, psIndices, x16, pulses, PredCoef_Q12, LTPCoef_Q14, \ - AR_Q13, HarmShapeGain_Q14, Tilt_Q14, LF_shp_Q14, Gains_Q16, pitchL, \ - Lambda_Q10, LTP_scale_Q14)) -#elif defined(OPUS_ARM_PRESUME_NEON_INTR) -#define OVERRIDE_silk_NSQ_del_dec (1) -#define silk_NSQ_del_dec(psEncC, NSQ, psIndices, x16, pulses, PredCoef_Q12, \ - LTPCoef_Q14, AR_Q13, HarmShapeGain_Q14, Tilt_Q14, \ - LF_shp_Q14, Gains_Q16, pitchL, Lambda_Q10, \ - LTP_scale_Q14, arch) \ - ((void)(arch), \ - silk_NSQ_del_dec_neon(psEncC, NSQ, psIndices, x16, pulses, PredCoef_Q12, \ - LTPCoef_Q14, AR_Q13, HarmShapeGain_Q14, Tilt_Q14, \ - LF_shp_Q14, Gains_Q16, pitchL, Lambda_Q10, \ - LTP_scale_Q14)) -#endif -#endif - -#endif /* end SILK_NSQ_DEL_DEC_ARM_H */ diff --git a/thirdparty/opus/silk/arm/NSQ_del_dec_neon_intr.c b/thirdparty/opus/silk/arm/NSQ_del_dec_neon_intr.c deleted file mode 100644 index 212410f362..0000000000 --- a/thirdparty/opus/silk/arm/NSQ_del_dec_neon_intr.c +++ /dev/null @@ -1,1124 +0,0 @@ -/*********************************************************************** -Copyright (c) 2017 Google Inc. -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: -- Redistributions of source code must retain the above copyright notice, -this list of conditions and the following disclaimer. -- Redistributions in binary form must reproduce the above copyright -notice, this list of conditions and the following disclaimer in the -documentation and/or other materials provided with the distribution. -- Neither the name of Internet Society, IETF or IETF Trust, nor the -names of specific contributors, may be used to endorse or promote -products derived from this software without specific prior written -permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. -***********************************************************************/ - -#ifdef HAVE_CONFIG_H -#include "config.h" -#endif - -#include <arm_neon.h> -#ifdef OPUS_CHECK_ASM -# include <string.h> -#endif -#include "main.h" -#include "stack_alloc.h" - -/* NEON intrinsics optimization now can only parallelize up to 4 delay decision states. */ -/* If there are more states, C function is called, and this optimization must be expanded. */ -#define NEON_MAX_DEL_DEC_STATES 4 - -typedef struct { - opus_int32 sLPC_Q14[ MAX_SUB_FRAME_LENGTH + NSQ_LPC_BUF_LENGTH ][ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 RandState[ DECISION_DELAY ][ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 Q_Q10[ DECISION_DELAY ][ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 Xq_Q14[ DECISION_DELAY ][ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 Pred_Q15[ DECISION_DELAY ][ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 Shape_Q14[ DECISION_DELAY ][ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 sAR2_Q14[ MAX_SHAPE_LPC_ORDER ][ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 LF_AR_Q14[ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 Diff_Q14[ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 Seed[ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 SeedInit[ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 RD_Q10[ NEON_MAX_DEL_DEC_STATES ]; -} NSQ_del_decs_struct; - -typedef struct { - opus_int32 Q_Q10[ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 RD_Q10[ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 xq_Q14[ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 LF_AR_Q14[ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 Diff_Q14[ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 sLTP_shp_Q14[ NEON_MAX_DEL_DEC_STATES ]; - opus_int32 LPC_exc_Q14[ NEON_MAX_DEL_DEC_STATES ]; -} NSQ_samples_struct; - -static OPUS_INLINE void silk_nsq_del_dec_scale_states_neon( - const silk_encoder_state *psEncC, /* I Encoder State */ - silk_nsq_state *NSQ, /* I/O NSQ state */ - NSQ_del_decs_struct psDelDec[], /* I/O Delayed decision states */ - const opus_int16 x16[], /* I Input */ - opus_int32 x_sc_Q10[], /* O Input scaled with 1/Gain in Q10 */ - const opus_int16 sLTP[], /* I Re-whitened LTP state in Q0 */ - opus_int32 sLTP_Q15[], /* O LTP state matching scaled input */ - opus_int subfr, /* I Subframe number */ - const opus_int LTP_scale_Q14, /* I LTP state scaling */ - const opus_int32 Gains_Q16[ MAX_NB_SUBFR ], /* I */ - const opus_int pitchL[ MAX_NB_SUBFR ], /* I Pitch lag */ - const opus_int signal_type, /* I Signal type */ - const opus_int decisionDelay /* I Decision delay */ -); - -/******************************************/ -/* Noise shape quantizer for one subframe */ -/******************************************/ -static OPUS_INLINE void silk_noise_shape_quantizer_del_dec_neon( - silk_nsq_state *NSQ, /* I/O NSQ state */ - NSQ_del_decs_struct psDelDec[], /* I/O Delayed decision states */ - opus_int signalType, /* I Signal type */ - const opus_int32 x_Q10[], /* I */ - opus_int8 pulses[], /* O */ - opus_int16 xq[], /* O */ - opus_int32 sLTP_Q15[], /* I/O LTP filter state */ - opus_int32 delayedGain_Q10[], /* I/O Gain delay buffer */ - const opus_int16 a_Q12[], /* I Short term prediction coefs */ - const opus_int16 b_Q14[], /* I Long term prediction coefs */ - const opus_int16 AR_shp_Q13[], /* I Noise shaping coefs */ - opus_int lag, /* I Pitch lag */ - opus_int32 HarmShapeFIRPacked_Q14, /* I */ - opus_int Tilt_Q14, /* I Spectral tilt */ - opus_int32 LF_shp_Q14, /* I */ - opus_int32 Gain_Q16, /* I */ - opus_int Lambda_Q10, /* I */ - opus_int offset_Q10, /* I */ - opus_int length, /* I Input length */ - opus_int subfr, /* I Subframe number */ - opus_int shapingLPCOrder, /* I Shaping LPC filter order */ - opus_int predictLPCOrder, /* I Prediction filter order */ - opus_int warping_Q16, /* I */ - opus_int nStatesDelayedDecision, /* I Number of states in decision tree */ - opus_int *smpl_buf_idx, /* I/O Index to newest samples in buffers */ - opus_int decisionDelay /* I */ -); - -static OPUS_INLINE void copy_winner_state_kernel( - const NSQ_del_decs_struct *psDelDec, - const opus_int offset, - const opus_int last_smple_idx, - const opus_int Winner_ind, - const int32x2_t gain_lo_s32x2, - const int32x2_t gain_hi_s32x2, - const int32x4_t shift_s32x4, - int32x4_t t0_s32x4, - int32x4_t t1_s32x4, - opus_int8 *const pulses, - opus_int16 *pxq, - silk_nsq_state *NSQ -) -{ - int16x8_t t_s16x8; - int32x4_t o0_s32x4, o1_s32x4; - - t0_s32x4 = vld1q_lane_s32( &psDelDec->Q_Q10[ last_smple_idx - 0 ][ Winner_ind ], t0_s32x4, 0 ); - t0_s32x4 = vld1q_lane_s32( &psDelDec->Q_Q10[ last_smple_idx - 1 ][ Winner_ind ], t0_s32x4, 1 ); - t0_s32x4 = vld1q_lane_s32( &psDelDec->Q_Q10[ last_smple_idx - 2 ][ Winner_ind ], t0_s32x4, 2 ); - t0_s32x4 = vld1q_lane_s32( &psDelDec->Q_Q10[ last_smple_idx - 3 ][ Winner_ind ], t0_s32x4, 3 ); - t1_s32x4 = vld1q_lane_s32( &psDelDec->Q_Q10[ last_smple_idx - 4 ][ Winner_ind ], t1_s32x4, 0 ); - t1_s32x4 = vld1q_lane_s32( &psDelDec->Q_Q10[ last_smple_idx - 5 ][ Winner_ind ], t1_s32x4, 1 ); - t1_s32x4 = vld1q_lane_s32( &psDelDec->Q_Q10[ last_smple_idx - 6 ][ Winner_ind ], t1_s32x4, 2 ); - t1_s32x4 = vld1q_lane_s32( &psDelDec->Q_Q10[ last_smple_idx - 7 ][ Winner_ind ], t1_s32x4, 3 ); - t_s16x8 = vcombine_s16( vrshrn_n_s32( t0_s32x4, 10 ), vrshrn_n_s32( t1_s32x4, 10 ) ); - vst1_s8( &pulses[ offset ], vmovn_s16( t_s16x8 ) ); - - t0_s32x4 = vld1q_lane_s32( &psDelDec->Xq_Q14[ last_smple_idx - 0 ][ Winner_ind ], t0_s32x4, 0 ); - t0_s32x4 = vld1q_lane_s32( &psDelDec->Xq_Q14[ last_smple_idx - 1 ][ Winner_ind ], t0_s32x4, 1 ); - t0_s32x4 = vld1q_lane_s32( &psDelDec->Xq_Q14[ last_smple_idx - 2 ][ Winner_ind ], t0_s32x4, 2 ); - t0_s32x4 = vld1q_lane_s32( &psDelDec->Xq_Q14[ last_smple_idx - 3 ][ Winner_ind ], t0_s32x4, 3 ); - t1_s32x4 = vld1q_lane_s32( &psDelDec->Xq_Q14[ last_smple_idx - 4 ][ Winner_ind ], t1_s32x4, 0 ); - t1_s32x4 = vld1q_lane_s32( &psDelDec->Xq_Q14[ last_smple_idx - 5 ][ Winner_ind ], t1_s32x4, 1 ); - t1_s32x4 = vld1q_lane_s32( &psDelDec->Xq_Q14[ last_smple_idx - 6 ][ Winner_ind ], t1_s32x4, 2 ); - t1_s32x4 = vld1q_lane_s32( &psDelDec->Xq_Q14[ last_smple_idx - 7 ][ Winner_ind ], t1_s32x4, 3 ); - o0_s32x4 = vqdmulhq_lane_s32( t0_s32x4, gain_lo_s32x2, 0 ); - o1_s32x4 = vqdmulhq_lane_s32( t1_s32x4, gain_lo_s32x2, 0 ); - o0_s32x4 = vmlaq_lane_s32( o0_s32x4, t0_s32x4, gain_hi_s32x2, 0 ); - o1_s32x4 = vmlaq_lane_s32( o1_s32x4, t1_s32x4, gain_hi_s32x2, 0 ); - o0_s32x4 = vrshlq_s32( o0_s32x4, shift_s32x4 ); - o1_s32x4 = vrshlq_s32( o1_s32x4, shift_s32x4 ); - vst1_s16( &pxq[ offset + 0 ], vqmovn_s32( o0_s32x4 ) ); - vst1_s16( &pxq[ offset + 4 ], vqmovn_s32( o1_s32x4 ) ); - - t0_s32x4 = vld1q_lane_s32( &psDelDec->Shape_Q14[ last_smple_idx - 0 ][ Winner_ind ], t0_s32x4, 0 ); - t0_s32x4 = vld1q_lane_s32( &psDelDec->Shape_Q14[ last_smple_idx - 1 ][ Winner_ind ], t0_s32x4, 1 ); - t0_s32x4 = vld1q_lane_s32( &psDelDec->Shape_Q14[ last_smple_idx - 2 ][ Winner_ind ], t0_s32x4, 2 ); - t0_s32x4 = vld1q_lane_s32( &psDelDec->Shape_Q14[ last_smple_idx - 3 ][ Winner_ind ], t0_s32x4, 3 ); - t1_s32x4 = vld1q_lane_s32( &psDelDec->Shape_Q14[ last_smple_idx - 4 ][ Winner_ind ], t1_s32x4, 0 ); - t1_s32x4 = vld1q_lane_s32( &psDelDec->Shape_Q14[ last_smple_idx - 5 ][ Winner_ind ], t1_s32x4, 1 ); - t1_s32x4 = vld1q_lane_s32( &psDelDec->Shape_Q14[ last_smple_idx - 6 ][ Winner_ind ], t1_s32x4, 2 ); - t1_s32x4 = vld1q_lane_s32( &psDelDec->Shape_Q14[ last_smple_idx - 7 ][ Winner_ind ], t1_s32x4, 3 ); - vst1q_s32( &NSQ->sLTP_shp_Q14[ NSQ->sLTP_shp_buf_idx + offset + 0 ], t0_s32x4 ); - vst1q_s32( &NSQ->sLTP_shp_Q14[ NSQ->sLTP_shp_buf_idx + offset + 4 ], t1_s32x4 ); -} - -static OPUS_INLINE void copy_winner_state( - const NSQ_del_decs_struct *psDelDec, - const opus_int decisionDelay, - const opus_int smpl_buf_idx, - const opus_int Winner_ind, - const opus_int32 gain, - const opus_int32 shift, - opus_int8 *const pulses, - opus_int16 *pxq, - silk_nsq_state *NSQ -) -{ - opus_int i, last_smple_idx; - const int32x2_t gain_lo_s32x2 = vdup_n_s32( silk_LSHIFT32( gain & 0x0000FFFF, 15 ) ); - const int32x2_t gain_hi_s32x2 = vdup_n_s32( gain >> 16 ); - const int32x4_t shift_s32x4 = vdupq_n_s32( -shift ); - int32x4_t t0_s32x4, t1_s32x4; - - t0_s32x4 = t1_s32x4 = vdupq_n_s32( 0 ); /* initialization */ - last_smple_idx = smpl_buf_idx + decisionDelay - 1 + DECISION_DELAY; - if( last_smple_idx >= DECISION_DELAY ) last_smple_idx -= DECISION_DELAY; - if( last_smple_idx >= DECISION_DELAY ) last_smple_idx -= DECISION_DELAY; - - for( i = 0; ( i < ( decisionDelay - 7 ) ) && ( last_smple_idx >= 7 ); i += 8, last_smple_idx -= 8 ) { - copy_winner_state_kernel( psDelDec, i - decisionDelay, last_smple_idx, Winner_ind, gain_lo_s32x2, gain_hi_s32x2, shift_s32x4, t0_s32x4, t1_s32x4, pulses, pxq, NSQ ); - } - for( ; ( i < decisionDelay ) && ( last_smple_idx >= 0 ); i++, last_smple_idx-- ) { - pulses[ i - decisionDelay ] = (opus_int8)silk_RSHIFT_ROUND( psDelDec->Q_Q10[ last_smple_idx ][ Winner_ind ], 10 ); - pxq[ i - decisionDelay ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( silk_SMULWW( psDelDec->Xq_Q14[ last_smple_idx ][ Winner_ind ], gain ), shift ) ); - NSQ->sLTP_shp_Q14[ NSQ->sLTP_shp_buf_idx - decisionDelay + i ] = psDelDec->Shape_Q14[ last_smple_idx ][ Winner_ind ]; - } - - last_smple_idx += DECISION_DELAY; - for( ; i < ( decisionDelay - 7 ); i++, last_smple_idx-- ) { - copy_winner_state_kernel( psDelDec, i - decisionDelay, last_smple_idx, Winner_ind, gain_lo_s32x2, gain_hi_s32x2, shift_s32x4, t0_s32x4, t1_s32x4, pulses, pxq, NSQ ); - } - for( ; i < decisionDelay; i++, last_smple_idx-- ) { - pulses[ i - decisionDelay ] = (opus_int8)silk_RSHIFT_ROUND( psDelDec->Q_Q10[ last_smple_idx ][ Winner_ind ], 10 ); - pxq[ i - decisionDelay ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( silk_SMULWW( psDelDec->Xq_Q14[ last_smple_idx ][ Winner_ind ], gain ), shift ) ); - NSQ->sLTP_shp_Q14[ NSQ->sLTP_shp_buf_idx - decisionDelay + i ] = psDelDec->Shape_Q14[ last_smple_idx ][ Winner_ind ]; - } -} - -void silk_NSQ_del_dec_neon( - const silk_encoder_state *psEncC, /* I Encoder State */ - silk_nsq_state *NSQ, /* I/O NSQ state */ - SideInfoIndices *psIndices, /* I/O Quantization Indices */ - const opus_int16 x16[], /* I Input */ - opus_int8 pulses[], /* O Quantized pulse signal */ - const opus_int16 PredCoef_Q12[ 2 * MAX_LPC_ORDER ], /* I Short term prediction coefs */ - const opus_int16 LTPCoef_Q14[ LTP_ORDER * MAX_NB_SUBFR ], /* I Long term prediction coefs */ - const opus_int16 AR_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ], /* I Noise shaping coefs */ - const opus_int HarmShapeGain_Q14[ MAX_NB_SUBFR ], /* I Long term shaping coefs */ - const opus_int Tilt_Q14[ MAX_NB_SUBFR ], /* I Spectral tilt */ - const opus_int32 LF_shp_Q14[ MAX_NB_SUBFR ], /* I Low frequency shaping coefs */ - const opus_int32 Gains_Q16[ MAX_NB_SUBFR ], /* I Quantization step sizes */ - const opus_int pitchL[ MAX_NB_SUBFR ], /* I Pitch lags */ - const opus_int Lambda_Q10, /* I Rate/distortion tradeoff */ - const opus_int LTP_scale_Q14 /* I LTP state scaling */ -) -{ -#ifdef OPUS_CHECK_ASM - silk_nsq_state NSQ_c; - SideInfoIndices psIndices_c; - opus_int8 pulses_c[ MAX_FRAME_LENGTH ]; - const opus_int8 *const pulses_a = pulses; - - ( void )pulses_a; - silk_memcpy( &NSQ_c, NSQ, sizeof( NSQ_c ) ); - silk_memcpy( &psIndices_c, psIndices, sizeof( psIndices_c ) ); - silk_memcpy( pulses_c, pulses, sizeof( pulses_c ) ); - silk_NSQ_del_dec_c( psEncC, &NSQ_c, &psIndices_c, x16, pulses_c, PredCoef_Q12, LTPCoef_Q14, AR_Q13, HarmShapeGain_Q14, Tilt_Q14, LF_shp_Q14, Gains_Q16, - pitchL, Lambda_Q10, LTP_scale_Q14 ); -#endif - - /* The optimization parallelizes the different delay decision states. */ - if(( psEncC->nStatesDelayedDecision > NEON_MAX_DEL_DEC_STATES ) || ( psEncC->nStatesDelayedDecision <= 2 )) { - /* NEON intrinsics optimization now can only parallelize up to 4 delay decision states. */ - /* If there are more states, C function is called, and this optimization must be expanded. */ - /* When the number of delay decision states is less than 3, there are penalties using this */ - /* optimization, and C function is called. */ - /* When the number of delay decision states is 2, it's better to specialize another */ - /* structure NSQ_del_dec2_struct and optimize with shorter NEON registers. (Low priority) */ - silk_NSQ_del_dec_c( psEncC, NSQ, psIndices, x16, pulses, PredCoef_Q12, LTPCoef_Q14, AR_Q13, HarmShapeGain_Q14, - Tilt_Q14, LF_shp_Q14, Gains_Q16, pitchL, Lambda_Q10, LTP_scale_Q14 ); - } else { - opus_int i, k, lag, start_idx, LSF_interpolation_flag, Winner_ind, subfr; - opus_int smpl_buf_idx, decisionDelay; - const opus_int16 *A_Q12, *B_Q14, *AR_shp_Q13; - opus_int16 *pxq; - VARDECL( opus_int32, sLTP_Q15 ); - VARDECL( opus_int16, sLTP ); - opus_int32 HarmShapeFIRPacked_Q14; - opus_int offset_Q10; - opus_int32 RDmin_Q10, Gain_Q10; - VARDECL( opus_int32, x_sc_Q10 ); - VARDECL( opus_int32, delayedGain_Q10 ); - VARDECL( NSQ_del_decs_struct, psDelDec ); - int32x4_t t_s32x4; - SAVE_STACK; - - /* Set unvoiced lag to the previous one, overwrite later for voiced */ - lag = NSQ->lagPrev; - - silk_assert( NSQ->prev_gain_Q16 != 0 ); - - /* Initialize delayed decision states */ - ALLOC( psDelDec, 1, NSQ_del_decs_struct ); - /* Only RandState and RD_Q10 need to be initialized to 0. */ - silk_memset( psDelDec->RandState, 0, sizeof( psDelDec->RandState ) ); - vst1q_s32( psDelDec->RD_Q10, vdupq_n_s32( 0 ) ); - - for( k = 0; k < psEncC->nStatesDelayedDecision; k++ ) { - psDelDec->SeedInit[ k ] = psDelDec->Seed[ k ] = ( k + psIndices->Seed ) & 3; - } - vst1q_s32( psDelDec->LF_AR_Q14, vld1q_dup_s32( &NSQ->sLF_AR_shp_Q14 ) ); - vst1q_s32( psDelDec->Diff_Q14, vld1q_dup_s32( &NSQ->sDiff_shp_Q14 ) ); - vst1q_s32( psDelDec->Shape_Q14[ 0 ], vld1q_dup_s32( &NSQ->sLTP_shp_Q14[ psEncC->ltp_mem_length - 1 ] ) ); - for( i = 0; i < NSQ_LPC_BUF_LENGTH; i++ ) { - vst1q_s32( psDelDec->sLPC_Q14[ i ], vld1q_dup_s32( &NSQ->sLPC_Q14[ i ] ) ); - } - for( i = 0; i < (opus_int)( sizeof( NSQ->sAR2_Q14 ) / sizeof( NSQ->sAR2_Q14[ 0 ] ) ); i++ ) { - vst1q_s32( psDelDec->sAR2_Q14[ i ], vld1q_dup_s32( &NSQ->sAR2_Q14[ i ] ) ); - } - - offset_Q10 = silk_Quantization_Offsets_Q10[ psIndices->signalType >> 1 ][ psIndices->quantOffsetType ]; - smpl_buf_idx = 0; /* index of oldest samples */ - - decisionDelay = silk_min_int( DECISION_DELAY, psEncC->subfr_length ); - - /* For voiced frames limit the decision delay to lower than the pitch lag */ - if( psIndices->signalType == TYPE_VOICED ) { - opus_int pitch_min = pitchL[ 0 ]; - for( k = 1; k < psEncC->nb_subfr; k++ ) { - pitch_min = silk_min_int( pitch_min, pitchL[ k ] ); - } - decisionDelay = silk_min_int( decisionDelay, pitch_min - LTP_ORDER / 2 - 1 ); - } else { - if( lag > 0 ) { - decisionDelay = silk_min_int( decisionDelay, lag - LTP_ORDER / 2 - 1 ); - } - } - - if( psIndices->NLSFInterpCoef_Q2 == 4 ) { - LSF_interpolation_flag = 0; - } else { - LSF_interpolation_flag = 1; - } - - ALLOC( sLTP_Q15, psEncC->ltp_mem_length + psEncC->frame_length, opus_int32 ); - ALLOC( sLTP, psEncC->ltp_mem_length + psEncC->frame_length, opus_int16 ); - ALLOC( x_sc_Q10, psEncC->subfr_length, opus_int32 ); - ALLOC( delayedGain_Q10, DECISION_DELAY, opus_int32 ); - /* Set up pointers to start of sub frame */ - pxq = &NSQ->xq[ psEncC->ltp_mem_length ]; - NSQ->sLTP_shp_buf_idx = psEncC->ltp_mem_length; - NSQ->sLTP_buf_idx = psEncC->ltp_mem_length; - subfr = 0; - for( k = 0; k < psEncC->nb_subfr; k++ ) { - A_Q12 = &PredCoef_Q12[ ( ( k >> 1 ) | ( 1 - LSF_interpolation_flag ) ) * MAX_LPC_ORDER ]; - B_Q14 = <PCoef_Q14[ k * LTP_ORDER ]; - AR_shp_Q13 = &AR_Q13[ k * MAX_SHAPE_LPC_ORDER ]; - - /* Noise shape parameters */ - silk_assert( HarmShapeGain_Q14[ k ] >= 0 ); - HarmShapeFIRPacked_Q14 = silk_RSHIFT( HarmShapeGain_Q14[ k ], 2 ); - HarmShapeFIRPacked_Q14 |= silk_LSHIFT( (opus_int32)silk_RSHIFT( HarmShapeGain_Q14[ k ], 1 ), 16 ); - - NSQ->rewhite_flag = 0; - if( psIndices->signalType == TYPE_VOICED ) { - /* Voiced */ - lag = pitchL[ k ]; - - /* Re-whitening */ - if( ( k & ( 3 - silk_LSHIFT( LSF_interpolation_flag, 1 ) ) ) == 0 ) { - if( k == 2 ) { - /* RESET DELAYED DECISIONS */ - /* Find winner */ - int32x4_t RD_Q10_s32x4; - RDmin_Q10 = psDelDec->RD_Q10[ 0 ]; - Winner_ind = 0; - for( i = 1; i < psEncC->nStatesDelayedDecision; i++ ) { - if( psDelDec->RD_Q10[ i ] < RDmin_Q10 ) { - RDmin_Q10 = psDelDec->RD_Q10[ i ]; - Winner_ind = i; - } - } - psDelDec->RD_Q10[ Winner_ind ] -= ( silk_int32_MAX >> 4 ); - RD_Q10_s32x4 = vld1q_s32( psDelDec->RD_Q10 ); - RD_Q10_s32x4 = vaddq_s32( RD_Q10_s32x4, vdupq_n_s32( silk_int32_MAX >> 4 ) ); - vst1q_s32( psDelDec->RD_Q10, RD_Q10_s32x4 ); - - /* Copy final part of signals from winner state to output and long-term filter states */ - copy_winner_state( psDelDec, decisionDelay, smpl_buf_idx, Winner_ind, Gains_Q16[ 1 ], 14, pulses, pxq, NSQ ); - - subfr = 0; - } - - /* Rewhiten with new A coefs */ - start_idx = psEncC->ltp_mem_length - lag - psEncC->predictLPCOrder - LTP_ORDER / 2; - silk_assert( start_idx > 0 ); - - silk_LPC_analysis_filter( &sLTP[ start_idx ], &NSQ->xq[ start_idx + k * psEncC->subfr_length ], - A_Q12, psEncC->ltp_mem_length - start_idx, psEncC->predictLPCOrder, psEncC->arch ); - - NSQ->sLTP_buf_idx = psEncC->ltp_mem_length; - NSQ->rewhite_flag = 1; - } - } - - silk_nsq_del_dec_scale_states_neon( psEncC, NSQ, psDelDec, x16, x_sc_Q10, sLTP, sLTP_Q15, k, - LTP_scale_Q14, Gains_Q16, pitchL, psIndices->signalType, decisionDelay ); - - silk_noise_shape_quantizer_del_dec_neon( NSQ, psDelDec, psIndices->signalType, x_sc_Q10, pulses, pxq, sLTP_Q15, - delayedGain_Q10, A_Q12, B_Q14, AR_shp_Q13, lag, HarmShapeFIRPacked_Q14, Tilt_Q14[ k ], LF_shp_Q14[ k ], - Gains_Q16[ k ], Lambda_Q10, offset_Q10, psEncC->subfr_length, subfr++, psEncC->shapingLPCOrder, - psEncC->predictLPCOrder, psEncC->warping_Q16, psEncC->nStatesDelayedDecision, &smpl_buf_idx, decisionDelay ); - - x16 += psEncC->subfr_length; - pulses += psEncC->subfr_length; - pxq += psEncC->subfr_length; - } - - /* Find winner */ - RDmin_Q10 = psDelDec->RD_Q10[ 0 ]; - Winner_ind = 0; - for( k = 1; k < psEncC->nStatesDelayedDecision; k++ ) { - if( psDelDec->RD_Q10[ k ] < RDmin_Q10 ) { - RDmin_Q10 = psDelDec->RD_Q10[ k ]; - Winner_ind = k; - } - } - - /* Copy final part of signals from winner state to output and long-term filter states */ - psIndices->Seed = psDelDec->SeedInit[ Winner_ind ]; - Gain_Q10 = silk_RSHIFT32( Gains_Q16[ psEncC->nb_subfr - 1 ], 6 ); - copy_winner_state( psDelDec, decisionDelay, smpl_buf_idx, Winner_ind, Gain_Q10, 8, pulses, pxq, NSQ ); - - t_s32x4 = vdupq_n_s32( 0 ); /* initialization */ - for( i = 0; i < ( NSQ_LPC_BUF_LENGTH - 3 ); i += 4 ) { - t_s32x4 = vld1q_lane_s32( &psDelDec->sLPC_Q14[ i + 0 ][ Winner_ind ], t_s32x4, 0 ); - t_s32x4 = vld1q_lane_s32( &psDelDec->sLPC_Q14[ i + 1 ][ Winner_ind ], t_s32x4, 1 ); - t_s32x4 = vld1q_lane_s32( &psDelDec->sLPC_Q14[ i + 2 ][ Winner_ind ], t_s32x4, 2 ); - t_s32x4 = vld1q_lane_s32( &psDelDec->sLPC_Q14[ i + 3 ][ Winner_ind ], t_s32x4, 3 ); - vst1q_s32( &NSQ->sLPC_Q14[ i ], t_s32x4 ); - } - - for( ; i < NSQ_LPC_BUF_LENGTH; i++ ) { - NSQ->sLPC_Q14[ i ] = psDelDec->sLPC_Q14[ i ][ Winner_ind ]; - } - - for( i = 0; i < (opus_int)( sizeof( NSQ->sAR2_Q14 ) / sizeof( NSQ->sAR2_Q14[ 0 ] ) - 3 ); i += 4 ) { - t_s32x4 = vld1q_lane_s32( &psDelDec->sAR2_Q14[ i + 0 ][ Winner_ind ], t_s32x4, 0 ); - t_s32x4 = vld1q_lane_s32( &psDelDec->sAR2_Q14[ i + 1 ][ Winner_ind ], t_s32x4, 1 ); - t_s32x4 = vld1q_lane_s32( &psDelDec->sAR2_Q14[ i + 2 ][ Winner_ind ], t_s32x4, 2 ); - t_s32x4 = vld1q_lane_s32( &psDelDec->sAR2_Q14[ i + 3 ][ Winner_ind ], t_s32x4, 3 ); - vst1q_s32( &NSQ->sAR2_Q14[ i ], t_s32x4 ); - } - - for( ; i < (opus_int)( sizeof( NSQ->sAR2_Q14 ) / sizeof( NSQ->sAR2_Q14[ 0 ] ) ); i++ ) { - NSQ->sAR2_Q14[ i ] = psDelDec->sAR2_Q14[ i ][ Winner_ind ]; - } - - /* Update states */ - NSQ->sLF_AR_shp_Q14 = psDelDec->LF_AR_Q14[ Winner_ind ]; - NSQ->sDiff_shp_Q14 = psDelDec->Diff_Q14[ Winner_ind ]; - NSQ->lagPrev = pitchL[ psEncC->nb_subfr - 1 ]; - - /* Save quantized speech signal */ - silk_memmove( NSQ->xq, &NSQ->xq[ psEncC->frame_length ], psEncC->ltp_mem_length * sizeof( opus_int16 ) ); - silk_memmove( NSQ->sLTP_shp_Q14, &NSQ->sLTP_shp_Q14[ psEncC->frame_length ], psEncC->ltp_mem_length * sizeof( opus_int32 ) ); - RESTORE_STACK; - } - -#ifdef OPUS_CHECK_ASM - silk_assert( !memcmp( &NSQ_c, NSQ, sizeof( NSQ_c ) ) ); - silk_assert( !memcmp( &psIndices_c, psIndices, sizeof( psIndices_c ) ) ); - silk_assert( !memcmp( pulses_c, pulses_a, sizeof( pulses_c ) ) ); -#endif -} - -/******************************************/ -/* Noise shape quantizer for one subframe */ -/******************************************/ -/* Note: Function silk_short_prediction_create_arch_coef_neon() defined in NSQ_neon.h is actually a hacking C function. */ -/* Therefore here we append "_local" to the NEON function name to avoid confusion. */ -static OPUS_INLINE void silk_short_prediction_create_arch_coef_neon_local(opus_int32 *out, const opus_int16 *in, opus_int order) -{ - int16x8_t t_s16x8; - int32x4_t t0_s32x4, t1_s32x4, t2_s32x4, t3_s32x4; - silk_assert( order == 10 || order == 16 ); - - t_s16x8 = vld1q_s16( in + 0 ); /* 7 6 5 4 3 2 1 0 */ - t_s16x8 = vrev64q_s16( t_s16x8 ); /* 4 5 6 7 0 1 2 3 */ - t2_s32x4 = vshll_n_s16( vget_high_s16( t_s16x8 ), 15 ); /* 4 5 6 7 */ - t3_s32x4 = vshll_n_s16( vget_low_s16( t_s16x8 ), 15 ); /* 0 1 2 3 */ - - if( order == 16 ) { - t_s16x8 = vld1q_s16( in + 8 ); /* F E D C B A 9 8 */ - t_s16x8 = vrev64q_s16( t_s16x8 ); /* C D E F 8 9 A B */ - t0_s32x4 = vshll_n_s16( vget_high_s16( t_s16x8 ), 15 ); /* C D E F */ - t1_s32x4 = vshll_n_s16( vget_low_s16( t_s16x8 ), 15 ); /* 8 9 A B */ - } else { - int16x4_t t_s16x4; - - t0_s32x4 = vdupq_n_s32( 0 ); /* zero zero zero zero */ - t_s16x4 = vld1_s16( in + 6 ); /* 9 8 7 6 */ - t_s16x4 = vrev64_s16( t_s16x4 ); /* 6 7 8 9 */ - t1_s32x4 = vshll_n_s16( t_s16x4, 15 ); - t1_s32x4 = vcombine_s32( vget_low_s32(t0_s32x4), vget_low_s32( t1_s32x4 ) ); /* 8 9 zero zero */ - } - vst1q_s32( out + 0, t0_s32x4 ); - vst1q_s32( out + 4, t1_s32x4 ); - vst1q_s32( out + 8, t2_s32x4 ); - vst1q_s32( out + 12, t3_s32x4 ); -} - -static OPUS_INLINE int32x4_t silk_SMLAWB_lane0_neon( - const int32x4_t out_s32x4, - const int32x4_t in_s32x4, - const int32x2_t coef_s32x2 -) -{ - return vaddq_s32( out_s32x4, vqdmulhq_lane_s32( in_s32x4, coef_s32x2, 0 ) ); -} - -static OPUS_INLINE int32x4_t silk_SMLAWB_lane1_neon( - const int32x4_t out_s32x4, - const int32x4_t in_s32x4, - const int32x2_t coef_s32x2 -) -{ - return vaddq_s32( out_s32x4, vqdmulhq_lane_s32( in_s32x4, coef_s32x2, 1 ) ); -} - -/* Note: This function has different return value than silk_noise_shape_quantizer_short_prediction_neon(). */ -/* Therefore here we append "_local" to the function name to avoid confusion. */ -static OPUS_INLINE int32x4_t silk_noise_shape_quantizer_short_prediction_neon_local(const opus_int32 *buf32, const opus_int32 *a_Q12_arch, opus_int order) -{ - const int32x4_t a_Q12_arch0_s32x4 = vld1q_s32( a_Q12_arch + 0 ); - const int32x4_t a_Q12_arch1_s32x4 = vld1q_s32( a_Q12_arch + 4 ); - const int32x4_t a_Q12_arch2_s32x4 = vld1q_s32( a_Q12_arch + 8 ); - const int32x4_t a_Q12_arch3_s32x4 = vld1q_s32( a_Q12_arch + 12 ); - int32x4_t LPC_pred_Q14_s32x4; - - silk_assert( order == 10 || order == 16 ); - /* Avoids introducing a bias because silk_SMLAWB() always rounds to -inf */ - LPC_pred_Q14_s32x4 = vdupq_n_s32( silk_RSHIFT( order, 1 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane0_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 0 * NEON_MAX_DEL_DEC_STATES ), vget_low_s32( a_Q12_arch0_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane1_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 1 * NEON_MAX_DEL_DEC_STATES ), vget_low_s32( a_Q12_arch0_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane0_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 2 * NEON_MAX_DEL_DEC_STATES ), vget_high_s32( a_Q12_arch0_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane1_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 3 * NEON_MAX_DEL_DEC_STATES ), vget_high_s32( a_Q12_arch0_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane0_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 4 * NEON_MAX_DEL_DEC_STATES ), vget_low_s32( a_Q12_arch1_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane1_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 5 * NEON_MAX_DEL_DEC_STATES ), vget_low_s32( a_Q12_arch1_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane0_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 6 * NEON_MAX_DEL_DEC_STATES ), vget_high_s32( a_Q12_arch1_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane1_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 7 * NEON_MAX_DEL_DEC_STATES ), vget_high_s32( a_Q12_arch1_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane0_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 8 * NEON_MAX_DEL_DEC_STATES ), vget_low_s32( a_Q12_arch2_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane1_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 9 * NEON_MAX_DEL_DEC_STATES ), vget_low_s32( a_Q12_arch2_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane0_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 10 * NEON_MAX_DEL_DEC_STATES ), vget_high_s32( a_Q12_arch2_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane1_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 11 * NEON_MAX_DEL_DEC_STATES ), vget_high_s32( a_Q12_arch2_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane0_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 12 * NEON_MAX_DEL_DEC_STATES ), vget_low_s32( a_Q12_arch3_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane1_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 13 * NEON_MAX_DEL_DEC_STATES ), vget_low_s32( a_Q12_arch3_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane0_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 14 * NEON_MAX_DEL_DEC_STATES ), vget_high_s32( a_Q12_arch3_s32x4 ) ); - LPC_pred_Q14_s32x4 = silk_SMLAWB_lane1_neon( LPC_pred_Q14_s32x4, vld1q_s32( buf32 + 15 * NEON_MAX_DEL_DEC_STATES ), vget_high_s32( a_Q12_arch3_s32x4 ) ); - - return LPC_pred_Q14_s32x4; -} - -static OPUS_INLINE void silk_noise_shape_quantizer_del_dec_neon( - silk_nsq_state *NSQ, /* I/O NSQ state */ - NSQ_del_decs_struct psDelDec[], /* I/O Delayed decision states */ - opus_int signalType, /* I Signal type */ - const opus_int32 x_Q10[], /* I */ - opus_int8 pulses[], /* O */ - opus_int16 xq[], /* O */ - opus_int32 sLTP_Q15[], /* I/O LTP filter state */ - opus_int32 delayedGain_Q10[], /* I/O Gain delay buffer */ - const opus_int16 a_Q12[], /* I Short term prediction coefs */ - const opus_int16 b_Q14[], /* I Long term prediction coefs */ - const opus_int16 AR_shp_Q13[], /* I Noise shaping coefs */ - opus_int lag, /* I Pitch lag */ - opus_int32 HarmShapeFIRPacked_Q14, /* I */ - opus_int Tilt_Q14, /* I Spectral tilt */ - opus_int32 LF_shp_Q14, /* I */ - opus_int32 Gain_Q16, /* I */ - opus_int Lambda_Q10, /* I */ - opus_int offset_Q10, /* I */ - opus_int length, /* I Input length */ - opus_int subfr, /* I Subframe number */ - opus_int shapingLPCOrder, /* I Shaping LPC filter order */ - opus_int predictLPCOrder, /* I Prediction filter order */ - opus_int warping_Q16, /* I */ - opus_int nStatesDelayedDecision, /* I Number of states in decision tree */ - opus_int *smpl_buf_idx, /* I/O Index to newest samples in buffers */ - opus_int decisionDelay /* I */ -) -{ - opus_int i, j, k, Winner_ind, RDmin_ind, RDmax_ind, last_smple_idx; - opus_int32 Winner_rand_state; - opus_int32 LTP_pred_Q14, n_LTP_Q14; - opus_int32 RDmin_Q10, RDmax_Q10; - opus_int32 Gain_Q10; - opus_int32 *pred_lag_ptr, *shp_lag_ptr; - opus_int32 a_Q12_arch[MAX_LPC_ORDER]; - const int32x2_t warping_Q16_s32x2 = vdup_n_s32( silk_LSHIFT32( warping_Q16, 16 ) >> 1 ); - const opus_int32 LF_shp_Q29 = silk_LSHIFT32( LF_shp_Q14, 16 ) >> 1; - opus_int32 AR_shp_Q28[ MAX_SHAPE_LPC_ORDER ]; - const uint32x4_t rand_multiplier_u32x4 = vdupq_n_u32( RAND_MULTIPLIER ); - const uint32x4_t rand_increment_u32x4 = vdupq_n_u32( RAND_INCREMENT ); - - VARDECL( NSQ_samples_struct, psSampleState ); - SAVE_STACK; - - silk_assert( nStatesDelayedDecision > 0 ); - silk_assert( ( shapingLPCOrder & 1 ) == 0 ); /* check that order is even */ - ALLOC( psSampleState, 2, NSQ_samples_struct ); - - shp_lag_ptr = &NSQ->sLTP_shp_Q14[ NSQ->sLTP_shp_buf_idx - lag + HARM_SHAPE_FIR_TAPS / 2 ]; - pred_lag_ptr = &sLTP_Q15[ NSQ->sLTP_buf_idx - lag + LTP_ORDER / 2 ]; - Gain_Q10 = silk_RSHIFT( Gain_Q16, 6 ); - - for( i = 0; i < ( MAX_SHAPE_LPC_ORDER - 7 ); i += 8 ) { - const int16x8_t t_s16x8 = vld1q_s16( AR_shp_Q13 + i ); - vst1q_s32( AR_shp_Q28 + i + 0, vshll_n_s16( vget_low_s16( t_s16x8 ), 15 ) ); - vst1q_s32( AR_shp_Q28 + i + 4, vshll_n_s16( vget_high_s16( t_s16x8 ), 15 ) ); - } - - for( ; i < MAX_SHAPE_LPC_ORDER; i++ ) { - AR_shp_Q28[i] = silk_LSHIFT32( AR_shp_Q13[i], 15 ); - } - - silk_short_prediction_create_arch_coef_neon_local( a_Q12_arch, a_Q12, predictLPCOrder ); - - for( i = 0; i < length; i++ ) { - int32x4_t Seed_s32x4, LPC_pred_Q14_s32x4; - int32x4_t sign_s32x4, tmp1_s32x4, tmp2_s32x4; - int32x4_t n_AR_Q14_s32x4, n_LF_Q14_s32x4; - int32x2_t AR_shp_Q28_s32x2; - int16x4_t r_Q10_s16x4, rr_Q10_s16x4; - - /* Perform common calculations used in all states */ - - /* Long-term prediction */ - if( signalType == TYPE_VOICED ) { - /* Unrolled loop */ - /* Avoids introducing a bias because silk_SMLAWB() always rounds to -inf */ - LTP_pred_Q14 = 2; - LTP_pred_Q14 = silk_SMLAWB( LTP_pred_Q14, pred_lag_ptr[ 0 ], b_Q14[ 0 ] ); - LTP_pred_Q14 = silk_SMLAWB( LTP_pred_Q14, pred_lag_ptr[ -1 ], b_Q14[ 1 ] ); - LTP_pred_Q14 = silk_SMLAWB( LTP_pred_Q14, pred_lag_ptr[ -2 ], b_Q14[ 2 ] ); - LTP_pred_Q14 = silk_SMLAWB( LTP_pred_Q14, pred_lag_ptr[ -3 ], b_Q14[ 3 ] ); - LTP_pred_Q14 = silk_SMLAWB( LTP_pred_Q14, pred_lag_ptr[ -4 ], b_Q14[ 4 ] ); - LTP_pred_Q14 = silk_LSHIFT( LTP_pred_Q14, 1 ); /* Q13 -> Q14 */ - pred_lag_ptr++; - } else { - LTP_pred_Q14 = 0; - } - - /* Long-term shaping */ - if( lag > 0 ) { - /* Symmetric, packed FIR coefficients */ - n_LTP_Q14 = silk_SMULWB( silk_ADD32( shp_lag_ptr[ 0 ], shp_lag_ptr[ -2 ] ), HarmShapeFIRPacked_Q14 ); - n_LTP_Q14 = silk_SMLAWT( n_LTP_Q14, shp_lag_ptr[ -1 ], HarmShapeFIRPacked_Q14 ); - n_LTP_Q14 = silk_SUB_LSHIFT32( LTP_pred_Q14, n_LTP_Q14, 2 ); /* Q12 -> Q14 */ - shp_lag_ptr++; - } else { - n_LTP_Q14 = 0; - } - - /* Generate dither */ - Seed_s32x4 = vld1q_s32( psDelDec->Seed ); - Seed_s32x4 = vreinterpretq_s32_u32( vmlaq_u32( rand_increment_u32x4, vreinterpretq_u32_s32( Seed_s32x4 ), rand_multiplier_u32x4 ) ); - vst1q_s32( psDelDec->Seed, Seed_s32x4 ); - - /* Short-term prediction */ - LPC_pred_Q14_s32x4 = silk_noise_shape_quantizer_short_prediction_neon_local(psDelDec->sLPC_Q14[ NSQ_LPC_BUF_LENGTH - 16 + i ], a_Q12_arch, predictLPCOrder); - LPC_pred_Q14_s32x4 = vshlq_n_s32( LPC_pred_Q14_s32x4, 4 ); /* Q10 -> Q14 */ - - /* Noise shape feedback */ - /* Output of lowpass section */ - tmp2_s32x4 = silk_SMLAWB_lane0_neon( vld1q_s32( psDelDec->Diff_Q14 ), vld1q_s32( psDelDec->sAR2_Q14[ 0 ] ), warping_Q16_s32x2 ); - /* Output of allpass section */ - tmp1_s32x4 = vsubq_s32( vld1q_s32( psDelDec->sAR2_Q14[ 1 ] ), tmp2_s32x4 ); - tmp1_s32x4 = silk_SMLAWB_lane0_neon( vld1q_s32( psDelDec->sAR2_Q14[ 0 ] ), tmp1_s32x4, warping_Q16_s32x2 ); - vst1q_s32( psDelDec->sAR2_Q14[ 0 ], tmp2_s32x4 ); - AR_shp_Q28_s32x2 = vld1_s32( AR_shp_Q28 ); - n_AR_Q14_s32x4 = vaddq_s32( vdupq_n_s32( silk_RSHIFT( shapingLPCOrder, 1 ) ), vqdmulhq_lane_s32( tmp2_s32x4, AR_shp_Q28_s32x2, 0 ) ); - - /* Loop over allpass sections */ - for( j = 2; j < shapingLPCOrder; j += 2 ) { - /* Output of allpass section */ - tmp2_s32x4 = vsubq_s32( vld1q_s32( psDelDec->sAR2_Q14[ j + 0 ] ), tmp1_s32x4 ); - tmp2_s32x4 = silk_SMLAWB_lane0_neon( vld1q_s32( psDelDec->sAR2_Q14[ j - 1 ] ), tmp2_s32x4, warping_Q16_s32x2 ); - vst1q_s32( psDelDec->sAR2_Q14[ j - 1 ], tmp1_s32x4 ); - n_AR_Q14_s32x4 = vaddq_s32( n_AR_Q14_s32x4, vqdmulhq_lane_s32( tmp1_s32x4, AR_shp_Q28_s32x2, 1 ) ); - /* Output of allpass section */ - tmp1_s32x4 = vsubq_s32( vld1q_s32( psDelDec->sAR2_Q14[ j + 1 ] ), tmp2_s32x4 ); - tmp1_s32x4 = silk_SMLAWB_lane0_neon( vld1q_s32( psDelDec->sAR2_Q14[ j + 0 ] ), tmp1_s32x4, warping_Q16_s32x2 ); - vst1q_s32( psDelDec->sAR2_Q14[ j + 0 ], tmp2_s32x4 ); - AR_shp_Q28_s32x2 = vld1_s32( &AR_shp_Q28[ j ] ); - n_AR_Q14_s32x4 = vaddq_s32( n_AR_Q14_s32x4, vqdmulhq_lane_s32( tmp2_s32x4, AR_shp_Q28_s32x2, 0 ) ); - } - vst1q_s32( psDelDec->sAR2_Q14[ shapingLPCOrder - 1 ], tmp1_s32x4 ); - n_AR_Q14_s32x4 = vaddq_s32( n_AR_Q14_s32x4, vqdmulhq_lane_s32( tmp1_s32x4, AR_shp_Q28_s32x2, 1 ) ); - n_AR_Q14_s32x4 = vshlq_n_s32( n_AR_Q14_s32x4, 1 ); /* Q11 -> Q12 */ - n_AR_Q14_s32x4 = vaddq_s32( n_AR_Q14_s32x4, vqdmulhq_n_s32( vld1q_s32( psDelDec->LF_AR_Q14 ), silk_LSHIFT32( Tilt_Q14, 16 ) >> 1 ) ); /* Q12 */ - n_AR_Q14_s32x4 = vshlq_n_s32( n_AR_Q14_s32x4, 2 ); /* Q12 -> Q14 */ - n_LF_Q14_s32x4 = vqdmulhq_n_s32( vld1q_s32( psDelDec->Shape_Q14[ *smpl_buf_idx ] ), LF_shp_Q29 ); /* Q12 */ - n_LF_Q14_s32x4 = vaddq_s32( n_LF_Q14_s32x4, vqdmulhq_n_s32( vld1q_s32( psDelDec->LF_AR_Q14 ), silk_LSHIFT32( LF_shp_Q14 >> 16 , 15 ) ) ); /* Q12 */ - n_LF_Q14_s32x4 = vshlq_n_s32( n_LF_Q14_s32x4, 2 ); /* Q12 -> Q14 */ - - /* Input minus prediction plus noise feedback */ - /* r = x[ i ] - LTP_pred - LPC_pred + n_AR + n_Tilt + n_LF + n_LTP */ - tmp1_s32x4 = vaddq_s32( n_AR_Q14_s32x4, n_LF_Q14_s32x4 ); /* Q14 */ - tmp2_s32x4 = vaddq_s32( vdupq_n_s32( n_LTP_Q14 ), LPC_pred_Q14_s32x4 ); /* Q13 */ - tmp1_s32x4 = vsubq_s32( tmp2_s32x4, tmp1_s32x4 ); /* Q13 */ - tmp1_s32x4 = vrshrq_n_s32( tmp1_s32x4, 4 ); /* Q10 */ - tmp1_s32x4 = vsubq_s32( vdupq_n_s32( x_Q10[ i ] ), tmp1_s32x4 ); /* residual error Q10 */ - - /* Flip sign depending on dither */ - sign_s32x4 = vreinterpretq_s32_u32( vcltq_s32( Seed_s32x4, vdupq_n_s32( 0 ) ) ); - tmp1_s32x4 = veorq_s32( tmp1_s32x4, sign_s32x4 ); - tmp1_s32x4 = vsubq_s32( tmp1_s32x4, sign_s32x4 ); - tmp1_s32x4 = vmaxq_s32( tmp1_s32x4, vdupq_n_s32( -( 31 << 10 ) ) ); - tmp1_s32x4 = vminq_s32( tmp1_s32x4, vdupq_n_s32( 30 << 10 ) ); - r_Q10_s16x4 = vmovn_s32( tmp1_s32x4 ); - - /* Find two quantization level candidates and measure their rate-distortion */ - { - int16x4_t q1_Q10_s16x4 = vsub_s16( r_Q10_s16x4, vdup_n_s16( offset_Q10 ) ); - int16x4_t q1_Q0_s16x4 = vshr_n_s16( q1_Q10_s16x4, 10 ); - int16x4_t q2_Q10_s16x4; - int32x4_t rd1_Q10_s32x4, rd2_Q10_s32x4; - uint32x4_t t_u32x4; - - if( Lambda_Q10 > 2048 ) { - /* For aggressive RDO, the bias becomes more than one pulse. */ - const int rdo_offset = Lambda_Q10/2 - 512; - const uint16x4_t greaterThanRdo = vcgt_s16( q1_Q10_s16x4, vdup_n_s16( rdo_offset ) ); - const uint16x4_t lessThanMinusRdo = vclt_s16( q1_Q10_s16x4, vdup_n_s16( -rdo_offset ) ); - /* If Lambda_Q10 > 32767, then q1_Q0, q1_Q10 and q2_Q10 must change to 32-bit. */ - silk_assert( Lambda_Q10 <= 32767 ); - - q1_Q0_s16x4 = vreinterpret_s16_u16( vclt_s16( q1_Q10_s16x4, vdup_n_s16( 0 ) ) ); - q1_Q0_s16x4 = vbsl_s16( greaterThanRdo, vsub_s16( q1_Q10_s16x4, vdup_n_s16( rdo_offset ) ), q1_Q0_s16x4 ); - q1_Q0_s16x4 = vbsl_s16( lessThanMinusRdo, vadd_s16( q1_Q10_s16x4, vdup_n_s16( rdo_offset ) ), q1_Q0_s16x4 ); - q1_Q0_s16x4 = vshr_n_s16( q1_Q0_s16x4, 10 ); - } - { - const uint16x4_t equal0_u16x4 = vceq_s16( q1_Q0_s16x4, vdup_n_s16( 0 ) ); - const uint16x4_t equalMinus1_u16x4 = vceq_s16( q1_Q0_s16x4, vdup_n_s16( -1 ) ); - const uint16x4_t lessThanMinus1_u16x4 = vclt_s16( q1_Q0_s16x4, vdup_n_s16( -1 ) ); - int16x4_t tmp1_s16x4, tmp2_s16x4; - - q1_Q10_s16x4 = vshl_n_s16( q1_Q0_s16x4, 10 ); - tmp1_s16x4 = vadd_s16( q1_Q10_s16x4, vdup_n_s16( offset_Q10 - QUANT_LEVEL_ADJUST_Q10 ) ); - q1_Q10_s16x4 = vadd_s16( q1_Q10_s16x4, vdup_n_s16( offset_Q10 + QUANT_LEVEL_ADJUST_Q10 ) ); - q1_Q10_s16x4 = vbsl_s16( lessThanMinus1_u16x4, q1_Q10_s16x4, tmp1_s16x4 ); - q1_Q10_s16x4 = vbsl_s16( equal0_u16x4, vdup_n_s16( offset_Q10 ), q1_Q10_s16x4 ); - q1_Q10_s16x4 = vbsl_s16( equalMinus1_u16x4, vdup_n_s16( offset_Q10 - ( 1024 - QUANT_LEVEL_ADJUST_Q10 ) ), q1_Q10_s16x4 ); - q2_Q10_s16x4 = vadd_s16( q1_Q10_s16x4, vdup_n_s16( 1024 ) ); - q2_Q10_s16x4 = vbsl_s16( equal0_u16x4, vdup_n_s16( offset_Q10 + 1024 - QUANT_LEVEL_ADJUST_Q10 ), q2_Q10_s16x4 ); - q2_Q10_s16x4 = vbsl_s16( equalMinus1_u16x4, vdup_n_s16( offset_Q10 ), q2_Q10_s16x4 ); - tmp1_s16x4 = q1_Q10_s16x4; - tmp2_s16x4 = q2_Q10_s16x4; - tmp1_s16x4 = vbsl_s16( vorr_u16( equalMinus1_u16x4, lessThanMinus1_u16x4 ), vneg_s16( tmp1_s16x4 ), tmp1_s16x4 ); - tmp2_s16x4 = vbsl_s16( lessThanMinus1_u16x4, vneg_s16( tmp2_s16x4 ), tmp2_s16x4 ); - rd1_Q10_s32x4 = vmull_s16( tmp1_s16x4, vdup_n_s16( Lambda_Q10 ) ); - rd2_Q10_s32x4 = vmull_s16( tmp2_s16x4, vdup_n_s16( Lambda_Q10 ) ); - } - - rr_Q10_s16x4 = vsub_s16( r_Q10_s16x4, q1_Q10_s16x4 ); - rd1_Q10_s32x4 = vmlal_s16( rd1_Q10_s32x4, rr_Q10_s16x4, rr_Q10_s16x4 ); - rd1_Q10_s32x4 = vshrq_n_s32( rd1_Q10_s32x4, 10 ); - - rr_Q10_s16x4 = vsub_s16( r_Q10_s16x4, q2_Q10_s16x4 ); - rd2_Q10_s32x4 = vmlal_s16( rd2_Q10_s32x4, rr_Q10_s16x4, rr_Q10_s16x4 ); - rd2_Q10_s32x4 = vshrq_n_s32( rd2_Q10_s32x4, 10 ); - - tmp2_s32x4 = vld1q_s32( psDelDec->RD_Q10 ); - tmp1_s32x4 = vaddq_s32( tmp2_s32x4, vminq_s32( rd1_Q10_s32x4, rd2_Q10_s32x4 ) ); - tmp2_s32x4 = vaddq_s32( tmp2_s32x4, vmaxq_s32( rd1_Q10_s32x4, rd2_Q10_s32x4 ) ); - vst1q_s32( psSampleState[ 0 ].RD_Q10, tmp1_s32x4 ); - vst1q_s32( psSampleState[ 1 ].RD_Q10, tmp2_s32x4 ); - t_u32x4 = vcltq_s32( rd1_Q10_s32x4, rd2_Q10_s32x4 ); - tmp1_s32x4 = vbslq_s32( t_u32x4, vmovl_s16( q1_Q10_s16x4 ), vmovl_s16( q2_Q10_s16x4 ) ); - tmp2_s32x4 = vbslq_s32( t_u32x4, vmovl_s16( q2_Q10_s16x4 ), vmovl_s16( q1_Q10_s16x4 ) ); - vst1q_s32( psSampleState[ 0 ].Q_Q10, tmp1_s32x4 ); - vst1q_s32( psSampleState[ 1 ].Q_Q10, tmp2_s32x4 ); - } - - { - /* Update states for best quantization */ - int32x4_t exc_Q14_s32x4, LPC_exc_Q14_s32x4, xq_Q14_s32x4, sLF_AR_shp_Q14_s32x4; - - /* Quantized excitation */ - exc_Q14_s32x4 = vshlq_n_s32( tmp1_s32x4, 4 ); - exc_Q14_s32x4 = veorq_s32( exc_Q14_s32x4, sign_s32x4 ); - exc_Q14_s32x4 = vsubq_s32( exc_Q14_s32x4, sign_s32x4 ); - - /* Add predictions */ - LPC_exc_Q14_s32x4 = vaddq_s32( exc_Q14_s32x4, vdupq_n_s32( LTP_pred_Q14 ) ); - xq_Q14_s32x4 = vaddq_s32( LPC_exc_Q14_s32x4, LPC_pred_Q14_s32x4 ); - - /* Update states */ - tmp1_s32x4 = vsubq_s32( xq_Q14_s32x4, vshlq_n_s32( vdupq_n_s32( x_Q10[ i ] ), 4 ) ); - vst1q_s32( psSampleState[ 0 ].Diff_Q14, tmp1_s32x4 ); - sLF_AR_shp_Q14_s32x4 = vsubq_s32( tmp1_s32x4, n_AR_Q14_s32x4 ); - vst1q_s32( psSampleState[ 0 ].sLTP_shp_Q14, vsubq_s32( sLF_AR_shp_Q14_s32x4, n_LF_Q14_s32x4 ) ); - vst1q_s32( psSampleState[ 0 ].LF_AR_Q14, sLF_AR_shp_Q14_s32x4 ); - vst1q_s32( psSampleState[ 0 ].LPC_exc_Q14, LPC_exc_Q14_s32x4 ); - vst1q_s32( psSampleState[ 0 ].xq_Q14, xq_Q14_s32x4 ); - - /* Quantized excitation */ - exc_Q14_s32x4 = vshlq_n_s32( tmp2_s32x4, 4 ); - exc_Q14_s32x4 = veorq_s32( exc_Q14_s32x4, sign_s32x4 ); - exc_Q14_s32x4 = vsubq_s32( exc_Q14_s32x4, sign_s32x4 ); - - /* Add predictions */ - LPC_exc_Q14_s32x4 = vaddq_s32( exc_Q14_s32x4, vdupq_n_s32( LTP_pred_Q14 ) ); - xq_Q14_s32x4 = vaddq_s32( LPC_exc_Q14_s32x4, LPC_pred_Q14_s32x4 ); - - /* Update states */ - tmp1_s32x4 = vsubq_s32( xq_Q14_s32x4, vshlq_n_s32( vdupq_n_s32( x_Q10[ i ] ), 4 ) ); - vst1q_s32( psSampleState[ 1 ].Diff_Q14, tmp1_s32x4 ); - sLF_AR_shp_Q14_s32x4 = vsubq_s32( tmp1_s32x4, n_AR_Q14_s32x4 ); - vst1q_s32( psSampleState[ 1 ].sLTP_shp_Q14, vsubq_s32( sLF_AR_shp_Q14_s32x4, n_LF_Q14_s32x4 ) ); - vst1q_s32( psSampleState[ 1 ].LF_AR_Q14, sLF_AR_shp_Q14_s32x4 ); - vst1q_s32( psSampleState[ 1 ].LPC_exc_Q14, LPC_exc_Q14_s32x4 ); - vst1q_s32( psSampleState[ 1 ].xq_Q14, xq_Q14_s32x4 ); - } - - *smpl_buf_idx = *smpl_buf_idx ? ( *smpl_buf_idx - 1 ) : ( DECISION_DELAY - 1); - last_smple_idx = *smpl_buf_idx + decisionDelay + DECISION_DELAY; - if( last_smple_idx >= DECISION_DELAY ) last_smple_idx -= DECISION_DELAY; - if( last_smple_idx >= DECISION_DELAY ) last_smple_idx -= DECISION_DELAY; - - /* Find winner */ - RDmin_Q10 = psSampleState[ 0 ].RD_Q10[ 0 ]; - Winner_ind = 0; - for( k = 1; k < nStatesDelayedDecision; k++ ) { - if( psSampleState[ 0 ].RD_Q10[ k ] < RDmin_Q10 ) { - RDmin_Q10 = psSampleState[ 0 ].RD_Q10[ k ]; - Winner_ind = k; - } - } - - /* Increase RD values of expired states */ - { - uint32x4_t t_u32x4; - Winner_rand_state = psDelDec->RandState[ last_smple_idx ][ Winner_ind ]; - t_u32x4 = vceqq_s32( vld1q_s32( psDelDec->RandState[ last_smple_idx ] ), vdupq_n_s32( Winner_rand_state ) ); - t_u32x4 = vmvnq_u32( t_u32x4 ); - t_u32x4 = vshrq_n_u32( t_u32x4, 5 ); - tmp1_s32x4 = vld1q_s32( psSampleState[ 0 ].RD_Q10 ); - tmp2_s32x4 = vld1q_s32( psSampleState[ 1 ].RD_Q10 ); - tmp1_s32x4 = vaddq_s32( tmp1_s32x4, vreinterpretq_s32_u32( t_u32x4 ) ); - tmp2_s32x4 = vaddq_s32( tmp2_s32x4, vreinterpretq_s32_u32( t_u32x4 ) ); - vst1q_s32( psSampleState[ 0 ].RD_Q10, tmp1_s32x4 ); - vst1q_s32( psSampleState[ 1 ].RD_Q10, tmp2_s32x4 ); - - /* Find worst in first set and best in second set */ - RDmax_Q10 = psSampleState[ 0 ].RD_Q10[ 0 ]; - RDmin_Q10 = psSampleState[ 1 ].RD_Q10[ 0 ]; - RDmax_ind = 0; - RDmin_ind = 0; - for( k = 1; k < nStatesDelayedDecision; k++ ) { - /* find worst in first set */ - if( psSampleState[ 0 ].RD_Q10[ k ] > RDmax_Q10 ) { - RDmax_Q10 = psSampleState[ 0 ].RD_Q10[ k ]; - RDmax_ind = k; - } - /* find best in second set */ - if( psSampleState[ 1 ].RD_Q10[ k ] < RDmin_Q10 ) { - RDmin_Q10 = psSampleState[ 1 ].RD_Q10[ k ]; - RDmin_ind = k; - } - } - } - - /* Replace a state if best from second set outperforms worst in first set */ - if( RDmin_Q10 < RDmax_Q10 ) { - opus_int32 (*ptr)[NEON_MAX_DEL_DEC_STATES] = psDelDec->RandState; - const int numOthers = (int)( ( sizeof( NSQ_del_decs_struct ) - sizeof( ( (NSQ_del_decs_struct *)0 )->sLPC_Q14 ) ) - / ( NEON_MAX_DEL_DEC_STATES * sizeof( opus_int32 ) ) ); - /* Only ( predictLPCOrder - 1 ) of sLPC_Q14 buffer need to be updated, though the first several */ - /* useless sLPC_Q14[] will be different comparing with C when predictLPCOrder < NSQ_LPC_BUF_LENGTH. */ - /* Here just update constant ( NSQ_LPC_BUF_LENGTH - 1 ) for simplicity. */ - for( j = i + 1; j < i + NSQ_LPC_BUF_LENGTH; j++ ) { - psDelDec->sLPC_Q14[ j ][ RDmax_ind ] = psDelDec->sLPC_Q14[ j ][ RDmin_ind ]; - } - for( j = 0; j < numOthers; j++ ) { - ptr[ j ][ RDmax_ind ] = ptr[ j ][ RDmin_ind ]; - } - - psSampleState[ 0 ].Q_Q10[ RDmax_ind ] = psSampleState[ 1 ].Q_Q10[ RDmin_ind ]; - psSampleState[ 0 ].RD_Q10[ RDmax_ind ] = psSampleState[ 1 ].RD_Q10[ RDmin_ind ]; - psSampleState[ 0 ].xq_Q14[ RDmax_ind ] = psSampleState[ 1 ].xq_Q14[ RDmin_ind ]; - psSampleState[ 0 ].LF_AR_Q14[ RDmax_ind ] = psSampleState[ 1 ].LF_AR_Q14[ RDmin_ind ]; - psSampleState[ 0 ].Diff_Q14[ RDmax_ind ] = psSampleState[ 1 ].Diff_Q14[ RDmin_ind ]; - psSampleState[ 0 ].sLTP_shp_Q14[ RDmax_ind ] = psSampleState[ 1 ].sLTP_shp_Q14[ RDmin_ind ]; - psSampleState[ 0 ].LPC_exc_Q14[ RDmax_ind ] = psSampleState[ 1 ].LPC_exc_Q14[ RDmin_ind ]; - } - - /* Write samples from winner to output and long-term filter states */ - if( subfr > 0 || i >= decisionDelay ) { - pulses[ i - decisionDelay ] = (opus_int8)silk_RSHIFT_ROUND( psDelDec->Q_Q10[ last_smple_idx ][ Winner_ind ], 10 ); - xq[ i - decisionDelay ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( - silk_SMULWW( psDelDec->Xq_Q14[ last_smple_idx ][ Winner_ind ], delayedGain_Q10[ last_smple_idx ] ), 8 ) ); - NSQ->sLTP_shp_Q14[ NSQ->sLTP_shp_buf_idx - decisionDelay ] = psDelDec->Shape_Q14[ last_smple_idx ][ Winner_ind ]; - sLTP_Q15[ NSQ->sLTP_buf_idx - decisionDelay ] = psDelDec->Pred_Q15[ last_smple_idx ][ Winner_ind ]; - } - NSQ->sLTP_shp_buf_idx++; - NSQ->sLTP_buf_idx++; - - /* Update states */ - vst1q_s32( psDelDec->LF_AR_Q14, vld1q_s32( psSampleState[ 0 ].LF_AR_Q14 ) ); - vst1q_s32( psDelDec->Diff_Q14, vld1q_s32( psSampleState[ 0 ].Diff_Q14 ) ); - vst1q_s32( psDelDec->sLPC_Q14[ NSQ_LPC_BUF_LENGTH + i ], vld1q_s32( psSampleState[ 0 ].xq_Q14 ) ); - vst1q_s32( psDelDec->Xq_Q14[ *smpl_buf_idx ], vld1q_s32( psSampleState[ 0 ].xq_Q14 ) ); - tmp1_s32x4 = vld1q_s32( psSampleState[ 0 ].Q_Q10 ); - vst1q_s32( psDelDec->Q_Q10[ *smpl_buf_idx ], tmp1_s32x4 ); - vst1q_s32( psDelDec->Pred_Q15[ *smpl_buf_idx ], vshlq_n_s32( vld1q_s32( psSampleState[ 0 ].LPC_exc_Q14 ), 1 ) ); - vst1q_s32( psDelDec->Shape_Q14[ *smpl_buf_idx ], vld1q_s32( psSampleState[ 0 ].sLTP_shp_Q14 ) ); - tmp1_s32x4 = vrshrq_n_s32( tmp1_s32x4, 10 ); - tmp1_s32x4 = vaddq_s32( vld1q_s32( psDelDec->Seed ), tmp1_s32x4 ); - vst1q_s32( psDelDec->Seed, tmp1_s32x4 ); - vst1q_s32( psDelDec->RandState[ *smpl_buf_idx ], tmp1_s32x4 ); - vst1q_s32( psDelDec->RD_Q10, vld1q_s32( psSampleState[ 0 ].RD_Q10 ) ); - delayedGain_Q10[ *smpl_buf_idx ] = Gain_Q10; - } - /* Update LPC states */ - silk_memcpy( psDelDec->sLPC_Q14[ 0 ], psDelDec->sLPC_Q14[ length ], NEON_MAX_DEL_DEC_STATES * NSQ_LPC_BUF_LENGTH * sizeof( opus_int32 ) ); - - RESTORE_STACK; -} - -static OPUS_INLINE void silk_SMULWB_8_neon( - const opus_int16 *a, - const int32x2_t b, - opus_int32 *o -) -{ - const int16x8_t a_s16x8 = vld1q_s16( a ); - int32x4_t o0_s32x4, o1_s32x4; - - o0_s32x4 = vshll_n_s16( vget_low_s16( a_s16x8 ), 15 ); - o1_s32x4 = vshll_n_s16( vget_high_s16( a_s16x8 ), 15 ); - o0_s32x4 = vqdmulhq_lane_s32( o0_s32x4, b, 0 ); - o1_s32x4 = vqdmulhq_lane_s32( o1_s32x4, b, 0 ); - vst1q_s32( o, o0_s32x4 ); - vst1q_s32( o + 4, o1_s32x4 ); -} - -/* Only works when ( b >= -65536 ) && ( b < 65536 ). */ -static OPUS_INLINE void silk_SMULWW_small_b_4_neon( - opus_int32 *a, - const int32x2_t b_s32x2) -{ - int32x4_t o_s32x4; - - o_s32x4 = vld1q_s32( a ); - o_s32x4 = vqdmulhq_lane_s32( o_s32x4, b_s32x2, 0 ); - vst1q_s32( a, o_s32x4 ); -} - -/* Only works when ( b >= -65536 ) && ( b < 65536 ). */ -static OPUS_INLINE void silk_SMULWW_small_b_8_neon( - opus_int32 *a, - const int32x2_t b_s32x2 -) -{ - int32x4_t o0_s32x4, o1_s32x4; - - o0_s32x4 = vld1q_s32( a ); - o1_s32x4 = vld1q_s32( a + 4 ); - o0_s32x4 = vqdmulhq_lane_s32( o0_s32x4, b_s32x2, 0 ); - o1_s32x4 = vqdmulhq_lane_s32( o1_s32x4, b_s32x2, 0 ); - vst1q_s32( a, o0_s32x4 ); - vst1q_s32( a + 4, o1_s32x4 ); -} - -static OPUS_INLINE void silk_SMULWW_4_neon( - opus_int32 *a, - const int32x2_t b_s32x2) -{ - int32x4_t a_s32x4, o_s32x4; - - a_s32x4 = vld1q_s32( a ); - o_s32x4 = vqdmulhq_lane_s32( a_s32x4, b_s32x2, 0 ); - o_s32x4 = vmlaq_lane_s32( o_s32x4, a_s32x4, b_s32x2, 1 ); - vst1q_s32( a, o_s32x4 ); -} - -static OPUS_INLINE void silk_SMULWW_8_neon( - opus_int32 *a, - const int32x2_t b_s32x2 -) -{ - int32x4_t a0_s32x4, a1_s32x4, o0_s32x4, o1_s32x4; - - a0_s32x4 = vld1q_s32( a ); - a1_s32x4 = vld1q_s32( a + 4 ); - o0_s32x4 = vqdmulhq_lane_s32( a0_s32x4, b_s32x2, 0 ); - o1_s32x4 = vqdmulhq_lane_s32( a1_s32x4, b_s32x2, 0 ); - o0_s32x4 = vmlaq_lane_s32( o0_s32x4, a0_s32x4, b_s32x2, 1 ); - o1_s32x4 = vmlaq_lane_s32( o1_s32x4, a1_s32x4, b_s32x2, 1 ); - vst1q_s32( a, o0_s32x4 ); - vst1q_s32( a + 4, o1_s32x4 ); -} - -static OPUS_INLINE void silk_SMULWW_loop_neon( - const opus_int16 *a, - const opus_int32 b, - opus_int32 *o, - const opus_int loop_num -) -{ - opus_int i; - int32x2_t b_s32x2; - - b_s32x2 = vdup_n_s32( b ); - for( i = 0; i < loop_num - 7; i += 8 ) { - silk_SMULWB_8_neon( a + i, b_s32x2, o + i ); - } - for( ; i < loop_num; i++ ) { - o[ i ] = silk_SMULWW( a[ i ], b ); - } -} - -static OPUS_INLINE void silk_nsq_del_dec_scale_states_neon( - const silk_encoder_state *psEncC, /* I Encoder State */ - silk_nsq_state *NSQ, /* I/O NSQ state */ - NSQ_del_decs_struct psDelDec[], /* I/O Delayed decision states */ - const opus_int16 x16[], /* I Input */ - opus_int32 x_sc_Q10[], /* O Input scaled with 1/Gain in Q10 */ - const opus_int16 sLTP[], /* I Re-whitened LTP state in Q0 */ - opus_int32 sLTP_Q15[], /* O LTP state matching scaled input */ - opus_int subfr, /* I Subframe number */ - const opus_int LTP_scale_Q14, /* I LTP state scaling */ - const opus_int32 Gains_Q16[ MAX_NB_SUBFR ], /* I */ - const opus_int pitchL[ MAX_NB_SUBFR ], /* I Pitch lag */ - const opus_int signal_type, /* I Signal type */ - const opus_int decisionDelay /* I Decision delay */ -) -{ - opus_int i, lag; - opus_int32 gain_adj_Q16, inv_gain_Q31, inv_gain_Q26; - - lag = pitchL[ subfr ]; - inv_gain_Q31 = silk_INVERSE32_varQ( silk_max( Gains_Q16[ subfr ], 1 ), 47 ); - silk_assert( inv_gain_Q31 != 0 ); - - /* Scale input */ - inv_gain_Q26 = silk_RSHIFT_ROUND( inv_gain_Q31, 5 ); - silk_SMULWW_loop_neon( x16, inv_gain_Q26, x_sc_Q10, psEncC->subfr_length ); - - /* After rewhitening the LTP state is un-scaled, so scale with inv_gain_Q16 */ - if( NSQ->rewhite_flag ) { - if( subfr == 0 ) { - /* Do LTP downscaling */ - inv_gain_Q31 = silk_LSHIFT( silk_SMULWB( inv_gain_Q31, LTP_scale_Q14 ), 2 ); - } - silk_SMULWW_loop_neon( sLTP + NSQ->sLTP_buf_idx - lag - LTP_ORDER / 2, inv_gain_Q31, sLTP_Q15 + NSQ->sLTP_buf_idx - lag - LTP_ORDER / 2, lag + LTP_ORDER / 2 ); - } - - /* Adjust for changing gain */ - if( Gains_Q16[ subfr ] != NSQ->prev_gain_Q16 ) { - int32x2_t gain_adj_Q16_s32x2; - gain_adj_Q16 = silk_DIV32_varQ( NSQ->prev_gain_Q16, Gains_Q16[ subfr ], 16 ); - - /* Scale long-term shaping state */ - if( ( gain_adj_Q16 >= -65536 ) && ( gain_adj_Q16 < 65536 ) ) { - gain_adj_Q16_s32x2 = vdup_n_s32( silk_LSHIFT32( gain_adj_Q16, 15 ) ); - for( i = NSQ->sLTP_shp_buf_idx - psEncC->ltp_mem_length; i < NSQ->sLTP_shp_buf_idx - 7; i += 8 ) { - silk_SMULWW_small_b_8_neon( NSQ->sLTP_shp_Q14 + i, gain_adj_Q16_s32x2 ); - } - for( ; i < NSQ->sLTP_shp_buf_idx; i++ ) { - NSQ->sLTP_shp_Q14[ i ] = silk_SMULWW( gain_adj_Q16, NSQ->sLTP_shp_Q14[ i ] ); - } - - /* Scale long-term prediction state */ - if( signal_type == TYPE_VOICED && NSQ->rewhite_flag == 0 ) { - for( i = NSQ->sLTP_buf_idx - lag - LTP_ORDER / 2; i < NSQ->sLTP_buf_idx - decisionDelay - 7; i += 8 ) { - silk_SMULWW_small_b_8_neon( sLTP_Q15 + i, gain_adj_Q16_s32x2 ); - } - for( ; i < NSQ->sLTP_buf_idx - decisionDelay; i++ ) { - sLTP_Q15[ i ] = silk_SMULWW( gain_adj_Q16, sLTP_Q15[ i ] ); - } - } - - /* Scale scalar states */ - silk_SMULWW_small_b_4_neon( psDelDec->LF_AR_Q14, gain_adj_Q16_s32x2 ); - silk_SMULWW_small_b_4_neon( psDelDec->Diff_Q14, gain_adj_Q16_s32x2 ); - - /* Scale short-term prediction and shaping states */ - for( i = 0; i < NSQ_LPC_BUF_LENGTH; i++ ) { - silk_SMULWW_small_b_4_neon( psDelDec->sLPC_Q14[ i ], gain_adj_Q16_s32x2 ); - } - - for( i = 0; i < MAX_SHAPE_LPC_ORDER; i++ ) { - silk_SMULWW_small_b_4_neon( psDelDec->sAR2_Q14[ i ], gain_adj_Q16_s32x2 ); - } - - for( i = 0; i < DECISION_DELAY; i++ ) { - silk_SMULWW_small_b_4_neon( psDelDec->Pred_Q15[ i ], gain_adj_Q16_s32x2 ); - silk_SMULWW_small_b_4_neon( psDelDec->Shape_Q14[ i ], gain_adj_Q16_s32x2 ); - } - } else { - gain_adj_Q16_s32x2 = vdup_n_s32( silk_LSHIFT32( gain_adj_Q16 & 0x0000FFFF, 15 ) ); - gain_adj_Q16_s32x2 = vset_lane_s32( gain_adj_Q16 >> 16, gain_adj_Q16_s32x2, 1 ); - for( i = NSQ->sLTP_shp_buf_idx - psEncC->ltp_mem_length; i < NSQ->sLTP_shp_buf_idx - 7; i += 8 ) { - silk_SMULWW_8_neon( NSQ->sLTP_shp_Q14 + i, gain_adj_Q16_s32x2 ); - } - for( ; i < NSQ->sLTP_shp_buf_idx; i++ ) { - NSQ->sLTP_shp_Q14[ i ] = silk_SMULWW( gain_adj_Q16, NSQ->sLTP_shp_Q14[ i ] ); - } - - /* Scale long-term prediction state */ - if( signal_type == TYPE_VOICED && NSQ->rewhite_flag == 0 ) { - for( i = NSQ->sLTP_buf_idx - lag - LTP_ORDER / 2; i < NSQ->sLTP_buf_idx - decisionDelay - 7; i += 8 ) { - silk_SMULWW_8_neon( sLTP_Q15 + i, gain_adj_Q16_s32x2 ); - } - for( ; i < NSQ->sLTP_buf_idx - decisionDelay; i++ ) { - sLTP_Q15[ i ] = silk_SMULWW( gain_adj_Q16, sLTP_Q15[ i ] ); - } - } - - /* Scale scalar states */ - silk_SMULWW_4_neon( psDelDec->LF_AR_Q14, gain_adj_Q16_s32x2 ); - silk_SMULWW_4_neon( psDelDec->Diff_Q14, gain_adj_Q16_s32x2 ); - - /* Scale short-term prediction and shaping states */ - for( i = 0; i < NSQ_LPC_BUF_LENGTH; i++ ) { - silk_SMULWW_4_neon( psDelDec->sLPC_Q14[ i ], gain_adj_Q16_s32x2 ); - } - - for( i = 0; i < MAX_SHAPE_LPC_ORDER; i++ ) { - silk_SMULWW_4_neon( psDelDec->sAR2_Q14[ i ], gain_adj_Q16_s32x2 ); - } - - for( i = 0; i < DECISION_DELAY; i++ ) { - silk_SMULWW_4_neon( psDelDec->Pred_Q15[ i ], gain_adj_Q16_s32x2 ); - silk_SMULWW_4_neon( psDelDec->Shape_Q14[ i ], gain_adj_Q16_s32x2 ); - } - } - - /* Save inverse gain */ - NSQ->prev_gain_Q16 = Gains_Q16[ subfr ]; - } -} diff --git a/thirdparty/opus/silk/arm/NSQ_neon.h b/thirdparty/opus/silk/arm/NSQ_neon.h index b31d9442d6..77c946af85 100644 --- a/thirdparty/opus/silk/arm/NSQ_neon.h +++ b/thirdparty/opus/silk/arm/NSQ_neon.h @@ -28,31 +28,30 @@ POSSIBILITY OF SUCH DAMAGE. #define SILK_NSQ_NEON_H #include "cpu_support.h" -#include "SigProc_FIX.h" #undef silk_short_prediction_create_arch_coef /* For vectorized calc, reverse a_Q12 coefs, convert to 32-bit, and shift for vqdmulhq_s32. */ static OPUS_INLINE void silk_short_prediction_create_arch_coef_neon(opus_int32 *out, const opus_int16 *in, opus_int order) { - out[15] = silk_LSHIFT32(in[0], 15); - out[14] = silk_LSHIFT32(in[1], 15); - out[13] = silk_LSHIFT32(in[2], 15); - out[12] = silk_LSHIFT32(in[3], 15); - out[11] = silk_LSHIFT32(in[4], 15); - out[10] = silk_LSHIFT32(in[5], 15); - out[9] = silk_LSHIFT32(in[6], 15); - out[8] = silk_LSHIFT32(in[7], 15); - out[7] = silk_LSHIFT32(in[8], 15); - out[6] = silk_LSHIFT32(in[9], 15); + out[15] = in[0] << 15; + out[14] = in[1] << 15; + out[13] = in[2] << 15; + out[12] = in[3] << 15; + out[11] = in[4] << 15; + out[10] = in[5] << 15; + out[9] = in[6] << 15; + out[8] = in[7] << 15; + out[7] = in[8] << 15; + out[6] = in[9] << 15; if (order == 16) { - out[5] = silk_LSHIFT32(in[10], 15); - out[4] = silk_LSHIFT32(in[11], 15); - out[3] = silk_LSHIFT32(in[12], 15); - out[2] = silk_LSHIFT32(in[13], 15); - out[1] = silk_LSHIFT32(in[14], 15); - out[0] = silk_LSHIFT32(in[15], 15); + out[5] = in[10] << 15; + out[4] = in[11] << 15; + out[3] = in[12] << 15; + out[2] = in[13] << 15; + out[1] = in[14] << 15; + out[0] = in[15] << 15; } else { diff --git a/thirdparty/opus/silk/arm/arm_silk_map.c b/thirdparty/opus/silk/arm/arm_silk_map.c index 0b9bfec2ca..9bd86a7b21 100644 --- a/thirdparty/opus/silk/arm/arm_silk_map.c +++ b/thirdparty/opus/silk/arm/arm_silk_map.c @@ -28,62 +28,13 @@ POSSIBILITY OF SUCH DAMAGE. # include "config.h" #endif -#include "main_FIX.h" #include "NSQ.h" -#include "SigProc_FIX.h" #if defined(OPUS_HAVE_RTCD) # if (defined(OPUS_ARM_MAY_HAVE_NEON_INTR) && \ !defined(OPUS_ARM_PRESUME_NEON_INTR)) -void (*const SILK_BIQUAD_ALT_STRIDE2_IMPL[OPUS_ARCHMASK + 1])( - const opus_int16 *in, /* I input signal */ - const opus_int32 *B_Q28, /* I MA coefficients [3] */ - const opus_int32 *A_Q28, /* I AR coefficients [2] */ - opus_int32 *S, /* I/O State vector [4] */ - opus_int16 *out, /* O output signal */ - const opus_int32 len /* I signal length (must be even) */ -) = { - silk_biquad_alt_stride2_c, /* ARMv4 */ - silk_biquad_alt_stride2_c, /* EDSP */ - silk_biquad_alt_stride2_c, /* Media */ - silk_biquad_alt_stride2_neon, /* Neon */ -}; - -opus_int32 (*const SILK_LPC_INVERSE_PRED_GAIN_IMPL[OPUS_ARCHMASK + 1])( /* O Returns inverse prediction gain in energy domain, Q30 */ - const opus_int16 *A_Q12, /* I Prediction coefficients, Q12 [order] */ - const opus_int order /* I Prediction order */ -) = { - silk_LPC_inverse_pred_gain_c, /* ARMv4 */ - silk_LPC_inverse_pred_gain_c, /* EDSP */ - silk_LPC_inverse_pred_gain_c, /* Media */ - silk_LPC_inverse_pred_gain_neon, /* Neon */ -}; - -void (*const SILK_NSQ_DEL_DEC_IMPL[OPUS_ARCHMASK + 1])( - const silk_encoder_state *psEncC, /* I Encoder State */ - silk_nsq_state *NSQ, /* I/O NSQ state */ - SideInfoIndices *psIndices, /* I/O Quantization Indices */ - const opus_int16 x16[], /* I Input */ - opus_int8 pulses[], /* O Quantized pulse signal */ - const opus_int16 PredCoef_Q12[ 2 * MAX_LPC_ORDER ], /* I Short term prediction coefs */ - const opus_int16 LTPCoef_Q14[ LTP_ORDER * MAX_NB_SUBFR ], /* I Long term prediction coefs */ - const opus_int16 AR_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ], /* I Noise shaping coefs */ - const opus_int HarmShapeGain_Q14[ MAX_NB_SUBFR ], /* I Long term shaping coefs */ - const opus_int Tilt_Q14[ MAX_NB_SUBFR ], /* I Spectral tilt */ - const opus_int32 LF_shp_Q14[ MAX_NB_SUBFR ], /* I Low frequency shaping coefs */ - const opus_int32 Gains_Q16[ MAX_NB_SUBFR ], /* I Quantization step sizes */ - const opus_int pitchL[ MAX_NB_SUBFR ], /* I Pitch lags */ - const opus_int Lambda_Q10, /* I Rate/distortion tradeoff */ - const opus_int LTP_scale_Q14 /* I LTP state scaling */ -) = { - silk_NSQ_del_dec_c, /* ARMv4 */ - silk_NSQ_del_dec_c, /* EDSP */ - silk_NSQ_del_dec_c, /* Media */ - silk_NSQ_del_dec_neon, /* Neon */ -}; - /*There is no table for silk_noise_shape_quantizer_short_prediction because the NEON version takes different parameters than the C version. Instead RTCD is done via if statements at the call sites. @@ -101,23 +52,4 @@ opus_int32 # endif -# if defined(FIXED_POINT) && \ - defined(OPUS_ARM_MAY_HAVE_NEON_INTR) && !defined(OPUS_ARM_PRESUME_NEON_INTR) - -void (*const SILK_WARPED_AUTOCORRELATION_FIX_IMPL[OPUS_ARCHMASK + 1])( - opus_int32 *corr, /* O Result [order + 1] */ - opus_int *scale, /* O Scaling of the correlation vector */ - const opus_int16 *input, /* I Input data to correlate */ - const opus_int warping_Q16, /* I Warping coefficient */ - const opus_int length, /* I Length of input */ - const opus_int order /* I Correlation order (even) */ -) = { - silk_warped_autocorrelation_FIX_c, /* ARMv4 */ - silk_warped_autocorrelation_FIX_c, /* EDSP */ - silk_warped_autocorrelation_FIX_c, /* Media */ - silk_warped_autocorrelation_FIX_neon, /* Neon */ -}; - -# endif - #endif /* OPUS_HAVE_RTCD */ diff --git a/thirdparty/opus/silk/arm/biquad_alt_arm.h b/thirdparty/opus/silk/arm/biquad_alt_arm.h deleted file mode 100644 index 66ea9f43dd..0000000000 --- a/thirdparty/opus/silk/arm/biquad_alt_arm.h +++ /dev/null @@ -1,68 +0,0 @@ -/*********************************************************************** -Copyright (c) 2017 Google Inc. -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: -- Redistributions of source code must retain the above copyright notice, -this list of conditions and the following disclaimer. -- Redistributions in binary form must reproduce the above copyright -notice, this list of conditions and the following disclaimer in the -documentation and/or other materials provided with the distribution. -- Neither the name of Internet Society, IETF or IETF Trust, nor the -names of specific contributors, may be used to endorse or promote -products derived from this software without specific prior written -permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. -***********************************************************************/ - -#ifndef SILK_BIQUAD_ALT_ARM_H -# define SILK_BIQUAD_ALT_ARM_H - -# include "celt/arm/armcpu.h" - -# if defined(OPUS_ARM_MAY_HAVE_NEON_INTR) -void silk_biquad_alt_stride2_neon( - const opus_int16 *in, /* I input signal */ - const opus_int32 *B_Q28, /* I MA coefficients [3] */ - const opus_int32 *A_Q28, /* I AR coefficients [2] */ - opus_int32 *S, /* I/O State vector [4] */ - opus_int16 *out, /* O output signal */ - const opus_int32 len /* I signal length (must be even) */ -); - -# if !defined(OPUS_HAVE_RTCD) && defined(OPUS_ARM_PRESUME_NEON) -# define OVERRIDE_silk_biquad_alt_stride2 (1) -# define silk_biquad_alt_stride2(in, B_Q28, A_Q28, S, out, len, arch) ((void)(arch), PRESUME_NEON(silk_biquad_alt_stride2)(in, B_Q28, A_Q28, S, out, len)) -# endif -# endif - -# if !defined(OVERRIDE_silk_biquad_alt_stride2) -/*Is run-time CPU detection enabled on this platform?*/ -# if defined(OPUS_HAVE_RTCD) && (defined(OPUS_ARM_MAY_HAVE_NEON_INTR) && !defined(OPUS_ARM_PRESUME_NEON_INTR)) -extern void (*const SILK_BIQUAD_ALT_STRIDE2_IMPL[OPUS_ARCHMASK+1])( - const opus_int16 *in, /* I input signal */ - const opus_int32 *B_Q28, /* I MA coefficients [3] */ - const opus_int32 *A_Q28, /* I AR coefficients [2] */ - opus_int32 *S, /* I/O State vector [4] */ - opus_int16 *out, /* O output signal */ - const opus_int32 len /* I signal length (must be even) */ - ); -# define OVERRIDE_silk_biquad_alt_stride2 (1) -# define silk_biquad_alt_stride2(in, B_Q28, A_Q28, S, out, len, arch) ((*SILK_BIQUAD_ALT_STRIDE2_IMPL[(arch)&OPUS_ARCHMASK])(in, B_Q28, A_Q28, S, out, len)) -# elif defined(OPUS_ARM_PRESUME_NEON_INTR) -# define OVERRIDE_silk_biquad_alt_stride2 (1) -# define silk_biquad_alt_stride2(in, B_Q28, A_Q28, S, out, len, arch) ((void)(arch), silk_biquad_alt_stride2_neon(in, B_Q28, A_Q28, S, out, len)) -# endif -# endif - -#endif /* end SILK_BIQUAD_ALT_ARM_H */ diff --git a/thirdparty/opus/silk/arm/biquad_alt_neon_intr.c b/thirdparty/opus/silk/arm/biquad_alt_neon_intr.c deleted file mode 100644 index 9715733185..0000000000 --- a/thirdparty/opus/silk/arm/biquad_alt_neon_intr.c +++ /dev/null @@ -1,156 +0,0 @@ -/*********************************************************************** -Copyright (c) 2017 Google Inc. -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: -- Redistributions of source code must retain the above copyright notice, -this list of conditions and the following disclaimer. -- Redistributions in binary form must reproduce the above copyright -notice, this list of conditions and the following disclaimer in the -documentation and/or other materials provided with the distribution. -- Neither the name of Internet Society, IETF or IETF Trust, nor the -names of specific contributors, may be used to endorse or promote -products derived from this software without specific prior written -permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. -***********************************************************************/ - -#ifdef HAVE_CONFIG_H -#include "config.h" -#endif - -#include <arm_neon.h> -#ifdef OPUS_CHECK_ASM -# include <string.h> -# include "stack_alloc.h" -#endif -#include "SigProc_FIX.h" - -static inline void silk_biquad_alt_stride2_kernel( const int32x4_t A_L_s32x4, const int32x4_t A_U_s32x4, const int32x4_t B_Q28_s32x4, const int32x2_t t_s32x2, const int32x4_t in_s32x4, int32x4_t *S_s32x4, int32x2_t *out32_Q14_s32x2 ) -{ - int32x4_t t_s32x4, out32_Q14_s32x4; - - *out32_Q14_s32x2 = vadd_s32( vget_low_s32( *S_s32x4 ), t_s32x2 ); /* silk_SMLAWB( S{0,1}, B_Q28[ 0 ], in{0,1} ) */ - *S_s32x4 = vcombine_s32( vget_high_s32( *S_s32x4 ), vdup_n_s32( 0 ) ); /* S{0,1} = S{2,3}; S{2,3} = 0; */ - *out32_Q14_s32x2 = vshl_n_s32( *out32_Q14_s32x2, 2 ); /* out32_Q14_{0,1} = silk_LSHIFT( silk_SMLAWB( S{0,1}, B_Q28[ 0 ], in{0,1} ), 2 ); */ - out32_Q14_s32x4 = vcombine_s32( *out32_Q14_s32x2, *out32_Q14_s32x2 ); /* out32_Q14_{0,1,0,1} */ - t_s32x4 = vqdmulhq_s32( out32_Q14_s32x4, A_L_s32x4 ); /* silk_SMULWB( out32_Q14_{0,1,0,1}, A{0,0,1,1}_L_Q28 ) */ - *S_s32x4 = vrsraq_n_s32( *S_s32x4, t_s32x4, 14 ); /* S{0,1} = S{2,3} + silk_RSHIFT_ROUND(); S{2,3} = silk_RSHIFT_ROUND(); */ - t_s32x4 = vqdmulhq_s32( out32_Q14_s32x4, A_U_s32x4 ); /* silk_SMULWB( out32_Q14_{0,1,0,1}, A{0,0,1,1}_U_Q28 ) */ - *S_s32x4 = vaddq_s32( *S_s32x4, t_s32x4 ); /* S0 = silk_SMLAWB( S{0,1,2,3}, out32_Q14_{0,1,0,1}, A{0,0,1,1}_U_Q28 ); */ - t_s32x4 = vqdmulhq_s32( in_s32x4, B_Q28_s32x4 ); /* silk_SMULWB( B_Q28[ {1,1,2,2} ], in{0,1,0,1} ) */ - *S_s32x4 = vaddq_s32( *S_s32x4, t_s32x4 ); /* S0 = silk_SMLAWB( S0, B_Q28[ {1,1,2,2} ], in{0,1,0,1} ); */ -} - -void silk_biquad_alt_stride2_neon( - const opus_int16 *in, /* I input signal */ - const opus_int32 *B_Q28, /* I MA coefficients [3] */ - const opus_int32 *A_Q28, /* I AR coefficients [2] */ - opus_int32 *S, /* I/O State vector [4] */ - opus_int16 *out, /* O output signal */ - const opus_int32 len /* I signal length (must be even) */ -) -{ - /* DIRECT FORM II TRANSPOSED (uses 2 element state vector) */ - opus_int k = 0; - const int32x2_t offset_s32x2 = vdup_n_s32( (1<<14) - 1 ); - const int32x4_t offset_s32x4 = vcombine_s32( offset_s32x2, offset_s32x2 ); - int16x4_t in_s16x4 = vdup_n_s16( 0 ); - int16x4_t out_s16x4; - int32x2_t A_Q28_s32x2, A_L_s32x2, A_U_s32x2, B_Q28_s32x2, t_s32x2; - int32x4_t A_L_s32x4, A_U_s32x4, B_Q28_s32x4, S_s32x4, out32_Q14_s32x4; - int32x2x2_t t0_s32x2x2, t1_s32x2x2, t2_s32x2x2, S_s32x2x2; - -#ifdef OPUS_CHECK_ASM - opus_int32 S_c[ 4 ]; - VARDECL( opus_int16, out_c ); - SAVE_STACK; - ALLOC( out_c, 2 * len, opus_int16 ); - - silk_memcpy( &S_c, S, sizeof( S_c ) ); - silk_biquad_alt_stride2_c( in, B_Q28, A_Q28, S_c, out_c, len ); -#endif - - /* Negate A_Q28 values and split in two parts */ - A_Q28_s32x2 = vld1_s32( A_Q28 ); - A_Q28_s32x2 = vneg_s32( A_Q28_s32x2 ); - A_L_s32x2 = vshl_n_s32( A_Q28_s32x2, 18 ); /* ( -A_Q28[] & 0x00003FFF ) << 18 */ - A_L_s32x2 = vreinterpret_s32_u32( vshr_n_u32( vreinterpret_u32_s32( A_L_s32x2 ), 3 ) ); /* ( -A_Q28[] & 0x00003FFF ) << 15 */ - A_U_s32x2 = vshr_n_s32( A_Q28_s32x2, 14 ); /* silk_RSHIFT( -A_Q28[], 14 ) */ - A_U_s32x2 = vshl_n_s32( A_U_s32x2, 16 ); /* silk_RSHIFT( -A_Q28[], 14 ) << 16 (Clip two leading bits to conform to C function.) */ - A_U_s32x2 = vshr_n_s32( A_U_s32x2, 1 ); /* silk_RSHIFT( -A_Q28[], 14 ) << 15 */ - - B_Q28_s32x2 = vld1_s32( B_Q28 ); - t_s32x2 = vld1_s32( B_Q28 + 1 ); - t0_s32x2x2 = vzip_s32( A_L_s32x2, A_L_s32x2 ); - t1_s32x2x2 = vzip_s32( A_U_s32x2, A_U_s32x2 ); - t2_s32x2x2 = vzip_s32( t_s32x2, t_s32x2 ); - A_L_s32x4 = vcombine_s32( t0_s32x2x2.val[ 0 ], t0_s32x2x2.val[ 1 ] ); /* A{0,0,1,1}_L_Q28 */ - A_U_s32x4 = vcombine_s32( t1_s32x2x2.val[ 0 ], t1_s32x2x2.val[ 1 ] ); /* A{0,0,1,1}_U_Q28 */ - B_Q28_s32x4 = vcombine_s32( t2_s32x2x2.val[ 0 ], t2_s32x2x2.val[ 1 ] ); /* B_Q28[ {1,1,2,2} ] */ - S_s32x4 = vld1q_s32( S ); /* S0 = S[ 0 ]; S3 = S[ 3 ]; */ - S_s32x2x2 = vtrn_s32( vget_low_s32( S_s32x4 ), vget_high_s32( S_s32x4 ) ); /* S2 = S[ 1 ]; S1 = S[ 2 ]; */ - S_s32x4 = vcombine_s32( S_s32x2x2.val[ 0 ], S_s32x2x2.val[ 1 ] ); - - for( ; k < len - 1; k += 2 ) { - int32x4_t in_s32x4[ 2 ], t_s32x4; - int32x2_t out32_Q14_s32x2[ 2 ]; - - /* S[ 2 * i + 0 ], S[ 2 * i + 1 ], S[ 2 * i + 2 ], S[ 2 * i + 3 ]: Q12 */ - in_s16x4 = vld1_s16( &in[ 2 * k ] ); /* in{0,1,2,3} = in[ 2 * k + {0,1,2,3} ]; */ - in_s32x4[ 0 ] = vshll_n_s16( in_s16x4, 15 ); /* in{0,1,2,3} << 15 */ - t_s32x4 = vqdmulhq_lane_s32( in_s32x4[ 0 ], B_Q28_s32x2, 0 ); /* silk_SMULWB( B_Q28[ 0 ], in{0,1,2,3} ) */ - in_s32x4[ 1 ] = vcombine_s32( vget_high_s32( in_s32x4[ 0 ] ), vget_high_s32( in_s32x4[ 0 ] ) ); /* in{2,3,2,3} << 15 */ - in_s32x4[ 0 ] = vcombine_s32( vget_low_s32 ( in_s32x4[ 0 ] ), vget_low_s32 ( in_s32x4[ 0 ] ) ); /* in{0,1,0,1} << 15 */ - silk_biquad_alt_stride2_kernel( A_L_s32x4, A_U_s32x4, B_Q28_s32x4, vget_low_s32 ( t_s32x4 ), in_s32x4[ 0 ], &S_s32x4, &out32_Q14_s32x2[ 0 ] ); - silk_biquad_alt_stride2_kernel( A_L_s32x4, A_U_s32x4, B_Q28_s32x4, vget_high_s32( t_s32x4 ), in_s32x4[ 1 ], &S_s32x4, &out32_Q14_s32x2[ 1 ] ); - - /* Scale back to Q0 and saturate */ - out32_Q14_s32x4 = vcombine_s32( out32_Q14_s32x2[ 0 ], out32_Q14_s32x2[ 1 ] ); /* out32_Q14_{0,1,2,3} */ - out32_Q14_s32x4 = vaddq_s32( out32_Q14_s32x4, offset_s32x4 ); /* out32_Q14_{0,1,2,3} + (1<<14) - 1 */ - out_s16x4 = vqshrn_n_s32( out32_Q14_s32x4, 14 ); /* (opus_int16)silk_SAT16( silk_RSHIFT( out32_Q14_{0,1,2,3} + (1<<14) - 1, 14 ) ) */ - vst1_s16( &out[ 2 * k ], out_s16x4 ); /* out[ 2 * k + {0,1,2,3} ] = (opus_int16)silk_SAT16( silk_RSHIFT( out32_Q14_{0,1,2,3} + (1<<14) - 1, 14 ) ); */ - } - - /* Process leftover. */ - if( k < len ) { - int32x4_t in_s32x4; - int32x2_t out32_Q14_s32x2; - - /* S[ 2 * i + 0 ], S[ 2 * i + 1 ]: Q12 */ - in_s16x4 = vld1_lane_s16( &in[ 2 * k + 0 ], in_s16x4, 0 ); /* in{0,1} = in[ 2 * k + {0,1} ]; */ - in_s16x4 = vld1_lane_s16( &in[ 2 * k + 1 ], in_s16x4, 1 ); /* in{0,1} = in[ 2 * k + {0,1} ]; */ - in_s32x4 = vshll_n_s16( in_s16x4, 15 ); /* in{0,1} << 15 */ - t_s32x2 = vqdmulh_lane_s32( vget_low_s32( in_s32x4 ), B_Q28_s32x2, 0 ); /* silk_SMULWB( B_Q28[ 0 ], in{0,1} ) */ - in_s32x4 = vcombine_s32( vget_low_s32( in_s32x4 ), vget_low_s32( in_s32x4 ) ); /* in{0,1,0,1} << 15 */ - silk_biquad_alt_stride2_kernel( A_L_s32x4, A_U_s32x4, B_Q28_s32x4, t_s32x2, in_s32x4, &S_s32x4, &out32_Q14_s32x2 ); - - /* Scale back to Q0 and saturate */ - out32_Q14_s32x2 = vadd_s32( out32_Q14_s32x2, offset_s32x2 ); /* out32_Q14_{0,1} + (1<<14) - 1 */ - out32_Q14_s32x4 = vcombine_s32( out32_Q14_s32x2, out32_Q14_s32x2 ); /* out32_Q14_{0,1,0,1} + (1<<14) - 1 */ - out_s16x4 = vqshrn_n_s32( out32_Q14_s32x4, 14 ); /* (opus_int16)silk_SAT16( silk_RSHIFT( out32_Q14_{0,1,0,1} + (1<<14) - 1, 14 ) ) */ - vst1_lane_s16( &out[ 2 * k + 0 ], out_s16x4, 0 ); /* out[ 2 * k + 0 ] = (opus_int16)silk_SAT16( silk_RSHIFT( out32_Q14_0 + (1<<14) - 1, 14 ) ); */ - vst1_lane_s16( &out[ 2 * k + 1 ], out_s16x4, 1 ); /* out[ 2 * k + 1 ] = (opus_int16)silk_SAT16( silk_RSHIFT( out32_Q14_1 + (1<<14) - 1, 14 ) ); */ - } - - vst1q_lane_s32( &S[ 0 ], S_s32x4, 0 ); /* S[ 0 ] = S0; */ - vst1q_lane_s32( &S[ 1 ], S_s32x4, 2 ); /* S[ 1 ] = S2; */ - vst1q_lane_s32( &S[ 2 ], S_s32x4, 1 ); /* S[ 2 ] = S1; */ - vst1q_lane_s32( &S[ 3 ], S_s32x4, 3 ); /* S[ 3 ] = S3; */ - -#ifdef OPUS_CHECK_ASM - silk_assert( !memcmp( S_c, S, sizeof( S_c ) ) ); - silk_assert( !memcmp( out_c, out, 2 * len * sizeof( opus_int16 ) ) ); - RESTORE_STACK; -#endif -} diff --git a/thirdparty/opus/silk/arm/macros_armv4.h b/thirdparty/opus/silk/arm/macros_armv4.h index 877eb18dd5..3f30e97288 100644 --- a/thirdparty/opus/silk/arm/macros_armv4.h +++ b/thirdparty/opus/silk/arm/macros_armv4.h @@ -28,11 +28,6 @@ POSSIBILITY OF SUCH DAMAGE. #ifndef SILK_MACROS_ARMv4_H #define SILK_MACROS_ARMv4_H -/* This macro only avoids the undefined behaviour from a left shift of - a negative value. It should only be used in macros that can't include - SigProc_FIX.h. In other cases, use silk_LSHIFT32(). */ -#define SAFE_SHL(a,b) ((opus_int32)((opus_uint32)(a) << (b))) - /* (a32 * (opus_int32)((opus_int16)(b32))) >> 16 output have to be 32bit int */ #undef silk_SMULWB static OPUS_INLINE opus_int32 silk_SMULWB_armv4(opus_int32 a, opus_int16 b) @@ -43,7 +38,7 @@ static OPUS_INLINE opus_int32 silk_SMULWB_armv4(opus_int32 a, opus_int16 b) "#silk_SMULWB\n\t" "smull %0, %1, %2, %3\n\t" : "=&r"(rd_lo), "=&r"(rd_hi) - : "%r"(a), "r"(SAFE_SHL(b,16)) + : "%r"(a), "r"(b<<16) ); return rd_hi; } @@ -85,7 +80,7 @@ static OPUS_INLINE opus_int32 silk_SMULWW_armv4(opus_int32 a, opus_int32 b) : "=&r"(rd_lo), "=&r"(rd_hi) : "%r"(a), "r"(b) ); - return SAFE_SHL(rd_hi,16)+(rd_lo>>16); + return (rd_hi<<16)+(rd_lo>>16); } #define silk_SMULWW(a, b) (silk_SMULWW_armv4(a, b)) @@ -101,10 +96,8 @@ static OPUS_INLINE opus_int32 silk_SMLAWW_armv4(opus_int32 a, opus_int32 b, : "=&r"(rd_lo), "=&r"(rd_hi) : "%r"(b), "r"(c) ); - return a+SAFE_SHL(rd_hi,16)+(rd_lo>>16); + return a+(rd_hi<<16)+(rd_lo>>16); } #define silk_SMLAWW(a, b, c) (silk_SMLAWW_armv4(a, b, c)) -#undef SAFE_SHL - #endif /* SILK_MACROS_ARMv4_H */ diff --git a/thirdparty/opus/silk/arm/macros_armv5e.h b/thirdparty/opus/silk/arm/macros_armv5e.h index b14ec65ddb..aad4117e46 100644 --- a/thirdparty/opus/silk/arm/macros_armv5e.h +++ b/thirdparty/opus/silk/arm/macros_armv5e.h @@ -29,11 +29,6 @@ POSSIBILITY OF SUCH DAMAGE. #ifndef SILK_MACROS_ARMv5E_H #define SILK_MACROS_ARMv5E_H -/* This macro only avoids the undefined behaviour from a left shift of - a negative value. It should only be used in macros that can't include - SigProc_FIX.h. In other cases, use silk_LSHIFT32(). */ -#define SAFE_SHL(a,b) ((opus_int32)((opus_uint32)(a) << (b))) - /* (a32 * (opus_int32)((opus_int16)(b32))) >> 16 output have to be 32bit int */ #undef silk_SMULWB static OPUS_INLINE opus_int32 silk_SMULWB_armv5e(opus_int32 a, opus_int16 b) @@ -195,7 +190,7 @@ static OPUS_INLINE opus_int32 silk_CLZ16_armv5(opus_int16 in16) "#silk_CLZ16\n\t" "clz %0, %1;\n" : "=r"(res) - : "r"(SAFE_SHL(in16,16)|0x8000) + : "r"(in16<<16|0x8000) ); return res; } @@ -215,6 +210,4 @@ static OPUS_INLINE opus_int32 silk_CLZ32_armv5(opus_int32 in32) } #define silk_CLZ32(in32) (silk_CLZ32_armv5(in32)) -#undef SAFE_SHL - #endif /* SILK_MACROS_ARMv5E_H */ diff --git a/thirdparty/opus/silk/biquad_alt.c b/thirdparty/opus/silk/biquad_alt.c index 54566a43c0..d55f5ee92e 100644 --- a/thirdparty/opus/silk/biquad_alt.c +++ b/thirdparty/opus/silk/biquad_alt.c @@ -39,13 +39,14 @@ POSSIBILITY OF SUCH DAMAGE. #include "SigProc_FIX.h" /* Second order ARMA filter, alternative implementation */ -void silk_biquad_alt_stride1( +void silk_biquad_alt( const opus_int16 *in, /* I input signal */ const opus_int32 *B_Q28, /* I MA coefficients [3] */ const opus_int32 *A_Q28, /* I AR coefficients [2] */ opus_int32 *S, /* I/O State vector [2] */ opus_int16 *out, /* O output signal */ - const opus_int32 len /* I signal length (must be even) */ + const opus_int32 len, /* I signal length (must be even) */ + opus_int stride /* I Operate on interleaved signal if > 1 */ ) { /* DIRECT FORM II TRANSPOSED (uses 2 element state vector) */ @@ -60,7 +61,7 @@ void silk_biquad_alt_stride1( for( k = 0; k < len; k++ ) { /* S[ 0 ], S[ 1 ]: Q12 */ - inval = in[ k ]; + inval = in[ k * stride ]; out32_Q14 = silk_LSHIFT( silk_SMLAWB( S[ 0 ], B_Q28[ 0 ], inval ), 2 ); S[ 0 ] = S[1] + silk_RSHIFT_ROUND( silk_SMULWB( out32_Q14, A0_L_Q28 ), 14 ); @@ -72,50 +73,6 @@ void silk_biquad_alt_stride1( S[ 1 ] = silk_SMLAWB( S[ 1 ], B_Q28[ 2 ], inval ); /* Scale back to Q0 and saturate */ - out[ k ] = (opus_int16)silk_SAT16( silk_RSHIFT( out32_Q14 + (1<<14) - 1, 14 ) ); - } -} - -void silk_biquad_alt_stride2_c( - const opus_int16 *in, /* I input signal */ - const opus_int32 *B_Q28, /* I MA coefficients [3] */ - const opus_int32 *A_Q28, /* I AR coefficients [2] */ - opus_int32 *S, /* I/O State vector [4] */ - opus_int16 *out, /* O output signal */ - const opus_int32 len /* I signal length (must be even) */ -) -{ - /* DIRECT FORM II TRANSPOSED (uses 2 element state vector) */ - opus_int k; - opus_int32 A0_U_Q28, A0_L_Q28, A1_U_Q28, A1_L_Q28, out32_Q14[ 2 ]; - - /* Negate A_Q28 values and split in two parts */ - A0_L_Q28 = ( -A_Q28[ 0 ] ) & 0x00003FFF; /* lower part */ - A0_U_Q28 = silk_RSHIFT( -A_Q28[ 0 ], 14 ); /* upper part */ - A1_L_Q28 = ( -A_Q28[ 1 ] ) & 0x00003FFF; /* lower part */ - A1_U_Q28 = silk_RSHIFT( -A_Q28[ 1 ], 14 ); /* upper part */ - - for( k = 0; k < len; k++ ) { - /* S[ 0 ], S[ 1 ], S[ 2 ], S[ 3 ]: Q12 */ - out32_Q14[ 0 ] = silk_LSHIFT( silk_SMLAWB( S[ 0 ], B_Q28[ 0 ], in[ 2 * k + 0 ] ), 2 ); - out32_Q14[ 1 ] = silk_LSHIFT( silk_SMLAWB( S[ 2 ], B_Q28[ 0 ], in[ 2 * k + 1 ] ), 2 ); - - S[ 0 ] = S[ 1 ] + silk_RSHIFT_ROUND( silk_SMULWB( out32_Q14[ 0 ], A0_L_Q28 ), 14 ); - S[ 2 ] = S[ 3 ] + silk_RSHIFT_ROUND( silk_SMULWB( out32_Q14[ 1 ], A0_L_Q28 ), 14 ); - S[ 0 ] = silk_SMLAWB( S[ 0 ], out32_Q14[ 0 ], A0_U_Q28 ); - S[ 2 ] = silk_SMLAWB( S[ 2 ], out32_Q14[ 1 ], A0_U_Q28 ); - S[ 0 ] = silk_SMLAWB( S[ 0 ], B_Q28[ 1 ], in[ 2 * k + 0 ] ); - S[ 2 ] = silk_SMLAWB( S[ 2 ], B_Q28[ 1 ], in[ 2 * k + 1 ] ); - - S[ 1 ] = silk_RSHIFT_ROUND( silk_SMULWB( out32_Q14[ 0 ], A1_L_Q28 ), 14 ); - S[ 3 ] = silk_RSHIFT_ROUND( silk_SMULWB( out32_Q14[ 1 ], A1_L_Q28 ), 14 ); - S[ 1 ] = silk_SMLAWB( S[ 1 ], out32_Q14[ 0 ], A1_U_Q28 ); - S[ 3 ] = silk_SMLAWB( S[ 3 ], out32_Q14[ 1 ], A1_U_Q28 ); - S[ 1 ] = silk_SMLAWB( S[ 1 ], B_Q28[ 2 ], in[ 2 * k + 0 ] ); - S[ 3 ] = silk_SMLAWB( S[ 3 ], B_Q28[ 2 ], in[ 2 * k + 1 ] ); - - /* Scale back to Q0 and saturate */ - out[ 2 * k + 0 ] = (opus_int16)silk_SAT16( silk_RSHIFT( out32_Q14[ 0 ] + (1<<14) - 1, 14 ) ); - out[ 2 * k + 1 ] = (opus_int16)silk_SAT16( silk_RSHIFT( out32_Q14[ 1 ] + (1<<14) - 1, 14 ) ); + out[ k * stride ] = (opus_int16)silk_SAT16( silk_RSHIFT( out32_Q14 + (1<<14) - 1, 14 ) ); } } diff --git a/thirdparty/opus/silk/bwexpander.c b/thirdparty/opus/silk/bwexpander.c index afa97907ec..2eb4456695 100644 --- a/thirdparty/opus/silk/bwexpander.c +++ b/thirdparty/opus/silk/bwexpander.c @@ -45,7 +45,7 @@ void silk_bwexpander( /* Bias in silk_SMULWB can lead to unstable filters */ for( i = 0; i < d - 1; i++ ) { ar[ i ] = (opus_int16)silk_RSHIFT_ROUND( silk_MUL( chirp_Q16, ar[ i ] ), 16 ); - chirp_Q16 += silk_RSHIFT_ROUND( silk_MUL( chirp_Q16, chirp_minus_one_Q16 ), 16 ); + chirp_Q16 += silk_RSHIFT_ROUND( silk_MUL( chirp_Q16, chirp_minus_one_Q16 ), 16 ); } ar[ d - 1 ] = (opus_int16)silk_RSHIFT_ROUND( silk_MUL( chirp_Q16, ar[ d - 1 ] ), 16 ); } diff --git a/thirdparty/opus/silk/check_control_input.c b/thirdparty/opus/silk/check_control_input.c index 739fb01f1e..b5de9ce48d 100644 --- a/thirdparty/opus/silk/check_control_input.c +++ b/thirdparty/opus/silk/check_control_input.c @@ -38,7 +38,7 @@ opus_int check_control_input( silk_EncControlStruct *encControl /* I Control structure */ ) { - celt_assert( encControl != NULL ); + silk_assert( encControl != NULL ); if( ( ( encControl->API_sampleRate != 8000 ) && ( encControl->API_sampleRate != 12000 ) && @@ -59,46 +59,46 @@ opus_int check_control_input( ( encControl->minInternalSampleRate > encControl->desiredInternalSampleRate ) || ( encControl->maxInternalSampleRate < encControl->desiredInternalSampleRate ) || ( encControl->minInternalSampleRate > encControl->maxInternalSampleRate ) ) { - celt_assert( 0 ); + silk_assert( 0 ); return SILK_ENC_FS_NOT_SUPPORTED; } if( encControl->payloadSize_ms != 10 && encControl->payloadSize_ms != 20 && encControl->payloadSize_ms != 40 && encControl->payloadSize_ms != 60 ) { - celt_assert( 0 ); + silk_assert( 0 ); return SILK_ENC_PACKET_SIZE_NOT_SUPPORTED; } if( encControl->packetLossPercentage < 0 || encControl->packetLossPercentage > 100 ) { - celt_assert( 0 ); + silk_assert( 0 ); return SILK_ENC_INVALID_LOSS_RATE; } if( encControl->useDTX < 0 || encControl->useDTX > 1 ) { - celt_assert( 0 ); + silk_assert( 0 ); return SILK_ENC_INVALID_DTX_SETTING; } if( encControl->useCBR < 0 || encControl->useCBR > 1 ) { - celt_assert( 0 ); + silk_assert( 0 ); return SILK_ENC_INVALID_CBR_SETTING; } if( encControl->useInBandFEC < 0 || encControl->useInBandFEC > 1 ) { - celt_assert( 0 ); + silk_assert( 0 ); return SILK_ENC_INVALID_INBAND_FEC_SETTING; } if( encControl->nChannelsAPI < 1 || encControl->nChannelsAPI > ENCODER_NUM_CHANNELS ) { - celt_assert( 0 ); + silk_assert( 0 ); return SILK_ENC_INVALID_NUMBER_OF_CHANNELS_ERROR; } if( encControl->nChannelsInternal < 1 || encControl->nChannelsInternal > ENCODER_NUM_CHANNELS ) { - celt_assert( 0 ); + silk_assert( 0 ); return SILK_ENC_INVALID_NUMBER_OF_CHANNELS_ERROR; } if( encControl->nChannelsInternal > encControl->nChannelsAPI ) { - celt_assert( 0 ); + silk_assert( 0 ); return SILK_ENC_INVALID_NUMBER_OF_CHANNELS_ERROR; } if( encControl->complexity < 0 || encControl->complexity > 10 ) { - celt_assert( 0 ); + silk_assert( 0 ); return SILK_ENC_INVALID_COMPLEXITY_SETTING; } diff --git a/thirdparty/opus/silk/control.h b/thirdparty/opus/silk/control.h index b76ec33cd6..747e5426a0 100644 --- a/thirdparty/opus/silk/control.h +++ b/thirdparty/opus/silk/control.h @@ -77,9 +77,6 @@ typedef struct { /* I: Flag to enable in-band Forward Error Correction (FEC); 0/1 */ opus_int useInBandFEC; - /* I: Flag to actually code in-band Forward Error Correction (FEC) in the current packet; 0/1 */ - opus_int LBRR_coded; - /* I: Flag to enable discontinuous transmission (DTX); 0/1 */ opus_int useDTX; @@ -113,11 +110,6 @@ typedef struct { /* O: Tells the Opus encoder we're ready to switch */ opus_int switchReady; - /* O: SILK Signal type */ - opus_int signalType; - - /* O: SILK offset (dithering) */ - opus_int offset; } silk_EncControlStruct; /**************************************************************************/ diff --git a/thirdparty/opus/silk/control_SNR.c b/thirdparty/opus/silk/control_SNR.c index 9a6db27543..cee87eb0d8 100644 --- a/thirdparty/opus/silk/control_SNR.c +++ b/thirdparty/opus/silk/control_SNR.c @@ -32,82 +32,45 @@ POSSIBILITY OF SUCH DAMAGE. #include "main.h" #include "tuning_parameters.h" -/* These tables hold SNR values divided by 21 (so they fit in 8 bits) - for different target bitrates spaced at 400 bps interval. The first - 10 values are omitted (0-4 kb/s) because they're all zeros. - These tables were obtained by running different SNRs through the - encoder and measuring the active bitrate. */ -static const unsigned char silk_TargetRate_NB_21[117 - 10] = { - 0, 15, 39, 52, 61, 68, - 74, 79, 84, 88, 92, 95, 99,102,105,108,111,114,117,119,122,124, - 126,129,131,133,135,137,139,142,143,145,147,149,151,153,155,157, - 158,160,162,163,165,167,168,170,171,173,174,176,177,179,180,182, - 183,185,186,187,189,190,192,193,194,196,197,199,200,201,203,204, - 205,207,208,209,211,212,213,215,216,217,219,220,221,223,224,225, - 227,228,230,231,232,234,235,236,238,239,241,242,243,245,246,248, - 249,250,252,253,255 -}; - -static const unsigned char silk_TargetRate_MB_21[165 - 10] = { - 0, 0, 28, 43, 52, 59, - 65, 70, 74, 78, 81, 85, 87, 90, 93, 95, 98,100,102,105,107,109, - 111,113,115,116,118,120,122,123,125,127,128,130,131,133,134,136, - 137,138,140,141,143,144,145,147,148,149,151,152,153,154,156,157, - 158,159,160,162,163,164,165,166,167,168,169,171,172,173,174,175, - 176,177,178,179,180,181,182,183,184,185,186,187,188,188,189,190, - 191,192,193,194,195,196,197,198,199,200,201,202,203,203,204,205, - 206,207,208,209,210,211,212,213,214,214,215,216,217,218,219,220, - 221,222,223,224,224,225,226,227,228,229,230,231,232,233,234,235, - 236,236,237,238,239,240,241,242,243,244,245,246,247,248,249,250, - 251,252,253,254,255 -}; - -static const unsigned char silk_TargetRate_WB_21[201 - 10] = { - 0, 0, 0, 8, 29, 41, - 49, 56, 62, 66, 70, 74, 77, 80, 83, 86, 88, 91, 93, 95, 97, 99, - 101,103,105,107,108,110,112,113,115,116,118,119,121,122,123,125, - 126,127,129,130,131,132,134,135,136,137,138,140,141,142,143,144, - 145,146,147,148,149,150,151,152,153,154,156,157,158,159,159,160, - 161,162,163,164,165,166,167,168,169,170,171,171,172,173,174,175, - 176,177,177,178,179,180,181,181,182,183,184,185,185,186,187,188, - 189,189,190,191,192,192,193,194,195,195,196,197,198,198,199,200, - 200,201,202,203,203,204,205,206,206,207,208,209,209,210,211,211, - 212,213,214,214,215,216,216,217,218,219,219,220,221,221,222,223, - 224,224,225,226,226,227,228,229,229,230,231,232,232,233,234,234, - 235,236,237,237,238,239,240,240,241,242,243,243,244,245,246,246, - 247,248,249,249,250,251,252,253,255 -}; - /* Control SNR of redidual quantizer */ opus_int silk_control_SNR( silk_encoder_state *psEncC, /* I/O Pointer to Silk encoder state */ opus_int32 TargetRate_bps /* I Target max bitrate (bps) */ ) { - int id; - int bound; - const unsigned char *snr_table; + opus_int k, ret = SILK_NO_ERROR; + opus_int32 frac_Q6; + const opus_int32 *rateTable; - psEncC->TargetRate_bps = TargetRate_bps; - if( psEncC->nb_subfr == 2 ) { - TargetRate_bps -= 2000 + psEncC->fs_kHz/16; - } - if( psEncC->fs_kHz == 8 ) { - bound = sizeof(silk_TargetRate_NB_21); - snr_table = silk_TargetRate_NB_21; - } else if( psEncC->fs_kHz == 12 ) { - bound = sizeof(silk_TargetRate_MB_21); - snr_table = silk_TargetRate_MB_21; - } else { - bound = sizeof(silk_TargetRate_WB_21); - snr_table = silk_TargetRate_WB_21; - } - id = (TargetRate_bps+200)/400; - id = silk_min(id - 10, bound-1); - if( id <= 0 ) { - psEncC->SNR_dB_Q7 = 0; - } else { - psEncC->SNR_dB_Q7 = snr_table[id]*21; + /* Set bitrate/coding quality */ + TargetRate_bps = silk_LIMIT( TargetRate_bps, MIN_TARGET_RATE_BPS, MAX_TARGET_RATE_BPS ); + if( TargetRate_bps != psEncC->TargetRate_bps ) { + psEncC->TargetRate_bps = TargetRate_bps; + + /* If new TargetRate_bps, translate to SNR_dB value */ + if( psEncC->fs_kHz == 8 ) { + rateTable = silk_TargetRate_table_NB; + } else if( psEncC->fs_kHz == 12 ) { + rateTable = silk_TargetRate_table_MB; + } else { + rateTable = silk_TargetRate_table_WB; + } + + /* Reduce bitrate for 10 ms modes in these calculations */ + if( psEncC->nb_subfr == 2 ) { + TargetRate_bps -= REDUCE_BITRATE_10_MS_BPS; + } + + /* Find bitrate interval in table and interpolate */ + for( k = 1; k < TARGET_RATE_TAB_SZ; k++ ) { + if( TargetRate_bps <= rateTable[ k ] ) { + frac_Q6 = silk_DIV32( silk_LSHIFT( TargetRate_bps - rateTable[ k - 1 ], 6 ), + rateTable[ k ] - rateTable[ k - 1 ] ); + psEncC->SNR_dB_Q7 = silk_LSHIFT( silk_SNR_table_Q1[ k - 1 ], 6 ) + silk_MUL( frac_Q6, silk_SNR_table_Q1[ k ] - silk_SNR_table_Q1[ k - 1 ] ); + break; + } + } } - return SILK_NO_ERROR; + + return ret; } diff --git a/thirdparty/opus/silk/control_audio_bandwidth.c b/thirdparty/opus/silk/control_audio_bandwidth.c index f6d22d8395..4f9bc5cbda 100644 --- a/thirdparty/opus/silk/control_audio_bandwidth.c +++ b/thirdparty/opus/silk/control_audio_bandwidth.c @@ -39,15 +39,9 @@ opus_int silk_control_audio_bandwidth( ) { opus_int fs_kHz; - opus_int orig_kHz; opus_int32 fs_Hz; - orig_kHz = psEncC->fs_kHz; - /* Handle a bandwidth-switching reset where we need to be aware what the last sampling rate was. */ - if( orig_kHz == 0 ) { - orig_kHz = psEncC->sLP.saved_fs_kHz; - } - fs_kHz = orig_kHz; + fs_kHz = psEncC->fs_kHz; fs_Hz = silk_SMULBB( fs_kHz, 1000 ); if( fs_Hz == 0 ) { /* Encoder has just been initialized */ @@ -67,7 +61,7 @@ opus_int silk_control_audio_bandwidth( } if( psEncC->allow_bandwidth_switch || encControl->opusCanSwitch ) { /* Check if we should switch down */ - if( silk_SMULBB( orig_kHz, 1000 ) > psEncC->desiredInternal_fs_Hz ) + if( silk_SMULBB( psEncC->fs_kHz, 1000 ) > psEncC->desiredInternal_fs_Hz ) { /* Switch down */ if( psEncC->sLP.mode == 0 ) { @@ -82,7 +76,7 @@ opus_int silk_control_audio_bandwidth( psEncC->sLP.mode = 0; /* Switch to a lower sample frequency */ - fs_kHz = orig_kHz == 16 ? 12 : 8; + fs_kHz = psEncC->fs_kHz == 16 ? 12 : 8; } else { if( psEncC->sLP.transition_frame_no <= 0 ) { encControl->switchReady = 1; @@ -96,12 +90,12 @@ opus_int silk_control_audio_bandwidth( } else /* Check if we should switch up */ - if( silk_SMULBB( orig_kHz, 1000 ) < psEncC->desiredInternal_fs_Hz ) + if( silk_SMULBB( psEncC->fs_kHz, 1000 ) < psEncC->desiredInternal_fs_Hz ) { /* Switch up */ if( encControl->opusCanSwitch ) { /* Switch to a higher sample frequency */ - fs_kHz = orig_kHz == 8 ? 12 : 16; + fs_kHz = psEncC->fs_kHz == 8 ? 12 : 16; /* New transition */ psEncC->sLP.transition_frame_no = 0; diff --git a/thirdparty/opus/silk/control_codec.c b/thirdparty/opus/silk/control_codec.c index 52aa8fded3..044eea3f2a 100644 --- a/thirdparty/opus/silk/control_codec.c +++ b/thirdparty/opus/silk/control_codec.c @@ -57,7 +57,7 @@ static opus_int silk_setup_complexity( static OPUS_INLINE opus_int silk_setup_LBRR( silk_encoder_state *psEncC, /* I/O */ - const silk_EncControlStruct *encControl /* I */ + const opus_int32 TargetRate_bps /* I */ ); @@ -65,6 +65,7 @@ static OPUS_INLINE opus_int silk_setup_LBRR( opus_int silk_control_encoder( silk_encoder_state_Fxx *psEnc, /* I/O Pointer to Silk encoder state */ silk_EncControlStruct *encControl, /* I Control structure */ + const opus_int32 TargetRate_bps, /* I Target max bitrate (bps) */ const opus_int allow_bw_switch, /* I Flag to allow switching audio bandwidth */ const opus_int channelNb, /* I Channel number */ const opus_int force_fs_kHz @@ -124,7 +125,7 @@ opus_int silk_control_encoder( /********************************************/ /* Set LBRR usage */ /********************************************/ - ret += silk_setup_LBRR( &psEnc->sCmn, encControl ); + ret += silk_setup_LBRR( &psEnc->sCmn, TargetRate_bps ); psEnc->sCmn.controlled_since_last_payload = 1; @@ -238,11 +239,12 @@ static opus_int silk_setup_fs( } /* Set internal sampling frequency */ - celt_assert( fs_kHz == 8 || fs_kHz == 12 || fs_kHz == 16 ); - celt_assert( psEnc->sCmn.nb_subfr == 2 || psEnc->sCmn.nb_subfr == 4 ); + silk_assert( fs_kHz == 8 || fs_kHz == 12 || fs_kHz == 16 ); + silk_assert( psEnc->sCmn.nb_subfr == 2 || psEnc->sCmn.nb_subfr == 4 ); if( psEnc->sCmn.fs_kHz != fs_kHz ) { /* reset part of the state */ silk_memset( &psEnc->sShape, 0, sizeof( psEnc->sShape ) ); + silk_memset( &psEnc->sPrefilt, 0, sizeof( psEnc->sPrefilt ) ); silk_memset( &psEnc->sCmn.sNSQ, 0, sizeof( psEnc->sCmn.sNSQ ) ); silk_memset( psEnc->sCmn.prev_NLSFq_Q15, 0, sizeof( psEnc->sCmn.prev_NLSFq_Q15 ) ); silk_memset( &psEnc->sCmn.sLP.In_LP_State, 0, sizeof( psEnc->sCmn.sLP.In_LP_State ) ); @@ -253,6 +255,7 @@ static opus_int silk_setup_fs( /* Initialize non-zero parameters */ psEnc->sCmn.prevLag = 100; psEnc->sCmn.first_frame_after_reset = 1; + psEnc->sPrefilt.lagPrev = 100; psEnc->sShape.LastGainIndex = 10; psEnc->sCmn.sNSQ.lagPrev = 100; psEnc->sCmn.sNSQ.prev_gain_Q16 = 65536; @@ -290,16 +293,19 @@ static opus_int silk_setup_fs( psEnc->sCmn.pitch_LPC_win_length = silk_SMULBB( FIND_PITCH_LPC_WIN_MS_2_SF, fs_kHz ); } if( psEnc->sCmn.fs_kHz == 16 ) { + psEnc->sCmn.mu_LTP_Q9 = SILK_FIX_CONST( MU_LTP_QUANT_WB, 9 ); psEnc->sCmn.pitch_lag_low_bits_iCDF = silk_uniform8_iCDF; } else if( psEnc->sCmn.fs_kHz == 12 ) { + psEnc->sCmn.mu_LTP_Q9 = SILK_FIX_CONST( MU_LTP_QUANT_MB, 9 ); psEnc->sCmn.pitch_lag_low_bits_iCDF = silk_uniform6_iCDF; } else { + psEnc->sCmn.mu_LTP_Q9 = SILK_FIX_CONST( MU_LTP_QUANT_NB, 9 ); psEnc->sCmn.pitch_lag_low_bits_iCDF = silk_uniform4_iCDF; } } /* Check that settings are valid */ - celt_assert( ( psEnc->sCmn.subfr_length * psEnc->sCmn.nb_subfr ) == psEnc->sCmn.frame_length ); + silk_assert( ( psEnc->sCmn.subfr_length * psEnc->sCmn.nb_subfr ) == psEnc->sCmn.frame_length ); return ret; } @@ -312,76 +318,61 @@ static opus_int silk_setup_complexity( opus_int ret = 0; /* Set encoding complexity */ - celt_assert( Complexity >= 0 && Complexity <= 10 ); - if( Complexity < 1 ) { + silk_assert( Complexity >= 0 && Complexity <= 10 ); + if( Complexity < 2 ) { psEncC->pitchEstimationComplexity = SILK_PE_MIN_COMPLEX; psEncC->pitchEstimationThreshold_Q16 = SILK_FIX_CONST( 0.8, 16 ); psEncC->pitchEstimationLPCOrder = 6; - psEncC->shapingLPCOrder = 12; + psEncC->shapingLPCOrder = 8; psEncC->la_shape = 3 * psEncC->fs_kHz; psEncC->nStatesDelayedDecision = 1; psEncC->useInterpolatedNLSFs = 0; - psEncC->NLSF_MSVQ_Survivors = 2; - psEncC->warping_Q16 = 0; - } else if( Complexity < 2 ) { - psEncC->pitchEstimationComplexity = SILK_PE_MID_COMPLEX; - psEncC->pitchEstimationThreshold_Q16 = SILK_FIX_CONST( 0.76, 16 ); - psEncC->pitchEstimationLPCOrder = 8; - psEncC->shapingLPCOrder = 14; - psEncC->la_shape = 5 * psEncC->fs_kHz; - psEncC->nStatesDelayedDecision = 1; - psEncC->useInterpolatedNLSFs = 0; - psEncC->NLSF_MSVQ_Survivors = 3; - psEncC->warping_Q16 = 0; - } else if( Complexity < 3 ) { - psEncC->pitchEstimationComplexity = SILK_PE_MIN_COMPLEX; - psEncC->pitchEstimationThreshold_Q16 = SILK_FIX_CONST( 0.8, 16 ); - psEncC->pitchEstimationLPCOrder = 6; - psEncC->shapingLPCOrder = 12; - psEncC->la_shape = 3 * psEncC->fs_kHz; - psEncC->nStatesDelayedDecision = 2; - psEncC->useInterpolatedNLSFs = 0; + psEncC->LTPQuantLowComplexity = 1; psEncC->NLSF_MSVQ_Survivors = 2; psEncC->warping_Q16 = 0; } else if( Complexity < 4 ) { psEncC->pitchEstimationComplexity = SILK_PE_MID_COMPLEX; psEncC->pitchEstimationThreshold_Q16 = SILK_FIX_CONST( 0.76, 16 ); psEncC->pitchEstimationLPCOrder = 8; - psEncC->shapingLPCOrder = 14; + psEncC->shapingLPCOrder = 10; psEncC->la_shape = 5 * psEncC->fs_kHz; - psEncC->nStatesDelayedDecision = 2; + psEncC->nStatesDelayedDecision = 1; psEncC->useInterpolatedNLSFs = 0; + psEncC->LTPQuantLowComplexity = 0; psEncC->NLSF_MSVQ_Survivors = 4; psEncC->warping_Q16 = 0; } else if( Complexity < 6 ) { psEncC->pitchEstimationComplexity = SILK_PE_MID_COMPLEX; psEncC->pitchEstimationThreshold_Q16 = SILK_FIX_CONST( 0.74, 16 ); psEncC->pitchEstimationLPCOrder = 10; - psEncC->shapingLPCOrder = 16; + psEncC->shapingLPCOrder = 12; psEncC->la_shape = 5 * psEncC->fs_kHz; psEncC->nStatesDelayedDecision = 2; psEncC->useInterpolatedNLSFs = 1; - psEncC->NLSF_MSVQ_Survivors = 6; + psEncC->LTPQuantLowComplexity = 0; + psEncC->NLSF_MSVQ_Survivors = 8; psEncC->warping_Q16 = psEncC->fs_kHz * SILK_FIX_CONST( WARPING_MULTIPLIER, 16 ); } else if( Complexity < 8 ) { psEncC->pitchEstimationComplexity = SILK_PE_MID_COMPLEX; psEncC->pitchEstimationThreshold_Q16 = SILK_FIX_CONST( 0.72, 16 ); psEncC->pitchEstimationLPCOrder = 12; - psEncC->shapingLPCOrder = 20; + psEncC->shapingLPCOrder = 14; psEncC->la_shape = 5 * psEncC->fs_kHz; psEncC->nStatesDelayedDecision = 3; psEncC->useInterpolatedNLSFs = 1; - psEncC->NLSF_MSVQ_Survivors = 8; + psEncC->LTPQuantLowComplexity = 0; + psEncC->NLSF_MSVQ_Survivors = 16; psEncC->warping_Q16 = psEncC->fs_kHz * SILK_FIX_CONST( WARPING_MULTIPLIER, 16 ); } else { psEncC->pitchEstimationComplexity = SILK_PE_MAX_COMPLEX; psEncC->pitchEstimationThreshold_Q16 = SILK_FIX_CONST( 0.7, 16 ); psEncC->pitchEstimationLPCOrder = 16; - psEncC->shapingLPCOrder = 24; + psEncC->shapingLPCOrder = 16; psEncC->la_shape = 5 * psEncC->fs_kHz; psEncC->nStatesDelayedDecision = MAX_DEL_DEC_STATES; psEncC->useInterpolatedNLSFs = 1; - psEncC->NLSF_MSVQ_Survivors = 16; + psEncC->LTPQuantLowComplexity = 0; + psEncC->NLSF_MSVQ_Survivors = 32; psEncC->warping_Q16 = psEncC->fs_kHz * SILK_FIX_CONST( WARPING_MULTIPLIER, 16 ); } @@ -390,32 +381,46 @@ static opus_int silk_setup_complexity( psEncC->shapeWinLength = SUB_FRAME_LENGTH_MS * psEncC->fs_kHz + 2 * psEncC->la_shape; psEncC->Complexity = Complexity; - celt_assert( psEncC->pitchEstimationLPCOrder <= MAX_FIND_PITCH_LPC_ORDER ); - celt_assert( psEncC->shapingLPCOrder <= MAX_SHAPE_LPC_ORDER ); - celt_assert( psEncC->nStatesDelayedDecision <= MAX_DEL_DEC_STATES ); - celt_assert( psEncC->warping_Q16 <= 32767 ); - celt_assert( psEncC->la_shape <= LA_SHAPE_MAX ); - celt_assert( psEncC->shapeWinLength <= SHAPE_LPC_WIN_MAX ); + silk_assert( psEncC->pitchEstimationLPCOrder <= MAX_FIND_PITCH_LPC_ORDER ); + silk_assert( psEncC->shapingLPCOrder <= MAX_SHAPE_LPC_ORDER ); + silk_assert( psEncC->nStatesDelayedDecision <= MAX_DEL_DEC_STATES ); + silk_assert( psEncC->warping_Q16 <= 32767 ); + silk_assert( psEncC->la_shape <= LA_SHAPE_MAX ); + silk_assert( psEncC->shapeWinLength <= SHAPE_LPC_WIN_MAX ); + silk_assert( psEncC->NLSF_MSVQ_Survivors <= NLSF_VQ_MAX_SURVIVORS ); return ret; } static OPUS_INLINE opus_int silk_setup_LBRR( silk_encoder_state *psEncC, /* I/O */ - const silk_EncControlStruct *encControl /* I */ + const opus_int32 TargetRate_bps /* I */ ) { opus_int LBRR_in_previous_packet, ret = SILK_NO_ERROR; + opus_int32 LBRR_rate_thres_bps; LBRR_in_previous_packet = psEncC->LBRR_enabled; - psEncC->LBRR_enabled = encControl->LBRR_coded; - if( psEncC->LBRR_enabled ) { - /* Set gain increase for coding LBRR excitation */ - if( LBRR_in_previous_packet == 0 ) { - /* Previous packet did not have LBRR, and was therefore coded at a higher bitrate */ - psEncC->LBRR_GainIncreases = 7; + psEncC->LBRR_enabled = 0; + if( psEncC->useInBandFEC && psEncC->PacketLoss_perc > 0 ) { + if( psEncC->fs_kHz == 8 ) { + LBRR_rate_thres_bps = LBRR_NB_MIN_RATE_BPS; + } else if( psEncC->fs_kHz == 12 ) { + LBRR_rate_thres_bps = LBRR_MB_MIN_RATE_BPS; } else { - psEncC->LBRR_GainIncreases = silk_max_int( 7 - silk_SMULWB( (opus_int32)psEncC->PacketLoss_perc, SILK_FIX_CONST( 0.4, 16 ) ), 2 ); + LBRR_rate_thres_bps = LBRR_WB_MIN_RATE_BPS; + } + LBRR_rate_thres_bps = silk_SMULWB( silk_MUL( LBRR_rate_thres_bps, 125 - silk_min( psEncC->PacketLoss_perc, 25 ) ), SILK_FIX_CONST( 0.01, 16 ) ); + + if( TargetRate_bps > LBRR_rate_thres_bps ) { + /* Set gain increase for coding LBRR excitation */ + if( LBRR_in_previous_packet == 0 ) { + /* Previous packet did not have LBRR, and was therefore coded at a higher bitrate */ + psEncC->LBRR_GainIncreases = 7; + } else { + psEncC->LBRR_GainIncreases = silk_max_int( 7 - silk_SMULWB( (opus_int32)psEncC->PacketLoss_perc, SILK_FIX_CONST( 0.4, 16 ) ), 2 ); + } + psEncC->LBRR_enabled = 1; } } diff --git a/thirdparty/opus/silk/debug.h b/thirdparty/opus/silk/debug.h index 6f68c1ca0f..efb6d3e99e 100644 --- a/thirdparty/opus/silk/debug.h +++ b/thirdparty/opus/silk/debug.h @@ -39,10 +39,23 @@ extern "C" unsigned long GetHighResolutionTime(void); /* O time in usec*/ -/* Set to 1 to enable DEBUG_STORE_DATA() macros for dumping - * intermediate signals from the codec. - */ -#define SILK_DEBUG 0 +/* make SILK_DEBUG dependent on compiler's _DEBUG */ +#if defined _WIN32 + #ifdef _DEBUG + #define SILK_DEBUG 1 + #else + #define SILK_DEBUG 0 + #endif + + /* overrule the above */ + #if 0 + /* #define NO_ASSERTS*/ + #undef SILK_DEBUG + #define SILK_DEBUG 1 + #endif +#else + #define SILK_DEBUG 0 +#endif /* Flag for using timers */ #define SILK_TIC_TOC 0 diff --git a/thirdparty/opus/silk/dec_API.c b/thirdparty/opus/silk/dec_API.c index 7d5ca7fb9f..b7d8ed48d8 100644 --- a/thirdparty/opus/silk/dec_API.c +++ b/thirdparty/opus/silk/dec_API.c @@ -104,7 +104,7 @@ opus_int silk_Decode( /* O Returns error co int delay_stack_alloc; SAVE_STACK; - celt_assert( decControl->nChannelsInternal == 1 || decControl->nChannelsInternal == 2 ); + silk_assert( decControl->nChannelsInternal == 1 || decControl->nChannelsInternal == 2 ); /**********************************/ /* Test if first frame in payload */ @@ -143,13 +143,13 @@ opus_int silk_Decode( /* O Returns error co channel_state[ n ].nFramesPerPacket = 3; channel_state[ n ].nb_subfr = 4; } else { - celt_assert( 0 ); + silk_assert( 0 ); RESTORE_STACK; return SILK_DEC_INVALID_FRAME_SIZE; } fs_kHz_dec = ( decControl->internalSampleRate >> 10 ) + 1; if( fs_kHz_dec != 8 && fs_kHz_dec != 12 && fs_kHz_dec != 16 ) { - celt_assert( 0 ); + silk_assert( 0 ); RESTORE_STACK; return SILK_DEC_INVALID_SAMPLING_FREQUENCY; } diff --git a/thirdparty/opus/silk/decode_core.c b/thirdparty/opus/silk/decode_core.c index 1c352a6522..e569c0e72b 100644 --- a/thirdparty/opus/silk/decode_core.c +++ b/thirdparty/opus/silk/decode_core.c @@ -141,7 +141,7 @@ void silk_decode_core( if( k == 0 || ( k == 2 && NLSF_interpolation_flag ) ) { /* Rewhiten with new A coefs */ start_idx = psDec->ltp_mem_length - lag - psDec->LPC_order - LTP_ORDER / 2; - celt_assert( start_idx > 0 ); + silk_assert( start_idx > 0 ); if( k == 2 ) { silk_memcpy( &psDec->outBuf[ psDec->ltp_mem_length ], xq, 2 * psDec->subfr_length * sizeof( opus_int16 ) ); @@ -196,7 +196,7 @@ void silk_decode_core( for( i = 0; i < psDec->subfr_length; i++ ) { /* Short-term prediction */ - celt_assert( psDec->LPC_order == 10 || psDec->LPC_order == 16 ); + silk_assert( psDec->LPC_order == 10 || psDec->LPC_order == 16 ); /* Avoids introducing a bias because silk_SMLAWB() always rounds to -inf */ LPC_pred_Q10 = silk_RSHIFT( psDec->LPC_order, 1 ); LPC_pred_Q10 = silk_SMLAWB( LPC_pred_Q10, sLPC_Q14[ MAX_LPC_ORDER + i - 1 ], A_Q12_tmp[ 0 ] ); @@ -225,6 +225,8 @@ void silk_decode_core( pxq[ i ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( silk_SMULWW( sLPC_Q14[ MAX_LPC_ORDER + i ], Gain_Q10 ), 8 ) ); } + /* DEBUG_STORE_DATA( dec.pcm, pxq, psDec->subfr_length * sizeof( opus_int16 ) ) */ + /* Update LPC filter state */ silk_memcpy( sLPC_Q14, &sLPC_Q14[ psDec->subfr_length ], MAX_LPC_ORDER * sizeof( opus_int32 ) ); pexc_Q14 += psDec->subfr_length; diff --git a/thirdparty/opus/silk/decode_frame.c b/thirdparty/opus/silk/decode_frame.c index e73825b267..a605d95ac6 100644 --- a/thirdparty/opus/silk/decode_frame.c +++ b/thirdparty/opus/silk/decode_frame.c @@ -55,7 +55,7 @@ opus_int silk_decode_frame( psDecCtrl->LTP_scale_Q14 = 0; /* Safety checks */ - celt_assert( L > 0 && L <= MAX_FRAME_LENGTH ); + silk_assert( L > 0 && L <= MAX_FRAME_LENGTH ); if( lostFlag == FLAG_DECODE_NORMAL || ( lostFlag == FLAG_DECODE_LBRR && psDec->LBRR_flags[ psDec->nFramesDecoded ] == 1 ) ) @@ -91,20 +91,19 @@ opus_int silk_decode_frame( psDec->lossCnt = 0; psDec->prevSignalType = psDec->indices.signalType; - celt_assert( psDec->prevSignalType >= 0 && psDec->prevSignalType <= 2 ); + silk_assert( psDec->prevSignalType >= 0 && psDec->prevSignalType <= 2 ); /* A frame has been decoded without errors */ psDec->first_frame_after_reset = 0; } else { /* Handle packet loss by extrapolation */ - psDec->indices.signalType = psDec->prevSignalType; silk_PLC( psDec, psDecCtrl, pOut, 1, arch ); } /*************************/ /* Update output buffer. */ /*************************/ - celt_assert( psDec->ltp_mem_length >= psDec->frame_length ); + silk_assert( psDec->ltp_mem_length >= psDec->frame_length ); mv_len = psDec->ltp_mem_length - psDec->frame_length; silk_memmove( psDec->outBuf, &psDec->outBuf[ psDec->frame_length ], mv_len * sizeof(opus_int16) ); silk_memcpy( &psDec->outBuf[ mv_len ], pOut, psDec->frame_length * sizeof( opus_int16 ) ); diff --git a/thirdparty/opus/silk/decode_indices.c b/thirdparty/opus/silk/decode_indices.c index 0bb4a997a5..7afe5c26c1 100644 --- a/thirdparty/opus/silk/decode_indices.c +++ b/thirdparty/opus/silk/decode_indices.c @@ -79,7 +79,7 @@ void silk_decode_indices( /**********************/ psDec->indices.NLSFIndices[ 0 ] = (opus_int8)ec_dec_icdf( psRangeDec, &psDec->psNLSF_CB->CB1_iCDF[ ( psDec->indices.signalType >> 1 ) * psDec->psNLSF_CB->nVectors ], 8 ); silk_NLSF_unpack( ec_ix, pred_Q8, psDec->psNLSF_CB, psDec->indices.NLSFIndices[ 0 ] ); - celt_assert( psDec->psNLSF_CB->order == psDec->LPC_order ); + silk_assert( psDec->psNLSF_CB->order == psDec->LPC_order ); for( i = 0; i < psDec->psNLSF_CB->order; i++ ) { Ix = ec_dec_icdf( psRangeDec, &psDec->psNLSF_CB->ec_iCDF[ ec_ix[ i ] ], 8 ); if( Ix == 0 ) { diff --git a/thirdparty/opus/silk/decode_parameters.c b/thirdparty/opus/silk/decode_parameters.c index a56a409858..e345b1dcef 100644 --- a/thirdparty/opus/silk/decode_parameters.c +++ b/thirdparty/opus/silk/decode_parameters.c @@ -52,7 +52,7 @@ void silk_decode_parameters( silk_NLSF_decode( pNLSF_Q15, psDec->indices.NLSFIndices, psDec->psNLSF_CB ); /* Convert NLSF parameters to AR prediction filter coefficients */ - silk_NLSF2A( psDecCtrl->PredCoef_Q12[ 1 ], pNLSF_Q15, psDec->LPC_order, psDec->arch ); + silk_NLSF2A( psDecCtrl->PredCoef_Q12[ 1 ], pNLSF_Q15, psDec->LPC_order ); /* If just reset, e.g., because internal Fs changed, do not allow interpolation */ /* improves the case of packet loss in the first frame after a switch */ @@ -69,7 +69,7 @@ void silk_decode_parameters( } /* Convert NLSF parameters to AR prediction filter coefficients */ - silk_NLSF2A( psDecCtrl->PredCoef_Q12[ 0 ], pNLSF0_Q15, psDec->LPC_order, psDec->arch ); + silk_NLSF2A( psDecCtrl->PredCoef_Q12[ 0 ], pNLSF0_Q15, psDec->LPC_order ); } else { /* Copy LPC coefficients for first half from second half */ silk_memcpy( psDecCtrl->PredCoef_Q12[ 0 ], psDecCtrl->PredCoef_Q12[ 1 ], psDec->LPC_order * sizeof( opus_int16 ) ); diff --git a/thirdparty/opus/silk/decode_pitch.c b/thirdparty/opus/silk/decode_pitch.c index fd1b6bf551..fedbc6a525 100644 --- a/thirdparty/opus/silk/decode_pitch.c +++ b/thirdparty/opus/silk/decode_pitch.c @@ -51,7 +51,7 @@ void silk_decode_pitch( Lag_CB_ptr = &silk_CB_lags_stage2[ 0 ][ 0 ]; cbk_size = PE_NB_CBKS_STAGE2_EXT; } else { - celt_assert( nb_subfr == PE_MAX_NB_SUBFR >> 1 ); + silk_assert( nb_subfr == PE_MAX_NB_SUBFR >> 1 ); Lag_CB_ptr = &silk_CB_lags_stage2_10_ms[ 0 ][ 0 ]; cbk_size = PE_NB_CBKS_STAGE2_10MS; } @@ -60,7 +60,7 @@ void silk_decode_pitch( Lag_CB_ptr = &silk_CB_lags_stage3[ 0 ][ 0 ]; cbk_size = PE_NB_CBKS_STAGE3_MAX; } else { - celt_assert( nb_subfr == PE_MAX_NB_SUBFR >> 1 ); + silk_assert( nb_subfr == PE_MAX_NB_SUBFR >> 1 ); Lag_CB_ptr = &silk_CB_lags_stage3_10_ms[ 0 ][ 0 ]; cbk_size = PE_NB_CBKS_STAGE3_10MS; } diff --git a/thirdparty/opus/silk/decode_pulses.c b/thirdparty/opus/silk/decode_pulses.c index a56d2d3074..d6bbec9225 100644 --- a/thirdparty/opus/silk/decode_pulses.c +++ b/thirdparty/opus/silk/decode_pulses.c @@ -56,7 +56,7 @@ void silk_decode_pulses( silk_assert( 1 << LOG2_SHELL_CODEC_FRAME_LENGTH == SHELL_CODEC_FRAME_LENGTH ); iter = silk_RSHIFT( frame_length, LOG2_SHELL_CODEC_FRAME_LENGTH ); if( iter * SHELL_CODEC_FRAME_LENGTH < frame_length ) { - celt_assert( frame_length == 12 * 10 ); /* Make sure only happens for 10 ms @ 12 kHz */ + silk_assert( frame_length == 12 * 10 ); /* Make sure only happens for 10 ms @ 12 kHz */ iter++; } diff --git a/thirdparty/opus/silk/decoder_set_fs.c b/thirdparty/opus/silk/decoder_set_fs.c index d9a13d0f0c..eef0fd25e1 100644 --- a/thirdparty/opus/silk/decoder_set_fs.c +++ b/thirdparty/opus/silk/decoder_set_fs.c @@ -40,8 +40,8 @@ opus_int silk_decoder_set_fs( { opus_int frame_length, ret = 0; - celt_assert( fs_kHz == 8 || fs_kHz == 12 || fs_kHz == 16 ); - celt_assert( psDec->nb_subfr == MAX_NB_SUBFR || psDec->nb_subfr == MAX_NB_SUBFR/2 ); + silk_assert( fs_kHz == 8 || fs_kHz == 12 || fs_kHz == 16 ); + silk_assert( psDec->nb_subfr == MAX_NB_SUBFR || psDec->nb_subfr == MAX_NB_SUBFR/2 ); /* New (sub)frame length */ psDec->subfr_length = silk_SMULBB( SUB_FRAME_LENGTH_MS, fs_kHz ); @@ -86,7 +86,7 @@ opus_int silk_decoder_set_fs( psDec->pitch_lag_low_bits_iCDF = silk_uniform4_iCDF; } else { /* unsupported sampling rate */ - celt_assert( 0 ); + silk_assert( 0 ); } psDec->first_frame_after_reset = 1; psDec->lagPrev = 100; @@ -101,7 +101,7 @@ opus_int silk_decoder_set_fs( } /* Check that settings are valid */ - celt_assert( psDec->frame_length > 0 && psDec->frame_length <= MAX_FRAME_LENGTH ); + silk_assert( psDec->frame_length > 0 && psDec->frame_length <= MAX_FRAME_LENGTH ); return ret; } diff --git a/thirdparty/opus/silk/define.h b/thirdparty/opus/silk/define.h index 247cb0bf71..19c9b00e25 100644 --- a/thirdparty/opus/silk/define.h +++ b/thirdparty/opus/silk/define.h @@ -46,6 +46,7 @@ extern "C" /* Limits on bitrate */ #define MIN_TARGET_RATE_BPS 5000 #define MAX_TARGET_RATE_BPS 80000 +#define TARGET_RATE_TAB_SZ 8 /* LBRR thresholds */ #define LBRR_NB_MIN_RATE_BPS 12000 @@ -55,12 +56,6 @@ extern "C" /* DTX settings */ #define NB_SPEECH_FRAMES_BEFORE_DTX 10 /* eq 200 ms */ #define MAX_CONSECUTIVE_DTX 20 /* eq 400 ms */ -#define DTX_ACTIVITY_THRESHOLD 0.1f - -/* VAD decision */ -#define VAD_NO_DECISION -1 -#define VAD_NO_ACTIVITY 0 -#define VAD_ACTIVITY 1 /* Maximum sampling frequency */ #define MAX_FS_KHZ 16 @@ -152,7 +147,7 @@ extern "C" #define USE_HARM_SHAPING 1 /* Max LPC order of noise shaping filters */ -#define MAX_SHAPE_LPC_ORDER 24 +#define MAX_SHAPE_LPC_ORDER 16 #define HARM_SHAPE_FIR_TAPS 3 @@ -162,7 +157,8 @@ extern "C" #define LTP_BUF_LENGTH 512 #define LTP_MASK ( LTP_BUF_LENGTH - 1 ) -#define DECISION_DELAY 40 +#define DECISION_DELAY 32 +#define DECISION_DELAY_MASK ( DECISION_DELAY - 1 ) /* Number of subframes for excitation entropy coding */ #define SHELL_CODEC_FRAME_LENGTH 16 @@ -177,7 +173,11 @@ extern "C" #define MAX_MATRIX_SIZE MAX_LPC_ORDER /* Max of LPC Order and LTP order */ +#if( MAX_LPC_ORDER > DECISION_DELAY ) # define NSQ_LPC_BUF_LENGTH MAX_LPC_ORDER +#else +# define NSQ_LPC_BUF_LENGTH DECISION_DELAY +#endif /***************************/ /* Voice activity detector */ @@ -205,6 +205,7 @@ extern "C" /******************/ #define NLSF_W_Q 2 #define NLSF_VQ_MAX_VECTORS 32 +#define NLSF_VQ_MAX_SURVIVORS 32 #define NLSF_QUANT_MAX_AMPLITUDE 4 #define NLSF_QUANT_MAX_AMPLITUDE_EXT 10 #define NLSF_QUANT_LEVEL_ADJ 0.1 diff --git a/thirdparty/opus/silk/enc_API.c b/thirdparty/opus/silk/enc_API.c index 55a33f37e9..f8060286db 100644 --- a/thirdparty/opus/silk/enc_API.c +++ b/thirdparty/opus/silk/enc_API.c @@ -82,7 +82,7 @@ opus_int silk_InitEncoder( /* O Returns error co silk_memset( psEnc, 0, sizeof( silk_encoder ) ); for( n = 0; n < ENCODER_NUM_CHANNELS; n++ ) { if( ret += silk_init_encoder( &psEnc->state_Fxx[ n ], arch ) ) { - celt_assert( 0 ); + silk_assert( 0 ); } } @@ -91,7 +91,7 @@ opus_int silk_InitEncoder( /* O Returns error co /* Read control structure */ if( ret += silk_QueryEncoder( encState, encStatus ) ) { - celt_assert( 0 ); + silk_assert( 0 ); } return ret; @@ -144,8 +144,7 @@ opus_int silk_Encode( /* O Returns error co opus_int nSamplesIn, /* I Number of samples in input vector */ ec_enc *psRangeEnc, /* I/O Compressor data structure */ opus_int32 *nBytesOut, /* I/O Number of bytes in payload (input: Max bytes) */ - const opus_int prefillFlag, /* I Flag to indicate prefilling buffers no coding */ - opus_int activity /* I Decision of Opus voice activity detector */ + const opus_int prefillFlag /* I Flag to indicate prefilling buffers no coding */ ) { opus_int n, i, nBits, flags, tmp_payloadSize_ms = 0, tmp_complexity = 0, ret = 0; @@ -167,7 +166,7 @@ opus_int silk_Encode( /* O Returns error co /* Check values in encoder control structure */ if( ( ret = check_control_input( encControl ) ) != 0 ) { - celt_assert( 0 ); + silk_assert( 0 ); RESTORE_STACK; return ret; } @@ -200,26 +199,16 @@ opus_int silk_Encode( /* O Returns error co tot_blocks = ( nBlocksOf10ms > 1 ) ? nBlocksOf10ms >> 1 : 1; curr_block = 0; if( prefillFlag ) { - silk_LP_state save_LP; /* Only accept input length of 10 ms */ if( nBlocksOf10ms != 1 ) { - celt_assert( 0 ); + silk_assert( 0 ); RESTORE_STACK; return SILK_ENC_INPUT_INVALID_NO_OF_SAMPLES; } - if ( prefillFlag == 2 ) { - save_LP = psEnc->state_Fxx[ 0 ].sCmn.sLP; - /* Save the sampling rate so the bandwidth switching code can keep handling transitions. */ - save_LP.saved_fs_kHz = psEnc->state_Fxx[ 0 ].sCmn.fs_kHz; - } /* Reset Encoder */ for( n = 0; n < encControl->nChannelsInternal; n++ ) { ret = silk_init_encoder( &psEnc->state_Fxx[ n ], psEnc->state_Fxx[ n ].sCmn.arch ); - /* Restore the variable LP state. */ - if ( prefillFlag == 2 ) { - psEnc->state_Fxx[ n ].sCmn.sLP = save_LP; - } - celt_assert( !ret ); + silk_assert( !ret ); } tmp_payloadSize_ms = encControl->payloadSize_ms; encControl->payloadSize_ms = 10; @@ -232,22 +221,23 @@ opus_int silk_Encode( /* O Returns error co } else { /* Only accept input lengths that are a multiple of 10 ms */ if( nBlocksOf10ms * encControl->API_sampleRate != 100 * nSamplesIn || nSamplesIn < 0 ) { - celt_assert( 0 ); + silk_assert( 0 ); RESTORE_STACK; return SILK_ENC_INPUT_INVALID_NO_OF_SAMPLES; } /* Make sure no more than one packet can be produced */ if( 1000 * (opus_int32)nSamplesIn > encControl->payloadSize_ms * encControl->API_sampleRate ) { - celt_assert( 0 ); + silk_assert( 0 ); RESTORE_STACK; return SILK_ENC_INPUT_INVALID_NO_OF_SAMPLES; } } + TargetRate_bps = silk_RSHIFT32( encControl->bitRate, encControl->nChannelsInternal - 1 ); for( n = 0; n < encControl->nChannelsInternal; n++ ) { /* Force the side channel to the same rate as the mid */ opus_int force_fs_kHz = (n==1) ? psEnc->state_Fxx[0].sCmn.fs_kHz : 0; - if( ( ret = silk_control_encoder( &psEnc->state_Fxx[ n ], encControl, psEnc->allowBandwidthSwitch, n, force_fs_kHz ) ) != 0 ) { + if( ( ret = silk_control_encoder( &psEnc->state_Fxx[ n ], encControl, TargetRate_bps, psEnc->allowBandwidthSwitch, n, force_fs_kHz ) ) != 0 ) { silk_assert( 0 ); RESTORE_STACK; return ret; @@ -259,7 +249,7 @@ opus_int silk_Encode( /* O Returns error co } psEnc->state_Fxx[ n ].sCmn.inDTX = psEnc->state_Fxx[ n ].sCmn.useDTX; } - celt_assert( encControl->nChannelsInternal == 1 || psEnc->state_Fxx[ 0 ].sCmn.fs_kHz == psEnc->state_Fxx[ 1 ].sCmn.fs_kHz ); + silk_assert( encControl->nChannelsInternal == 1 || psEnc->state_Fxx[ 0 ].sCmn.fs_kHz == psEnc->state_Fxx[ 1 ].sCmn.fs_kHz ); /* Input buffering/resampling and encoding */ nSamplesToBufferMax = @@ -317,7 +307,7 @@ opus_int silk_Encode( /* O Returns error co } psEnc->state_Fxx[ 0 ].sCmn.inputBufIx += nSamplesToBuffer; } else { - celt_assert( encControl->nChannelsAPI == 1 && encControl->nChannelsInternal == 1 ); + silk_assert( encControl->nChannelsAPI == 1 && encControl->nChannelsInternal == 1 ); silk_memcpy(buf, samplesIn, nSamplesFromInput*sizeof(opus_int16)); ret += silk_resampler( &psEnc->state_Fxx[ 0 ].sCmn.resampler_state, &psEnc->state_Fxx[ 0 ].sCmn.inputBuf[ psEnc->state_Fxx[ 0 ].sCmn.inputBufIx + 2 ], buf, nSamplesFromInput ); @@ -333,8 +323,8 @@ opus_int silk_Encode( /* O Returns error co /* Silk encoder */ if( psEnc->state_Fxx[ 0 ].sCmn.inputBufIx >= psEnc->state_Fxx[ 0 ].sCmn.frame_length ) { /* Enough data in input buffer, so encode */ - celt_assert( psEnc->state_Fxx[ 0 ].sCmn.inputBufIx == psEnc->state_Fxx[ 0 ].sCmn.frame_length ); - celt_assert( encControl->nChannelsInternal == 1 || psEnc->state_Fxx[ 1 ].sCmn.inputBufIx == psEnc->state_Fxx[ 1 ].sCmn.frame_length ); + silk_assert( psEnc->state_Fxx[ 0 ].sCmn.inputBufIx == psEnc->state_Fxx[ 0 ].sCmn.frame_length ); + silk_assert( encControl->nChannelsInternal == 1 || psEnc->state_Fxx[ 1 ].sCmn.inputBufIx == psEnc->state_Fxx[ 1 ].sCmn.frame_length ); /* Deal with LBRR data */ if( psEnc->state_Fxx[ 0 ].sCmn.nFramesEncoded == 0 && !prefillFlag ) { @@ -426,6 +416,7 @@ opus_int silk_Encode( /* O Returns error co /* Reset side channel encoder memory for first frame with side coding */ if( psEnc->prev_decode_only_middle == 1 ) { silk_memset( &psEnc->state_Fxx[ 1 ].sShape, 0, sizeof( psEnc->state_Fxx[ 1 ].sShape ) ); + silk_memset( &psEnc->state_Fxx[ 1 ].sPrefilt, 0, sizeof( psEnc->state_Fxx[ 1 ].sPrefilt ) ); silk_memset( &psEnc->state_Fxx[ 1 ].sCmn.sNSQ, 0, sizeof( psEnc->state_Fxx[ 1 ].sCmn.sNSQ ) ); silk_memset( psEnc->state_Fxx[ 1 ].sCmn.prev_NLSFq_Q15, 0, sizeof( psEnc->state_Fxx[ 1 ].sCmn.prev_NLSFq_Q15 ) ); silk_memset( &psEnc->state_Fxx[ 1 ].sCmn.sLP.In_LP_State, 0, sizeof( psEnc->state_Fxx[ 1 ].sCmn.sLP.In_LP_State ) ); @@ -436,7 +427,7 @@ opus_int silk_Encode( /* O Returns error co psEnc->state_Fxx[ 1 ].sCmn.sNSQ.prev_gain_Q16 = 65536; psEnc->state_Fxx[ 1 ].sCmn.first_frame_after_reset = 1; } - silk_encode_do_VAD_Fxx( &psEnc->state_Fxx[ 1 ], activity ); + silk_encode_do_VAD_Fxx( &psEnc->state_Fxx[ 1 ] ); } else { psEnc->state_Fxx[ 1 ].sCmn.VAD_flags[ psEnc->state_Fxx[ 0 ].sCmn.nFramesEncoded ] = 0; } @@ -451,7 +442,7 @@ opus_int silk_Encode( /* O Returns error co silk_memcpy( psEnc->state_Fxx[ 0 ].sCmn.inputBuf, psEnc->sStereo.sMid, 2 * sizeof( opus_int16 ) ); silk_memcpy( psEnc->sStereo.sMid, &psEnc->state_Fxx[ 0 ].sCmn.inputBuf[ psEnc->state_Fxx[ 0 ].sCmn.frame_length ], 2 * sizeof( opus_int16 ) ); } - silk_encode_do_VAD_Fxx( &psEnc->state_Fxx[ 0 ], activity ); + silk_encode_do_VAD_Fxx( &psEnc->state_Fxx[ 0 ] ); /* Encode */ for( n = 0; n < encControl->nChannelsInternal; n++ ) { @@ -566,10 +557,6 @@ opus_int silk_Encode( /* O Returns error co } } - encControl->signalType = psEnc->state_Fxx[0].sCmn.indices.signalType; - encControl->offset = silk_Quantization_Offsets_Q10 - [ psEnc->state_Fxx[0].sCmn.indices.signalType >> 1 ] - [ psEnc->state_Fxx[0].sCmn.indices.quantOffsetType ]; RESTORE_STACK; return ret; } diff --git a/thirdparty/opus/silk/encode_indices.c b/thirdparty/opus/silk/encode_indices.c index 4bcbc3347b..666c8c0b13 100644 --- a/thirdparty/opus/silk/encode_indices.c +++ b/thirdparty/opus/silk/encode_indices.c @@ -56,8 +56,8 @@ void silk_encode_indices( /* Encode signal type and quantizer offset */ /*******************************************/ typeOffset = 2 * psIndices->signalType + psIndices->quantOffsetType; - celt_assert( typeOffset >= 0 && typeOffset < 6 ); - celt_assert( encode_LBRR == 0 || typeOffset >= 2 ); + silk_assert( typeOffset >= 0 && typeOffset < 6 ); + silk_assert( encode_LBRR == 0 || typeOffset >= 2 ); if( encode_LBRR || typeOffset >= 2 ) { ec_enc_icdf( psRangeEnc, typeOffset - 2, silk_type_offset_VAD_iCDF, 8 ); } else { @@ -90,7 +90,7 @@ void silk_encode_indices( /****************/ ec_enc_icdf( psRangeEnc, psIndices->NLSFIndices[ 0 ], &psEncC->psNLSF_CB->CB1_iCDF[ ( psIndices->signalType >> 1 ) * psEncC->psNLSF_CB->nVectors ], 8 ); silk_NLSF_unpack( ec_ix, pred_Q8, psEncC->psNLSF_CB, psIndices->NLSFIndices[ 0 ] ); - celt_assert( psEncC->psNLSF_CB->order == psEncC->predictLPCOrder ); + silk_assert( psEncC->psNLSF_CB->order == psEncC->predictLPCOrder ); for( i = 0; i < psEncC->psNLSF_CB->order; i++ ) { if( psIndices->NLSFIndices[ i+1 ] >= NLSF_QUANT_MAX_AMPLITUDE ) { ec_enc_icdf( psRangeEnc, 2 * NLSF_QUANT_MAX_AMPLITUDE, &psEncC->psNLSF_CB->ec_iCDF[ ec_ix[ i ] ], 8 ); diff --git a/thirdparty/opus/silk/encode_pulses.c b/thirdparty/opus/silk/encode_pulses.c index 8a1999138b..ab00264f99 100644 --- a/thirdparty/opus/silk/encode_pulses.c +++ b/thirdparty/opus/silk/encode_pulses.c @@ -86,7 +86,7 @@ void silk_encode_pulses( silk_assert( 1 << LOG2_SHELL_CODEC_FRAME_LENGTH == SHELL_CODEC_FRAME_LENGTH ); iter = silk_RSHIFT( frame_length, LOG2_SHELL_CODEC_FRAME_LENGTH ); if( iter * SHELL_CODEC_FRAME_LENGTH < frame_length ) { - celt_assert( frame_length == 12 * 10 ); /* Make sure only happens for 10 ms @ 12 kHz */ + silk_assert( frame_length == 12 * 10 ); /* Make sure only happens for 10 ms @ 12 kHz */ iter++; silk_memset( &pulses[ frame_length ], 0, SHELL_CODEC_FRAME_LENGTH * sizeof(opus_int8)); } diff --git a/thirdparty/opus/silk/fixed/apply_sine_window_FIX.c b/thirdparty/opus/silk/fixed/apply_sine_window_FIX.c index 03e088a6de..4502b7130e 100644 --- a/thirdparty/opus/silk/fixed/apply_sine_window_FIX.c +++ b/thirdparty/opus/silk/fixed/apply_sine_window_FIX.c @@ -57,15 +57,15 @@ void silk_apply_sine_window( opus_int k, f_Q16, c_Q16; opus_int32 S0_Q16, S1_Q16; - celt_assert( win_type == 1 || win_type == 2 ); + silk_assert( win_type == 1 || win_type == 2 ); /* Length must be in a range from 16 to 120 and a multiple of 4 */ - celt_assert( length >= 16 && length <= 120 ); - celt_assert( ( length & 3 ) == 0 ); + silk_assert( length >= 16 && length <= 120 ); + silk_assert( ( length & 3 ) == 0 ); /* Frequency */ k = ( length >> 2 ) - 4; - celt_assert( k >= 0 && k <= 26 ); + silk_assert( k >= 0 && k <= 26 ); f_Q16 = (opus_int)freq_table_Q16[ k ]; /* Factor used for cosine approximation */ diff --git a/thirdparty/opus/silk/fixed/arm/warped_autocorrelation_FIX_arm.h b/thirdparty/opus/silk/fixed/arm/warped_autocorrelation_FIX_arm.h deleted file mode 100644 index 1992e43288..0000000000 --- a/thirdparty/opus/silk/fixed/arm/warped_autocorrelation_FIX_arm.h +++ /dev/null @@ -1,68 +0,0 @@ -/*********************************************************************** -Copyright (c) 2017 Google Inc. -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: -- Redistributions of source code must retain the above copyright notice, -this list of conditions and the following disclaimer. -- Redistributions in binary form must reproduce the above copyright -notice, this list of conditions and the following disclaimer in the -documentation and/or other materials provided with the distribution. -- Neither the name of Internet Society, IETF or IETF Trust, nor the -names of specific contributors, may be used to endorse or promote -products derived from this software without specific prior written -permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. -***********************************************************************/ - -#ifndef SILK_WARPED_AUTOCORRELATION_FIX_ARM_H -# define SILK_WARPED_AUTOCORRELATION_FIX_ARM_H - -# include "celt/arm/armcpu.h" - -# if defined(FIXED_POINT) - -# if defined(OPUS_ARM_MAY_HAVE_NEON_INTR) -void silk_warped_autocorrelation_FIX_neon( - opus_int32 *corr, /* O Result [order + 1] */ - opus_int *scale, /* O Scaling of the correlation vector */ - const opus_int16 *input, /* I Input data to correlate */ - const opus_int warping_Q16, /* I Warping coefficient */ - const opus_int length, /* I Length of input */ - const opus_int order /* I Correlation order (even) */ -); - -# if !defined(OPUS_HAVE_RTCD) && defined(OPUS_ARM_PRESUME_NEON) -# define OVERRIDE_silk_warped_autocorrelation_FIX (1) -# define silk_warped_autocorrelation_FIX(corr, scale, input, warping_Q16, length, order, arch) \ - ((void)(arch), PRESUME_NEON(silk_warped_autocorrelation_FIX)(corr, scale, input, warping_Q16, length, order)) -# endif -# endif - -# if !defined(OVERRIDE_silk_warped_autocorrelation_FIX) -/*Is run-time CPU detection enabled on this platform?*/ -# if defined(OPUS_HAVE_RTCD) && (defined(OPUS_ARM_MAY_HAVE_NEON_INTR) && !defined(OPUS_ARM_PRESUME_NEON_INTR)) -extern void (*const SILK_WARPED_AUTOCORRELATION_FIX_IMPL[OPUS_ARCHMASK+1])(opus_int32*, opus_int*, const opus_int16*, const opus_int, const opus_int, const opus_int); -# define OVERRIDE_silk_warped_autocorrelation_FIX (1) -# define silk_warped_autocorrelation_FIX(corr, scale, input, warping_Q16, length, order, arch) \ - ((*SILK_WARPED_AUTOCORRELATION_FIX_IMPL[(arch)&OPUS_ARCHMASK])(corr, scale, input, warping_Q16, length, order)) -# elif defined(OPUS_ARM_PRESUME_NEON_INTR) -# define OVERRIDE_silk_warped_autocorrelation_FIX (1) -# define silk_warped_autocorrelation_FIX(corr, scale, input, warping_Q16, length, order, arch) \ - ((void)(arch), silk_warped_autocorrelation_FIX_neon(corr, scale, input, warping_Q16, length, order)) -# endif -# endif - -# endif /* end FIXED_POINT */ - -#endif /* end SILK_WARPED_AUTOCORRELATION_FIX_ARM_H */ diff --git a/thirdparty/opus/silk/fixed/arm/warped_autocorrelation_FIX_neon_intr.c b/thirdparty/opus/silk/fixed/arm/warped_autocorrelation_FIX_neon_intr.c deleted file mode 100644 index 00a70cb51f..0000000000 --- a/thirdparty/opus/silk/fixed/arm/warped_autocorrelation_FIX_neon_intr.c +++ /dev/null @@ -1,260 +0,0 @@ -/*********************************************************************** -Copyright (c) 2017 Google Inc., Jean-Marc Valin -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: -- Redistributions of source code must retain the above copyright notice, -this list of conditions and the following disclaimer. -- Redistributions in binary form must reproduce the above copyright -notice, this list of conditions and the following disclaimer in the -documentation and/or other materials provided with the distribution. -- Neither the name of Internet Society, IETF or IETF Trust, nor the -names of specific contributors, may be used to endorse or promote -products derived from this software without specific prior written -permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. -***********************************************************************/ - -#ifdef HAVE_CONFIG_H -#include "config.h" -#endif - -#include <arm_neon.h> -#ifdef OPUS_CHECK_ASM -# include <string.h> -#endif -#include "stack_alloc.h" -#include "main_FIX.h" - -static OPUS_INLINE void calc_corr( const opus_int32 *const input_QS, opus_int64 *const corr_QC, const opus_int offset, const int32x4_t state_QS_s32x4 ) -{ - int64x2_t corr_QC_s64x2[ 2 ], t_s64x2[ 2 ]; - const int32x4_t input_QS_s32x4 = vld1q_s32( input_QS + offset ); - corr_QC_s64x2[ 0 ] = vld1q_s64( corr_QC + offset + 0 ); - corr_QC_s64x2[ 1 ] = vld1q_s64( corr_QC + offset + 2 ); - t_s64x2[ 0 ] = vmull_s32( vget_low_s32( state_QS_s32x4 ), vget_low_s32( input_QS_s32x4 ) ); - t_s64x2[ 1 ] = vmull_s32( vget_high_s32( state_QS_s32x4 ), vget_high_s32( input_QS_s32x4 ) ); - corr_QC_s64x2[ 0 ] = vsraq_n_s64( corr_QC_s64x2[ 0 ], t_s64x2[ 0 ], 2 * QS - QC ); - corr_QC_s64x2[ 1 ] = vsraq_n_s64( corr_QC_s64x2[ 1 ], t_s64x2[ 1 ], 2 * QS - QC ); - vst1q_s64( corr_QC + offset + 0, corr_QC_s64x2[ 0 ] ); - vst1q_s64( corr_QC + offset + 2, corr_QC_s64x2[ 1 ] ); -} - -static OPUS_INLINE int32x4_t calc_state( const int32x4_t state_QS0_s32x4, const int32x4_t state_QS0_1_s32x4, const int32x4_t state_QS1_1_s32x4, const int32x4_t warping_Q16_s32x4 ) -{ - int32x4_t t_s32x4 = vsubq_s32( state_QS0_s32x4, state_QS0_1_s32x4 ); - t_s32x4 = vqdmulhq_s32( t_s32x4, warping_Q16_s32x4 ); - return vaddq_s32( state_QS1_1_s32x4, t_s32x4 ); -} - -void silk_warped_autocorrelation_FIX_neon( - opus_int32 *corr, /* O Result [order + 1] */ - opus_int *scale, /* O Scaling of the correlation vector */ - const opus_int16 *input, /* I Input data to correlate */ - const opus_int warping_Q16, /* I Warping coefficient */ - const opus_int length, /* I Length of input */ - const opus_int order /* I Correlation order (even) */ -) -{ - if( ( MAX_SHAPE_LPC_ORDER > 24 ) || ( order < 6 ) ) { - silk_warped_autocorrelation_FIX_c( corr, scale, input, warping_Q16, length, order ); - } else { - opus_int n, i, lsh; - opus_int64 corr_QC[ MAX_SHAPE_LPC_ORDER + 1 ] = { 0 }; /* In reverse order */ - opus_int64 corr_QC_orderT; - int64x2_t lsh_s64x2; - const opus_int orderT = ( order + 3 ) & ~3; - opus_int64 *corr_QCT; - opus_int32 *input_QS; - VARDECL( opus_int32, input_QST ); - VARDECL( opus_int32, state ); - SAVE_STACK; - - /* Order must be even */ - silk_assert( ( order & 1 ) == 0 ); - silk_assert( 2 * QS - QC >= 0 ); - - ALLOC( input_QST, length + 2 * MAX_SHAPE_LPC_ORDER, opus_int32 ); - - input_QS = input_QST; - /* input_QS has zero paddings in the beginning and end. */ - vst1q_s32( input_QS, vdupq_n_s32( 0 ) ); - input_QS += 4; - vst1q_s32( input_QS, vdupq_n_s32( 0 ) ); - input_QS += 4; - vst1q_s32( input_QS, vdupq_n_s32( 0 ) ); - input_QS += 4; - vst1q_s32( input_QS, vdupq_n_s32( 0 ) ); - input_QS += 4; - vst1q_s32( input_QS, vdupq_n_s32( 0 ) ); - input_QS += 4; - vst1q_s32( input_QS, vdupq_n_s32( 0 ) ); - input_QS += 4; - - /* Loop over samples */ - for( n = 0; n < length - 7; n += 8, input_QS += 8 ) { - const int16x8_t t0_s16x4 = vld1q_s16( input + n ); - vst1q_s32( input_QS + 0, vshll_n_s16( vget_low_s16( t0_s16x4 ), QS ) ); - vst1q_s32( input_QS + 4, vshll_n_s16( vget_high_s16( t0_s16x4 ), QS ) ); - } - for( ; n < length; n++, input_QS++ ) { - input_QS[ 0 ] = silk_LSHIFT32( (opus_int32)input[ n ], QS ); - } - vst1q_s32( input_QS, vdupq_n_s32( 0 ) ); - input_QS += 4; - vst1q_s32( input_QS, vdupq_n_s32( 0 ) ); - input_QS += 4; - vst1q_s32( input_QS, vdupq_n_s32( 0 ) ); - input_QS += 4; - vst1q_s32( input_QS, vdupq_n_s32( 0 ) ); - input_QS += 4; - vst1q_s32( input_QS, vdupq_n_s32( 0 ) ); - input_QS += 4; - vst1q_s32( input_QS, vdupq_n_s32( 0 ) ); - input_QS = input_QST + MAX_SHAPE_LPC_ORDER - orderT; - - /* The following loop runs ( length + order ) times, with ( order ) extra epilogues. */ - /* The zero paddings in input_QS guarantee corr_QC's correctness even with the extra epilogues. */ - /* The values of state_QS will be polluted by the extra epilogues, however they are temporary values. */ - - /* Keep the C code here to help understand the intrinsics optimization. */ - /* - { - opus_int32 state_QS[ 2 ][ MAX_SHAPE_LPC_ORDER + 1 ] = { 0 }; - opus_int32 *state_QST[ 3 ]; - state_QST[ 0 ] = state_QS[ 0 ]; - state_QST[ 1 ] = state_QS[ 1 ]; - for( n = 0; n < length + order; n++, input_QS++ ) { - state_QST[ 0 ][ orderT ] = input_QS[ orderT ]; - for( i = 0; i < orderT; i++ ) { - corr_QC[ i ] += silk_RSHIFT64( silk_SMULL( state_QST[ 0 ][ i ], input_QS[ i ] ), 2 * QS - QC ); - state_QST[ 1 ][ i ] = silk_SMLAWB( state_QST[ 1 ][ i + 1 ], state_QST[ 0 ][ i ] - state_QST[ 0 ][ i + 1 ], warping_Q16 ); - } - state_QST[ 2 ] = state_QST[ 0 ]; - state_QST[ 0 ] = state_QST[ 1 ]; - state_QST[ 1 ] = state_QST[ 2 ]; - } - } - */ - - { - const int32x4_t warping_Q16_s32x4 = vdupq_n_s32( warping_Q16 << 15 ); - const opus_int32 *in = input_QS + orderT; - opus_int o = orderT; - int32x4_t state_QS_s32x4[ 3 ][ 2 ]; - - ALLOC( state, length + orderT, opus_int32 ); - state_QS_s32x4[ 2 ][ 1 ] = vdupq_n_s32( 0 ); - - /* Calculate 8 taps of all inputs in each loop. */ - do { - state_QS_s32x4[ 0 ][ 0 ] = state_QS_s32x4[ 0 ][ 1 ] = - state_QS_s32x4[ 1 ][ 0 ] = state_QS_s32x4[ 1 ][ 1 ] = vdupq_n_s32( 0 ); - n = 0; - do { - calc_corr( input_QS + n, corr_QC, o - 8, state_QS_s32x4[ 0 ][ 0 ] ); - calc_corr( input_QS + n, corr_QC, o - 4, state_QS_s32x4[ 0 ][ 1 ] ); - state_QS_s32x4[ 2 ][ 1 ] = vld1q_s32( in + n ); - vst1q_lane_s32( state + n, state_QS_s32x4[ 0 ][ 0 ], 0 ); - state_QS_s32x4[ 2 ][ 0 ] = vextq_s32( state_QS_s32x4[ 0 ][ 0 ], state_QS_s32x4[ 0 ][ 1 ], 1 ); - state_QS_s32x4[ 2 ][ 1 ] = vextq_s32( state_QS_s32x4[ 0 ][ 1 ], state_QS_s32x4[ 2 ][ 1 ], 1 ); - state_QS_s32x4[ 0 ][ 0 ] = calc_state( state_QS_s32x4[ 0 ][ 0 ], state_QS_s32x4[ 2 ][ 0 ], state_QS_s32x4[ 1 ][ 0 ], warping_Q16_s32x4 ); - state_QS_s32x4[ 0 ][ 1 ] = calc_state( state_QS_s32x4[ 0 ][ 1 ], state_QS_s32x4[ 2 ][ 1 ], state_QS_s32x4[ 1 ][ 1 ], warping_Q16_s32x4 ); - state_QS_s32x4[ 1 ][ 0 ] = state_QS_s32x4[ 2 ][ 0 ]; - state_QS_s32x4[ 1 ][ 1 ] = state_QS_s32x4[ 2 ][ 1 ]; - } while( ++n < ( length + order ) ); - in = state; - o -= 8; - } while( o > 4 ); - - if( o ) { - /* Calculate the last 4 taps of all inputs. */ - opus_int32 *stateT = state; - silk_assert( o == 4 ); - state_QS_s32x4[ 0 ][ 0 ] = state_QS_s32x4[ 1 ][ 0 ] = vdupq_n_s32( 0 ); - n = length + order; - do { - calc_corr( input_QS, corr_QC, 0, state_QS_s32x4[ 0 ][ 0 ] ); - state_QS_s32x4[ 2 ][ 0 ] = vld1q_s32( stateT ); - vst1q_lane_s32( stateT, state_QS_s32x4[ 0 ][ 0 ], 0 ); - state_QS_s32x4[ 2 ][ 0 ] = vextq_s32( state_QS_s32x4[ 0 ][ 0 ], state_QS_s32x4[ 2 ][ 0 ], 1 ); - state_QS_s32x4[ 0 ][ 0 ] = calc_state( state_QS_s32x4[ 0 ][ 0 ], state_QS_s32x4[ 2 ][ 0 ], state_QS_s32x4[ 1 ][ 0 ], warping_Q16_s32x4 ); - state_QS_s32x4[ 1 ][ 0 ] = state_QS_s32x4[ 2 ][ 0 ]; - input_QS++; - stateT++; - } while( --n ); - } - } - - { - const opus_int16 *inputT = input; - int32x4_t t_s32x4; - int64x1_t t_s64x1; - int64x2_t t_s64x2 = vdupq_n_s64( 0 ); - for( n = 0; n <= length - 8; n += 8 ) { - int16x8_t input_s16x8 = vld1q_s16( inputT ); - t_s32x4 = vmull_s16( vget_low_s16( input_s16x8 ), vget_low_s16( input_s16x8 ) ); - t_s32x4 = vmlal_s16( t_s32x4, vget_high_s16( input_s16x8 ), vget_high_s16( input_s16x8 ) ); - t_s64x2 = vaddw_s32( t_s64x2, vget_low_s32( t_s32x4 ) ); - t_s64x2 = vaddw_s32( t_s64x2, vget_high_s32( t_s32x4 ) ); - inputT += 8; - } - t_s64x1 = vadd_s64( vget_low_s64( t_s64x2 ), vget_high_s64( t_s64x2 ) ); - corr_QC_orderT = vget_lane_s64( t_s64x1, 0 ); - for( ; n < length; n++ ) { - corr_QC_orderT += silk_SMULL( input[ n ], input[ n ] ); - } - corr_QC_orderT = silk_LSHIFT64( corr_QC_orderT, QC ); - corr_QC[ orderT ] = corr_QC_orderT; - } - - corr_QCT = corr_QC + orderT - order; - lsh = silk_CLZ64( corr_QC_orderT ) - 35; - lsh = silk_LIMIT( lsh, -12 - QC, 30 - QC ); - *scale = -( QC + lsh ); - silk_assert( *scale >= -30 && *scale <= 12 ); - lsh_s64x2 = vdupq_n_s64( lsh ); - for( i = 0; i <= order - 3; i += 4 ) { - int32x4_t corr_s32x4; - int64x2_t corr_QC0_s64x2, corr_QC1_s64x2; - corr_QC0_s64x2 = vld1q_s64( corr_QCT + i ); - corr_QC1_s64x2 = vld1q_s64( corr_QCT + i + 2 ); - corr_QC0_s64x2 = vshlq_s64( corr_QC0_s64x2, lsh_s64x2 ); - corr_QC1_s64x2 = vshlq_s64( corr_QC1_s64x2, lsh_s64x2 ); - corr_s32x4 = vcombine_s32( vmovn_s64( corr_QC1_s64x2 ), vmovn_s64( corr_QC0_s64x2 ) ); - corr_s32x4 = vrev64q_s32( corr_s32x4 ); - vst1q_s32( corr + order - i - 3, corr_s32x4 ); - } - if( lsh >= 0 ) { - for( ; i < order + 1; i++ ) { - corr[ order - i ] = (opus_int32)silk_CHECK_FIT32( silk_LSHIFT64( corr_QCT[ i ], lsh ) ); - } - } else { - for( ; i < order + 1; i++ ) { - corr[ order - i ] = (opus_int32)silk_CHECK_FIT32( silk_RSHIFT64( corr_QCT[ i ], -lsh ) ); - } - } - silk_assert( corr_QCT[ order ] >= 0 ); /* If breaking, decrease QC*/ - RESTORE_STACK; - } - -#ifdef OPUS_CHECK_ASM - { - opus_int32 corr_c[ MAX_SHAPE_LPC_ORDER + 1 ]; - opus_int scale_c; - silk_warped_autocorrelation_FIX_c( corr_c, &scale_c, input, warping_Q16, length, order ); - silk_assert( !memcmp( corr_c, corr, sizeof( corr_c[ 0 ] ) * ( order + 1 ) ) ); - silk_assert( scale_c == *scale ); - } -#endif -} diff --git a/thirdparty/opus/silk/fixed/burg_modified_FIX.c b/thirdparty/opus/silk/fixed/burg_modified_FIX.c index 274d4b28e1..17d0e0993c 100644 --- a/thirdparty/opus/silk/fixed/burg_modified_FIX.c +++ b/thirdparty/opus/silk/fixed/burg_modified_FIX.c @@ -37,7 +37,7 @@ POSSIBILITY OF SUCH DAMAGE. #define MAX_FRAME_SIZE 384 /* subfr_length * nb_subfr = ( 0.005 * 16000 + 16 ) * 4 = 384 */ #define QA 25 -#define N_BITS_HEAD_ROOM 3 +#define N_BITS_HEAD_ROOM 2 #define MIN_RSHIFTS -16 #define MAX_RSHIFTS (32 - QA) @@ -65,7 +65,7 @@ void silk_burg_modified_c( opus_int32 xcorr[ SILK_MAX_ORDER_LPC ]; opus_int64 C0_64; - celt_assert( subfr_length * nb_subfr <= MAX_FRAME_SIZE ); + silk_assert( subfr_length * nb_subfr <= MAX_FRAME_SIZE ); /* Compute autocorrelations, added over subframes */ C0_64 = silk_inner_prod16_aligned_64( x, x, subfr_length*nb_subfr, arch ); diff --git a/thirdparty/opus/silk/fixed/corrMatrix_FIX.c b/thirdparty/opus/silk/fixed/corrMatrix_FIX.c index 1b4a29c232..c1d437c785 100644 --- a/thirdparty/opus/silk/fixed/corrMatrix_FIX.c +++ b/thirdparty/opus/silk/fixed/corrMatrix_FIX.c @@ -58,7 +58,7 @@ void silk_corrVector_FIX( for( lag = 0; lag < order; lag++ ) { inner_prod = 0; for( i = 0; i < L; i++ ) { - inner_prod = silk_ADD_RSHIFT32( inner_prod, silk_SMULBB( ptr1[ i ], ptr2[i] ), rshifts ); + inner_prod += silk_RSHIFT32( silk_SMULBB( ptr1[ i ], ptr2[i] ), rshifts ); } Xt[ lag ] = inner_prod; /* X[:,lag]'*t */ ptr1--; /* Go to next column of X */ @@ -77,54 +77,61 @@ void silk_corrMatrix_FIX( const opus_int16 *x, /* I x vector [L + order - 1] used to form data matrix X */ const opus_int L, /* I Length of vectors */ const opus_int order, /* I Max lag for correlation */ + const opus_int head_room, /* I Desired headroom */ opus_int32 *XX, /* O Pointer to X'*X correlation matrix [ order x order ] */ - opus_int32 *nrg, /* O Energy of x vector */ - opus_int *rshifts, /* O Right shifts of correlations and energy */ + opus_int *rshifts, /* I/O Right shifts of correlations */ int arch /* I Run-time architecture */ ) { - opus_int i, j, lag; + opus_int i, j, lag, rshifts_local, head_room_rshifts; opus_int32 energy; const opus_int16 *ptr1, *ptr2; /* Calculate energy to find shift used to fit in 32 bits */ - silk_sum_sqr_shift( nrg, rshifts, x, L + order - 1 ); - energy = *nrg; + silk_sum_sqr_shift( &energy, &rshifts_local, x, L + order - 1 ); + /* Add shifts to get the desired head room */ + head_room_rshifts = silk_max( head_room - silk_CLZ32( energy ), 0 ); + + energy = silk_RSHIFT32( energy, head_room_rshifts ); + rshifts_local += head_room_rshifts; /* Calculate energy of first column (0) of X: X[:,0]'*X[:,0] */ /* Remove contribution of first order - 1 samples */ for( i = 0; i < order - 1; i++ ) { - energy -= silk_RSHIFT32( silk_SMULBB( x[ i ], x[ i ] ), *rshifts ); + energy -= silk_RSHIFT32( silk_SMULBB( x[ i ], x[ i ] ), rshifts_local ); + } + if( rshifts_local < *rshifts ) { + /* Adjust energy */ + energy = silk_RSHIFT32( energy, *rshifts - rshifts_local ); + rshifts_local = *rshifts; } /* Calculate energy of remaining columns of X: X[:,j]'*X[:,j] */ /* Fill out the diagonal of the correlation matrix */ matrix_ptr( XX, 0, 0, order ) = energy; - silk_assert( energy >= 0 ); ptr1 = &x[ order - 1 ]; /* First sample of column 0 of X */ for( j = 1; j < order; j++ ) { - energy = silk_SUB32( energy, silk_RSHIFT32( silk_SMULBB( ptr1[ L - j ], ptr1[ L - j ] ), *rshifts ) ); - energy = silk_ADD32( energy, silk_RSHIFT32( silk_SMULBB( ptr1[ -j ], ptr1[ -j ] ), *rshifts ) ); + energy = silk_SUB32( energy, silk_RSHIFT32( silk_SMULBB( ptr1[ L - j ], ptr1[ L - j ] ), rshifts_local ) ); + energy = silk_ADD32( energy, silk_RSHIFT32( silk_SMULBB( ptr1[ -j ], ptr1[ -j ] ), rshifts_local ) ); matrix_ptr( XX, j, j, order ) = energy; - silk_assert( energy >= 0 ); } ptr2 = &x[ order - 2 ]; /* First sample of column 1 of X */ /* Calculate the remaining elements of the correlation matrix */ - if( *rshifts > 0 ) { + if( rshifts_local > 0 ) { /* Right shifting used */ for( lag = 1; lag < order; lag++ ) { /* Inner product of column 0 and column lag: X[:,0]'*X[:,lag] */ energy = 0; for( i = 0; i < L; i++ ) { - energy += silk_RSHIFT32( silk_SMULBB( ptr1[ i ], ptr2[i] ), *rshifts ); + energy += silk_RSHIFT32( silk_SMULBB( ptr1[ i ], ptr2[i] ), rshifts_local ); } /* Calculate remaining off diagonal: X[:,j]'*X[:,j + lag] */ matrix_ptr( XX, lag, 0, order ) = energy; matrix_ptr( XX, 0, lag, order ) = energy; for( j = 1; j < ( order - lag ); j++ ) { - energy = silk_SUB32( energy, silk_RSHIFT32( silk_SMULBB( ptr1[ L - j ], ptr2[ L - j ] ), *rshifts ) ); - energy = silk_ADD32( energy, silk_RSHIFT32( silk_SMULBB( ptr1[ -j ], ptr2[ -j ] ), *rshifts ) ); + energy = silk_SUB32( energy, silk_RSHIFT32( silk_SMULBB( ptr1[ L - j ], ptr2[ L - j ] ), rshifts_local ) ); + energy = silk_ADD32( energy, silk_RSHIFT32( silk_SMULBB( ptr1[ -j ], ptr2[ -j ] ), rshifts_local ) ); matrix_ptr( XX, lag + j, j, order ) = energy; matrix_ptr( XX, j, lag + j, order ) = energy; } @@ -146,5 +153,6 @@ void silk_corrMatrix_FIX( ptr2--;/* Update pointer to first sample of next column (lag) in X */ } } + *rshifts = rshifts_local; } diff --git a/thirdparty/opus/silk/fixed/encode_frame_FIX.c b/thirdparty/opus/silk/fixed/encode_frame_FIX.c index a02bf87dbb..5ef44b03fc 100644 --- a/thirdparty/opus/silk/fixed/encode_frame_FIX.c +++ b/thirdparty/opus/silk/fixed/encode_frame_FIX.c @@ -29,7 +29,6 @@ POSSIBILITY OF SUCH DAMAGE. #include "config.h" #endif -#include <stdlib.h> #include "main_FIX.h" #include "stack_alloc.h" #include "tuning_parameters.h" @@ -38,33 +37,26 @@ POSSIBILITY OF SUCH DAMAGE. static OPUS_INLINE void silk_LBRR_encode_FIX( silk_encoder_state_FIX *psEnc, /* I/O Pointer to Silk FIX encoder state */ silk_encoder_control_FIX *psEncCtrl, /* I/O Pointer to Silk FIX encoder control struct */ - const opus_int16 x16[], /* I Input signal */ + const opus_int32 xfw_Q3[], /* I Input signal */ opus_int condCoding /* I The type of conditional coding used so far for this frame */ ); void silk_encode_do_VAD_FIX( - silk_encoder_state_FIX *psEnc, /* I/O Pointer to Silk FIX encoder state */ - opus_int activity /* I Decision of Opus voice activity detector */ + silk_encoder_state_FIX *psEnc /* I/O Pointer to Silk FIX encoder state */ ) { - const opus_int activity_threshold = SILK_FIX_CONST( SPEECH_ACTIVITY_DTX_THRES, 8 ); - /****************************/ /* Voice Activity Detection */ /****************************/ silk_VAD_GetSA_Q8( &psEnc->sCmn, psEnc->sCmn.inputBuf + 1, psEnc->sCmn.arch ); - /* If Opus VAD is inactive and Silk VAD is active: lower Silk VAD to just under the threshold */ - if( activity == VAD_NO_ACTIVITY && psEnc->sCmn.speech_activity_Q8 >= activity_threshold ) { - psEnc->sCmn.speech_activity_Q8 = activity_threshold - 1; - } /**************************************************/ /* Convert speech activity into VAD and DTX flags */ /**************************************************/ - if( psEnc->sCmn.speech_activity_Q8 < activity_threshold ) { + if( psEnc->sCmn.speech_activity_Q8 < SILK_FIX_CONST( SPEECH_ACTIVITY_DTX_THRES, 8 ) ) { psEnc->sCmn.indices.signalType = TYPE_NO_VOICE_ACTIVITY; psEnc->sCmn.noSpeechCounter++; - if( psEnc->sCmn.noSpeechCounter <= NB_SPEECH_FRAMES_BEFORE_DTX ) { + if( psEnc->sCmn.noSpeechCounter < NB_SPEECH_FRAMES_BEFORE_DTX ) { psEnc->sCmn.inDTX = 0; } else if( psEnc->sCmn.noSpeechCounter > MAX_CONSECUTIVE_DTX + NB_SPEECH_FRAMES_BEFORE_DTX ) { psEnc->sCmn.noSpeechCounter = NB_SPEECH_FRAMES_BEFORE_DTX; @@ -102,9 +94,6 @@ opus_int silk_encode_frame_FIX( opus_int16 ec_prevLagIndex_copy; opus_int ec_prevSignalType_copy; opus_int8 LastGainIndex_copy2; - opus_int gain_lock[ MAX_NB_SUBFR ] = {0}; - opus_int16 best_gain_mult[ MAX_NB_SUBFR ]; - opus_int best_sum[ MAX_NB_SUBFR ]; SAVE_STACK; /* This is totally unnecessary but many compilers (including gcc) are too dumb to realise it */ @@ -129,6 +118,7 @@ opus_int silk_encode_frame_FIX( silk_memcpy( x_frame + LA_SHAPE_MS * psEnc->sCmn.fs_kHz, psEnc->sCmn.inputBuf + 1, psEnc->sCmn.frame_length * sizeof( opus_int16 ) ); if( !psEnc->sCmn.prefillFlag ) { + VARDECL( opus_int32, xfw_Q3 ); VARDECL( opus_int16, res_pitch ); VARDECL( opus_uint8, ec_buf_copy ); opus_int16 *res_pitch_frame; @@ -142,7 +132,7 @@ opus_int silk_encode_frame_FIX( /*****************************************/ /* Find pitch lags, initial LPC analysis */ /*****************************************/ - silk_find_pitch_lags_FIX( psEnc, &sEncCtrl, res_pitch, x_frame - psEnc->sCmn.ltp_mem_length, psEnc->sCmn.arch ); + silk_find_pitch_lags_FIX( psEnc, &sEncCtrl, res_pitch, x_frame, psEnc->sCmn.arch ); /************************/ /* Noise shape analysis */ @@ -152,17 +142,23 @@ opus_int silk_encode_frame_FIX( /***************************************************/ /* Find linear prediction coefficients (LPC + LTP) */ /***************************************************/ - silk_find_pred_coefs_FIX( psEnc, &sEncCtrl, res_pitch_frame, x_frame, condCoding ); + silk_find_pred_coefs_FIX( psEnc, &sEncCtrl, res_pitch, x_frame, condCoding ); /****************************************/ /* Process gains */ /****************************************/ silk_process_gains_FIX( psEnc, &sEncCtrl, condCoding ); + /*****************************************/ + /* Prefiltering for noise shaper */ + /*****************************************/ + ALLOC( xfw_Q3, psEnc->sCmn.frame_length, opus_int32 ); + silk_prefilter_FIX( psEnc, &sEncCtrl, xfw_Q3, x_frame ); + /****************************************/ /* Low Bitrate Redundant Encoding */ /****************************************/ - silk_LBRR_encode_FIX( psEnc, &sEncCtrl, x_frame, condCoding ); + silk_LBRR_encode_FIX( psEnc, &sEncCtrl, xfw_Q3, condCoding ); /* Loop over quantizer and entropy coding to control bitrate */ maxIter = 6; @@ -198,21 +194,17 @@ opus_int silk_encode_frame_FIX( /* Noise shaping quantization */ /*****************************************/ if( psEnc->sCmn.nStatesDelayedDecision > 1 || psEnc->sCmn.warping_Q16 > 0 ) { - silk_NSQ_del_dec( &psEnc->sCmn, &psEnc->sCmn.sNSQ, &psEnc->sCmn.indices, x_frame, psEnc->sCmn.pulses, - sEncCtrl.PredCoef_Q12[ 0 ], sEncCtrl.LTPCoef_Q14, sEncCtrl.AR_Q13, sEncCtrl.HarmShapeGain_Q14, + silk_NSQ_del_dec( &psEnc->sCmn, &psEnc->sCmn.sNSQ, &psEnc->sCmn.indices, xfw_Q3, psEnc->sCmn.pulses, + sEncCtrl.PredCoef_Q12[ 0 ], sEncCtrl.LTPCoef_Q14, sEncCtrl.AR2_Q13, sEncCtrl.HarmShapeGain_Q14, sEncCtrl.Tilt_Q14, sEncCtrl.LF_shp_Q14, sEncCtrl.Gains_Q16, sEncCtrl.pitchL, sEncCtrl.Lambda_Q10, sEncCtrl.LTP_scale_Q14, psEnc->sCmn.arch ); } else { - silk_NSQ( &psEnc->sCmn, &psEnc->sCmn.sNSQ, &psEnc->sCmn.indices, x_frame, psEnc->sCmn.pulses, - sEncCtrl.PredCoef_Q12[ 0 ], sEncCtrl.LTPCoef_Q14, sEncCtrl.AR_Q13, sEncCtrl.HarmShapeGain_Q14, + silk_NSQ( &psEnc->sCmn, &psEnc->sCmn.sNSQ, &psEnc->sCmn.indices, xfw_Q3, psEnc->sCmn.pulses, + sEncCtrl.PredCoef_Q12[ 0 ], sEncCtrl.LTPCoef_Q14, sEncCtrl.AR2_Q13, sEncCtrl.HarmShapeGain_Q14, sEncCtrl.Tilt_Q14, sEncCtrl.LF_shp_Q14, sEncCtrl.Gains_Q16, sEncCtrl.pitchL, sEncCtrl.Lambda_Q10, sEncCtrl.LTP_scale_Q14, psEnc->sCmn.arch); } - if ( iter == maxIter && !found_lower ) { - silk_memcpy( &sRangeEnc_copy2, psRangeEnc, sizeof( ec_enc ) ); - } - /****************************************/ /* Encode Parameters */ /****************************************/ @@ -226,33 +218,6 @@ opus_int silk_encode_frame_FIX( nBits = ec_tell( psRangeEnc ); - /* If we still bust after the last iteration, do some damage control. */ - if ( iter == maxIter && !found_lower && nBits > maxBits ) { - silk_memcpy( psRangeEnc, &sRangeEnc_copy2, sizeof( ec_enc ) ); - - /* Keep gains the same as the last frame. */ - psEnc->sShape.LastGainIndex = sEncCtrl.lastGainIndexPrev; - for ( i = 0; i < psEnc->sCmn.nb_subfr; i++ ) { - psEnc->sCmn.indices.GainsIndices[ i ] = 4; - } - if (condCoding != CODE_CONDITIONALLY) { - psEnc->sCmn.indices.GainsIndices[ 0 ] = sEncCtrl.lastGainIndexPrev; - } - psEnc->sCmn.ec_prevLagIndex = ec_prevLagIndex_copy; - psEnc->sCmn.ec_prevSignalType = ec_prevSignalType_copy; - /* Clear all pulses. */ - for ( i = 0; i < psEnc->sCmn.frame_length; i++ ) { - psEnc->sCmn.pulses[ i ] = 0; - } - - silk_encode_indices( &psEnc->sCmn, psRangeEnc, psEnc->sCmn.nFramesEncoded, 0, condCoding ); - - silk_encode_pulses( psRangeEnc, psEnc->sCmn.indices.signalType, psEnc->sCmn.indices.quantOffsetType, - psEnc->sCmn.pulses, psEnc->sCmn.frame_length ); - - nBits = ec_tell( psRangeEnc ); - } - if( useCBR == 0 && iter == 0 && nBits <= maxBits ) { break; } @@ -262,7 +227,7 @@ opus_int silk_encode_frame_FIX( if( found_lower && ( gainsID == gainsID_lower || nBits > maxBits ) ) { /* Restore output state from earlier iteration that did meet the bitrate budget */ silk_memcpy( psRangeEnc, &sRangeEnc_copy2, sizeof( ec_enc ) ); - celt_assert( sRangeEnc_copy2.offs <= 1275 ); + silk_assert( sRangeEnc_copy2.offs <= 1275 ); silk_memcpy( psRangeEnc->buf, ec_buf_copy, sRangeEnc_copy2.offs ); silk_memcpy( &psEnc->sCmn.sNSQ, &sNSQ_copy2, sizeof( silk_nsq_state ) ); psEnc->sShape.LastGainIndex = LastGainIndex_copy2; @@ -290,7 +255,7 @@ opus_int silk_encode_frame_FIX( gainsID_lower = gainsID; /* Copy part of the output state */ silk_memcpy( &sRangeEnc_copy2, psRangeEnc, sizeof( ec_enc ) ); - celt_assert( psRangeEnc->offs <= 1275 ); + silk_assert( psRangeEnc->offs <= 1275 ); silk_memcpy( ec_buf_copy, psRangeEnc->buf, psRangeEnc->offs ); silk_memcpy( &sNSQ_copy2, &psEnc->sCmn.sNSQ, sizeof( silk_nsq_state ) ); LastGainIndex_copy2 = psEnc->sShape.LastGainIndex; @@ -300,35 +265,15 @@ opus_int silk_encode_frame_FIX( break; } - if ( !found_lower && nBits > maxBits ) { - int j; - for ( i = 0; i < psEnc->sCmn.nb_subfr; i++ ) { - int sum=0; - for ( j = i*psEnc->sCmn.subfr_length; j < (i+1)*psEnc->sCmn.subfr_length; j++ ) { - sum += abs( psEnc->sCmn.pulses[j] ); - } - if ( iter == 0 || (sum < best_sum[i] && !gain_lock[i]) ) { - best_sum[i] = sum; - best_gain_mult[i] = gainMult_Q8; - } else { - gain_lock[i] = 1; - } - } - } if( ( found_lower & found_upper ) == 0 ) { /* Adjust gain according to high-rate rate/distortion curve */ + opus_int32 gain_factor_Q16; + gain_factor_Q16 = silk_log2lin( silk_LSHIFT( nBits - maxBits, 7 ) / psEnc->sCmn.frame_length + SILK_FIX_CONST( 16, 7 ) ); + gain_factor_Q16 = silk_min_32( gain_factor_Q16, SILK_FIX_CONST( 2, 16 ) ); if( nBits > maxBits ) { - if (gainMult_Q8 < 16384) { - gainMult_Q8 *= 2; - } else { - gainMult_Q8 = 32767; - } - } else { - opus_int32 gain_factor_Q16; - gain_factor_Q16 = silk_log2lin( silk_LSHIFT( nBits - maxBits, 7 ) / psEnc->sCmn.frame_length + SILK_FIX_CONST( 16, 7 ) ); - gainMult_Q8 = silk_SMULWB( gain_factor_Q16, gainMult_Q8 ); + gain_factor_Q16 = silk_max_32( gain_factor_Q16, SILK_FIX_CONST( 1.3, 16 ) ); } - + gainMult_Q8 = silk_SMULWB( gain_factor_Q16, gainMult_Q8 ); } else { /* Adjust gain by interpolating */ gainMult_Q8 = gainMult_lower + silk_DIV32_16( silk_MUL( gainMult_upper - gainMult_lower, maxBits - nBits_lower ), nBits_upper - nBits_lower ); @@ -342,13 +287,7 @@ opus_int silk_encode_frame_FIX( } for( i = 0; i < psEnc->sCmn.nb_subfr; i++ ) { - opus_int16 tmp; - if ( gain_lock[i] ) { - tmp = best_gain_mult[i]; - } else { - tmp = gainMult_Q8; - } - sEncCtrl.Gains_Q16[ i ] = silk_LSHIFT_SAT32( silk_SMULWB( sEncCtrl.GainsUnq_Q16[ i ], tmp ), 8 ); + sEncCtrl.Gains_Q16[ i ] = silk_LSHIFT_SAT32( silk_SMULWB( sEncCtrl.GainsUnq_Q16[ i ], gainMult_Q8 ), 8 ); } /* Quantize gains */ @@ -392,7 +331,7 @@ opus_int silk_encode_frame_FIX( static OPUS_INLINE void silk_LBRR_encode_FIX( silk_encoder_state_FIX *psEnc, /* I/O Pointer to Silk FIX encoder state */ silk_encoder_control_FIX *psEncCtrl, /* I/O Pointer to Silk FIX encoder control struct */ - const opus_int16 x16[], /* I Input signal */ + const opus_int32 xfw_Q3[], /* I Input signal */ opus_int condCoding /* I The type of conditional coding used so far for this frame */ ) { @@ -431,14 +370,14 @@ static OPUS_INLINE void silk_LBRR_encode_FIX( /* Noise shaping quantization */ /*****************************************/ if( psEnc->sCmn.nStatesDelayedDecision > 1 || psEnc->sCmn.warping_Q16 > 0 ) { - silk_NSQ_del_dec( &psEnc->sCmn, &sNSQ_LBRR, psIndices_LBRR, x16, + silk_NSQ_del_dec( &psEnc->sCmn, &sNSQ_LBRR, psIndices_LBRR, xfw_Q3, psEnc->sCmn.pulses_LBRR[ psEnc->sCmn.nFramesEncoded ], psEncCtrl->PredCoef_Q12[ 0 ], psEncCtrl->LTPCoef_Q14, - psEncCtrl->AR_Q13, psEncCtrl->HarmShapeGain_Q14, psEncCtrl->Tilt_Q14, psEncCtrl->LF_shp_Q14, + psEncCtrl->AR2_Q13, psEncCtrl->HarmShapeGain_Q14, psEncCtrl->Tilt_Q14, psEncCtrl->LF_shp_Q14, psEncCtrl->Gains_Q16, psEncCtrl->pitchL, psEncCtrl->Lambda_Q10, psEncCtrl->LTP_scale_Q14, psEnc->sCmn.arch ); } else { - silk_NSQ( &psEnc->sCmn, &sNSQ_LBRR, psIndices_LBRR, x16, + silk_NSQ( &psEnc->sCmn, &sNSQ_LBRR, psIndices_LBRR, xfw_Q3, psEnc->sCmn.pulses_LBRR[ psEnc->sCmn.nFramesEncoded ], psEncCtrl->PredCoef_Q12[ 0 ], psEncCtrl->LTPCoef_Q14, - psEncCtrl->AR_Q13, psEncCtrl->HarmShapeGain_Q14, psEncCtrl->Tilt_Q14, psEncCtrl->LF_shp_Q14, + psEncCtrl->AR2_Q13, psEncCtrl->HarmShapeGain_Q14, psEncCtrl->Tilt_Q14, psEncCtrl->LF_shp_Q14, psEncCtrl->Gains_Q16, psEncCtrl->pitchL, psEncCtrl->Lambda_Q10, psEncCtrl->LTP_scale_Q14, psEnc->sCmn.arch ); } diff --git a/thirdparty/opus/silk/fixed/find_LPC_FIX.c b/thirdparty/opus/silk/fixed/find_LPC_FIX.c index c762a0f2a2..e11cdc86e6 100644 --- a/thirdparty/opus/silk/fixed/find_LPC_FIX.c +++ b/thirdparty/opus/silk/fixed/find_LPC_FIX.c @@ -92,7 +92,7 @@ void silk_find_LPC_FIX( silk_interpolate( NLSF0_Q15, psEncC->prev_NLSFq_Q15, NLSF_Q15, k, psEncC->predictLPCOrder ); /* Convert to LPC for residual energy evaluation */ - silk_NLSF2A( a_tmp_Q12, NLSF0_Q15, psEncC->predictLPCOrder, psEncC->arch ); + silk_NLSF2A( a_tmp_Q12, NLSF0_Q15, psEncC->predictLPCOrder ); /* Calculate residual energy with NLSF interpolation */ silk_LPC_analysis_filter( LPC_res, x, a_tmp_Q12, 2 * subfr_length, psEncC->predictLPCOrder, psEncC->arch ); @@ -146,6 +146,6 @@ void silk_find_LPC_FIX( silk_A2NLSF( NLSF_Q15, a_Q16, psEncC->predictLPCOrder ); } - celt_assert( psEncC->indices.NLSFInterpCoef_Q2 == 4 || ( psEncC->useInterpolatedNLSFs && !psEncC->first_frame_after_reset && psEncC->nb_subfr == MAX_NB_SUBFR ) ); + silk_assert( psEncC->indices.NLSFInterpCoef_Q2 == 4 || ( psEncC->useInterpolatedNLSFs && !psEncC->first_frame_after_reset && psEncC->nb_subfr == MAX_NB_SUBFR ) ); RESTORE_STACK; } diff --git a/thirdparty/opus/silk/fixed/find_LTP_FIX.c b/thirdparty/opus/silk/fixed/find_LTP_FIX.c index 62d4afb250..1314a28137 100644 --- a/thirdparty/opus/silk/fixed/find_LTP_FIX.c +++ b/thirdparty/opus/silk/fixed/find_LTP_FIX.c @@ -32,68 +32,214 @@ POSSIBILITY OF SUCH DAMAGE. #include "main_FIX.h" #include "tuning_parameters.h" +/* Head room for correlations */ +#define LTP_CORRS_HEAD_ROOM 2 + +void silk_fit_LTP( + opus_int32 LTP_coefs_Q16[ LTP_ORDER ], + opus_int16 LTP_coefs_Q14[ LTP_ORDER ] +); + void silk_find_LTP_FIX( - opus_int32 XXLTP_Q17[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ], /* O Correlation matrix */ - opus_int32 xXLTP_Q17[ MAX_NB_SUBFR * LTP_ORDER ], /* O Correlation vector */ - const opus_int16 r_ptr[], /* I Residual signal after LPC */ + opus_int16 b_Q14[ MAX_NB_SUBFR * LTP_ORDER ], /* O LTP coefs */ + opus_int32 WLTP[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ], /* O Weight for LTP quantization */ + opus_int *LTPredCodGain_Q7, /* O LTP coding gain */ + const opus_int16 r_lpc[], /* I residual signal after LPC signal + state for first 10 ms */ const opus_int lag[ MAX_NB_SUBFR ], /* I LTP lags */ - const opus_int subfr_length, /* I Subframe length */ - const opus_int nb_subfr, /* I Number of subframes */ + const opus_int32 Wght_Q15[ MAX_NB_SUBFR ], /* I weights */ + const opus_int subfr_length, /* I subframe length */ + const opus_int nb_subfr, /* I number of subframes */ + const opus_int mem_offset, /* I number of samples in LTP memory */ + opus_int corr_rshifts[ MAX_NB_SUBFR ], /* O right shifts applied to correlations */ int arch /* I Run-time architecture */ ) { - opus_int i, k, extra_shifts; - opus_int xx_shifts, xX_shifts, XX_shifts; - const opus_int16 *lag_ptr; - opus_int32 *XXLTP_Q17_ptr, *xXLTP_Q17_ptr; - opus_int32 xx, nrg, temp; - - xXLTP_Q17_ptr = xXLTP_Q17; - XXLTP_Q17_ptr = XXLTP_Q17; + opus_int i, k, lshift; + const opus_int16 *r_ptr, *lag_ptr; + opus_int16 *b_Q14_ptr; + + opus_int32 regu; + opus_int32 *WLTP_ptr; + opus_int32 b_Q16[ LTP_ORDER ], delta_b_Q14[ LTP_ORDER ], d_Q14[ MAX_NB_SUBFR ], nrg[ MAX_NB_SUBFR ], g_Q26; + opus_int32 w[ MAX_NB_SUBFR ], WLTP_max, max_abs_d_Q14, max_w_bits; + + opus_int32 temp32, denom32; + opus_int extra_shifts; + opus_int rr_shifts, maxRshifts, maxRshifts_wxtra, LZs; + opus_int32 LPC_res_nrg, LPC_LTP_res_nrg, div_Q16; + opus_int32 Rr[ LTP_ORDER ], rr[ MAX_NB_SUBFR ]; + opus_int32 wd, m_Q12; + + b_Q14_ptr = b_Q14; + WLTP_ptr = WLTP; + r_ptr = &r_lpc[ mem_offset ]; for( k = 0; k < nb_subfr; k++ ) { lag_ptr = r_ptr - ( lag[ k ] + LTP_ORDER / 2 ); - silk_sum_sqr_shift( &xx, &xx_shifts, r_ptr, subfr_length + LTP_ORDER ); /* xx in Q( -xx_shifts ) */ - silk_corrMatrix_FIX( lag_ptr, subfr_length, LTP_ORDER, XXLTP_Q17_ptr, &nrg, &XX_shifts, arch ); /* XXLTP_Q17_ptr and nrg in Q( -XX_shifts ) */ - extra_shifts = xx_shifts - XX_shifts; - if( extra_shifts > 0 ) { - /* Shift XX */ - xX_shifts = xx_shifts; - for( i = 0; i < LTP_ORDER * LTP_ORDER; i++ ) { - XXLTP_Q17_ptr[ i ] = silk_RSHIFT32( XXLTP_Q17_ptr[ i ], extra_shifts ); /* Q( -xX_shifts ) */ - } - nrg = silk_RSHIFT32( nrg, extra_shifts ); /* Q( -xX_shifts ) */ - } else if( extra_shifts < 0 ) { - /* Shift xx */ - xX_shifts = XX_shifts; - xx = silk_RSHIFT32( xx, -extra_shifts ); /* Q( -xX_shifts ) */ - } else { - xX_shifts = xx_shifts; + silk_sum_sqr_shift( &rr[ k ], &rr_shifts, r_ptr, subfr_length ); /* rr[ k ] in Q( -rr_shifts ) */ + + /* Assure headroom */ + LZs = silk_CLZ32( rr[k] ); + if( LZs < LTP_CORRS_HEAD_ROOM ) { + rr[ k ] = silk_RSHIFT_ROUND( rr[ k ], LTP_CORRS_HEAD_ROOM - LZs ); + rr_shifts += ( LTP_CORRS_HEAD_ROOM - LZs ); } - silk_corrVector_FIX( lag_ptr, r_ptr, subfr_length, LTP_ORDER, xXLTP_Q17_ptr, xX_shifts, arch ); /* xXLTP_Q17_ptr in Q( -xX_shifts ) */ + corr_rshifts[ k ] = rr_shifts; + silk_corrMatrix_FIX( lag_ptr, subfr_length, LTP_ORDER, LTP_CORRS_HEAD_ROOM, WLTP_ptr, &corr_rshifts[ k ], arch ); /* WLTP_fix_ptr in Q( -corr_rshifts[ k ] ) */ + + /* The correlation vector always has lower max abs value than rr and/or RR so head room is assured */ + silk_corrVector_FIX( lag_ptr, r_ptr, subfr_length, LTP_ORDER, Rr, corr_rshifts[ k ], arch ); /* Rr_fix_ptr in Q( -corr_rshifts[ k ] ) */ + if( corr_rshifts[ k ] > rr_shifts ) { + rr[ k ] = silk_RSHIFT( rr[ k ], corr_rshifts[ k ] - rr_shifts ); /* rr[ k ] in Q( -corr_rshifts[ k ] ) */ + } + silk_assert( rr[ k ] >= 0 ); + + regu = 1; + regu = silk_SMLAWB( regu, rr[ k ], SILK_FIX_CONST( LTP_DAMPING/3, 16 ) ); + regu = silk_SMLAWB( regu, matrix_ptr( WLTP_ptr, 0, 0, LTP_ORDER ), SILK_FIX_CONST( LTP_DAMPING/3, 16 ) ); + regu = silk_SMLAWB( regu, matrix_ptr( WLTP_ptr, LTP_ORDER-1, LTP_ORDER-1, LTP_ORDER ), SILK_FIX_CONST( LTP_DAMPING/3, 16 ) ); + silk_regularize_correlations_FIX( WLTP_ptr, &rr[k], regu, LTP_ORDER ); + + silk_solve_LDL_FIX( WLTP_ptr, LTP_ORDER, Rr, b_Q16 ); /* WLTP_fix_ptr and Rr_fix_ptr both in Q(-corr_rshifts[k]) */ + + /* Limit and store in Q14 */ + silk_fit_LTP( b_Q16, b_Q14_ptr ); + + /* Calculate residual energy */ + nrg[ k ] = silk_residual_energy16_covar_FIX( b_Q14_ptr, WLTP_ptr, Rr, rr[ k ], LTP_ORDER, 14 ); /* nrg_fix in Q( -corr_rshifts[ k ] ) */ + + /* temp = Wght[ k ] / ( nrg[ k ] * Wght[ k ] + 0.01f * subfr_length ); */ + extra_shifts = silk_min_int( corr_rshifts[ k ], LTP_CORRS_HEAD_ROOM ); + denom32 = silk_LSHIFT_SAT32( silk_SMULWB( nrg[ k ], Wght_Q15[ k ] ), 1 + extra_shifts ) + /* Q( -corr_rshifts[ k ] + extra_shifts ) */ + silk_RSHIFT( silk_SMULWB( (opus_int32)subfr_length, 655 ), corr_rshifts[ k ] - extra_shifts ); /* Q( -corr_rshifts[ k ] + extra_shifts ) */ + denom32 = silk_max( denom32, 1 ); + silk_assert( ((opus_int64)Wght_Q15[ k ] << 16 ) < silk_int32_MAX ); /* Wght always < 0.5 in Q0 */ + temp32 = silk_DIV32( silk_LSHIFT( (opus_int32)Wght_Q15[ k ], 16 ), denom32 ); /* Q( 15 + 16 + corr_rshifts[k] - extra_shifts ) */ + temp32 = silk_RSHIFT( temp32, 31 + corr_rshifts[ k ] - extra_shifts - 26 ); /* Q26 */ - /* At this point all correlations are in Q(-xX_shifts) */ - temp = silk_SMLAWB( 1, nrg, SILK_FIX_CONST( LTP_CORR_INV_MAX, 16 ) ); - temp = silk_max( temp, xx ); -TIC(div) -#if 0 + /* Limit temp such that the below scaling never wraps around */ + WLTP_max = 0; for( i = 0; i < LTP_ORDER * LTP_ORDER; i++ ) { - XXLTP_Q17_ptr[ i ] = silk_DIV32_varQ( XXLTP_Q17_ptr[ i ], temp, 17 ); + WLTP_max = silk_max( WLTP_ptr[ i ], WLTP_max ); } + lshift = silk_CLZ32( WLTP_max ) - 1 - 3; /* keep 3 bits free for vq_nearest_neighbor_fix */ + silk_assert( 26 - 18 + lshift >= 0 ); + if( 26 - 18 + lshift < 31 ) { + temp32 = silk_min_32( temp32, silk_LSHIFT( (opus_int32)1, 26 - 18 + lshift ) ); + } + + silk_scale_vector32_Q26_lshift_18( WLTP_ptr, temp32, LTP_ORDER * LTP_ORDER ); /* WLTP_ptr in Q( 18 - corr_rshifts[ k ] ) */ + + w[ k ] = matrix_ptr( WLTP_ptr, LTP_ORDER/2, LTP_ORDER/2, LTP_ORDER ); /* w in Q( 18 - corr_rshifts[ k ] ) */ + silk_assert( w[k] >= 0 ); + + r_ptr += subfr_length; + b_Q14_ptr += LTP_ORDER; + WLTP_ptr += LTP_ORDER * LTP_ORDER; + } + + maxRshifts = 0; + for( k = 0; k < nb_subfr; k++ ) { + maxRshifts = silk_max_int( corr_rshifts[ k ], maxRshifts ); + } + + /* Compute LTP coding gain */ + if( LTPredCodGain_Q7 != NULL ) { + LPC_LTP_res_nrg = 0; + LPC_res_nrg = 0; + silk_assert( LTP_CORRS_HEAD_ROOM >= 2 ); /* Check that no overflow will happen when adding */ + for( k = 0; k < nb_subfr; k++ ) { + LPC_res_nrg = silk_ADD32( LPC_res_nrg, silk_RSHIFT( silk_ADD32( silk_SMULWB( rr[ k ], Wght_Q15[ k ] ), 1 ), 1 + ( maxRshifts - corr_rshifts[ k ] ) ) ); /* Q( -maxRshifts ) */ + LPC_LTP_res_nrg = silk_ADD32( LPC_LTP_res_nrg, silk_RSHIFT( silk_ADD32( silk_SMULWB( nrg[ k ], Wght_Q15[ k ] ), 1 ), 1 + ( maxRshifts - corr_rshifts[ k ] ) ) ); /* Q( -maxRshifts ) */ + } + LPC_LTP_res_nrg = silk_max( LPC_LTP_res_nrg, 1 ); /* avoid division by zero */ + + div_Q16 = silk_DIV32_varQ( LPC_res_nrg, LPC_LTP_res_nrg, 16 ); + *LTPredCodGain_Q7 = ( opus_int )silk_SMULBB( 3, silk_lin2log( div_Q16 ) - ( 16 << 7 ) ); + + silk_assert( *LTPredCodGain_Q7 == ( opus_int )silk_SAT16( silk_MUL( 3, silk_lin2log( div_Q16 ) - ( 16 << 7 ) ) ) ); + } + + /* smoothing */ + /* d = sum( B, 1 ); */ + b_Q14_ptr = b_Q14; + for( k = 0; k < nb_subfr; k++ ) { + d_Q14[ k ] = 0; for( i = 0; i < LTP_ORDER; i++ ) { - xXLTP_Q17_ptr[ i ] = silk_DIV32_varQ( xXLTP_Q17_ptr[ i ], temp, 17 ); + d_Q14[ k ] += b_Q14_ptr[ i ]; } -#else - for( i = 0; i < LTP_ORDER * LTP_ORDER; i++ ) { - XXLTP_Q17_ptr[ i ] = (opus_int32)( silk_LSHIFT64( (opus_int64)XXLTP_Q17_ptr[ i ], 17 ) / temp ); + b_Q14_ptr += LTP_ORDER; + } + + /* m = ( w * d' ) / ( sum( w ) + 1e-3 ); */ + + /* Find maximum absolute value of d_Q14 and the bits used by w in Q0 */ + max_abs_d_Q14 = 0; + max_w_bits = 0; + for( k = 0; k < nb_subfr; k++ ) { + max_abs_d_Q14 = silk_max_32( max_abs_d_Q14, silk_abs( d_Q14[ k ] ) ); + /* w[ k ] is in Q( 18 - corr_rshifts[ k ] ) */ + /* Find bits needed in Q( 18 - maxRshifts ) */ + max_w_bits = silk_max_32( max_w_bits, 32 - silk_CLZ32( w[ k ] ) + corr_rshifts[ k ] - maxRshifts ); + } + + /* max_abs_d_Q14 = (5 << 15); worst case, i.e. LTP_ORDER * -silk_int16_MIN */ + silk_assert( max_abs_d_Q14 <= ( 5 << 15 ) ); + + /* How many bits is needed for w*d' in Q( 18 - maxRshifts ) in the worst case, of all d_Q14's being equal to max_abs_d_Q14 */ + extra_shifts = max_w_bits + 32 - silk_CLZ32( max_abs_d_Q14 ) - 14; + + /* Subtract what we got available; bits in output var plus maxRshifts */ + extra_shifts -= ( 32 - 1 - 2 + maxRshifts ); /* Keep sign bit free as well as 2 bits for accumulation */ + extra_shifts = silk_max_int( extra_shifts, 0 ); + + maxRshifts_wxtra = maxRshifts + extra_shifts; + + temp32 = silk_RSHIFT( 262, maxRshifts + extra_shifts ) + 1; /* 1e-3f in Q( 18 - (maxRshifts + extra_shifts) ) */ + wd = 0; + for( k = 0; k < nb_subfr; k++ ) { + /* w has at least 2 bits of headroom so no overflow should happen */ + temp32 = silk_ADD32( temp32, silk_RSHIFT( w[ k ], maxRshifts_wxtra - corr_rshifts[ k ] ) ); /* Q( 18 - maxRshifts_wxtra ) */ + wd = silk_ADD32( wd, silk_LSHIFT( silk_SMULWW( silk_RSHIFT( w[ k ], maxRshifts_wxtra - corr_rshifts[ k ] ), d_Q14[ k ] ), 2 ) ); /* Q( 18 - maxRshifts_wxtra ) */ + } + m_Q12 = silk_DIV32_varQ( wd, temp32, 12 ); + + b_Q14_ptr = b_Q14; + for( k = 0; k < nb_subfr; k++ ) { + /* w_fix[ k ] from Q( 18 - corr_rshifts[ k ] ) to Q( 16 ) */ + if( 2 - corr_rshifts[k] > 0 ) { + temp32 = silk_RSHIFT( w[ k ], 2 - corr_rshifts[ k ] ); + } else { + temp32 = silk_LSHIFT_SAT32( w[ k ], corr_rshifts[ k ] - 2 ); } + + g_Q26 = silk_MUL( + silk_DIV32( + SILK_FIX_CONST( LTP_SMOOTHING, 26 ), + silk_RSHIFT( SILK_FIX_CONST( LTP_SMOOTHING, 26 ), 10 ) + temp32 ), /* Q10 */ + silk_LSHIFT_SAT32( silk_SUB_SAT32( (opus_int32)m_Q12, silk_RSHIFT( d_Q14[ k ], 2 ) ), 4 ) ); /* Q16 */ + + temp32 = 0; for( i = 0; i < LTP_ORDER; i++ ) { - xXLTP_Q17_ptr[ i ] = (opus_int32)( silk_LSHIFT64( (opus_int64)xXLTP_Q17_ptr[ i ], 17 ) / temp ); + delta_b_Q14[ i ] = silk_max_16( b_Q14_ptr[ i ], 1638 ); /* 1638_Q14 = 0.1_Q0 */ + temp32 += delta_b_Q14[ i ]; /* Q14 */ } -#endif -TOC(div) - r_ptr += subfr_length; - XXLTP_Q17_ptr += LTP_ORDER * LTP_ORDER; - xXLTP_Q17_ptr += LTP_ORDER; + temp32 = silk_DIV32( g_Q26, temp32 ); /* Q14 -> Q12 */ + for( i = 0; i < LTP_ORDER; i++ ) { + b_Q14_ptr[ i ] = silk_LIMIT_32( (opus_int32)b_Q14_ptr[ i ] + silk_SMULWB( silk_LSHIFT_SAT32( temp32, 4 ), delta_b_Q14[ i ] ), -16000, 28000 ); + } + b_Q14_ptr += LTP_ORDER; + } +} + +void silk_fit_LTP( + opus_int32 LTP_coefs_Q16[ LTP_ORDER ], + opus_int16 LTP_coefs_Q14[ LTP_ORDER ] +) +{ + opus_int i; + + for( i = 0; i < LTP_ORDER; i++ ) { + LTP_coefs_Q14[ i ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( LTP_coefs_Q16[ i ], 2 ) ); } } diff --git a/thirdparty/opus/silk/fixed/find_pitch_lags_FIX.c b/thirdparty/opus/silk/fixed/find_pitch_lags_FIX.c index 6c3379f2bb..b8440a8247 100644 --- a/thirdparty/opus/silk/fixed/find_pitch_lags_FIX.c +++ b/thirdparty/opus/silk/fixed/find_pitch_lags_FIX.c @@ -44,7 +44,7 @@ void silk_find_pitch_lags_FIX( { opus_int buf_len, i, scale; opus_int32 thrhld_Q13, res_nrg; - const opus_int16 *x_ptr; + const opus_int16 *x_buf, *x_buf_ptr; VARDECL( opus_int16, Wsig ); opus_int16 *Wsig_ptr; opus_int32 auto_corr[ MAX_FIND_PITCH_LPC_ORDER + 1 ]; @@ -59,7 +59,9 @@ void silk_find_pitch_lags_FIX( buf_len = psEnc->sCmn.la_pitch + psEnc->sCmn.frame_length + psEnc->sCmn.ltp_mem_length; /* Safety check */ - celt_assert( buf_len >= psEnc->sCmn.pitch_LPC_win_length ); + silk_assert( buf_len >= psEnc->sCmn.pitch_LPC_win_length ); + + x_buf = x - psEnc->sCmn.ltp_mem_length; /*************************************/ /* Estimate LPC AR coefficients */ @@ -70,19 +72,19 @@ void silk_find_pitch_lags_FIX( ALLOC( Wsig, psEnc->sCmn.pitch_LPC_win_length, opus_int16 ); /* First LA_LTP samples */ - x_ptr = x + buf_len - psEnc->sCmn.pitch_LPC_win_length; + x_buf_ptr = x_buf + buf_len - psEnc->sCmn.pitch_LPC_win_length; Wsig_ptr = Wsig; - silk_apply_sine_window( Wsig_ptr, x_ptr, 1, psEnc->sCmn.la_pitch ); + silk_apply_sine_window( Wsig_ptr, x_buf_ptr, 1, psEnc->sCmn.la_pitch ); /* Middle un - windowed samples */ Wsig_ptr += psEnc->sCmn.la_pitch; - x_ptr += psEnc->sCmn.la_pitch; - silk_memcpy( Wsig_ptr, x_ptr, ( psEnc->sCmn.pitch_LPC_win_length - silk_LSHIFT( psEnc->sCmn.la_pitch, 1 ) ) * sizeof( opus_int16 ) ); + x_buf_ptr += psEnc->sCmn.la_pitch; + silk_memcpy( Wsig_ptr, x_buf_ptr, ( psEnc->sCmn.pitch_LPC_win_length - silk_LSHIFT( psEnc->sCmn.la_pitch, 1 ) ) * sizeof( opus_int16 ) ); /* Last LA_LTP samples */ Wsig_ptr += psEnc->sCmn.pitch_LPC_win_length - silk_LSHIFT( psEnc->sCmn.la_pitch, 1 ); - x_ptr += psEnc->sCmn.pitch_LPC_win_length - silk_LSHIFT( psEnc->sCmn.la_pitch, 1 ); - silk_apply_sine_window( Wsig_ptr, x_ptr, 2, psEnc->sCmn.la_pitch ); + x_buf_ptr += psEnc->sCmn.pitch_LPC_win_length - silk_LSHIFT( psEnc->sCmn.la_pitch, 1 ); + silk_apply_sine_window( Wsig_ptr, x_buf_ptr, 2, psEnc->sCmn.la_pitch ); /* Calculate autocorrelation sequence */ silk_autocorr( auto_corr, &scale, Wsig, psEnc->sCmn.pitch_LPC_win_length, psEnc->sCmn.pitchEstimationLPCOrder + 1, arch ); @@ -110,7 +112,7 @@ void silk_find_pitch_lags_FIX( /*****************************************/ /* LPC analysis filtering */ /*****************************************/ - silk_LPC_analysis_filter( res, x, A_Q12, buf_len, psEnc->sCmn.pitchEstimationLPCOrder, psEnc->sCmn.arch ); + silk_LPC_analysis_filter( res, x_buf, A_Q12, buf_len, psEnc->sCmn.pitchEstimationLPCOrder, psEnc->sCmn.arch ); if( psEnc->sCmn.indices.signalType != TYPE_NO_VOICE_ACTIVITY && psEnc->sCmn.first_frame_after_reset == 0 ) { /* Threshold for pitch estimator */ diff --git a/thirdparty/opus/silk/fixed/find_pred_coefs_FIX.c b/thirdparty/opus/silk/fixed/find_pred_coefs_FIX.c index 606d863347..d308e9cf5f 100644 --- a/thirdparty/opus/silk/fixed/find_pred_coefs_FIX.c +++ b/thirdparty/opus/silk/fixed/find_pred_coefs_FIX.c @@ -41,12 +41,13 @@ void silk_find_pred_coefs_FIX( ) { opus_int i; - opus_int32 invGains_Q16[ MAX_NB_SUBFR ], local_gains[ MAX_NB_SUBFR ]; + opus_int32 invGains_Q16[ MAX_NB_SUBFR ], local_gains[ MAX_NB_SUBFR ], Wght_Q15[ MAX_NB_SUBFR ]; opus_int16 NLSF_Q15[ MAX_LPC_ORDER ]; const opus_int16 *x_ptr; opus_int16 *x_pre_ptr; VARDECL( opus_int16, LPC_in_pre ); - opus_int32 min_gain_Q16, minInvGain_Q30; + opus_int32 tmp, min_gain_Q16, minInvGain_Q30; + opus_int LTP_corrs_rshift[ MAX_NB_SUBFR ]; SAVE_STACK; /* weighting for weighted least squares */ @@ -60,11 +61,13 @@ void silk_find_pred_coefs_FIX( /* Invert and normalize gains, and ensure that maximum invGains_Q16 is within range of a 16 bit int */ invGains_Q16[ i ] = silk_DIV32_varQ( min_gain_Q16, psEncCtrl->Gains_Q16[ i ], 16 - 2 ); - /* Limit inverse */ - invGains_Q16[ i ] = silk_max( invGains_Q16[ i ], 100 ); + /* Ensure Wght_Q15 a minimum value 1 */ + invGains_Q16[ i ] = silk_max( invGains_Q16[ i ], 363 ); /* Square the inverted gains */ silk_assert( invGains_Q16[ i ] == silk_SAT16( invGains_Q16[ i ] ) ); + tmp = silk_SMULWB( invGains_Q16[ i ], invGains_Q16[ i ] ); + Wght_Q15[ i ] = silk_RSHIFT( tmp, 1 ); /* Invert the inverted and normalized gains */ local_gains[ i ] = silk_DIV32( ( (opus_int32)1 << 16 ), invGains_Q16[ i ] ); @@ -74,24 +77,24 @@ void silk_find_pred_coefs_FIX( psEnc->sCmn.nb_subfr * psEnc->sCmn.predictLPCOrder + psEnc->sCmn.frame_length, opus_int16 ); if( psEnc->sCmn.indices.signalType == TYPE_VOICED ) { - VARDECL( opus_int32, xXLTP_Q17 ); - VARDECL( opus_int32, XXLTP_Q17 ); + VARDECL( opus_int32, WLTP ); /**********/ /* VOICED */ /**********/ - celt_assert( psEnc->sCmn.ltp_mem_length - psEnc->sCmn.predictLPCOrder >= psEncCtrl->pitchL[ 0 ] + LTP_ORDER / 2 ); + silk_assert( psEnc->sCmn.ltp_mem_length - psEnc->sCmn.predictLPCOrder >= psEncCtrl->pitchL[ 0 ] + LTP_ORDER / 2 ); - ALLOC( xXLTP_Q17, psEnc->sCmn.nb_subfr * LTP_ORDER, opus_int32 ); - ALLOC( XXLTP_Q17, psEnc->sCmn.nb_subfr * LTP_ORDER * LTP_ORDER, opus_int32 ); + ALLOC( WLTP, psEnc->sCmn.nb_subfr * LTP_ORDER * LTP_ORDER, opus_int32 ); /* LTP analysis */ - silk_find_LTP_FIX( XXLTP_Q17, xXLTP_Q17, res_pitch, - psEncCtrl->pitchL, psEnc->sCmn.subfr_length, psEnc->sCmn.nb_subfr, psEnc->sCmn.arch ); + silk_find_LTP_FIX( psEncCtrl->LTPCoef_Q14, WLTP, &psEncCtrl->LTPredCodGain_Q7, + res_pitch, psEncCtrl->pitchL, Wght_Q15, psEnc->sCmn.subfr_length, + psEnc->sCmn.nb_subfr, psEnc->sCmn.ltp_mem_length, LTP_corrs_rshift, psEnc->sCmn.arch ); /* Quantize LTP gain parameters */ silk_quant_LTP_gains( psEncCtrl->LTPCoef_Q14, psEnc->sCmn.indices.LTPIndex, &psEnc->sCmn.indices.PERIndex, - &psEnc->sCmn.sum_log_gain_Q7, &psEncCtrl->LTPredCodGain_Q7, XXLTP_Q17, xXLTP_Q17, psEnc->sCmn.subfr_length, psEnc->sCmn.nb_subfr, psEnc->sCmn.arch ); + &psEnc->sCmn.sum_log_gain_Q7, WLTP, psEnc->sCmn.mu_LTP_Q9, psEnc->sCmn.LTPQuantLowComplexity, psEnc->sCmn.nb_subfr, + psEnc->sCmn.arch); /* Control LTP scaling */ silk_LTP_scale_ctrl_FIX( psEnc, psEncCtrl, condCoding ); diff --git a/thirdparty/opus/silk/fixed/k2a_FIX.c b/thirdparty/opus/silk/fixed/k2a_FIX.c index 549f6eadaa..5fee599bcb 100644 --- a/thirdparty/opus/silk/fixed/k2a_FIX.c +++ b/thirdparty/opus/silk/fixed/k2a_FIX.c @@ -39,15 +39,14 @@ void silk_k2a( ) { opus_int k, n; - opus_int32 rc, tmp1, tmp2; + opus_int32 Atmp[ SILK_MAX_ORDER_LPC ]; for( k = 0; k < order; k++ ) { - rc = rc_Q15[ k ]; - for( n = 0; n < (k + 1) >> 1; n++ ) { - tmp1 = A_Q24[ n ]; - tmp2 = A_Q24[ k - n - 1 ]; - A_Q24[ n ] = silk_SMLAWB( tmp1, silk_LSHIFT( tmp2, 1 ), rc ); - A_Q24[ k - n - 1 ] = silk_SMLAWB( tmp2, silk_LSHIFT( tmp1, 1 ), rc ); + for( n = 0; n < k; n++ ) { + Atmp[ n ] = A_Q24[ n ]; + } + for( n = 0; n < k; n++ ) { + A_Q24[ n ] = silk_SMLAWB( A_Q24[ n ], silk_LSHIFT( Atmp[ k - n - 1 ], 1 ), rc_Q15[ k ] ); } A_Q24[ k ] = -silk_LSHIFT( (opus_int32)rc_Q15[ k ], 9 ); } diff --git a/thirdparty/opus/silk/fixed/k2a_Q16_FIX.c b/thirdparty/opus/silk/fixed/k2a_Q16_FIX.c index 1595aa6212..3b03987544 100644 --- a/thirdparty/opus/silk/fixed/k2a_Q16_FIX.c +++ b/thirdparty/opus/silk/fixed/k2a_Q16_FIX.c @@ -39,16 +39,15 @@ void silk_k2a_Q16( ) { opus_int k, n; - opus_int32 rc, tmp1, tmp2; + opus_int32 Atmp[ SILK_MAX_ORDER_LPC ]; for( k = 0; k < order; k++ ) { - rc = rc_Q16[ k ]; - for( n = 0; n < (k + 1) >> 1; n++ ) { - tmp1 = A_Q24[ n ]; - tmp2 = A_Q24[ k - n - 1 ]; - A_Q24[ n ] = silk_SMLAWW( tmp1, tmp2, rc ); - A_Q24[ k - n - 1 ] = silk_SMLAWW( tmp2, tmp1, rc ); + for( n = 0; n < k; n++ ) { + Atmp[ n ] = A_Q24[ n ]; } - A_Q24[ k ] = -silk_LSHIFT( rc, 8 ); + for( n = 0; n < k; n++ ) { + A_Q24[ n ] = silk_SMLAWW( A_Q24[ n ], Atmp[ k - n - 1 ], rc_Q16[ k ] ); + } + A_Q24[ k ] = -silk_LSHIFT( rc_Q16[ k ], 8 ); } } diff --git a/thirdparty/opus/silk/fixed/main_FIX.h b/thirdparty/opus/silk/fixed/main_FIX.h index 6d2112e511..375b5eb32e 100644 --- a/thirdparty/opus/silk/fixed/main_FIX.h +++ b/thirdparty/opus/silk/fixed/main_FIX.h @@ -36,11 +36,6 @@ POSSIBILITY OF SUCH DAMAGE. #include "debug.h" #include "entenc.h" -#if ((defined(OPUS_ARM_ASM) && defined(FIXED_POINT)) \ - || defined(OPUS_ARM_MAY_HAVE_NEON_INTR)) -#include "fixed/arm/warped_autocorrelation_FIX_arm.h" -#endif - #ifndef FORCE_CPP_BUILD #ifdef __cplusplus extern "C" @@ -52,9 +47,6 @@ extern "C" #define silk_encode_do_VAD_Fxx silk_encode_do_VAD_FIX #define silk_encode_frame_Fxx silk_encode_frame_FIX -#define QC 10 -#define QS 13 - /*********************/ /* Encoder Functions */ /*********************/ @@ -66,8 +58,7 @@ void silk_HP_variable_cutoff( /* Encoder main function */ void silk_encode_do_VAD_FIX( - silk_encoder_state_FIX *psEnc, /* I/O Pointer to Silk FIX encoder state */ - opus_int activity /* I Decision of Opus voice activity detector */ + silk_encoder_state_FIX *psEnc /* I/O Pointer to Silk FIX encoder state */ ); /* Encoder main function */ @@ -90,11 +81,33 @@ opus_int silk_init_encoder( opus_int silk_control_encoder( silk_encoder_state_Fxx *psEnc, /* I/O Pointer to Silk encoder state */ silk_EncControlStruct *encControl, /* I Control structure */ + const opus_int32 TargetRate_bps, /* I Target max bitrate (bps) */ const opus_int allow_bw_switch, /* I Flag to allow switching audio bandwidth */ const opus_int channelNb, /* I Channel number */ const opus_int force_fs_kHz ); +/****************/ +/* Prefiltering */ +/****************/ +void silk_prefilter_FIX( + silk_encoder_state_FIX *psEnc, /* I/O Encoder state */ + const silk_encoder_control_FIX *psEncCtrl, /* I Encoder control */ + opus_int32 xw_Q10[], /* O Weighted signal */ + const opus_int16 x[] /* I Speech signal */ +); + +void silk_warped_LPC_analysis_filter_FIX_c( + opus_int32 state[], /* I/O State [order + 1] */ + opus_int32 res_Q2[], /* O Residual signal [length] */ + const opus_int16 coef_Q13[], /* I Coefficients [order] */ + const opus_int16 input[], /* I Input signal [length] */ + const opus_int16 lambda_Q16, /* I Warping factor */ + const opus_int length, /* I Length of input signal */ + const opus_int order /* I Filter order (even) */ +); + + /**************************/ /* Noise shaping analysis */ /**************************/ @@ -108,7 +121,7 @@ void silk_noise_shape_analysis_FIX( ); /* Autocorrelations for a warped frequency axis */ -void silk_warped_autocorrelation_FIX_c( +void silk_warped_autocorrelation_FIX( opus_int32 *corr, /* O Result [order + 1] */ opus_int *scale, /* O Scaling of the correlation vector */ const opus_int16 *input, /* I Input data to correlate */ @@ -117,11 +130,6 @@ void silk_warped_autocorrelation_FIX_c( const opus_int order /* I Correlation order (even) */ ); -#if !defined(OVERRIDE_silk_warped_autocorrelation_FIX) -#define silk_warped_autocorrelation_FIX(corr, scale, input, warping_Q16, length, order, arch) \ - ((void)(arch), silk_warped_autocorrelation_FIX_c(corr, scale, input, warping_Q16, length, order)) -#endif - /* Calculation of LTP state scaling */ void silk_LTP_scale_ctrl_FIX( silk_encoder_state_FIX *psEnc, /* I/O encoder state */ @@ -160,12 +168,16 @@ void silk_find_LPC_FIX( /* LTP analysis */ void silk_find_LTP_FIX( - opus_int32 XXLTP_Q17[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ], /* O Correlation matrix */ - opus_int32 xXLTP_Q17[ MAX_NB_SUBFR * LTP_ORDER ], /* O Correlation vector */ - const opus_int16 r_lpc[], /* I Residual signal after LPC */ + opus_int16 b_Q14[ MAX_NB_SUBFR * LTP_ORDER ], /* O LTP coefs */ + opus_int32 WLTP[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ], /* O Weight for LTP quantization */ + opus_int *LTPredCodGain_Q7, /* O LTP coding gain */ + const opus_int16 r_lpc[], /* I residual signal after LPC signal + state for first 10 ms */ const opus_int lag[ MAX_NB_SUBFR ], /* I LTP lags */ - const opus_int subfr_length, /* I Subframe length */ - const opus_int nb_subfr, /* I Number of subframes */ + const opus_int32 Wght_Q15[ MAX_NB_SUBFR ], /* I weights */ + const opus_int subfr_length, /* I subframe length */ + const opus_int nb_subfr, /* I number of subframes */ + const opus_int mem_offset, /* I number of samples in LTP memory */ + opus_int corr_rshifts[ MAX_NB_SUBFR ], /* O right shifts applied to correlations */ int arch /* I Run-time architecture */ ); @@ -219,9 +231,9 @@ void silk_corrMatrix_FIX( const opus_int16 *x, /* I x vector [L + order - 1] used to form data matrix X */ const opus_int L, /* I Length of vectors */ const opus_int order, /* I Max lag for correlation */ + const opus_int head_room, /* I Desired headroom */ opus_int32 *XX, /* O Pointer to X'*X correlation matrix [ order x order ] */ - opus_int32 *nrg, /* O Energy of x vector */ - opus_int *rshifts, /* O Right shifts of correlations */ + opus_int *rshifts, /* I/O Right shifts of correlations */ int arch /* I Run-time architecture */ ); @@ -236,6 +248,22 @@ void silk_corrVector_FIX( int arch /* I Run-time architecture */ ); +/* Add noise to matrix diagonal */ +void silk_regularize_correlations_FIX( + opus_int32 *XX, /* I/O Correlation matrices */ + opus_int32 *xx, /* I/O Correlation values */ + opus_int32 noise, /* I Noise to add */ + opus_int D /* I Dimension of XX */ +); + +/* Solves Ax = b, assuming A is symmetric */ +void silk_solve_LDL_FIX( + opus_int32 *A, /* I Pointer to symetric square matrix A */ + opus_int M, /* I Size of matrix */ + const opus_int32 *b, /* I Pointer to b vector */ + opus_int32 *x_Q16 /* O Pointer to x solution vector */ +); + #ifndef FORCE_CPP_BUILD #ifdef __cplusplus } diff --git a/thirdparty/opus/silk/fixed/mips/noise_shape_analysis_FIX_mipsr1.h b/thirdparty/opus/silk/fixed/mips/noise_shape_analysis_FIX_mipsr1.h index 3999b5bd09..c30481e437 100644 --- a/thirdparty/opus/silk/fixed/mips/noise_shape_analysis_FIX_mipsr1.h +++ b/thirdparty/opus/silk/fixed/mips/noise_shape_analysis_FIX_mipsr1.h @@ -169,7 +169,7 @@ void silk_noise_shape_analysis_FIX( if( psEnc->sCmn.warping_Q16 > 0 ) { /* Calculate warped auto correlation */ - silk_warped_autocorrelation_FIX( auto_corr, &scale, x_windowed, warping_Q16, psEnc->sCmn.shapeWinLength, psEnc->sCmn.shapingLPCOrder, arch ); + silk_warped_autocorrelation_FIX( auto_corr, &scale, x_windowed, warping_Q16, psEnc->sCmn.shapeWinLength, psEnc->sCmn.shapingLPCOrder ); } else { /* Calculate regular auto correlation */ silk_autocorr( auto_corr, &scale, x_windowed, psEnc->sCmn.shapeWinLength, psEnc->sCmn.shapingLPCOrder + 1, arch ); @@ -224,8 +224,8 @@ void silk_noise_shape_analysis_FIX( silk_bwexpander_32( AR1_Q24, psEnc->sCmn.shapingLPCOrder, BWExp1_Q16 ); /* Ratio of prediction gains, in energy domain */ - pre_nrg_Q30 = silk_LPC_inverse_pred_gain_Q24( AR2_Q24, psEnc->sCmn.shapingLPCOrder, arch ); - nrg = silk_LPC_inverse_pred_gain_Q24( AR1_Q24, psEnc->sCmn.shapingLPCOrder, arch ); + pre_nrg_Q30 = silk_LPC_inverse_pred_gain_Q24( AR2_Q24, psEnc->sCmn.shapingLPCOrder ); + nrg = silk_LPC_inverse_pred_gain_Q24( AR1_Q24, psEnc->sCmn.shapingLPCOrder ); /*psEncCtrl->GainsPre[ k ] = 1.0f - 0.7f * ( 1.0f - pre_nrg / nrg ) = 0.3f + 0.7f * pre_nrg / nrg;*/ pre_nrg_Q30 = silk_LSHIFT32( silk_SMULWB( pre_nrg_Q30, SILK_FIX_CONST( 0.7, 15 ) ), 1 ); diff --git a/thirdparty/opus/silk/fixed/mips/prefilter_FIX_mipsr1.h b/thirdparty/opus/silk/fixed/mips/prefilter_FIX_mipsr1.h new file mode 100644 index 0000000000..21b256885f --- /dev/null +++ b/thirdparty/opus/silk/fixed/mips/prefilter_FIX_mipsr1.h @@ -0,0 +1,184 @@ +/*********************************************************************** +Copyright (c) 2006-2011, Skype Limited. All rights reserved. +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: +- Redistributions of source code must retain the above copyright notice, +this list of conditions and the following disclaimer. +- Redistributions in binary form must reproduce the above copyright +notice, this list of conditions and the following disclaimer in the +documentation and/or other materials provided with the distribution. +- Neither the name of Internet Society, IETF or IETF Trust, nor the +names of specific contributors, may be used to endorse or promote +products derived from this software without specific prior written +permission. +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. +***********************************************************************/ +#ifndef __PREFILTER_FIX_MIPSR1_H__ +#define __PREFILTER_FIX_MIPSR1_H__ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include "main_FIX.h" +#include "stack_alloc.h" +#include "tuning_parameters.h" + +#define OVERRIDE_silk_warped_LPC_analysis_filter_FIX +void silk_warped_LPC_analysis_filter_FIX( + opus_int32 state[], /* I/O State [order + 1] */ + opus_int32 res_Q2[], /* O Residual signal [length] */ + const opus_int16 coef_Q13[], /* I Coefficients [order] */ + const opus_int16 input[], /* I Input signal [length] */ + const opus_int16 lambda_Q16, /* I Warping factor */ + const opus_int length, /* I Length of input signal */ + const opus_int order, /* I Filter order (even) */ + int arch +) +{ + opus_int n, i; + opus_int32 acc_Q11, acc_Q22, tmp1, tmp2, tmp3, tmp4; + opus_int32 state_cur, state_next; + + (void)arch; + + /* Order must be even */ + /* Length must be even */ + + silk_assert( ( order & 1 ) == 0 ); + silk_assert( ( length & 1 ) == 0 ); + + for( n = 0; n < length; n+=2 ) { + /* Output of lowpass section */ + tmp2 = silk_SMLAWB( state[ 0 ], state[ 1 ], lambda_Q16 ); + state_cur = silk_LSHIFT( input[ n ], 14 ); + /* Output of allpass section */ + tmp1 = silk_SMLAWB( state[ 1 ], state[ 2 ] - tmp2, lambda_Q16 ); + state_next = tmp2; + acc_Q11 = silk_RSHIFT( order, 1 ); + acc_Q11 = silk_SMLAWB( acc_Q11, tmp2, coef_Q13[ 0 ] ); + + + /* Output of lowpass section */ + tmp4 = silk_SMLAWB( state_cur, state_next, lambda_Q16 ); + state[ 0 ] = silk_LSHIFT( input[ n+1 ], 14 ); + /* Output of allpass section */ + tmp3 = silk_SMLAWB( state_next, tmp1 - tmp4, lambda_Q16 ); + state[ 1 ] = tmp4; + acc_Q22 = silk_RSHIFT( order, 1 ); + acc_Q22 = silk_SMLAWB( acc_Q22, tmp4, coef_Q13[ 0 ] ); + + /* Loop over allpass sections */ + for( i = 2; i < order; i += 2 ) { + /* Output of allpass section */ + tmp2 = silk_SMLAWB( state[ i ], state[ i + 1 ] - tmp1, lambda_Q16 ); + state_cur = tmp1; + acc_Q11 = silk_SMLAWB( acc_Q11, tmp1, coef_Q13[ i - 1 ] ); + /* Output of allpass section */ + tmp1 = silk_SMLAWB( state[ i + 1 ], state[ i + 2 ] - tmp2, lambda_Q16 ); + state_next = tmp2; + acc_Q11 = silk_SMLAWB( acc_Q11, tmp2, coef_Q13[ i ] ); + + + /* Output of allpass section */ + tmp4 = silk_SMLAWB( state_cur, state_next - tmp3, lambda_Q16 ); + state[ i ] = tmp3; + acc_Q22 = silk_SMLAWB( acc_Q22, tmp3, coef_Q13[ i - 1 ] ); + /* Output of allpass section */ + tmp3 = silk_SMLAWB( state_next, tmp1 - tmp4, lambda_Q16 ); + state[ i + 1 ] = tmp4; + acc_Q22 = silk_SMLAWB( acc_Q22, tmp4, coef_Q13[ i ] ); + } + acc_Q11 = silk_SMLAWB( acc_Q11, tmp1, coef_Q13[ order - 1 ] ); + res_Q2[ n ] = silk_LSHIFT( (opus_int32)input[ n ], 2 ) - silk_RSHIFT_ROUND( acc_Q11, 9 ); + + state[ order ] = tmp3; + acc_Q22 = silk_SMLAWB( acc_Q22, tmp3, coef_Q13[ order - 1 ] ); + res_Q2[ n+1 ] = silk_LSHIFT( (opus_int32)input[ n+1 ], 2 ) - silk_RSHIFT_ROUND( acc_Q22, 9 ); + } +} + + + +/* Prefilter for finding Quantizer input signal */ +#define OVERRIDE_silk_prefilt_FIX +static inline void silk_prefilt_FIX( + silk_prefilter_state_FIX *P, /* I/O state */ + opus_int32 st_res_Q12[], /* I short term residual signal */ + opus_int32 xw_Q3[], /* O prefiltered signal */ + opus_int32 HarmShapeFIRPacked_Q12, /* I Harmonic shaping coeficients */ + opus_int Tilt_Q14, /* I Tilt shaping coeficient */ + opus_int32 LF_shp_Q14, /* I Low-frequancy shaping coeficients */ + opus_int lag, /* I Lag for harmonic shaping */ + opus_int length /* I Length of signals */ +) +{ + opus_int i, idx, LTP_shp_buf_idx; + opus_int32 n_LTP_Q12, n_Tilt_Q10, n_LF_Q10; + opus_int32 sLF_MA_shp_Q12, sLF_AR_shp_Q12; + opus_int16 *LTP_shp_buf; + + /* To speed up use temp variables instead of using the struct */ + LTP_shp_buf = P->sLTP_shp; + LTP_shp_buf_idx = P->sLTP_shp_buf_idx; + sLF_AR_shp_Q12 = P->sLF_AR_shp_Q12; + sLF_MA_shp_Q12 = P->sLF_MA_shp_Q12; + + if( lag > 0 ) { + for( i = 0; i < length; i++ ) { + /* unrolled loop */ + silk_assert( HARM_SHAPE_FIR_TAPS == 3 ); + idx = lag + LTP_shp_buf_idx; + n_LTP_Q12 = silk_SMULBB( LTP_shp_buf[ ( idx - HARM_SHAPE_FIR_TAPS / 2 - 1) & LTP_MASK ], HarmShapeFIRPacked_Q12 ); + n_LTP_Q12 = silk_SMLABT( n_LTP_Q12, LTP_shp_buf[ ( idx - HARM_SHAPE_FIR_TAPS / 2 ) & LTP_MASK ], HarmShapeFIRPacked_Q12 ); + n_LTP_Q12 = silk_SMLABB( n_LTP_Q12, LTP_shp_buf[ ( idx - HARM_SHAPE_FIR_TAPS / 2 + 1) & LTP_MASK ], HarmShapeFIRPacked_Q12 ); + + n_Tilt_Q10 = silk_SMULWB( sLF_AR_shp_Q12, Tilt_Q14 ); + n_LF_Q10 = silk_SMLAWB( silk_SMULWT( sLF_AR_shp_Q12, LF_shp_Q14 ), sLF_MA_shp_Q12, LF_shp_Q14 ); + + sLF_AR_shp_Q12 = silk_SUB32( st_res_Q12[ i ], silk_LSHIFT( n_Tilt_Q10, 2 ) ); + sLF_MA_shp_Q12 = silk_SUB32( sLF_AR_shp_Q12, silk_LSHIFT( n_LF_Q10, 2 ) ); + + LTP_shp_buf_idx = ( LTP_shp_buf_idx - 1 ) & LTP_MASK; + LTP_shp_buf[ LTP_shp_buf_idx ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( sLF_MA_shp_Q12, 12 ) ); + + xw_Q3[i] = silk_RSHIFT_ROUND( silk_SUB32( sLF_MA_shp_Q12, n_LTP_Q12 ), 9 ); + } + } + else + { + for( i = 0; i < length; i++ ) { + + n_LTP_Q12 = 0; + + n_Tilt_Q10 = silk_SMULWB( sLF_AR_shp_Q12, Tilt_Q14 ); + n_LF_Q10 = silk_SMLAWB( silk_SMULWT( sLF_AR_shp_Q12, LF_shp_Q14 ), sLF_MA_shp_Q12, LF_shp_Q14 ); + + sLF_AR_shp_Q12 = silk_SUB32( st_res_Q12[ i ], silk_LSHIFT( n_Tilt_Q10, 2 ) ); + sLF_MA_shp_Q12 = silk_SUB32( sLF_AR_shp_Q12, silk_LSHIFT( n_LF_Q10, 2 ) ); + + LTP_shp_buf_idx = ( LTP_shp_buf_idx - 1 ) & LTP_MASK; + LTP_shp_buf[ LTP_shp_buf_idx ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( sLF_MA_shp_Q12, 12 ) ); + + xw_Q3[i] = silk_RSHIFT_ROUND( sLF_MA_shp_Q12, 9 ); + } + } + + /* Copy temp variable back to state */ + P->sLF_AR_shp_Q12 = sLF_AR_shp_Q12; + P->sLF_MA_shp_Q12 = sLF_MA_shp_Q12; + P->sLTP_shp_buf_idx = LTP_shp_buf_idx; +} + +#endif /* __PREFILTER_FIX_MIPSR1_H__ */ diff --git a/thirdparty/opus/silk/fixed/mips/warped_autocorrelation_FIX_mipsr1.h b/thirdparty/opus/silk/fixed/mips/warped_autocorrelation_FIX_mipsr1.h index 66eb2ed26d..e803ef0fce 100644 --- a/thirdparty/opus/silk/fixed/mips/warped_autocorrelation_FIX_mipsr1.h +++ b/thirdparty/opus/silk/fixed/mips/warped_autocorrelation_FIX_mipsr1.h @@ -41,8 +41,8 @@ POSSIBILITY OF SUCH DAMAGE. #define QS 14 /* Autocorrelations for a warped frequency axis */ -#define OVERRIDE_silk_warped_autocorrelation_FIX_c -void silk_warped_autocorrelation_FIX_c( +#define OVERRIDE_silk_warped_autocorrelation_FIX +void silk_warped_autocorrelation_FIX( opus_int32 *corr, /* O Result [order + 1] */ opus_int *scale, /* O Scaling of the correlation vector */ const opus_int16 *input, /* I Input data to correlate */ diff --git a/thirdparty/opus/silk/fixed/noise_shape_analysis_FIX.c b/thirdparty/opus/silk/fixed/noise_shape_analysis_FIX.c index 85fea0bf09..22a89f75ae 100644 --- a/thirdparty/opus/silk/fixed/noise_shape_analysis_FIX.c +++ b/thirdparty/opus/silk/fixed/noise_shape_analysis_FIX.c @@ -57,79 +57,88 @@ static OPUS_INLINE opus_int32 warped_gain( /* gain in Q16*/ /* Convert warped filter coefficients to monic pseudo-warped coefficients and limit maximum */ /* amplitude of monic warped coefficients by using bandwidth expansion on the true coefficients */ static OPUS_INLINE void limit_warped_coefs( - opus_int32 *coefs_Q24, + opus_int32 *coefs_syn_Q24, + opus_int32 *coefs_ana_Q24, opus_int lambda_Q16, opus_int32 limit_Q24, opus_int order ) { opus_int i, iter, ind = 0; - opus_int32 tmp, maxabs_Q24, chirp_Q16, gain_Q16; + opus_int32 tmp, maxabs_Q24, chirp_Q16, gain_syn_Q16, gain_ana_Q16; opus_int32 nom_Q16, den_Q24; - opus_int32 limit_Q20, maxabs_Q20; /* Convert to monic coefficients */ lambda_Q16 = -lambda_Q16; for( i = order - 1; i > 0; i-- ) { - coefs_Q24[ i - 1 ] = silk_SMLAWB( coefs_Q24[ i - 1 ], coefs_Q24[ i ], lambda_Q16 ); + coefs_syn_Q24[ i - 1 ] = silk_SMLAWB( coefs_syn_Q24[ i - 1 ], coefs_syn_Q24[ i ], lambda_Q16 ); + coefs_ana_Q24[ i - 1 ] = silk_SMLAWB( coefs_ana_Q24[ i - 1 ], coefs_ana_Q24[ i ], lambda_Q16 ); } lambda_Q16 = -lambda_Q16; - nom_Q16 = silk_SMLAWB( SILK_FIX_CONST( 1.0, 16 ), -(opus_int32)lambda_Q16, lambda_Q16 ); - den_Q24 = silk_SMLAWB( SILK_FIX_CONST( 1.0, 24 ), coefs_Q24[ 0 ], lambda_Q16 ); - gain_Q16 = silk_DIV32_varQ( nom_Q16, den_Q24, 24 ); + nom_Q16 = silk_SMLAWB( SILK_FIX_CONST( 1.0, 16 ), -(opus_int32)lambda_Q16, lambda_Q16 ); + den_Q24 = silk_SMLAWB( SILK_FIX_CONST( 1.0, 24 ), coefs_syn_Q24[ 0 ], lambda_Q16 ); + gain_syn_Q16 = silk_DIV32_varQ( nom_Q16, den_Q24, 24 ); + den_Q24 = silk_SMLAWB( SILK_FIX_CONST( 1.0, 24 ), coefs_ana_Q24[ 0 ], lambda_Q16 ); + gain_ana_Q16 = silk_DIV32_varQ( nom_Q16, den_Q24, 24 ); for( i = 0; i < order; i++ ) { - coefs_Q24[ i ] = silk_SMULWW( gain_Q16, coefs_Q24[ i ] ); + coefs_syn_Q24[ i ] = silk_SMULWW( gain_syn_Q16, coefs_syn_Q24[ i ] ); + coefs_ana_Q24[ i ] = silk_SMULWW( gain_ana_Q16, coefs_ana_Q24[ i ] ); } - limit_Q20 = silk_RSHIFT(limit_Q24, 4); + for( iter = 0; iter < 10; iter++ ) { /* Find maximum absolute value */ maxabs_Q24 = -1; for( i = 0; i < order; i++ ) { - tmp = silk_abs_int32( coefs_Q24[ i ] ); + tmp = silk_max( silk_abs_int32( coefs_syn_Q24[ i ] ), silk_abs_int32( coefs_ana_Q24[ i ] ) ); if( tmp > maxabs_Q24 ) { maxabs_Q24 = tmp; ind = i; } } - /* Use Q20 to avoid any overflow when multiplying by (ind + 1) later. */ - maxabs_Q20 = silk_RSHIFT(maxabs_Q24, 4); - if( maxabs_Q20 <= limit_Q20 ) { + if( maxabs_Q24 <= limit_Q24 ) { /* Coefficients are within range - done */ return; } /* Convert back to true warped coefficients */ for( i = 1; i < order; i++ ) { - coefs_Q24[ i - 1 ] = silk_SMLAWB( coefs_Q24[ i - 1 ], coefs_Q24[ i ], lambda_Q16 ); + coefs_syn_Q24[ i - 1 ] = silk_SMLAWB( coefs_syn_Q24[ i - 1 ], coefs_syn_Q24[ i ], lambda_Q16 ); + coefs_ana_Q24[ i - 1 ] = silk_SMLAWB( coefs_ana_Q24[ i - 1 ], coefs_ana_Q24[ i ], lambda_Q16 ); } - gain_Q16 = silk_INVERSE32_varQ( gain_Q16, 32 ); + gain_syn_Q16 = silk_INVERSE32_varQ( gain_syn_Q16, 32 ); + gain_ana_Q16 = silk_INVERSE32_varQ( gain_ana_Q16, 32 ); for( i = 0; i < order; i++ ) { - coefs_Q24[ i ] = silk_SMULWW( gain_Q16, coefs_Q24[ i ] ); + coefs_syn_Q24[ i ] = silk_SMULWW( gain_syn_Q16, coefs_syn_Q24[ i ] ); + coefs_ana_Q24[ i ] = silk_SMULWW( gain_ana_Q16, coefs_ana_Q24[ i ] ); } /* Apply bandwidth expansion */ chirp_Q16 = SILK_FIX_CONST( 0.99, 16 ) - silk_DIV32_varQ( - silk_SMULWB( maxabs_Q20 - limit_Q20, silk_SMLABB( SILK_FIX_CONST( 0.8, 10 ), SILK_FIX_CONST( 0.1, 10 ), iter ) ), - silk_MUL( maxabs_Q20, ind + 1 ), 22 ); - silk_bwexpander_32( coefs_Q24, order, chirp_Q16 ); + silk_SMULWB( maxabs_Q24 - limit_Q24, silk_SMLABB( SILK_FIX_CONST( 0.8, 10 ), SILK_FIX_CONST( 0.1, 10 ), iter ) ), + silk_MUL( maxabs_Q24, ind + 1 ), 22 ); + silk_bwexpander_32( coefs_syn_Q24, order, chirp_Q16 ); + silk_bwexpander_32( coefs_ana_Q24, order, chirp_Q16 ); /* Convert to monic warped coefficients */ lambda_Q16 = -lambda_Q16; for( i = order - 1; i > 0; i-- ) { - coefs_Q24[ i - 1 ] = silk_SMLAWB( coefs_Q24[ i - 1 ], coefs_Q24[ i ], lambda_Q16 ); + coefs_syn_Q24[ i - 1 ] = silk_SMLAWB( coefs_syn_Q24[ i - 1 ], coefs_syn_Q24[ i ], lambda_Q16 ); + coefs_ana_Q24[ i - 1 ] = silk_SMLAWB( coefs_ana_Q24[ i - 1 ], coefs_ana_Q24[ i ], lambda_Q16 ); } lambda_Q16 = -lambda_Q16; nom_Q16 = silk_SMLAWB( SILK_FIX_CONST( 1.0, 16 ), -(opus_int32)lambda_Q16, lambda_Q16 ); - den_Q24 = silk_SMLAWB( SILK_FIX_CONST( 1.0, 24 ), coefs_Q24[ 0 ], lambda_Q16 ); - gain_Q16 = silk_DIV32_varQ( nom_Q16, den_Q24, 24 ); + den_Q24 = silk_SMLAWB( SILK_FIX_CONST( 1.0, 24 ), coefs_syn_Q24[ 0 ], lambda_Q16 ); + gain_syn_Q16 = silk_DIV32_varQ( nom_Q16, den_Q24, 24 ); + den_Q24 = silk_SMLAWB( SILK_FIX_CONST( 1.0, 24 ), coefs_ana_Q24[ 0 ], lambda_Q16 ); + gain_ana_Q16 = silk_DIV32_varQ( nom_Q16, den_Q24, 24 ); for( i = 0; i < order; i++ ) { - coefs_Q24[ i ] = silk_SMULWW( gain_Q16, coefs_Q24[ i ] ); + coefs_syn_Q24[ i ] = silk_SMULWW( gain_syn_Q16, coefs_syn_Q24[ i ] ); + coefs_ana_Q24[ i ] = silk_SMULWW( gain_ana_Q16, coefs_ana_Q24[ i ] ); } } silk_assert( 0 ); } -/* Disable MIPS version until it's updated. */ -#if 0 && defined(MIPSr1_ASM) +#if defined(MIPSr1_ASM) #include "mips/noise_shape_analysis_FIX_mipsr1.h" #endif @@ -146,13 +155,14 @@ void silk_noise_shape_analysis_FIX( ) { silk_shape_state_FIX *psShapeSt = &psEnc->sShape; - opus_int k, i, nSamples, nSegs, Qnrg, b_Q14, warping_Q16, scale = 0; - opus_int32 SNR_adj_dB_Q7, HarmShapeGain_Q16, Tilt_Q16, tmp32; - opus_int32 nrg, log_energy_Q7, log_energy_prev_Q7, energy_variation_Q7; - opus_int32 BWExp_Q16, gain_mult_Q16, gain_add_Q16, strength_Q16, b_Q8; + opus_int k, i, nSamples, Qnrg, b_Q14, warping_Q16, scale = 0; + opus_int32 SNR_adj_dB_Q7, HarmBoost_Q16, HarmShapeGain_Q16, Tilt_Q16, tmp32; + opus_int32 nrg, pre_nrg_Q30, log_energy_Q7, log_energy_prev_Q7, energy_variation_Q7; + opus_int32 delta_Q16, BWExp1_Q16, BWExp2_Q16, gain_mult_Q16, gain_add_Q16, strength_Q16, b_Q8; opus_int32 auto_corr[ MAX_SHAPE_LPC_ORDER + 1 ]; opus_int32 refl_coef_Q16[ MAX_SHAPE_LPC_ORDER ]; - opus_int32 AR_Q24[ MAX_SHAPE_LPC_ORDER ]; + opus_int32 AR1_Q24[ MAX_SHAPE_LPC_ORDER ]; + opus_int32 AR2_Q24[ MAX_SHAPE_LPC_ORDER ]; VARDECL( opus_int16, x_windowed ); const opus_int16 *x_ptr, *pitch_res_ptr; SAVE_STACK; @@ -199,14 +209,14 @@ void silk_noise_shape_analysis_FIX( if( psEnc->sCmn.indices.signalType == TYPE_VOICED ) { /* Initially set to 0; may be overruled in process_gains(..) */ psEnc->sCmn.indices.quantOffsetType = 0; + psEncCtrl->sparseness_Q8 = 0; } else { /* Sparseness measure, based on relative fluctuations of energy per 2 milliseconds */ nSamples = silk_LSHIFT( psEnc->sCmn.fs_kHz, 1 ); energy_variation_Q7 = 0; log_energy_prev_Q7 = 0; pitch_res_ptr = pitch_res; - nSegs = silk_SMULBB( SUB_FRAME_LENGTH_MS, psEnc->sCmn.nb_subfr ) / 2; - for( k = 0; k < nSegs; k++ ) { + for( k = 0; k < silk_SMULBB( SUB_FRAME_LENGTH_MS, psEnc->sCmn.nb_subfr ) / 2; k++ ) { silk_sum_sqr_shift( &nrg, &scale, pitch_res_ptr, nSamples ); nrg += silk_RSHIFT( nSamples, scale ); /* Q(-scale)*/ @@ -218,12 +228,18 @@ void silk_noise_shape_analysis_FIX( pitch_res_ptr += nSamples; } + psEncCtrl->sparseness_Q8 = silk_RSHIFT( silk_sigm_Q15( silk_SMULWB( energy_variation_Q7 - + SILK_FIX_CONST( 5.0, 7 ), SILK_FIX_CONST( 0.1, 16 ) ) ), 7 ); + /* Set quantization offset depending on sparseness measure */ - if( energy_variation_Q7 > SILK_FIX_CONST( ENERGY_VARIATION_THRESHOLD_QNT_OFFSET, 7 ) * (nSegs-1) ) { + if( psEncCtrl->sparseness_Q8 > SILK_FIX_CONST( SPARSENESS_THRESHOLD_QNT_OFFSET, 8 ) ) { psEnc->sCmn.indices.quantOffsetType = 0; } else { psEnc->sCmn.indices.quantOffsetType = 1; } + + /* Increase coding SNR for sparse signals */ + SNR_adj_dB_Q7 = silk_SMLAWB( SNR_adj_dB_Q7, SILK_FIX_CONST( SPARSE_SNR_INCR_dB, 15 ), psEncCtrl->sparseness_Q8 - SILK_FIX_CONST( 0.5, 8 ) ); } /*******************************/ @@ -231,8 +247,14 @@ void silk_noise_shape_analysis_FIX( /*******************************/ /* More BWE for signals with high prediction gain */ strength_Q16 = silk_SMULWB( psEncCtrl->predGain_Q16, SILK_FIX_CONST( FIND_PITCH_WHITE_NOISE_FRACTION, 16 ) ); - BWExp_Q16 = silk_DIV32_varQ( SILK_FIX_CONST( BANDWIDTH_EXPANSION, 16 ), + BWExp1_Q16 = BWExp2_Q16 = silk_DIV32_varQ( SILK_FIX_CONST( BANDWIDTH_EXPANSION, 16 ), silk_SMLAWW( SILK_FIX_CONST( 1.0, 16 ), strength_Q16, strength_Q16 ), 16 ); + delta_Q16 = silk_SMULWB( SILK_FIX_CONST( 1.0, 16 ) - silk_SMULBB( 3, psEncCtrl->coding_quality_Q14 ), + SILK_FIX_CONST( LOW_RATE_BANDWIDTH_EXPANSION_DELTA, 16 ) ); + BWExp1_Q16 = silk_SUB32( BWExp1_Q16, delta_Q16 ); + BWExp2_Q16 = silk_ADD32( BWExp2_Q16, delta_Q16 ); + /* BWExp1 will be applied after BWExp2, so make it relative */ + BWExp1_Q16 = silk_DIV32_16( silk_LSHIFT( BWExp1_Q16, 14 ), silk_RSHIFT( BWExp2_Q16, 2 ) ); if( psEnc->sCmn.warping_Q16 > 0 ) { /* Slightly more warping in analysis will move quantization noise up in frequency, where it's better masked */ @@ -262,7 +284,7 @@ void silk_noise_shape_analysis_FIX( if( psEnc->sCmn.warping_Q16 > 0 ) { /* Calculate warped auto correlation */ - silk_warped_autocorrelation_FIX( auto_corr, &scale, x_windowed, warping_Q16, psEnc->sCmn.shapeWinLength, psEnc->sCmn.shapingLPCOrder, arch ); + silk_warped_autocorrelation_FIX( auto_corr, &scale, x_windowed, warping_Q16, psEnc->sCmn.shapeWinLength, psEnc->sCmn.shapingLPCOrder ); } else { /* Calculate regular auto correlation */ silk_autocorr( auto_corr, &scale, x_windowed, psEnc->sCmn.shapeWinLength, psEnc->sCmn.shapingLPCOrder + 1, arch ); @@ -277,7 +299,7 @@ void silk_noise_shape_analysis_FIX( silk_assert( nrg >= 0 ); /* Convert reflection coefficients to prediction coefficients */ - silk_k2a_Q16( AR_Q24, refl_coef_Q16, psEnc->sCmn.shapingLPCOrder ); + silk_k2a_Q16( AR2_Q24, refl_coef_Q16, psEnc->sCmn.shapingLPCOrder ); Qnrg = -scale; /* range: -12...30*/ silk_assert( Qnrg >= -12 ); @@ -296,34 +318,40 @@ void silk_noise_shape_analysis_FIX( if( psEnc->sCmn.warping_Q16 > 0 ) { /* Adjust gain for warping */ - gain_mult_Q16 = warped_gain( AR_Q24, warping_Q16, psEnc->sCmn.shapingLPCOrder ); - silk_assert( psEncCtrl->Gains_Q16[ k ] > 0 ); - if( psEncCtrl->Gains_Q16[ k ] < SILK_FIX_CONST( 0.25, 16 ) ) { - psEncCtrl->Gains_Q16[ k ] = silk_SMULWW( psEncCtrl->Gains_Q16[ k ], gain_mult_Q16 ); + gain_mult_Q16 = warped_gain( AR2_Q24, warping_Q16, psEnc->sCmn.shapingLPCOrder ); + silk_assert( psEncCtrl->Gains_Q16[ k ] >= 0 ); + if ( silk_SMULWW( silk_RSHIFT_ROUND( psEncCtrl->Gains_Q16[ k ], 1 ), gain_mult_Q16 ) >= ( silk_int32_MAX >> 1 ) ) { + psEncCtrl->Gains_Q16[ k ] = silk_int32_MAX; } else { - psEncCtrl->Gains_Q16[ k ] = silk_SMULWW( silk_RSHIFT_ROUND( psEncCtrl->Gains_Q16[ k ], 1 ), gain_mult_Q16 ); - if ( psEncCtrl->Gains_Q16[ k ] >= ( silk_int32_MAX >> 1 ) ) { - psEncCtrl->Gains_Q16[ k ] = silk_int32_MAX; - } else { - psEncCtrl->Gains_Q16[ k ] = silk_LSHIFT32( psEncCtrl->Gains_Q16[ k ], 1 ); - } + psEncCtrl->Gains_Q16[ k ] = silk_SMULWW( psEncCtrl->Gains_Q16[ k ], gain_mult_Q16 ); } - silk_assert( psEncCtrl->Gains_Q16[ k ] > 0 ); } - /* Bandwidth expansion */ - silk_bwexpander_32( AR_Q24, psEnc->sCmn.shapingLPCOrder, BWExp_Q16 ); + /* Bandwidth expansion for synthesis filter shaping */ + silk_bwexpander_32( AR2_Q24, psEnc->sCmn.shapingLPCOrder, BWExp2_Q16 ); - if( psEnc->sCmn.warping_Q16 > 0 ) { - /* Convert to monic warped prediction coefficients and limit absolute values */ - limit_warped_coefs( AR_Q24, warping_Q16, SILK_FIX_CONST( 3.999, 24 ), psEnc->sCmn.shapingLPCOrder ); + /* Compute noise shaping filter coefficients */ + silk_memcpy( AR1_Q24, AR2_Q24, psEnc->sCmn.shapingLPCOrder * sizeof( opus_int32 ) ); - /* Convert from Q24 to Q13 and store in int16 */ - for( i = 0; i < psEnc->sCmn.shapingLPCOrder; i++ ) { - psEncCtrl->AR_Q13[ k * MAX_SHAPE_LPC_ORDER + i ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( AR_Q24[ i ], 11 ) ); - } - } else { - silk_LPC_fit( &psEncCtrl->AR_Q13[ k * MAX_SHAPE_LPC_ORDER ], AR_Q24, 13, 24, psEnc->sCmn.shapingLPCOrder ); + /* Bandwidth expansion for analysis filter shaping */ + silk_assert( BWExp1_Q16 <= SILK_FIX_CONST( 1.0, 16 ) ); + silk_bwexpander_32( AR1_Q24, psEnc->sCmn.shapingLPCOrder, BWExp1_Q16 ); + + /* Ratio of prediction gains, in energy domain */ + pre_nrg_Q30 = silk_LPC_inverse_pred_gain_Q24( AR2_Q24, psEnc->sCmn.shapingLPCOrder ); + nrg = silk_LPC_inverse_pred_gain_Q24( AR1_Q24, psEnc->sCmn.shapingLPCOrder ); + + /*psEncCtrl->GainsPre[ k ] = 1.0f - 0.7f * ( 1.0f - pre_nrg / nrg ) = 0.3f + 0.7f * pre_nrg / nrg;*/ + pre_nrg_Q30 = silk_LSHIFT32( silk_SMULWB( pre_nrg_Q30, SILK_FIX_CONST( 0.7, 15 ) ), 1 ); + psEncCtrl->GainsPre_Q14[ k ] = ( opus_int ) SILK_FIX_CONST( 0.3, 14 ) + silk_DIV32_varQ( pre_nrg_Q30, nrg, 14 ); + + /* Convert to monic warped prediction coefficients and limit absolute values */ + limit_warped_coefs( AR2_Q24, AR1_Q24, warping_Q16, SILK_FIX_CONST( 3.999, 24 ), psEnc->sCmn.shapingLPCOrder ); + + /* Convert from Q24 to Q13 and store in int16 */ + for( i = 0; i < psEnc->sCmn.shapingLPCOrder; i++ ) { + psEncCtrl->AR1_Q13[ k * MAX_SHAPE_LPC_ORDER + i ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( AR1_Q24[ i ], 11 ) ); + psEncCtrl->AR2_Q13[ k * MAX_SHAPE_LPC_ORDER + i ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( AR2_Q24[ i ], 11 ) ); } } @@ -340,6 +368,11 @@ void silk_noise_shape_analysis_FIX( psEncCtrl->Gains_Q16[ k ] = silk_ADD_POS_SAT32( psEncCtrl->Gains_Q16[ k ], gain_add_Q16 ); } + gain_mult_Q16 = SILK_FIX_CONST( 1.0, 16 ) + silk_RSHIFT_ROUND( silk_MLA( SILK_FIX_CONST( INPUT_TILT, 26 ), + psEncCtrl->coding_quality_Q14, SILK_FIX_CONST( HIGH_RATE_INPUT_TILT, 12 ) ), 10 ); + for( k = 0; k < psEnc->sCmn.nb_subfr; k++ ) { + psEncCtrl->GainsPre_Q14[ k ] = silk_SMULWB( gain_mult_Q16, psEncCtrl->GainsPre_Q14[ k ] ); + } /************************************************/ /* Control low-frequency shaping and noise tilt */ @@ -377,6 +410,14 @@ void silk_noise_shape_analysis_FIX( /****************************/ /* HARMONIC SHAPING CONTROL */ /****************************/ + /* Control boosting of harmonic frequencies */ + HarmBoost_Q16 = silk_SMULWB( silk_SMULWB( SILK_FIX_CONST( 1.0, 17 ) - silk_LSHIFT( psEncCtrl->coding_quality_Q14, 3 ), + psEnc->LTPCorr_Q15 ), SILK_FIX_CONST( LOW_RATE_HARMONIC_BOOST, 16 ) ); + + /* More harmonic boost for noisy input signals */ + HarmBoost_Q16 = silk_SMLAWB( HarmBoost_Q16, + SILK_FIX_CONST( 1.0, 16 ) - silk_LSHIFT( psEncCtrl->input_quality_Q14, 2 ), SILK_FIX_CONST( LOW_INPUT_QUALITY_HARMONIC_BOOST, 16 ) ); + if( USE_HARM_SHAPING && psEnc->sCmn.indices.signalType == TYPE_VOICED ) { /* More harmonic noise shaping for high bitrates or noisy input */ HarmShapeGain_Q16 = silk_SMLAWB( SILK_FIX_CONST( HARMONIC_SHAPING, 16 ), @@ -394,11 +435,14 @@ void silk_noise_shape_analysis_FIX( /* Smooth over subframes */ /*************************/ for( k = 0; k < MAX_NB_SUBFR; k++ ) { + psShapeSt->HarmBoost_smth_Q16 = + silk_SMLAWB( psShapeSt->HarmBoost_smth_Q16, HarmBoost_Q16 - psShapeSt->HarmBoost_smth_Q16, SILK_FIX_CONST( SUBFR_SMTH_COEF, 16 ) ); psShapeSt->HarmShapeGain_smth_Q16 = silk_SMLAWB( psShapeSt->HarmShapeGain_smth_Q16, HarmShapeGain_Q16 - psShapeSt->HarmShapeGain_smth_Q16, SILK_FIX_CONST( SUBFR_SMTH_COEF, 16 ) ); psShapeSt->Tilt_smth_Q16 = silk_SMLAWB( psShapeSt->Tilt_smth_Q16, Tilt_Q16 - psShapeSt->Tilt_smth_Q16, SILK_FIX_CONST( SUBFR_SMTH_COEF, 16 ) ); + psEncCtrl->HarmBoost_Q14[ k ] = ( opus_int )silk_RSHIFT_ROUND( psShapeSt->HarmBoost_smth_Q16, 2 ); psEncCtrl->HarmShapeGain_Q14[ k ] = ( opus_int )silk_RSHIFT_ROUND( psShapeSt->HarmShapeGain_smth_Q16, 2 ); psEncCtrl->Tilt_Q14[ k ] = ( opus_int )silk_RSHIFT_ROUND( psShapeSt->Tilt_smth_Q16, 2 ); } diff --git a/thirdparty/opus/silk/fixed/pitch_analysis_core_FIX.c b/thirdparty/opus/silk/fixed/pitch_analysis_core_FIX.c index 14729046d2..01bb9fc0a8 100644 --- a/thirdparty/opus/silk/fixed/pitch_analysis_core_FIX.c +++ b/thirdparty/opus/silk/fixed/pitch_analysis_core_FIX.c @@ -80,7 +80,7 @@ static void silk_P_Ana_calc_energy_st3( /* FIXED POINT CORE PITCH ANALYSIS FUNCTION */ /*************************************************************/ opus_int silk_pitch_analysis_core( /* O Voicing estimate: 0 voiced, 1 unvoiced */ - const opus_int16 *frame_unscaled, /* I Signal of length PE_FRAME_LENGTH_MS*Fs_kHz */ + const opus_int16 *frame, /* I Signal of length PE_FRAME_LENGTH_MS*Fs_kHz */ opus_int *pitch_out, /* O 4 pitch lag values */ opus_int16 *lagIndex, /* O Lag Index */ opus_int8 *contourIndex, /* O Pitch contour Index */ @@ -94,17 +94,16 @@ opus_int silk_pitch_analysis_core( /* O Voicing estimate: 0 int arch /* I Run-time architecture */ ) { - VARDECL( opus_int16, frame_8kHz_buf ); + VARDECL( opus_int16, frame_8kHz ); VARDECL( opus_int16, frame_4kHz ); - VARDECL( opus_int16, frame_scaled ); opus_int32 filt_state[ 6 ]; - const opus_int16 *frame, *frame_8kHz; + const opus_int16 *input_frame_ptr; opus_int i, k, d, j; VARDECL( opus_int16, C ); VARDECL( opus_int32, xcorr32 ); const opus_int16 *target_ptr, *basis_ptr; - opus_int32 cross_corr, normalizer, energy, energy_basis, energy_target; - opus_int d_srch[ PE_D_SRCH_LENGTH ], Cmax, length_d_srch, length_d_comp, shift; + opus_int32 cross_corr, normalizer, energy, shift, energy_basis, energy_target; + opus_int d_srch[ PE_D_SRCH_LENGTH ], Cmax, length_d_srch, length_d_comp; VARDECL( opus_int16, d_comp ); opus_int32 sum, threshold, lag_counter; opus_int CBimax, CBimax_new, CBimax_old, lag, start_lag, end_lag, lag_new; @@ -120,13 +119,12 @@ opus_int silk_pitch_analysis_core( /* O Voicing estimate: 0 opus_int32 delta_lag_log2_sqr_Q7, lag_log2_Q7, prevLag_log2_Q7, prev_lag_bias_Q13; const opus_int8 *Lag_CB_ptr; SAVE_STACK; - /* Check for valid sampling frequency */ - celt_assert( Fs_kHz == 8 || Fs_kHz == 12 || Fs_kHz == 16 ); + silk_assert( Fs_kHz == 8 || Fs_kHz == 12 || Fs_kHz == 16 ); /* Check for valid complexity setting */ - celt_assert( complexity >= SILK_PE_MIN_COMPLEX ); - celt_assert( complexity <= SILK_PE_MAX_COMPLEX ); + silk_assert( complexity >= SILK_PE_MIN_COMPLEX ); + silk_assert( complexity <= SILK_PE_MAX_COMPLEX ); silk_assert( search_thres1_Q16 >= 0 && search_thres1_Q16 <= (1<<16) ); silk_assert( search_thres2_Q13 >= 0 && search_thres2_Q13 <= (1<<13) ); @@ -139,33 +137,17 @@ opus_int silk_pitch_analysis_core( /* O Voicing estimate: 0 min_lag = PE_MIN_LAG_MS * Fs_kHz; max_lag = PE_MAX_LAG_MS * Fs_kHz - 1; - /* Downscale input if necessary */ - silk_sum_sqr_shift( &energy, &shift, frame_unscaled, frame_length ); - shift += 3 - silk_CLZ32( energy ); /* at least two bits headroom */ - ALLOC( frame_scaled, frame_length, opus_int16 ); - if( shift > 0 ) { - shift = silk_RSHIFT( shift + 1, 1 ); - for( i = 0; i < frame_length; i++ ) { - frame_scaled[ i ] = silk_RSHIFT( frame_unscaled[ i ], shift ); - } - frame = frame_scaled; - } else { - frame = frame_unscaled; - } - - ALLOC( frame_8kHz_buf, ( Fs_kHz == 8 ) ? 1 : frame_length_8kHz, opus_int16 ); /* Resample from input sampled at Fs_kHz to 8 kHz */ + ALLOC( frame_8kHz, frame_length_8kHz, opus_int16 ); if( Fs_kHz == 16 ) { silk_memset( filt_state, 0, 2 * sizeof( opus_int32 ) ); - silk_resampler_down2( filt_state, frame_8kHz_buf, frame, frame_length ); - frame_8kHz = frame_8kHz_buf; + silk_resampler_down2( filt_state, frame_8kHz, frame, frame_length ); } else if( Fs_kHz == 12 ) { silk_memset( filt_state, 0, 6 * sizeof( opus_int32 ) ); - silk_resampler_down2_3( filt_state, frame_8kHz_buf, frame, frame_length ); - frame_8kHz = frame_8kHz_buf; + silk_resampler_down2_3( filt_state, frame_8kHz, frame, frame_length ); } else { - celt_assert( Fs_kHz == 8 ); - frame_8kHz = frame; + silk_assert( Fs_kHz == 8 ); + silk_memcpy( frame_8kHz, frame, frame_length_8kHz * sizeof(opus_int16) ); } /* Decimate again to 4 kHz */ @@ -178,6 +160,19 @@ opus_int silk_pitch_analysis_core( /* O Voicing estimate: 0 frame_4kHz[ i ] = silk_ADD_SAT16( frame_4kHz[ i ], frame_4kHz[ i - 1 ] ); } + /******************************************************************************* + ** Scale 4 kHz signal down to prevent correlations measures from overflowing + ** find scaling as max scaling for each 8kHz(?) subframe + *******************************************************************************/ + + /* Inner product is calculated with different lengths, so scale for the worst case */ + silk_sum_sqr_shift( &energy, &shift, frame_4kHz, frame_length_4kHz ); + if( shift > 0 ) { + shift = silk_RSHIFT( shift, 1 ); + for( i = 0; i < frame_length_4kHz; i++ ) { + frame_4kHz[ i ] = silk_RSHIFT( frame_4kHz[ i ], shift ); + } + } /****************************************************************************** * FIRST STAGE, operating in 4 khz @@ -188,14 +183,14 @@ opus_int silk_pitch_analysis_core( /* O Voicing estimate: 0 target_ptr = &frame_4kHz[ silk_LSHIFT( SF_LENGTH_4KHZ, 2 ) ]; for( k = 0; k < nb_subfr >> 1; k++ ) { /* Check that we are within range of the array */ - celt_assert( target_ptr >= frame_4kHz ); - celt_assert( target_ptr + SF_LENGTH_8KHZ <= frame_4kHz + frame_length_4kHz ); + silk_assert( target_ptr >= frame_4kHz ); + silk_assert( target_ptr + SF_LENGTH_8KHZ <= frame_4kHz + frame_length_4kHz ); basis_ptr = target_ptr - MIN_LAG_4KHZ; /* Check that we are within range of the array */ - celt_assert( basis_ptr >= frame_4kHz ); - celt_assert( basis_ptr + SF_LENGTH_8KHZ <= frame_4kHz + frame_length_4kHz ); + silk_assert( basis_ptr >= frame_4kHz ); + silk_assert( basis_ptr + SF_LENGTH_8KHZ <= frame_4kHz + frame_length_4kHz ); celt_pitch_xcorr( target_ptr, target_ptr - MAX_LAG_4KHZ, xcorr32, SF_LENGTH_8KHZ, MAX_LAG_4KHZ - MIN_LAG_4KHZ + 1, arch ); @@ -249,7 +244,7 @@ opus_int silk_pitch_analysis_core( /* O Voicing estimate: 0 /* Sort */ length_d_srch = silk_ADD_LSHIFT32( 4, complexity, 1 ); - celt_assert( 3 * length_d_srch <= PE_D_SRCH_LENGTH ); + silk_assert( 3 * length_d_srch <= PE_D_SRCH_LENGTH ); silk_insertion_sort_decreasing_int16( C, d_srch, CSTRIDE_4KHZ, length_d_srch ); @@ -274,7 +269,7 @@ opus_int silk_pitch_analysis_core( /* O Voicing estimate: 0 break; } } - celt_assert( length_d_srch > 0 ); + silk_assert( length_d_srch > 0 ); ALLOC( d_comp, D_COMP_STRIDE, opus_int16 ); for( i = D_COMP_MIN; i < D_COMP_MAX; i++ ) { @@ -316,6 +311,18 @@ opus_int silk_pitch_analysis_core( /* O Voicing estimate: 0 ** SECOND STAGE, operating at 8 kHz, on lag sections with high correlation *************************************************************************************/ + /****************************************************************************** + ** Scale signal down to avoid correlations measures from overflowing + *******************************************************************************/ + /* find scaling as max scaling for each subframe */ + silk_sum_sqr_shift( &energy, &shift, frame_8kHz, frame_length_8kHz ); + if( shift > 0 ) { + shift = silk_RSHIFT( shift, 1 ); + for( i = 0; i < frame_length_8kHz; i++ ) { + frame_8kHz[ i ] = silk_RSHIFT( frame_8kHz[ i ], shift ); + } + } + /********************************************************************************* * Find energy of each subframe projected onto its history, for a range of delays *********************************************************************************/ @@ -325,8 +332,8 @@ opus_int silk_pitch_analysis_core( /* O Voicing estimate: 0 for( k = 0; k < nb_subfr; k++ ) { /* Check that we are within range of the array */ - celt_assert( target_ptr >= frame_8kHz ); - celt_assert( target_ptr + SF_LENGTH_8KHZ <= frame_8kHz + frame_length_8kHz ); + silk_assert( target_ptr >= frame_8kHz ); + silk_assert( target_ptr + SF_LENGTH_8KHZ <= frame_8kHz + frame_length_8kHz ); energy_target = silk_ADD32( silk_inner_prod_aligned( target_ptr, target_ptr, SF_LENGTH_8KHZ, arch ), 1 ); for( j = 0; j < length_d_comp; j++ ) { @@ -455,6 +462,24 @@ opus_int silk_pitch_analysis_core( /* O Voicing estimate: 0 silk_assert( *LTPCorr_Q15 >= 0 ); if( Fs_kHz > 8 ) { + VARDECL( opus_int16, scratch_mem ); + /***************************************************************************/ + /* Scale input signal down to avoid correlations measures from overflowing */ + /***************************************************************************/ + /* find scaling as max scaling for each subframe */ + silk_sum_sqr_shift( &energy, &shift, frame, frame_length ); + ALLOC( scratch_mem, shift > 0 ? frame_length : ALLOC_NONE, opus_int16 ); + if( shift > 0 ) { + /* Move signal to scratch mem because the input signal should be unchanged */ + shift = silk_RSHIFT( shift, 1 ); + for( i = 0; i < frame_length; i++ ) { + scratch_mem[ i ] = silk_RSHIFT( frame[ i ], shift ); + } + input_frame_ptr = scratch_mem; + } else { + input_frame_ptr = frame; + } + /* Search in original signal */ CBimax_old = CBimax; @@ -494,14 +519,14 @@ opus_int silk_pitch_analysis_core( /* O Voicing estimate: 0 /* Calculate the correlations and energies needed in stage 3 */ ALLOC( energies_st3, nb_subfr * nb_cbk_search, silk_pe_stage3_vals ); ALLOC( cross_corr_st3, nb_subfr * nb_cbk_search, silk_pe_stage3_vals ); - silk_P_Ana_calc_corr_st3( cross_corr_st3, frame, start_lag, sf_length, nb_subfr, complexity, arch ); - silk_P_Ana_calc_energy_st3( energies_st3, frame, start_lag, sf_length, nb_subfr, complexity, arch ); + silk_P_Ana_calc_corr_st3( cross_corr_st3, input_frame_ptr, start_lag, sf_length, nb_subfr, complexity, arch ); + silk_P_Ana_calc_energy_st3( energies_st3, input_frame_ptr, start_lag, sf_length, nb_subfr, complexity, arch ); lag_counter = 0; silk_assert( lag == silk_SAT16( lag ) ); contour_bias_Q15 = silk_DIV32_16( SILK_FIX_CONST( PE_FLATCONTOUR_BIAS, 15 ), lag ); - target_ptr = &frame[ PE_LTP_MEM_LENGTH_MS * Fs_kHz ]; + target_ptr = &input_frame_ptr[ PE_LTP_MEM_LENGTH_MS * Fs_kHz ]; energy_target = silk_ADD32( silk_inner_prod_aligned( target_ptr, target_ptr, nb_subfr * sf_length, arch ), 1 ); for( d = start_lag; d <= end_lag; d++ ) { for( j = 0; j < nb_cbk_search; j++ ) { @@ -550,7 +575,7 @@ opus_int silk_pitch_analysis_core( /* O Voicing estimate: 0 *lagIndex = (opus_int16)( lag - MIN_LAG_8KHZ ); *contourIndex = (opus_int8)CBimax; } - celt_assert( *lagIndex >= 0 ); + silk_assert( *lagIndex >= 0 ); /* return as voiced */ RESTORE_STACK; return 0; @@ -587,8 +612,8 @@ static void silk_P_Ana_calc_corr_st3( const opus_int8 *Lag_range_ptr, *Lag_CB_ptr; SAVE_STACK; - celt_assert( complexity >= SILK_PE_MIN_COMPLEX ); - celt_assert( complexity <= SILK_PE_MAX_COMPLEX ); + silk_assert( complexity >= SILK_PE_MIN_COMPLEX ); + silk_assert( complexity <= SILK_PE_MAX_COMPLEX ); if( nb_subfr == PE_MAX_NB_SUBFR ) { Lag_range_ptr = &silk_Lag_range_stage3[ complexity ][ 0 ][ 0 ]; @@ -596,7 +621,7 @@ static void silk_P_Ana_calc_corr_st3( nb_cbk_search = silk_nb_cbk_searchs_stage3[ complexity ]; cbk_size = PE_NB_CBKS_STAGE3_MAX; } else { - celt_assert( nb_subfr == PE_MAX_NB_SUBFR >> 1); + silk_assert( nb_subfr == PE_MAX_NB_SUBFR >> 1); Lag_range_ptr = &silk_Lag_range_stage3_10_ms[ 0 ][ 0 ]; Lag_CB_ptr = &silk_CB_lags_stage3_10_ms[ 0 ][ 0 ]; nb_cbk_search = PE_NB_CBKS_STAGE3_10MS; @@ -612,7 +637,7 @@ static void silk_P_Ana_calc_corr_st3( /* Calculate the correlations for each subframe */ lag_low = matrix_ptr( Lag_range_ptr, k, 0, 2 ); lag_high = matrix_ptr( Lag_range_ptr, k, 1, 2 ); - celt_assert(lag_high-lag_low+1 <= SCRATCH_SIZE); + silk_assert(lag_high-lag_low+1 <= SCRATCH_SIZE); celt_pitch_xcorr( target_ptr, target_ptr - start_lag - lag_high, xcorr32, sf_length, lag_high - lag_low + 1, arch ); for( j = lag_low; j <= lag_high; j++ ) { silk_assert( lag_counter < SCRATCH_SIZE ); @@ -659,8 +684,8 @@ static void silk_P_Ana_calc_energy_st3( const opus_int8 *Lag_range_ptr, *Lag_CB_ptr; SAVE_STACK; - celt_assert( complexity >= SILK_PE_MIN_COMPLEX ); - celt_assert( complexity <= SILK_PE_MAX_COMPLEX ); + silk_assert( complexity >= SILK_PE_MIN_COMPLEX ); + silk_assert( complexity <= SILK_PE_MAX_COMPLEX ); if( nb_subfr == PE_MAX_NB_SUBFR ) { Lag_range_ptr = &silk_Lag_range_stage3[ complexity ][ 0 ][ 0 ]; @@ -668,7 +693,7 @@ static void silk_P_Ana_calc_energy_st3( nb_cbk_search = silk_nb_cbk_searchs_stage3[ complexity ]; cbk_size = PE_NB_CBKS_STAGE3_MAX; } else { - celt_assert( nb_subfr == PE_MAX_NB_SUBFR >> 1); + silk_assert( nb_subfr == PE_MAX_NB_SUBFR >> 1); Lag_range_ptr = &silk_Lag_range_stage3_10_ms[ 0 ][ 0 ]; Lag_CB_ptr = &silk_CB_lags_stage3_10_ms[ 0 ][ 0 ]; nb_cbk_search = PE_NB_CBKS_STAGE3_10MS; diff --git a/thirdparty/opus/silk/fixed/prefilter_FIX.c b/thirdparty/opus/silk/fixed/prefilter_FIX.c new file mode 100644 index 0000000000..6a8e35152e --- /dev/null +++ b/thirdparty/opus/silk/fixed/prefilter_FIX.c @@ -0,0 +1,221 @@ +/*********************************************************************** +Copyright (c) 2006-2011, Skype Limited. All rights reserved. +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: +- Redistributions of source code must retain the above copyright notice, +this list of conditions and the following disclaimer. +- Redistributions in binary form must reproduce the above copyright +notice, this list of conditions and the following disclaimer in the +documentation and/or other materials provided with the distribution. +- Neither the name of Internet Society, IETF or IETF Trust, nor the +names of specific contributors, may be used to endorse or promote +products derived from this software without specific prior written +permission. +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. +***********************************************************************/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include "main_FIX.h" +#include "stack_alloc.h" +#include "tuning_parameters.h" + +#if defined(MIPSr1_ASM) +#include "mips/prefilter_FIX_mipsr1.h" +#endif + + +#if !defined(OVERRIDE_silk_warped_LPC_analysis_filter_FIX) +#define silk_warped_LPC_analysis_filter_FIX(state, res_Q2, coef_Q13, input, lambda_Q16, length, order, arch) \ + ((void)(arch),silk_warped_LPC_analysis_filter_FIX_c(state, res_Q2, coef_Q13, input, lambda_Q16, length, order)) +#endif + +/* Prefilter for finding Quantizer input signal */ +static OPUS_INLINE void silk_prefilt_FIX( + silk_prefilter_state_FIX *P, /* I/O state */ + opus_int32 st_res_Q12[], /* I short term residual signal */ + opus_int32 xw_Q3[], /* O prefiltered signal */ + opus_int32 HarmShapeFIRPacked_Q12, /* I Harmonic shaping coeficients */ + opus_int Tilt_Q14, /* I Tilt shaping coeficient */ + opus_int32 LF_shp_Q14, /* I Low-frequancy shaping coeficients */ + opus_int lag, /* I Lag for harmonic shaping */ + opus_int length /* I Length of signals */ +); + +void silk_warped_LPC_analysis_filter_FIX_c( + opus_int32 state[], /* I/O State [order + 1] */ + opus_int32 res_Q2[], /* O Residual signal [length] */ + const opus_int16 coef_Q13[], /* I Coefficients [order] */ + const opus_int16 input[], /* I Input signal [length] */ + const opus_int16 lambda_Q16, /* I Warping factor */ + const opus_int length, /* I Length of input signal */ + const opus_int order /* I Filter order (even) */ +) +{ + opus_int n, i; + opus_int32 acc_Q11, tmp1, tmp2; + + /* Order must be even */ + silk_assert( ( order & 1 ) == 0 ); + + for( n = 0; n < length; n++ ) { + /* Output of lowpass section */ + tmp2 = silk_SMLAWB( state[ 0 ], state[ 1 ], lambda_Q16 ); + state[ 0 ] = silk_LSHIFT( input[ n ], 14 ); + /* Output of allpass section */ + tmp1 = silk_SMLAWB( state[ 1 ], state[ 2 ] - tmp2, lambda_Q16 ); + state[ 1 ] = tmp2; + acc_Q11 = silk_RSHIFT( order, 1 ); + acc_Q11 = silk_SMLAWB( acc_Q11, tmp2, coef_Q13[ 0 ] ); + /* Loop over allpass sections */ + for( i = 2; i < order; i += 2 ) { + /* Output of allpass section */ + tmp2 = silk_SMLAWB( state[ i ], state[ i + 1 ] - tmp1, lambda_Q16 ); + state[ i ] = tmp1; + acc_Q11 = silk_SMLAWB( acc_Q11, tmp1, coef_Q13[ i - 1 ] ); + /* Output of allpass section */ + tmp1 = silk_SMLAWB( state[ i + 1 ], state[ i + 2 ] - tmp2, lambda_Q16 ); + state[ i + 1 ] = tmp2; + acc_Q11 = silk_SMLAWB( acc_Q11, tmp2, coef_Q13[ i ] ); + } + state[ order ] = tmp1; + acc_Q11 = silk_SMLAWB( acc_Q11, tmp1, coef_Q13[ order - 1 ] ); + res_Q2[ n ] = silk_LSHIFT( (opus_int32)input[ n ], 2 ) - silk_RSHIFT_ROUND( acc_Q11, 9 ); + } +} + +void silk_prefilter_FIX( + silk_encoder_state_FIX *psEnc, /* I/O Encoder state */ + const silk_encoder_control_FIX *psEncCtrl, /* I Encoder control */ + opus_int32 xw_Q3[], /* O Weighted signal */ + const opus_int16 x[] /* I Speech signal */ +) +{ + silk_prefilter_state_FIX *P = &psEnc->sPrefilt; + opus_int j, k, lag; + opus_int32 tmp_32; + const opus_int16 *AR1_shp_Q13; + const opus_int16 *px; + opus_int32 *pxw_Q3; + opus_int HarmShapeGain_Q12, Tilt_Q14; + opus_int32 HarmShapeFIRPacked_Q12, LF_shp_Q14; + VARDECL( opus_int32, x_filt_Q12 ); + VARDECL( opus_int32, st_res_Q2 ); + opus_int16 B_Q10[ 2 ]; + SAVE_STACK; + + /* Set up pointers */ + px = x; + pxw_Q3 = xw_Q3; + lag = P->lagPrev; + ALLOC( x_filt_Q12, psEnc->sCmn.subfr_length, opus_int32 ); + ALLOC( st_res_Q2, psEnc->sCmn.subfr_length, opus_int32 ); + for( k = 0; k < psEnc->sCmn.nb_subfr; k++ ) { + /* Update Variables that change per sub frame */ + if( psEnc->sCmn.indices.signalType == TYPE_VOICED ) { + lag = psEncCtrl->pitchL[ k ]; + } + + /* Noise shape parameters */ + HarmShapeGain_Q12 = silk_SMULWB( (opus_int32)psEncCtrl->HarmShapeGain_Q14[ k ], 16384 - psEncCtrl->HarmBoost_Q14[ k ] ); + silk_assert( HarmShapeGain_Q12 >= 0 ); + HarmShapeFIRPacked_Q12 = silk_RSHIFT( HarmShapeGain_Q12, 2 ); + HarmShapeFIRPacked_Q12 |= silk_LSHIFT( (opus_int32)silk_RSHIFT( HarmShapeGain_Q12, 1 ), 16 ); + Tilt_Q14 = psEncCtrl->Tilt_Q14[ k ]; + LF_shp_Q14 = psEncCtrl->LF_shp_Q14[ k ]; + AR1_shp_Q13 = &psEncCtrl->AR1_Q13[ k * MAX_SHAPE_LPC_ORDER ]; + + /* Short term FIR filtering*/ + silk_warped_LPC_analysis_filter_FIX( P->sAR_shp, st_res_Q2, AR1_shp_Q13, px, + psEnc->sCmn.warping_Q16, psEnc->sCmn.subfr_length, psEnc->sCmn.shapingLPCOrder, psEnc->sCmn.arch ); + + /* Reduce (mainly) low frequencies during harmonic emphasis */ + B_Q10[ 0 ] = silk_RSHIFT_ROUND( psEncCtrl->GainsPre_Q14[ k ], 4 ); + tmp_32 = silk_SMLABB( SILK_FIX_CONST( INPUT_TILT, 26 ), psEncCtrl->HarmBoost_Q14[ k ], HarmShapeGain_Q12 ); /* Q26 */ + tmp_32 = silk_SMLABB( tmp_32, psEncCtrl->coding_quality_Q14, SILK_FIX_CONST( HIGH_RATE_INPUT_TILT, 12 ) ); /* Q26 */ + tmp_32 = silk_SMULWB( tmp_32, -psEncCtrl->GainsPre_Q14[ k ] ); /* Q24 */ + tmp_32 = silk_RSHIFT_ROUND( tmp_32, 14 ); /* Q10 */ + B_Q10[ 1 ]= silk_SAT16( tmp_32 ); + x_filt_Q12[ 0 ] = silk_MLA( silk_MUL( st_res_Q2[ 0 ], B_Q10[ 0 ] ), P->sHarmHP_Q2, B_Q10[ 1 ] ); + for( j = 1; j < psEnc->sCmn.subfr_length; j++ ) { + x_filt_Q12[ j ] = silk_MLA( silk_MUL( st_res_Q2[ j ], B_Q10[ 0 ] ), st_res_Q2[ j - 1 ], B_Q10[ 1 ] ); + } + P->sHarmHP_Q2 = st_res_Q2[ psEnc->sCmn.subfr_length - 1 ]; + + silk_prefilt_FIX( P, x_filt_Q12, pxw_Q3, HarmShapeFIRPacked_Q12, Tilt_Q14, LF_shp_Q14, lag, psEnc->sCmn.subfr_length ); + + px += psEnc->sCmn.subfr_length; + pxw_Q3 += psEnc->sCmn.subfr_length; + } + + P->lagPrev = psEncCtrl->pitchL[ psEnc->sCmn.nb_subfr - 1 ]; + RESTORE_STACK; +} + +#ifndef OVERRIDE_silk_prefilt_FIX +/* Prefilter for finding Quantizer input signal */ +static OPUS_INLINE void silk_prefilt_FIX( + silk_prefilter_state_FIX *P, /* I/O state */ + opus_int32 st_res_Q12[], /* I short term residual signal */ + opus_int32 xw_Q3[], /* O prefiltered signal */ + opus_int32 HarmShapeFIRPacked_Q12, /* I Harmonic shaping coeficients */ + opus_int Tilt_Q14, /* I Tilt shaping coeficient */ + opus_int32 LF_shp_Q14, /* I Low-frequancy shaping coeficients */ + opus_int lag, /* I Lag for harmonic shaping */ + opus_int length /* I Length of signals */ +) +{ + opus_int i, idx, LTP_shp_buf_idx; + opus_int32 n_LTP_Q12, n_Tilt_Q10, n_LF_Q10; + opus_int32 sLF_MA_shp_Q12, sLF_AR_shp_Q12; + opus_int16 *LTP_shp_buf; + + /* To speed up use temp variables instead of using the struct */ + LTP_shp_buf = P->sLTP_shp; + LTP_shp_buf_idx = P->sLTP_shp_buf_idx; + sLF_AR_shp_Q12 = P->sLF_AR_shp_Q12; + sLF_MA_shp_Q12 = P->sLF_MA_shp_Q12; + + for( i = 0; i < length; i++ ) { + if( lag > 0 ) { + /* unrolled loop */ + silk_assert( HARM_SHAPE_FIR_TAPS == 3 ); + idx = lag + LTP_shp_buf_idx; + n_LTP_Q12 = silk_SMULBB( LTP_shp_buf[ ( idx - HARM_SHAPE_FIR_TAPS / 2 - 1) & LTP_MASK ], HarmShapeFIRPacked_Q12 ); + n_LTP_Q12 = silk_SMLABT( n_LTP_Q12, LTP_shp_buf[ ( idx - HARM_SHAPE_FIR_TAPS / 2 ) & LTP_MASK ], HarmShapeFIRPacked_Q12 ); + n_LTP_Q12 = silk_SMLABB( n_LTP_Q12, LTP_shp_buf[ ( idx - HARM_SHAPE_FIR_TAPS / 2 + 1) & LTP_MASK ], HarmShapeFIRPacked_Q12 ); + } else { + n_LTP_Q12 = 0; + } + + n_Tilt_Q10 = silk_SMULWB( sLF_AR_shp_Q12, Tilt_Q14 ); + n_LF_Q10 = silk_SMLAWB( silk_SMULWT( sLF_AR_shp_Q12, LF_shp_Q14 ), sLF_MA_shp_Q12, LF_shp_Q14 ); + + sLF_AR_shp_Q12 = silk_SUB32( st_res_Q12[ i ], silk_LSHIFT( n_Tilt_Q10, 2 ) ); + sLF_MA_shp_Q12 = silk_SUB32( sLF_AR_shp_Q12, silk_LSHIFT( n_LF_Q10, 2 ) ); + + LTP_shp_buf_idx = ( LTP_shp_buf_idx - 1 ) & LTP_MASK; + LTP_shp_buf[ LTP_shp_buf_idx ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( sLF_MA_shp_Q12, 12 ) ); + + xw_Q3[i] = silk_RSHIFT_ROUND( silk_SUB32( sLF_MA_shp_Q12, n_LTP_Q12 ), 9 ); + } + + /* Copy temp variable back to state */ + P->sLF_AR_shp_Q12 = sLF_AR_shp_Q12; + P->sLF_MA_shp_Q12 = sLF_MA_shp_Q12; + P->sLTP_shp_buf_idx = LTP_shp_buf_idx; +} +#endif /* OVERRIDE_silk_prefilt_FIX */ diff --git a/thirdparty/opus/silk/fixed/residual_energy16_FIX.c b/thirdparty/opus/silk/fixed/residual_energy16_FIX.c index 7f130f3d3d..ebffb2a66f 100644 --- a/thirdparty/opus/silk/fixed/residual_energy16_FIX.c +++ b/thirdparty/opus/silk/fixed/residual_energy16_FIX.c @@ -47,10 +47,10 @@ opus_int32 silk_residual_energy16_covar_FIX( const opus_int32 *pRow; /* Safety checks */ - celt_assert( D >= 0 ); - celt_assert( D <= 16 ); - celt_assert( cQ > 0 ); - celt_assert( cQ < 16 ); + silk_assert( D >= 0 ); + silk_assert( D <= 16 ); + silk_assert( cQ > 0 ); + silk_assert( cQ < 16 ); lshifts = 16 - cQ; Qxtra = lshifts; diff --git a/thirdparty/opus/silk/fixed/residual_energy_FIX.c b/thirdparty/opus/silk/fixed/residual_energy_FIX.c index 6c7cade9a0..41f74778e8 100644 --- a/thirdparty/opus/silk/fixed/residual_energy_FIX.c +++ b/thirdparty/opus/silk/fixed/residual_energy_FIX.c @@ -58,7 +58,7 @@ void silk_residual_energy_FIX( /* Filter input to create the LPC residual for each frame half, and measure subframe energies */ ALLOC( LPC_res, ( MAX_NB_SUBFR >> 1 ) * offset, opus_int16 ); - celt_assert( ( nb_subfr >> 1 ) * ( MAX_NB_SUBFR >> 1 ) == nb_subfr ); + silk_assert( ( nb_subfr >> 1 ) * ( MAX_NB_SUBFR >> 1 ) == nb_subfr ); for( i = 0; i < nb_subfr >> 1; i++ ) { /* Calculate half frame LPC residual signal including preceding samples */ silk_LPC_analysis_filter( LPC_res, x_ptr, a_Q12[ i ], ( MAX_NB_SUBFR >> 1 ) * offset, LPC_order, arch ); diff --git a/thirdparty/opus/silk/fixed/schur64_FIX.c b/thirdparty/opus/silk/fixed/schur64_FIX.c index 4b7e19ea59..764a10ef3e 100644 --- a/thirdparty/opus/silk/fixed/schur64_FIX.c +++ b/thirdparty/opus/silk/fixed/schur64_FIX.c @@ -43,7 +43,7 @@ opus_int32 silk_schur64( /* O returns residual ene opus_int32 C[ SILK_MAX_ORDER_LPC + 1 ][ 2 ]; opus_int32 Ctmp1_Q30, Ctmp2_Q30, rc_tmp_Q31; - celt_assert( order >= 0 && order <= SILK_MAX_ORDER_LPC ); + silk_assert( order==6||order==8||order==10||order==12||order==14||order==16 ); /* Check for invalid input */ if( c[ 0 ] <= 0 ) { @@ -51,10 +51,9 @@ opus_int32 silk_schur64( /* O returns residual ene return 0; } - k = 0; - do { + for( k = 0; k < order + 1; k++ ) { C[ k ][ 0 ] = C[ k ][ 1 ] = c[ k ]; - } while( ++k <= order ); + } for( k = 0; k < order; k++ ) { /* Check that we won't be getting an unstable rc, otherwise stop here. */ diff --git a/thirdparty/opus/silk/fixed/schur_FIX.c b/thirdparty/opus/silk/fixed/schur_FIX.c index 2840f6b1aa..c4c0ef23b4 100644 --- a/thirdparty/opus/silk/fixed/schur_FIX.c +++ b/thirdparty/opus/silk/fixed/schur_FIX.c @@ -43,29 +43,28 @@ opus_int32 silk_schur( /* O Returns residual ene opus_int32 C[ SILK_MAX_ORDER_LPC + 1 ][ 2 ]; opus_int32 Ctmp1, Ctmp2, rc_tmp_Q15; - celt_assert( order >= 0 && order <= SILK_MAX_ORDER_LPC ); + silk_assert( order==6||order==8||order==10||order==12||order==14||order==16 ); /* Get number of leading zeros */ lz = silk_CLZ32( c[ 0 ] ); /* Copy correlations and adjust level to Q30 */ - k = 0; if( lz < 2 ) { /* lz must be 1, so shift one to the right */ - do { + for( k = 0; k < order + 1; k++ ) { C[ k ][ 0 ] = C[ k ][ 1 ] = silk_RSHIFT( c[ k ], 1 ); - } while( ++k <= order ); + } } else if( lz > 2 ) { /* Shift to the left */ lz -= 2; - do { + for( k = 0; k < order + 1; k++ ) { C[ k ][ 0 ] = C[ k ][ 1 ] = silk_LSHIFT( c[ k ], lz ); - } while( ++k <= order ); + } } else { /* No need to shift */ - do { + for( k = 0; k < order + 1; k++ ) { C[ k ][ 0 ] = C[ k ][ 1 ] = c[ k ]; - } while( ++k <= order ); + } } for( k = 0; k < order; k++ ) { diff --git a/thirdparty/opus/silk/fixed/solve_LS_FIX.c b/thirdparty/opus/silk/fixed/solve_LS_FIX.c new file mode 100644 index 0000000000..51d7d49d02 --- /dev/null +++ b/thirdparty/opus/silk/fixed/solve_LS_FIX.c @@ -0,0 +1,249 @@ +/*********************************************************************** +Copyright (c) 2006-2011, Skype Limited. All rights reserved. +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: +- Redistributions of source code must retain the above copyright notice, +this list of conditions and the following disclaimer. +- Redistributions in binary form must reproduce the above copyright +notice, this list of conditions and the following disclaimer in the +documentation and/or other materials provided with the distribution. +- Neither the name of Internet Society, IETF or IETF Trust, nor the +names of specific contributors, may be used to endorse or promote +products derived from this software without specific prior written +permission. +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. +***********************************************************************/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include "main_FIX.h" +#include "stack_alloc.h" +#include "tuning_parameters.h" + +/*****************************/ +/* Internal function headers */ +/*****************************/ + +typedef struct { + opus_int32 Q36_part; + opus_int32 Q48_part; +} inv_D_t; + +/* Factorize square matrix A into LDL form */ +static OPUS_INLINE void silk_LDL_factorize_FIX( + opus_int32 *A, /* I/O Pointer to Symetric Square Matrix */ + opus_int M, /* I Size of Matrix */ + opus_int32 *L_Q16, /* I/O Pointer to Square Upper triangular Matrix */ + inv_D_t *inv_D /* I/O Pointer to vector holding inverted diagonal elements of D */ +); + +/* Solve Lx = b, when L is lower triangular and has ones on the diagonal */ +static OPUS_INLINE void silk_LS_SolveFirst_FIX( + const opus_int32 *L_Q16, /* I Pointer to Lower Triangular Matrix */ + opus_int M, /* I Dim of Matrix equation */ + const opus_int32 *b, /* I b Vector */ + opus_int32 *x_Q16 /* O x Vector */ +); + +/* Solve L^t*x = b, where L is lower triangular with ones on the diagonal */ +static OPUS_INLINE void silk_LS_SolveLast_FIX( + const opus_int32 *L_Q16, /* I Pointer to Lower Triangular Matrix */ + const opus_int M, /* I Dim of Matrix equation */ + const opus_int32 *b, /* I b Vector */ + opus_int32 *x_Q16 /* O x Vector */ +); + +static OPUS_INLINE void silk_LS_divide_Q16_FIX( + opus_int32 T[], /* I/O Numenator vector */ + inv_D_t *inv_D, /* I 1 / D vector */ + opus_int M /* I dimension */ +); + +/* Solves Ax = b, assuming A is symmetric */ +void silk_solve_LDL_FIX( + opus_int32 *A, /* I Pointer to symetric square matrix A */ + opus_int M, /* I Size of matrix */ + const opus_int32 *b, /* I Pointer to b vector */ + opus_int32 *x_Q16 /* O Pointer to x solution vector */ +) +{ + VARDECL( opus_int32, L_Q16 ); + opus_int32 Y[ MAX_MATRIX_SIZE ]; + inv_D_t inv_D[ MAX_MATRIX_SIZE ]; + SAVE_STACK; + + silk_assert( M <= MAX_MATRIX_SIZE ); + ALLOC( L_Q16, M * M, opus_int32 ); + + /*************************************************** + Factorize A by LDL such that A = L*D*L', + where L is lower triangular with ones on diagonal + ****************************************************/ + silk_LDL_factorize_FIX( A, M, L_Q16, inv_D ); + + /**************************************************** + * substitute D*L'*x = Y. ie: + L*D*L'*x = b => L*Y = b <=> Y = inv(L)*b + ******************************************************/ + silk_LS_SolveFirst_FIX( L_Q16, M, b, Y ); + + /**************************************************** + D*L'*x = Y <=> L'*x = inv(D)*Y, because D is + diagonal just multiply with 1/d_i + ****************************************************/ + silk_LS_divide_Q16_FIX( Y, inv_D, M ); + + /**************************************************** + x = inv(L') * inv(D) * Y + *****************************************************/ + silk_LS_SolveLast_FIX( L_Q16, M, Y, x_Q16 ); + RESTORE_STACK; +} + +static OPUS_INLINE void silk_LDL_factorize_FIX( + opus_int32 *A, /* I/O Pointer to Symetric Square Matrix */ + opus_int M, /* I Size of Matrix */ + opus_int32 *L_Q16, /* I/O Pointer to Square Upper triangular Matrix */ + inv_D_t *inv_D /* I/O Pointer to vector holding inverted diagonal elements of D */ +) +{ + opus_int i, j, k, status, loop_count; + const opus_int32 *ptr1, *ptr2; + opus_int32 diag_min_value, tmp_32, err; + opus_int32 v_Q0[ MAX_MATRIX_SIZE ], D_Q0[ MAX_MATRIX_SIZE ]; + opus_int32 one_div_diag_Q36, one_div_diag_Q40, one_div_diag_Q48; + + silk_assert( M <= MAX_MATRIX_SIZE ); + + status = 1; + diag_min_value = silk_max_32( silk_SMMUL( silk_ADD_SAT32( A[ 0 ], A[ silk_SMULBB( M, M ) - 1 ] ), SILK_FIX_CONST( FIND_LTP_COND_FAC, 31 ) ), 1 << 9 ); + for( loop_count = 0; loop_count < M && status == 1; loop_count++ ) { + status = 0; + for( j = 0; j < M; j++ ) { + ptr1 = matrix_adr( L_Q16, j, 0, M ); + tmp_32 = 0; + for( i = 0; i < j; i++ ) { + v_Q0[ i ] = silk_SMULWW( D_Q0[ i ], ptr1[ i ] ); /* Q0 */ + tmp_32 = silk_SMLAWW( tmp_32, v_Q0[ i ], ptr1[ i ] ); /* Q0 */ + } + tmp_32 = silk_SUB32( matrix_ptr( A, j, j, M ), tmp_32 ); + + if( tmp_32 < diag_min_value ) { + tmp_32 = silk_SUB32( silk_SMULBB( loop_count + 1, diag_min_value ), tmp_32 ); + /* Matrix not positive semi-definite, or ill conditioned */ + for( i = 0; i < M; i++ ) { + matrix_ptr( A, i, i, M ) = silk_ADD32( matrix_ptr( A, i, i, M ), tmp_32 ); + } + status = 1; + break; + } + D_Q0[ j ] = tmp_32; /* always < max(Correlation) */ + + /* two-step division */ + one_div_diag_Q36 = silk_INVERSE32_varQ( tmp_32, 36 ); /* Q36 */ + one_div_diag_Q40 = silk_LSHIFT( one_div_diag_Q36, 4 ); /* Q40 */ + err = silk_SUB32( (opus_int32)1 << 24, silk_SMULWW( tmp_32, one_div_diag_Q40 ) ); /* Q24 */ + one_div_diag_Q48 = silk_SMULWW( err, one_div_diag_Q40 ); /* Q48 */ + + /* Save 1/Ds */ + inv_D[ j ].Q36_part = one_div_diag_Q36; + inv_D[ j ].Q48_part = one_div_diag_Q48; + + matrix_ptr( L_Q16, j, j, M ) = 65536; /* 1.0 in Q16 */ + ptr1 = matrix_adr( A, j, 0, M ); + ptr2 = matrix_adr( L_Q16, j + 1, 0, M ); + for( i = j + 1; i < M; i++ ) { + tmp_32 = 0; + for( k = 0; k < j; k++ ) { + tmp_32 = silk_SMLAWW( tmp_32, v_Q0[ k ], ptr2[ k ] ); /* Q0 */ + } + tmp_32 = silk_SUB32( ptr1[ i ], tmp_32 ); /* always < max(Correlation) */ + + /* tmp_32 / D_Q0[j] : Divide to Q16 */ + matrix_ptr( L_Q16, i, j, M ) = silk_ADD32( silk_SMMUL( tmp_32, one_div_diag_Q48 ), + silk_RSHIFT( silk_SMULWW( tmp_32, one_div_diag_Q36 ), 4 ) ); + + /* go to next column */ + ptr2 += M; + } + } + } + + silk_assert( status == 0 ); +} + +static OPUS_INLINE void silk_LS_divide_Q16_FIX( + opus_int32 T[], /* I/O Numenator vector */ + inv_D_t *inv_D, /* I 1 / D vector */ + opus_int M /* I dimension */ +) +{ + opus_int i; + opus_int32 tmp_32; + opus_int32 one_div_diag_Q36, one_div_diag_Q48; + + for( i = 0; i < M; i++ ) { + one_div_diag_Q36 = inv_D[ i ].Q36_part; + one_div_diag_Q48 = inv_D[ i ].Q48_part; + + tmp_32 = T[ i ]; + T[ i ] = silk_ADD32( silk_SMMUL( tmp_32, one_div_diag_Q48 ), silk_RSHIFT( silk_SMULWW( tmp_32, one_div_diag_Q36 ), 4 ) ); + } +} + +/* Solve Lx = b, when L is lower triangular and has ones on the diagonal */ +static OPUS_INLINE void silk_LS_SolveFirst_FIX( + const opus_int32 *L_Q16, /* I Pointer to Lower Triangular Matrix */ + opus_int M, /* I Dim of Matrix equation */ + const opus_int32 *b, /* I b Vector */ + opus_int32 *x_Q16 /* O x Vector */ +) +{ + opus_int i, j; + const opus_int32 *ptr32; + opus_int32 tmp_32; + + for( i = 0; i < M; i++ ) { + ptr32 = matrix_adr( L_Q16, i, 0, M ); + tmp_32 = 0; + for( j = 0; j < i; j++ ) { + tmp_32 = silk_SMLAWW( tmp_32, ptr32[ j ], x_Q16[ j ] ); + } + x_Q16[ i ] = silk_SUB32( b[ i ], tmp_32 ); + } +} + +/* Solve L^t*x = b, where L is lower triangular with ones on the diagonal */ +static OPUS_INLINE void silk_LS_SolveLast_FIX( + const opus_int32 *L_Q16, /* I Pointer to Lower Triangular Matrix */ + const opus_int M, /* I Dim of Matrix equation */ + const opus_int32 *b, /* I b Vector */ + opus_int32 *x_Q16 /* O x Vector */ +) +{ + opus_int i, j; + const opus_int32 *ptr32; + opus_int32 tmp_32; + + for( i = M - 1; i >= 0; i-- ) { + ptr32 = matrix_adr( L_Q16, 0, i, M ); + tmp_32 = 0; + for( j = M - 1; j > i; j-- ) { + tmp_32 = silk_SMLAWW( tmp_32, ptr32[ silk_SMULBB( j, M ) ], x_Q16[ j ] ); + } + x_Q16[ i ] = silk_SUB32( b[ i ], tmp_32 ); + } +} diff --git a/thirdparty/opus/silk/fixed/structs_FIX.h b/thirdparty/opus/silk/fixed/structs_FIX.h index 2774a97b24..3294b25128 100644 --- a/thirdparty/opus/silk/fixed/structs_FIX.h +++ b/thirdparty/opus/silk/fixed/structs_FIX.h @@ -48,16 +48,30 @@ typedef struct { } silk_shape_state_FIX; /********************************/ +/* Prefilter state */ +/********************************/ +typedef struct { + opus_int16 sLTP_shp[ LTP_BUF_LENGTH ]; + opus_int32 sAR_shp[ MAX_SHAPE_LPC_ORDER + 1 ]; + opus_int sLTP_shp_buf_idx; + opus_int32 sLF_AR_shp_Q12; + opus_int32 sLF_MA_shp_Q12; + opus_int32 sHarmHP_Q2; + opus_int32 rand_seed; + opus_int lagPrev; +} silk_prefilter_state_FIX; + +/********************************/ /* Encoder state FIX */ /********************************/ typedef struct { silk_encoder_state sCmn; /* Common struct, shared with floating-point code */ silk_shape_state_FIX sShape; /* Shape state */ + silk_prefilter_state_FIX sPrefilt; /* Prefilter State */ /* Buffer for find pitch and noise shape analysis */ silk_DWORD_ALIGN opus_int16 x_buf[ 2 * MAX_FRAME_LENGTH + LA_SHAPE_MAX ];/* Buffer for find pitch and noise shape analysis */ opus_int LTPCorr_Q15; /* Normalized correlation from pitch lag estimator */ - opus_int32 resNrgSmth; } silk_encoder_state_FIX; /************************/ @@ -73,8 +87,11 @@ typedef struct { /* Noise shaping parameters */ /* Testing */ - silk_DWORD_ALIGN opus_int16 AR_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ]; + silk_DWORD_ALIGN opus_int16 AR1_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ]; + silk_DWORD_ALIGN opus_int16 AR2_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ]; opus_int32 LF_shp_Q14[ MAX_NB_SUBFR ]; /* Packs two int16 coefficients per int32 value */ + opus_int GainsPre_Q14[ MAX_NB_SUBFR ]; + opus_int HarmBoost_Q14[ MAX_NB_SUBFR ]; opus_int Tilt_Q14[ MAX_NB_SUBFR ]; opus_int HarmShapeGain_Q14[ MAX_NB_SUBFR ]; opus_int Lambda_Q10; @@ -82,6 +99,7 @@ typedef struct { opus_int coding_quality_Q14; /* measures */ + opus_int sparseness_Q8; opus_int32 predGain_Q16; opus_int LTPredCodGain_Q7; opus_int32 ResNrg[ MAX_NB_SUBFR ]; /* Residual energy per subframe */ diff --git a/thirdparty/opus/silk/fixed/warped_autocorrelation_FIX.c b/thirdparty/opus/silk/fixed/warped_autocorrelation_FIX.c index 5c79553bc0..6ca6c1184d 100644 --- a/thirdparty/opus/silk/fixed/warped_autocorrelation_FIX.c +++ b/thirdparty/opus/silk/fixed/warped_autocorrelation_FIX.c @@ -31,14 +31,17 @@ POSSIBILITY OF SUCH DAMAGE. #include "main_FIX.h" +#define QC 10 +#define QS 14 + #if defined(MIPSr1_ASM) #include "mips/warped_autocorrelation_FIX_mipsr1.h" #endif +#ifndef OVERRIDE_silk_warped_autocorrelation_FIX /* Autocorrelations for a warped frequency axis */ -#ifndef OVERRIDE_silk_warped_autocorrelation_FIX_c -void silk_warped_autocorrelation_FIX_c( +void silk_warped_autocorrelation_FIX( opus_int32 *corr, /* O Result [order + 1] */ opus_int *scale, /* O Scaling of the correlation vector */ const opus_int16 *input, /* I Input data to correlate */ @@ -53,7 +56,7 @@ void silk_warped_autocorrelation_FIX_c( opus_int64 corr_QC[ MAX_SHAPE_LPC_ORDER + 1 ] = { 0 }; /* Order must be even */ - celt_assert( ( order & 1 ) == 0 ); + silk_assert( ( order & 1 ) == 0 ); silk_assert( 2 * QS - QC >= 0 ); /* Loop over samples */ @@ -89,4 +92,4 @@ void silk_warped_autocorrelation_FIX_c( } silk_assert( corr_QC[ 0 ] >= 0 ); /* If breaking, decrease QC*/ } -#endif /* OVERRIDE_silk_warped_autocorrelation_FIX_c */ +#endif /* OVERRIDE_silk_warped_autocorrelation_FIX */ diff --git a/thirdparty/opus/silk/fixed/x86/burg_modified_FIX_sse4_1.c b/thirdparty/opus/silk/fixed/x86/burg_modified_FIX_sse.c index bbb1ce0fcc..3c3583c5fc 100644 --- a/thirdparty/opus/silk/fixed/x86/burg_modified_FIX_sse4_1.c +++ b/thirdparty/opus/silk/fixed/x86/burg_modified_FIX_sse.c @@ -72,7 +72,7 @@ void silk_burg_modified_sse4_1( __m128i FIRST_3210, LAST_3210, ATMP_3210, TMP1_3210, TMP2_3210, T1_3210, T2_3210, PTR_3210, SUBFR_3210, X1_3210, X2_3210; __m128i CONST1 = _mm_set1_epi32(1); - celt_assert( subfr_length * nb_subfr <= MAX_FRAME_SIZE ); + silk_assert( subfr_length * nb_subfr <= MAX_FRAME_SIZE ); /* Compute autocorrelations, added over subframes */ silk_sum_sqr_shift( &C0, &rshifts, x, nb_subfr * subfr_length ); diff --git a/thirdparty/opus/silk/fixed/x86/prefilter_FIX_sse.c b/thirdparty/opus/silk/fixed/x86/prefilter_FIX_sse.c new file mode 100644 index 0000000000..488a603f5d --- /dev/null +++ b/thirdparty/opus/silk/fixed/x86/prefilter_FIX_sse.c @@ -0,0 +1,160 @@ +/* Copyright (c) 2014, Cisco Systems, INC + Written by XiangMingZhu WeiZhou MinPeng YanWang + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + + - Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + - Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER + OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include <xmmintrin.h> +#include <emmintrin.h> +#include <smmintrin.h> +#include "main.h" +#include "celt/x86/x86cpu.h" + +void silk_warped_LPC_analysis_filter_FIX_sse4_1( + opus_int32 state[], /* I/O State [order + 1] */ + opus_int32 res_Q2[], /* O Residual signal [length] */ + const opus_int16 coef_Q13[], /* I Coefficients [order] */ + const opus_int16 input[], /* I Input signal [length] */ + const opus_int16 lambda_Q16, /* I Warping factor */ + const opus_int length, /* I Length of input signal */ + const opus_int order /* I Filter order (even) */ +) +{ + opus_int n, i; + opus_int32 acc_Q11, tmp1, tmp2; + + /* Order must be even */ + silk_assert( ( order & 1 ) == 0 ); + + if (order == 10) + { + if (0 == lambda_Q16) + { + __m128i coef_Q13_3210, coef_Q13_7654; + __m128i coef_Q13_0123, coef_Q13_4567; + __m128i state_0123, state_4567; + __m128i xmm_product1, xmm_product2; + __m128i xmm_tempa, xmm_tempb; + + register opus_int32 sum; + register opus_int32 state_8, state_9, state_a; + register opus_int64 coef_Q13_8, coef_Q13_9; + + silk_assert( length > 0 ); + + coef_Q13_3210 = OP_CVTEPI16_EPI32_M64( &coef_Q13[ 0 ] ); + coef_Q13_7654 = OP_CVTEPI16_EPI32_M64( &coef_Q13[ 4 ] ); + + coef_Q13_0123 = _mm_shuffle_epi32( coef_Q13_3210, _MM_SHUFFLE( 0, 1, 2, 3 ) ); + coef_Q13_4567 = _mm_shuffle_epi32( coef_Q13_7654, _MM_SHUFFLE( 0, 1, 2, 3 ) ); + + coef_Q13_8 = (opus_int64) coef_Q13[ 8 ]; + coef_Q13_9 = (opus_int64) coef_Q13[ 9 ]; + + state_0123 = _mm_loadu_si128( (__m128i *)(&state[ 0 ] ) ); + state_4567 = _mm_loadu_si128( (__m128i *)(&state[ 4 ] ) ); + + state_0123 = _mm_shuffle_epi32( state_0123, _MM_SHUFFLE( 0, 1, 2, 3 ) ); + state_4567 = _mm_shuffle_epi32( state_4567, _MM_SHUFFLE( 0, 1, 2, 3 ) ); + + state_8 = state[ 8 ]; + state_9 = state[ 9 ]; + state_a = 0; + + for( n = 0; n < length; n++ ) + { + xmm_product1 = _mm_mul_epi32( coef_Q13_0123, state_0123 ); /* 64-bit multiply, only 2 pairs */ + xmm_product2 = _mm_mul_epi32( coef_Q13_4567, state_4567 ); + + xmm_tempa = _mm_shuffle_epi32( state_0123, _MM_SHUFFLE( 0, 1, 2, 3 ) ); + xmm_tempb = _mm_shuffle_epi32( state_4567, _MM_SHUFFLE( 0, 1, 2, 3 ) ); + + xmm_product1 = _mm_srli_epi64( xmm_product1, 16 ); /* >> 16, zero extending works */ + xmm_product2 = _mm_srli_epi64( xmm_product2, 16 ); + + xmm_tempa = _mm_mul_epi32( coef_Q13_3210, xmm_tempa ); + xmm_tempb = _mm_mul_epi32( coef_Q13_7654, xmm_tempb ); + + xmm_tempa = _mm_srli_epi64( xmm_tempa, 16 ); + xmm_tempb = _mm_srli_epi64( xmm_tempb, 16 ); + + xmm_tempa = _mm_add_epi32( xmm_tempa, xmm_product1 ); + xmm_tempb = _mm_add_epi32( xmm_tempb, xmm_product2 ); + xmm_tempa = _mm_add_epi32( xmm_tempa, xmm_tempb ); + + sum = (coef_Q13_8 * state_8) >> 16; + sum += (coef_Q13_9 * state_9) >> 16; + + xmm_tempa = _mm_add_epi32( xmm_tempa, _mm_shuffle_epi32( xmm_tempa, _MM_SHUFFLE( 0, 0, 0, 2 ) ) ); + sum += _mm_cvtsi128_si32( xmm_tempa); + res_Q2[ n ] = silk_LSHIFT( (opus_int32)input[ n ], 2 ) - silk_RSHIFT_ROUND( ( 5 + sum ), 9); + + /* move right */ + state_a = state_9; + state_9 = state_8; + state_8 = _mm_cvtsi128_si32( state_4567 ); + state_4567 = _mm_alignr_epi8( state_0123, state_4567, 4 ); + + state_0123 = _mm_alignr_epi8( _mm_cvtsi32_si128( silk_LSHIFT( input[ n ], 14 ) ), state_0123, 4 ); + } + + _mm_storeu_si128( (__m128i *)( &state[ 0 ] ), _mm_shuffle_epi32( state_0123, _MM_SHUFFLE( 0, 1, 2, 3 ) ) ); + _mm_storeu_si128( (__m128i *)( &state[ 4 ] ), _mm_shuffle_epi32( state_4567, _MM_SHUFFLE( 0, 1, 2, 3 ) ) ); + state[ 8 ] = state_8; + state[ 9 ] = state_9; + state[ 10 ] = state_a; + + return; + } + } + + for( n = 0; n < length; n++ ) { + /* Output of lowpass section */ + tmp2 = silk_SMLAWB( state[ 0 ], state[ 1 ], lambda_Q16 ); + state[ 0 ] = silk_LSHIFT( input[ n ], 14 ); + /* Output of allpass section */ + tmp1 = silk_SMLAWB( state[ 1 ], state[ 2 ] - tmp2, lambda_Q16 ); + state[ 1 ] = tmp2; + acc_Q11 = silk_RSHIFT( order, 1 ); + acc_Q11 = silk_SMLAWB( acc_Q11, tmp2, coef_Q13[ 0 ] ); + /* Loop over allpass sections */ + for( i = 2; i < order; i += 2 ) { + /* Output of allpass section */ + tmp2 = silk_SMLAWB( state[ i ], state[ i + 1 ] - tmp1, lambda_Q16 ); + state[ i ] = tmp1; + acc_Q11 = silk_SMLAWB( acc_Q11, tmp1, coef_Q13[ i - 1 ] ); + /* Output of allpass section */ + tmp1 = silk_SMLAWB( state[ i + 1 ], state[ i + 2 ] - tmp2, lambda_Q16 ); + state[ i + 1 ] = tmp2; + acc_Q11 = silk_SMLAWB( acc_Q11, tmp2, coef_Q13[ i ] ); + } + state[ order ] = tmp1; + acc_Q11 = silk_SMLAWB( acc_Q11, tmp1, coef_Q13[ order - 1 ] ); + res_Q2[ n ] = silk_LSHIFT( (opus_int32)input[ n ], 2 ) - silk_RSHIFT_ROUND( acc_Q11, 9 ); + } +} diff --git a/thirdparty/opus/silk/fixed/x86/vector_ops_FIX_sse4_1.c b/thirdparty/opus/silk/fixed/x86/vector_ops_FIX_sse.c index c1e90564d0..c1e90564d0 100644 --- a/thirdparty/opus/silk/fixed/x86/vector_ops_FIX_sse4_1.c +++ b/thirdparty/opus/silk/fixed/x86/vector_ops_FIX_sse.c diff --git a/thirdparty/opus/silk/float/LPC_analysis_filter_FLP.c b/thirdparty/opus/silk/float/LPC_analysis_filter_FLP.c index 0e1a1fed0f..cae89a0a18 100644 --- a/thirdparty/opus/silk/float/LPC_analysis_filter_FLP.c +++ b/thirdparty/opus/silk/float/LPC_analysis_filter_FLP.c @@ -215,7 +215,7 @@ void silk_LPC_analysis_filter_FLP( const opus_int Order /* I LPC order */ ) { - celt_assert( Order <= length ); + silk_assert( Order <= length ); switch( Order ) { case 6: @@ -239,7 +239,7 @@ void silk_LPC_analysis_filter_FLP( break; default: - celt_assert( 0 ); + silk_assert( 0 ); break; } diff --git a/thirdparty/opus/silk/float/LPC_inv_pred_gain_FLP.c b/thirdparty/opus/silk/float/LPC_inv_pred_gain_FLP.c index 2be2122d61..25178bacdd 100644 --- a/thirdparty/opus/silk/float/LPC_inv_pred_gain_FLP.c +++ b/thirdparty/opus/silk/float/LPC_inv_pred_gain_FLP.c @@ -31,7 +31,8 @@ POSSIBILITY OF SUCH DAMAGE. #include "SigProc_FIX.h" #include "SigProc_FLP.h" -#include "define.h" + +#define RC_THRESHOLD 0.9999f /* compute inverse of LPC prediction gain, and */ /* test if LPC coefficients are stable (all poles within unit circle) */ @@ -42,32 +43,34 @@ silk_float silk_LPC_inverse_pred_gain_FLP( /* O return inverse prediction ga ) { opus_int k, n; - double invGain, rc, rc_mult1, rc_mult2, tmp1, tmp2; - silk_float Atmp[ SILK_MAX_ORDER_LPC ]; + double invGain, rc, rc_mult1, rc_mult2; + silk_float Atmp[ 2 ][ SILK_MAX_ORDER_LPC ]; + silk_float *Aold, *Anew; - silk_memcpy( Atmp, A, order * sizeof(silk_float) ); + Anew = Atmp[ order & 1 ]; + silk_memcpy( Anew, A, order * sizeof(silk_float) ); invGain = 1.0; for( k = order - 1; k > 0; k-- ) { - rc = -Atmp[ k ]; - rc_mult1 = 1.0f - rc * rc; - invGain *= rc_mult1; - if( invGain * MAX_PREDICTION_POWER_GAIN < 1.0f ) { + rc = -Anew[ k ]; + if( rc > RC_THRESHOLD || rc < -RC_THRESHOLD ) { return 0.0f; } + rc_mult1 = 1.0f - rc * rc; rc_mult2 = 1.0f / rc_mult1; - for( n = 0; n < (k + 1) >> 1; n++ ) { - tmp1 = Atmp[ n ]; - tmp2 = Atmp[ k - n - 1 ]; - Atmp[ n ] = (silk_float)( ( tmp1 - tmp2 * rc ) * rc_mult2 ); - Atmp[ k - n - 1 ] = (silk_float)( ( tmp2 - tmp1 * rc ) * rc_mult2 ); + invGain *= rc_mult1; + /* swap pointers */ + Aold = Anew; + Anew = Atmp[ k & 1 ]; + for( n = 0; n < k; n++ ) { + Anew[ n ] = (silk_float)( ( Aold[ n ] - Aold[ k - n - 1 ] * rc ) * rc_mult2 ); } } - rc = -Atmp[ 0 ]; - rc_mult1 = 1.0f - rc * rc; - invGain *= rc_mult1; - if( invGain * MAX_PREDICTION_POWER_GAIN < 1.0f ) { + rc = -Anew[ 0 ]; + if( rc > RC_THRESHOLD || rc < -RC_THRESHOLD ) { return 0.0f; } + rc_mult1 = 1.0f - rc * rc; + invGain *= rc_mult1; return (silk_float)invGain; } diff --git a/thirdparty/opus/silk/float/SigProc_FLP.h b/thirdparty/opus/silk/float/SigProc_FLP.h index 953de8b09e..f0cb3733be 100644 --- a/thirdparty/opus/silk/float/SigProc_FLP.h +++ b/thirdparty/opus/silk/float/SigProc_FLP.h @@ -68,6 +68,13 @@ void silk_k2a_FLP( opus_int32 order /* I prediction order */ ); +/* Solve the normal equations using the Levinson-Durbin recursion */ +silk_float silk_levinsondurbin_FLP( /* O prediction error energy */ + silk_float A[], /* O prediction coefficients [order] */ + const silk_float corr[], /* I input auto-correlations [order + 1] */ + const opus_int order /* I prediction order */ +); + /* compute autocorrelation */ void silk_autocorrelation_FLP( silk_float *results, /* O result (length correlationCount) */ diff --git a/thirdparty/opus/silk/float/apply_sine_window_FLP.c b/thirdparty/opus/silk/float/apply_sine_window_FLP.c index e49e717991..6aae57c0ab 100644 --- a/thirdparty/opus/silk/float/apply_sine_window_FLP.c +++ b/thirdparty/opus/silk/float/apply_sine_window_FLP.c @@ -45,10 +45,10 @@ void silk_apply_sine_window_FLP( opus_int k; silk_float freq, c, S0, S1; - celt_assert( win_type == 1 || win_type == 2 ); + silk_assert( win_type == 1 || win_type == 2 ); /* Length must be multiple of 4 */ - celt_assert( ( length & 3 ) == 0 ); + silk_assert( ( length & 3 ) == 0 ); freq = PI / ( length + 1 ); diff --git a/thirdparty/opus/silk/float/burg_modified_FLP.c b/thirdparty/opus/silk/float/burg_modified_FLP.c index 756b76a35b..ea5dc25a93 100644 --- a/thirdparty/opus/silk/float/burg_modified_FLP.c +++ b/thirdparty/opus/silk/float/burg_modified_FLP.c @@ -52,7 +52,7 @@ silk_float silk_burg_modified_FLP( /* O returns residual energy double CAf[ SILK_MAX_ORDER_LPC + 1 ], CAb[ SILK_MAX_ORDER_LPC + 1 ]; double Af[ SILK_MAX_ORDER_LPC ]; - celt_assert( subfr_length * nb_subfr <= MAX_FRAME_SIZE ); + silk_assert( subfr_length * nb_subfr <= MAX_FRAME_SIZE ); /* Compute autocorrelations, added over subframes */ C0 = silk_energy_FLP( x, nb_subfr * subfr_length ); diff --git a/thirdparty/opus/silk/float/encode_frame_FLP.c b/thirdparty/opus/silk/float/encode_frame_FLP.c index b029c3f5ca..2092a4d9e2 100644 --- a/thirdparty/opus/silk/float/encode_frame_FLP.c +++ b/thirdparty/opus/silk/float/encode_frame_FLP.c @@ -29,7 +29,6 @@ POSSIBILITY OF SUCH DAMAGE. #include "config.h" #endif -#include <stdlib.h> #include "main_FLP.h" #include "tuning_parameters.h" @@ -42,28 +41,21 @@ static OPUS_INLINE void silk_LBRR_encode_FLP( ); void silk_encode_do_VAD_FLP( - silk_encoder_state_FLP *psEnc, /* I/O Encoder state FLP */ - opus_int activity /* I Decision of Opus voice activity detector */ + silk_encoder_state_FLP *psEnc /* I/O Encoder state FLP */ ) { - const opus_int activity_threshold = SILK_FIX_CONST( SPEECH_ACTIVITY_DTX_THRES, 8 ); - /****************************/ /* Voice Activity Detection */ /****************************/ silk_VAD_GetSA_Q8( &psEnc->sCmn, psEnc->sCmn.inputBuf + 1, psEnc->sCmn.arch ); - /* If Opus VAD is inactive and Silk VAD is active: lower Silk VAD to just under the threshold */ - if( activity == VAD_NO_ACTIVITY && psEnc->sCmn.speech_activity_Q8 >= activity_threshold ) { - psEnc->sCmn.speech_activity_Q8 = activity_threshold - 1; - } /**************************************************/ /* Convert speech activity into VAD and DTX flags */ /**************************************************/ - if( psEnc->sCmn.speech_activity_Q8 < activity_threshold ) { + if( psEnc->sCmn.speech_activity_Q8 < SILK_FIX_CONST( SPEECH_ACTIVITY_DTX_THRES, 8 ) ) { psEnc->sCmn.indices.signalType = TYPE_NO_VOICE_ACTIVITY; psEnc->sCmn.noSpeechCounter++; - if( psEnc->sCmn.noSpeechCounter <= NB_SPEECH_FRAMES_BEFORE_DTX ) { + if( psEnc->sCmn.noSpeechCounter < NB_SPEECH_FRAMES_BEFORE_DTX ) { psEnc->sCmn.inDTX = 0; } else if( psEnc->sCmn.noSpeechCounter > MAX_CONSECUTIVE_DTX + NB_SPEECH_FRAMES_BEFORE_DTX ) { psEnc->sCmn.noSpeechCounter = NB_SPEECH_FRAMES_BEFORE_DTX; @@ -93,6 +85,7 @@ opus_int silk_encode_frame_FLP( silk_encoder_control_FLP sEncCtrl; opus_int i, iter, maxIter, found_upper, found_lower, ret = 0; silk_float *x_frame, *res_pitch_frame; + silk_float xfw[ MAX_FRAME_LENGTH ]; silk_float res_pitch[ 2 * MAX_FRAME_LENGTH + LA_PITCH_MAX ]; ec_enc sRangeEnc_copy, sRangeEnc_copy2; silk_nsq_state sNSQ_copy, sNSQ_copy2; @@ -104,9 +97,6 @@ opus_int silk_encode_frame_FLP( opus_int8 LastGainIndex_copy2; opus_int32 pGains_Q16[ MAX_NB_SUBFR ]; opus_uint8 ec_buf_copy[ 1275 ]; - opus_int gain_lock[ MAX_NB_SUBFR ] = {0}; - opus_int16 best_gain_mult[ MAX_NB_SUBFR ]; - opus_int best_sum[ MAX_NB_SUBFR ]; /* This is totally unnecessary but many compilers (including gcc) are too dumb to realise it */ LastGainIndex_copy2 = nBits_lower = nBits_upper = gainMult_lower = gainMult_upper = 0; @@ -149,17 +139,22 @@ opus_int silk_encode_frame_FLP( /***************************************************/ /* Find linear prediction coefficients (LPC + LTP) */ /***************************************************/ - silk_find_pred_coefs_FLP( psEnc, &sEncCtrl, res_pitch_frame, x_frame, condCoding ); + silk_find_pred_coefs_FLP( psEnc, &sEncCtrl, res_pitch, x_frame, condCoding ); /****************************************/ /* Process gains */ /****************************************/ silk_process_gains_FLP( psEnc, &sEncCtrl, condCoding ); + /*****************************************/ + /* Prefiltering for noise shaper */ + /*****************************************/ + silk_prefilter_FLP( psEnc, &sEncCtrl, xfw, x_frame ); + /****************************************/ /* Low Bitrate Redundant Encoding */ /****************************************/ - silk_LBRR_encode_FLP( psEnc, &sEncCtrl, x_frame, condCoding ); + silk_LBRR_encode_FLP( psEnc, &sEncCtrl, xfw, condCoding ); /* Loop over quantizer and entroy coding to control bitrate */ maxIter = 6; @@ -193,11 +188,7 @@ opus_int silk_encode_frame_FLP( /*****************************************/ /* Noise shaping quantization */ /*****************************************/ - silk_NSQ_wrapper_FLP( psEnc, &sEncCtrl, &psEnc->sCmn.indices, &psEnc->sCmn.sNSQ, psEnc->sCmn.pulses, x_frame ); - - if ( iter == maxIter && !found_lower ) { - silk_memcpy( &sRangeEnc_copy2, psRangeEnc, sizeof( ec_enc ) ); - } + silk_NSQ_wrapper_FLP( psEnc, &sEncCtrl, &psEnc->sCmn.indices, &psEnc->sCmn.sNSQ, psEnc->sCmn.pulses, xfw ); /****************************************/ /* Encode Parameters */ @@ -212,33 +203,6 @@ opus_int silk_encode_frame_FLP( nBits = ec_tell( psRangeEnc ); - /* If we still bust after the last iteration, do some damage control. */ - if ( iter == maxIter && !found_lower && nBits > maxBits ) { - silk_memcpy( psRangeEnc, &sRangeEnc_copy2, sizeof( ec_enc ) ); - - /* Keep gains the same as the last frame. */ - psEnc->sShape.LastGainIndex = sEncCtrl.lastGainIndexPrev; - for ( i = 0; i < psEnc->sCmn.nb_subfr; i++ ) { - psEnc->sCmn.indices.GainsIndices[ i ] = 4; - } - if (condCoding != CODE_CONDITIONALLY) { - psEnc->sCmn.indices.GainsIndices[ 0 ] = sEncCtrl.lastGainIndexPrev; - } - psEnc->sCmn.ec_prevLagIndex = ec_prevLagIndex_copy; - psEnc->sCmn.ec_prevSignalType = ec_prevSignalType_copy; - /* Clear all pulses. */ - for ( i = 0; i < psEnc->sCmn.frame_length; i++ ) { - psEnc->sCmn.pulses[ i ] = 0; - } - - silk_encode_indices( &psEnc->sCmn, psRangeEnc, psEnc->sCmn.nFramesEncoded, 0, condCoding ); - - silk_encode_pulses( psRangeEnc, psEnc->sCmn.indices.signalType, psEnc->sCmn.indices.quantOffsetType, - psEnc->sCmn.pulses, psEnc->sCmn.frame_length ); - - nBits = ec_tell( psRangeEnc ); - } - if( useCBR == 0 && iter == 0 && nBits <= maxBits ) { break; } @@ -248,7 +212,7 @@ opus_int silk_encode_frame_FLP( if( found_lower && ( gainsID == gainsID_lower || nBits > maxBits ) ) { /* Restore output state from earlier iteration that did meet the bitrate budget */ silk_memcpy( psRangeEnc, &sRangeEnc_copy2, sizeof( ec_enc ) ); - celt_assert( sRangeEnc_copy2.offs <= 1275 ); + silk_assert( sRangeEnc_copy2.offs <= 1275 ); silk_memcpy( psRangeEnc->buf, ec_buf_copy, sRangeEnc_copy2.offs ); silk_memcpy( &psEnc->sCmn.sNSQ, &sNSQ_copy2, sizeof( silk_nsq_state ) ); psEnc->sShape.LastGainIndex = LastGainIndex_copy2; @@ -259,9 +223,7 @@ opus_int silk_encode_frame_FLP( if( nBits > maxBits ) { if( found_lower == 0 && iter >= 2 ) { /* Adjust the quantizer's rate/distortion tradeoff and discard previous "upper" results */ - sEncCtrl.Lambda = silk_max_float(sEncCtrl.Lambda*1.5f, 1.5f); - /* Reducing dithering can help us hit the target. */ - psEnc->sCmn.indices.quantOffsetType = 0; + sEncCtrl.Lambda *= 1.5f; found_upper = 0; gainsID_upper = -1; } else { @@ -278,7 +240,7 @@ opus_int silk_encode_frame_FLP( gainsID_lower = gainsID; /* Copy part of the output state */ silk_memcpy( &sRangeEnc_copy2, psRangeEnc, sizeof( ec_enc ) ); - celt_assert( psRangeEnc->offs <= 1275 ); + silk_assert( psRangeEnc->offs <= 1275 ); silk_memcpy( ec_buf_copy, psRangeEnc->buf, psRangeEnc->offs ); silk_memcpy( &sNSQ_copy2, &psEnc->sCmn.sNSQ, sizeof( silk_nsq_state ) ); LastGainIndex_copy2 = psEnc->sShape.LastGainIndex; @@ -288,34 +250,15 @@ opus_int silk_encode_frame_FLP( break; } - if ( !found_lower && nBits > maxBits ) { - int j; - for ( i = 0; i < psEnc->sCmn.nb_subfr; i++ ) { - int sum=0; - for ( j = i*psEnc->sCmn.subfr_length; j < (i+1)*psEnc->sCmn.subfr_length; j++ ) { - sum += abs( psEnc->sCmn.pulses[j] ); - } - if ( iter == 0 || (sum < best_sum[i] && !gain_lock[i]) ) { - best_sum[i] = sum; - best_gain_mult[i] = gainMult_Q8; - } else { - gain_lock[i] = 1; - } - } - } if( ( found_lower & found_upper ) == 0 ) { /* Adjust gain according to high-rate rate/distortion curve */ + opus_int32 gain_factor_Q16; + gain_factor_Q16 = silk_log2lin( silk_LSHIFT( nBits - maxBits, 7 ) / psEnc->sCmn.frame_length + SILK_FIX_CONST( 16, 7 ) ); + gain_factor_Q16 = silk_min_32( gain_factor_Q16, SILK_FIX_CONST( 2, 16 ) ); if( nBits > maxBits ) { - if (gainMult_Q8 < 16384) { - gainMult_Q8 *= 2; - } else { - gainMult_Q8 = 32767; - } - } else { - opus_int32 gain_factor_Q16; - gain_factor_Q16 = silk_log2lin( silk_LSHIFT( nBits - maxBits, 7 ) / psEnc->sCmn.frame_length + SILK_FIX_CONST( 16, 7 ) ); - gainMult_Q8 = silk_SMULWB( gain_factor_Q16, gainMult_Q8 ); + gain_factor_Q16 = silk_max_32( gain_factor_Q16, SILK_FIX_CONST( 1.3, 16 ) ); } + gainMult_Q8 = silk_SMULWB( gain_factor_Q16, gainMult_Q8 ); } else { /* Adjust gain by interpolating */ gainMult_Q8 = gainMult_lower + ( ( gainMult_upper - gainMult_lower ) * ( maxBits - nBits_lower ) ) / ( nBits_upper - nBits_lower ); @@ -329,13 +272,7 @@ opus_int silk_encode_frame_FLP( } for( i = 0; i < psEnc->sCmn.nb_subfr; i++ ) { - opus_int16 tmp; - if ( gain_lock[i] ) { - tmp = best_gain_mult[i]; - } else { - tmp = gainMult_Q8; - } - pGains_Q16[ i ] = silk_LSHIFT_SAT32( silk_SMULWB( sEncCtrl.GainsUnq_Q16[ i ], tmp ), 8 ); + pGains_Q16[ i ] = silk_LSHIFT_SAT32( silk_SMULWB( sEncCtrl.GainsUnq_Q16[ i ], gainMult_Q8 ), 8 ); } /* Quantize gains */ diff --git a/thirdparty/opus/silk/float/energy_FLP.c b/thirdparty/opus/silk/float/energy_FLP.c index 7bc7173c9c..24b8179f9e 100644 --- a/thirdparty/opus/silk/float/energy_FLP.c +++ b/thirdparty/opus/silk/float/energy_FLP.c @@ -37,12 +37,13 @@ double silk_energy_FLP( opus_int dataSize ) { - opus_int i; + opus_int i, dataSize4; double result; /* 4x unrolled loop */ result = 0.0; - for( i = 0; i < dataSize - 3; i += 4 ) { + dataSize4 = dataSize & 0xFFFC; + for( i = 0; i < dataSize4; i += 4 ) { result += data[ i + 0 ] * (double)data[ i + 0 ] + data[ i + 1 ] * (double)data[ i + 1 ] + data[ i + 2 ] * (double)data[ i + 2 ] + diff --git a/thirdparty/opus/silk/float/find_LPC_FLP.c b/thirdparty/opus/silk/float/find_LPC_FLP.c index fa3ffe7f8b..fcfe1c3681 100644 --- a/thirdparty/opus/silk/float/find_LPC_FLP.c +++ b/thirdparty/opus/silk/float/find_LPC_FLP.c @@ -73,7 +73,7 @@ void silk_find_LPC_FLP( silk_interpolate( NLSF0_Q15, psEncC->prev_NLSFq_Q15, NLSF_Q15, k, psEncC->predictLPCOrder ); /* Convert to LPC for residual energy evaluation */ - silk_NLSF2A_FLP( a_tmp, NLSF0_Q15, psEncC->predictLPCOrder, psEncC->arch ); + silk_NLSF2A_FLP( a_tmp, NLSF0_Q15, psEncC->predictLPCOrder ); /* Calculate residual energy with LSF interpolation */ silk_LPC_analysis_filter_FLP( LPC_res, a_tmp, x, 2 * subfr_length, psEncC->predictLPCOrder ); @@ -99,6 +99,6 @@ void silk_find_LPC_FLP( silk_A2NLSF_FLP( NLSF_Q15, a, psEncC->predictLPCOrder ); } - celt_assert( psEncC->indices.NLSFInterpCoef_Q2 == 4 || + silk_assert( psEncC->indices.NLSFInterpCoef_Q2 == 4 || ( psEncC->useInterpolatedNLSFs && !psEncC->first_frame_after_reset && psEncC->nb_subfr == MAX_NB_SUBFR ) ); } diff --git a/thirdparty/opus/silk/float/find_LTP_FLP.c b/thirdparty/opus/silk/float/find_LTP_FLP.c index f97064930e..7229996014 100644 --- a/thirdparty/opus/silk/float/find_LTP_FLP.c +++ b/thirdparty/opus/silk/float/find_LTP_FLP.c @@ -33,32 +33,100 @@ POSSIBILITY OF SUCH DAMAGE. #include "tuning_parameters.h" void silk_find_LTP_FLP( - silk_float XX[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ], /* O Weight for LTP quantization */ - silk_float xX[ MAX_NB_SUBFR * LTP_ORDER ], /* O Weight for LTP quantization */ - const silk_float r_ptr[], /* I LPC residual */ - const opus_int lag[ MAX_NB_SUBFR ], /* I LTP lags */ + silk_float b[ MAX_NB_SUBFR * LTP_ORDER ], /* O LTP coefs */ + silk_float WLTP[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ], /* O Weight for LTP quantization */ + silk_float *LTPredCodGain, /* O LTP coding gain */ + const silk_float r_lpc[], /* I LPC residual */ + const opus_int lag[ MAX_NB_SUBFR ], /* I LTP lags */ + const silk_float Wght[ MAX_NB_SUBFR ], /* I Weights */ const opus_int subfr_length, /* I Subframe length */ - const opus_int nb_subfr /* I number of subframes */ + const opus_int nb_subfr, /* I number of subframes */ + const opus_int mem_offset /* I Number of samples in LTP memory */ ) { - opus_int k; - silk_float *xX_ptr, *XX_ptr; - const silk_float *lag_ptr; - silk_float xx, temp; + opus_int i, k; + silk_float *b_ptr, temp, *WLTP_ptr; + silk_float LPC_res_nrg, LPC_LTP_res_nrg; + silk_float d[ MAX_NB_SUBFR ], m, g, delta_b[ LTP_ORDER ]; + silk_float w[ MAX_NB_SUBFR ], nrg[ MAX_NB_SUBFR ], regu; + silk_float Rr[ LTP_ORDER ], rr[ MAX_NB_SUBFR ]; + const silk_float *r_ptr, *lag_ptr; - xX_ptr = xX; - XX_ptr = XX; + b_ptr = b; + WLTP_ptr = WLTP; + r_ptr = &r_lpc[ mem_offset ]; for( k = 0; k < nb_subfr; k++ ) { lag_ptr = r_ptr - ( lag[ k ] + LTP_ORDER / 2 ); - silk_corrMatrix_FLP( lag_ptr, subfr_length, LTP_ORDER, XX_ptr ); - silk_corrVector_FLP( lag_ptr, r_ptr, subfr_length, LTP_ORDER, xX_ptr ); - xx = ( silk_float )silk_energy_FLP( r_ptr, subfr_length + LTP_ORDER ); - temp = 1.0f / silk_max( xx, LTP_CORR_INV_MAX * 0.5f * ( XX_ptr[ 0 ] + XX_ptr[ 24 ] ) + 1.0f ); - silk_scale_vector_FLP( XX_ptr, temp, LTP_ORDER * LTP_ORDER ); - silk_scale_vector_FLP( xX_ptr, temp, LTP_ORDER ); - r_ptr += subfr_length; - XX_ptr += LTP_ORDER * LTP_ORDER; - xX_ptr += LTP_ORDER; + silk_corrMatrix_FLP( lag_ptr, subfr_length, LTP_ORDER, WLTP_ptr ); + silk_corrVector_FLP( lag_ptr, r_ptr, subfr_length, LTP_ORDER, Rr ); + + rr[ k ] = ( silk_float )silk_energy_FLP( r_ptr, subfr_length ); + regu = 1.0f + rr[ k ] + + matrix_ptr( WLTP_ptr, 0, 0, LTP_ORDER ) + + matrix_ptr( WLTP_ptr, LTP_ORDER-1, LTP_ORDER-1, LTP_ORDER ); + regu *= LTP_DAMPING / 3; + silk_regularize_correlations_FLP( WLTP_ptr, &rr[ k ], regu, LTP_ORDER ); + silk_solve_LDL_FLP( WLTP_ptr, LTP_ORDER, Rr, b_ptr ); + + /* Calculate residual energy */ + nrg[ k ] = silk_residual_energy_covar_FLP( b_ptr, WLTP_ptr, Rr, rr[ k ], LTP_ORDER ); + + temp = Wght[ k ] / ( nrg[ k ] * Wght[ k ] + 0.01f * subfr_length ); + silk_scale_vector_FLP( WLTP_ptr, temp, LTP_ORDER * LTP_ORDER ); + w[ k ] = matrix_ptr( WLTP_ptr, LTP_ORDER / 2, LTP_ORDER / 2, LTP_ORDER ); + + r_ptr += subfr_length; + b_ptr += LTP_ORDER; + WLTP_ptr += LTP_ORDER * LTP_ORDER; + } + + /* Compute LTP coding gain */ + if( LTPredCodGain != NULL ) { + LPC_LTP_res_nrg = 1e-6f; + LPC_res_nrg = 0.0f; + for( k = 0; k < nb_subfr; k++ ) { + LPC_res_nrg += rr[ k ] * Wght[ k ]; + LPC_LTP_res_nrg += nrg[ k ] * Wght[ k ]; + } + + silk_assert( LPC_LTP_res_nrg > 0 ); + *LTPredCodGain = 3.0f * silk_log2( LPC_res_nrg / LPC_LTP_res_nrg ); + } + + /* Smoothing */ + /* d = sum( B, 1 ); */ + b_ptr = b; + for( k = 0; k < nb_subfr; k++ ) { + d[ k ] = 0; + for( i = 0; i < LTP_ORDER; i++ ) { + d[ k ] += b_ptr[ i ]; + } + b_ptr += LTP_ORDER; + } + /* m = ( w * d' ) / ( sum( w ) + 1e-3 ); */ + temp = 1e-3f; + for( k = 0; k < nb_subfr; k++ ) { + temp += w[ k ]; + } + m = 0; + for( k = 0; k < nb_subfr; k++ ) { + m += d[ k ] * w[ k ]; + } + m = m / temp; + + b_ptr = b; + for( k = 0; k < nb_subfr; k++ ) { + g = LTP_SMOOTHING / ( LTP_SMOOTHING + w[ k ] ) * ( m - d[ k ] ); + temp = 0; + for( i = 0; i < LTP_ORDER; i++ ) { + delta_b[ i ] = silk_max_float( b_ptr[ i ], 0.1f ); + temp += delta_b[ i ]; + } + temp = g / temp; + for( i = 0; i < LTP_ORDER; i++ ) { + b_ptr[ i ] = b_ptr[ i ] + delta_b[ i ] * temp; + } + b_ptr += LTP_ORDER; } } diff --git a/thirdparty/opus/silk/float/find_pitch_lags_FLP.c b/thirdparty/opus/silk/float/find_pitch_lags_FLP.c index dedbcd2836..f3b22d25ce 100644 --- a/thirdparty/opus/silk/float/find_pitch_lags_FLP.c +++ b/thirdparty/opus/silk/float/find_pitch_lags_FLP.c @@ -56,7 +56,7 @@ void silk_find_pitch_lags_FLP( buf_len = psEnc->sCmn.la_pitch + psEnc->sCmn.frame_length + psEnc->sCmn.ltp_mem_length; /* Safety check */ - celt_assert( buf_len >= psEnc->sCmn.pitch_LPC_win_length ); + silk_assert( buf_len >= psEnc->sCmn.pitch_LPC_win_length ); x_buf = x - psEnc->sCmn.ltp_mem_length; diff --git a/thirdparty/opus/silk/float/find_pred_coefs_FLP.c b/thirdparty/opus/silk/float/find_pred_coefs_FLP.c index dcf7c5202d..1af4fe5f1b 100644 --- a/thirdparty/opus/silk/float/find_pred_coefs_FLP.c +++ b/thirdparty/opus/silk/float/find_pred_coefs_FLP.c @@ -41,9 +41,8 @@ void silk_find_pred_coefs_FLP( ) { opus_int i; - silk_float XXLTP[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ]; - silk_float xXLTP[ MAX_NB_SUBFR * LTP_ORDER ]; - silk_float invGains[ MAX_NB_SUBFR ]; + silk_float WLTP[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ]; + silk_float invGains[ MAX_NB_SUBFR ], Wght[ MAX_NB_SUBFR ]; opus_int16 NLSF_Q15[ MAX_LPC_ORDER ]; const silk_float *x_ptr; silk_float *x_pre_ptr, LPC_in_pre[ MAX_NB_SUBFR * MAX_LPC_ORDER + MAX_FRAME_LENGTH ]; @@ -53,20 +52,23 @@ void silk_find_pred_coefs_FLP( for( i = 0; i < psEnc->sCmn.nb_subfr; i++ ) { silk_assert( psEncCtrl->Gains[ i ] > 0.0f ); invGains[ i ] = 1.0f / psEncCtrl->Gains[ i ]; + Wght[ i ] = invGains[ i ] * invGains[ i ]; } if( psEnc->sCmn.indices.signalType == TYPE_VOICED ) { /**********/ /* VOICED */ /**********/ - celt_assert( psEnc->sCmn.ltp_mem_length - psEnc->sCmn.predictLPCOrder >= psEncCtrl->pitchL[ 0 ] + LTP_ORDER / 2 ); + silk_assert( psEnc->sCmn.ltp_mem_length - psEnc->sCmn.predictLPCOrder >= psEncCtrl->pitchL[ 0 ] + LTP_ORDER / 2 ); /* LTP analysis */ - silk_find_LTP_FLP( XXLTP, xXLTP, res_pitch, psEncCtrl->pitchL, psEnc->sCmn.subfr_length, psEnc->sCmn.nb_subfr ); + silk_find_LTP_FLP( psEncCtrl->LTPCoef, WLTP, &psEncCtrl->LTPredCodGain, res_pitch, + psEncCtrl->pitchL, Wght, psEnc->sCmn.subfr_length, psEnc->sCmn.nb_subfr, psEnc->sCmn.ltp_mem_length ); /* Quantize LTP gain parameters */ silk_quant_LTP_gains_FLP( psEncCtrl->LTPCoef, psEnc->sCmn.indices.LTPIndex, &psEnc->sCmn.indices.PERIndex, - &psEnc->sCmn.sum_log_gain_Q7, &psEncCtrl->LTPredCodGain, XXLTP, xXLTP, psEnc->sCmn.subfr_length, psEnc->sCmn.nb_subfr, psEnc->sCmn.arch ); + &psEnc->sCmn.sum_log_gain_Q7, WLTP, psEnc->sCmn.mu_LTP_Q9, psEnc->sCmn.LTPQuantLowComplexity, psEnc->sCmn.nb_subfr, + psEnc->sCmn.arch ); /* Control LTP scaling */ silk_LTP_scale_ctrl_FLP( psEnc, psEncCtrl, condCoding ); diff --git a/thirdparty/opus/silk/float/inner_product_FLP.c b/thirdparty/opus/silk/float/inner_product_FLP.c index cdd39d24ce..029c012911 100644 --- a/thirdparty/opus/silk/float/inner_product_FLP.c +++ b/thirdparty/opus/silk/float/inner_product_FLP.c @@ -38,12 +38,13 @@ double silk_inner_product_FLP( opus_int dataSize ) { - opus_int i; + opus_int i, dataSize4; double result; /* 4x unrolled loop */ result = 0.0; - for( i = 0; i < dataSize - 3; i += 4 ) { + dataSize4 = dataSize & 0xFFFC; + for( i = 0; i < dataSize4; i += 4 ) { result += data1[ i + 0 ] * (double)data2[ i + 0 ] + data1[ i + 1 ] * (double)data2[ i + 1 ] + data1[ i + 2 ] * (double)data2[ i + 2 ] + diff --git a/thirdparty/opus/silk/float/k2a_FLP.c b/thirdparty/opus/silk/float/k2a_FLP.c index 1448008dbb..12af4e7669 100644 --- a/thirdparty/opus/silk/float/k2a_FLP.c +++ b/thirdparty/opus/silk/float/k2a_FLP.c @@ -39,16 +39,15 @@ void silk_k2a_FLP( ) { opus_int k, n; - silk_float rck, tmp1, tmp2; + silk_float Atmp[ SILK_MAX_ORDER_LPC ]; for( k = 0; k < order; k++ ) { - rck = rc[ k ]; - for( n = 0; n < (k + 1) >> 1; n++ ) { - tmp1 = A[ n ]; - tmp2 = A[ k - n - 1 ]; - A[ n ] = tmp1 + tmp2 * rck; - A[ k - n - 1 ] = tmp2 + tmp1 * rck; + for( n = 0; n < k; n++ ) { + Atmp[ n ] = A[ n ]; } - A[ k ] = -rck; + for( n = 0; n < k; n++ ) { + A[ n ] += Atmp[ k - n - 1 ] * rc[ k ]; + } + A[ k ] = -rc[ k ]; } } diff --git a/thirdparty/opus/silk/float/levinsondurbin_FLP.c b/thirdparty/opus/silk/float/levinsondurbin_FLP.c new file mode 100644 index 0000000000..f0ba606981 --- /dev/null +++ b/thirdparty/opus/silk/float/levinsondurbin_FLP.c @@ -0,0 +1,81 @@ +/*********************************************************************** +Copyright (c) 2006-2011, Skype Limited. All rights reserved. +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: +- Redistributions of source code must retain the above copyright notice, +this list of conditions and the following disclaimer. +- Redistributions in binary form must reproduce the above copyright +notice, this list of conditions and the following disclaimer in the +documentation and/or other materials provided with the distribution. +- Neither the name of Internet Society, IETF or IETF Trust, nor the +names of specific contributors, may be used to endorse or promote +products derived from this software without specific prior written +permission. +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. +***********************************************************************/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include "SigProc_FLP.h" + +/* Solve the normal equations using the Levinson-Durbin recursion */ +silk_float silk_levinsondurbin_FLP( /* O prediction error energy */ + silk_float A[], /* O prediction coefficients [order] */ + const silk_float corr[], /* I input auto-correlations [order + 1] */ + const opus_int order /* I prediction order */ +) +{ + opus_int i, mHalf, m; + silk_float min_nrg, nrg, t, km, Atmp1, Atmp2; + + min_nrg = 1e-12f * corr[ 0 ] + 1e-9f; + nrg = corr[ 0 ]; + nrg = silk_max_float(min_nrg, nrg); + A[ 0 ] = corr[ 1 ] / nrg; + nrg -= A[ 0 ] * corr[ 1 ]; + nrg = silk_max_float(min_nrg, nrg); + + for( m = 1; m < order; m++ ) + { + t = corr[ m + 1 ]; + for( i = 0; i < m; i++ ) { + t -= A[ i ] * corr[ m - i ]; + } + + /* reflection coefficient */ + km = t / nrg; + + /* residual energy */ + nrg -= km * t; + nrg = silk_max_float(min_nrg, nrg); + + mHalf = m >> 1; + for( i = 0; i < mHalf; i++ ) { + Atmp1 = A[ i ]; + Atmp2 = A[ m - i - 1 ]; + A[ m - i - 1 ] -= km * Atmp1; + A[ i ] -= km * Atmp2; + } + if( m & 1 ) { + A[ mHalf ] -= km * A[ mHalf ]; + } + A[ m ] = km; + } + + /* return the residual energy */ + return nrg; +} + diff --git a/thirdparty/opus/silk/float/main_FLP.h b/thirdparty/opus/silk/float/main_FLP.h index 5dc0ccf4a4..e5a75972e5 100644 --- a/thirdparty/opus/silk/float/main_FLP.h +++ b/thirdparty/opus/silk/float/main_FLP.h @@ -56,8 +56,7 @@ void silk_HP_variable_cutoff( /* Encoder main function */ void silk_encode_do_VAD_FLP( - silk_encoder_state_FLP *psEnc, /* I/O Encoder state FLP */ - opus_int activity /* I Decision of Opus voice activity detector */ + silk_encoder_state_FLP *psEnc /* I/O Encoder state FLP */ ); /* Encoder main function */ @@ -80,11 +79,22 @@ opus_int silk_init_encoder( opus_int silk_control_encoder( silk_encoder_state_FLP *psEnc, /* I/O Pointer to Silk encoder state FLP */ silk_EncControlStruct *encControl, /* I Control structure */ + const opus_int32 TargetRate_bps, /* I Target max bitrate (bps) */ const opus_int allow_bw_switch, /* I Flag to allow switching audio bandwidth */ const opus_int channelNb, /* I Channel number */ const opus_int force_fs_kHz ); +/****************/ +/* Prefiltering */ +/****************/ +void silk_prefilter_FLP( + silk_encoder_state_FLP *psEnc, /* I/O Encoder state FLP */ + const silk_encoder_control_FLP *psEncCtrl, /* I Encoder control FLP */ + silk_float xw[], /* O Weighted signal */ + const silk_float x[] /* I Speech signal */ +); + /**************************/ /* Noise shaping analysis */ /**************************/ @@ -143,12 +153,15 @@ void silk_find_LPC_FLP( /* LTP analysis */ void silk_find_LTP_FLP( - silk_float XX[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ], /* O Weight for LTP quantization */ - silk_float xX[ MAX_NB_SUBFR * LTP_ORDER ], /* O Weight for LTP quantization */ - const silk_float r_ptr[], /* I LPC residual */ + silk_float b[ MAX_NB_SUBFR * LTP_ORDER ], /* O LTP coefs */ + silk_float WLTP[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ], /* O Weight for LTP quantization */ + silk_float *LTPredCodGain, /* O LTP coding gain */ + const silk_float r_lpc[], /* I LPC residual */ const opus_int lag[ MAX_NB_SUBFR ], /* I LTP lags */ + const silk_float Wght[ MAX_NB_SUBFR ], /* I Weights */ const opus_int subfr_length, /* I Subframe length */ - const opus_int nb_subfr /* I number of subframes */ + const opus_int nb_subfr, /* I number of subframes */ + const opus_int mem_offset /* I Number of samples in LTP memory */ ); void silk_LTP_analysis_filter_FLP( @@ -185,15 +198,14 @@ void silk_LPC_analysis_filter_FLP( /* LTP tap quantizer */ void silk_quant_LTP_gains_FLP( - silk_float B[ MAX_NB_SUBFR * LTP_ORDER ], /* O Quantized LTP gains */ + silk_float B[ MAX_NB_SUBFR * LTP_ORDER ], /* I/O (Un-)quantized LTP gains */ opus_int8 cbk_index[ MAX_NB_SUBFR ], /* O Codebook index */ opus_int8 *periodicity_index, /* O Periodicity index */ opus_int32 *sum_log_gain_Q7, /* I/O Cumulative max prediction gain */ - silk_float *pred_gain_dB, /* O LTP prediction gain */ - const silk_float XX[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ], /* I Correlation matrix */ - const silk_float xX[ MAX_NB_SUBFR * LTP_ORDER ], /* I Correlation vector */ - const opus_int subfr_len, /* I Number of samples per subframe */ - const opus_int nb_subfr, /* I Number of subframes */ + const silk_float W[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ], /* I Error weights */ + const opus_int mu_Q10, /* I Mu value (R/D tradeoff) */ + const opus_int lowComplexity, /* I Flag for low complexity */ + const opus_int nb_subfr, /* I number of subframes */ int arch /* I Run-time architecture */ ); @@ -233,6 +245,22 @@ void silk_corrVector_FLP( silk_float *Xt /* O X'*t correlation vector [order] */ ); +/* Add noise to matrix diagonal */ +void silk_regularize_correlations_FLP( + silk_float *XX, /* I/O Correlation matrices */ + silk_float *xx, /* I/O Correlation values */ + const silk_float noise, /* I Noise energy to add */ + const opus_int D /* I Dimension of XX */ +); + +/* Function to solve linear equation Ax = b, where A is an MxM symmetric matrix */ +void silk_solve_LDL_FLP( + silk_float *A, /* I/O Symmetric square matrix, out: reg. */ + const opus_int M, /* I Size of matrix */ + const silk_float *b, /* I Pointer to b vector */ + silk_float *x /* O Pointer to x solution vector */ +); + /* Apply sine window to signal vector. */ /* Window types: */ /* 1 -> sine window from 0 to pi/2 */ @@ -257,8 +285,7 @@ void silk_A2NLSF_FLP( void silk_NLSF2A_FLP( silk_float *pAR, /* O LPC coefficients [ LPC_order ] */ const opus_int16 *NLSF_Q15, /* I NLSF vector [ LPC_order ] */ - const opus_int LPC_order, /* I LPC order */ - int arch /* I Run-time architecture */ + const opus_int LPC_order /* I LPC order */ ); /* Limit, stabilize, and quantize NLSFs */ diff --git a/thirdparty/opus/silk/float/noise_shape_analysis_FLP.c b/thirdparty/opus/silk/float/noise_shape_analysis_FLP.c index cb3d8a50b7..65f6ea5870 100644 --- a/thirdparty/opus/silk/float/noise_shape_analysis_FLP.c +++ b/thirdparty/opus/silk/float/noise_shape_analysis_FLP.c @@ -55,21 +55,25 @@ static OPUS_INLINE silk_float warped_gain( /* Convert warped filter coefficients to monic pseudo-warped coefficients and limit maximum */ /* amplitude of monic warped coefficients by using bandwidth expansion on the true coefficients */ static OPUS_INLINE void warped_true2monic_coefs( - silk_float *coefs, + silk_float *coefs_syn, + silk_float *coefs_ana, silk_float lambda, silk_float limit, opus_int order ) { opus_int i, iter, ind = 0; - silk_float tmp, maxabs, chirp, gain; + silk_float tmp, maxabs, chirp, gain_syn, gain_ana; /* Convert to monic coefficients */ for( i = order - 1; i > 0; i-- ) { - coefs[ i - 1 ] -= lambda * coefs[ i ]; + coefs_syn[ i - 1 ] -= lambda * coefs_syn[ i ]; + coefs_ana[ i - 1 ] -= lambda * coefs_ana[ i ]; } - gain = ( 1.0f - lambda * lambda ) / ( 1.0f + lambda * coefs[ 0 ] ); + gain_syn = ( 1.0f - lambda * lambda ) / ( 1.0f + lambda * coefs_syn[ 0 ] ); + gain_ana = ( 1.0f - lambda * lambda ) / ( 1.0f + lambda * coefs_ana[ 0 ] ); for( i = 0; i < order; i++ ) { - coefs[ i ] *= gain; + coefs_syn[ i ] *= gain_syn; + coefs_ana[ i ] *= gain_ana; } /* Limit */ @@ -77,7 +81,7 @@ static OPUS_INLINE void warped_true2monic_coefs( /* Find maximum absolute value */ maxabs = -1.0f; for( i = 0; i < order; i++ ) { - tmp = silk_abs_float( coefs[ i ] ); + tmp = silk_max( silk_abs_float( coefs_syn[ i ] ), silk_abs_float( coefs_ana[ i ] ) ); if( tmp > maxabs ) { maxabs = tmp; ind = i; @@ -90,59 +94,36 @@ static OPUS_INLINE void warped_true2monic_coefs( /* Convert back to true warped coefficients */ for( i = 1; i < order; i++ ) { - coefs[ i - 1 ] += lambda * coefs[ i ]; + coefs_syn[ i - 1 ] += lambda * coefs_syn[ i ]; + coefs_ana[ i - 1 ] += lambda * coefs_ana[ i ]; } - gain = 1.0f / gain; + gain_syn = 1.0f / gain_syn; + gain_ana = 1.0f / gain_ana; for( i = 0; i < order; i++ ) { - coefs[ i ] *= gain; + coefs_syn[ i ] *= gain_syn; + coefs_ana[ i ] *= gain_ana; } /* Apply bandwidth expansion */ chirp = 0.99f - ( 0.8f + 0.1f * iter ) * ( maxabs - limit ) / ( maxabs * ( ind + 1 ) ); - silk_bwexpander_FLP( coefs, order, chirp ); + silk_bwexpander_FLP( coefs_syn, order, chirp ); + silk_bwexpander_FLP( coefs_ana, order, chirp ); /* Convert to monic warped coefficients */ for( i = order - 1; i > 0; i-- ) { - coefs[ i - 1 ] -= lambda * coefs[ i ]; + coefs_syn[ i - 1 ] -= lambda * coefs_syn[ i ]; + coefs_ana[ i - 1 ] -= lambda * coefs_ana[ i ]; } - gain = ( 1.0f - lambda * lambda ) / ( 1.0f + lambda * coefs[ 0 ] ); + gain_syn = ( 1.0f - lambda * lambda ) / ( 1.0f + lambda * coefs_syn[ 0 ] ); + gain_ana = ( 1.0f - lambda * lambda ) / ( 1.0f + lambda * coefs_ana[ 0 ] ); for( i = 0; i < order; i++ ) { - coefs[ i ] *= gain; + coefs_syn[ i ] *= gain_syn; + coefs_ana[ i ] *= gain_ana; } } silk_assert( 0 ); } -static OPUS_INLINE void limit_coefs( - silk_float *coefs, - silk_float limit, - opus_int order -) { - opus_int i, iter, ind = 0; - silk_float tmp, maxabs, chirp; - - for( iter = 0; iter < 10; iter++ ) { - /* Find maximum absolute value */ - maxabs = -1.0f; - for( i = 0; i < order; i++ ) { - tmp = silk_abs_float( coefs[ i ] ); - if( tmp > maxabs ) { - maxabs = tmp; - ind = i; - } - } - if( maxabs <= limit ) { - /* Coefficients are within range - done */ - return; - } - - /* Apply bandwidth expansion */ - chirp = 0.99f - ( 0.8f + 0.1f * iter ) * ( maxabs - limit ) / ( maxabs * ( ind + 1 ) ); - silk_bwexpander_FLP( coefs, order, chirp ); - } - silk_assert( 0 ); -} - /* Compute noise shaping coefficients and initial gain values */ void silk_noise_shape_analysis_FLP( silk_encoder_state_FLP *psEnc, /* I/O Encoder state FLP */ @@ -152,13 +133,12 @@ void silk_noise_shape_analysis_FLP( ) { silk_shape_state_FLP *psShapeSt = &psEnc->sShape; - opus_int k, nSamples, nSegs; - silk_float SNR_adj_dB, HarmShapeGain, Tilt; - silk_float nrg, log_energy, log_energy_prev, energy_variation; - silk_float BWExp, gain_mult, gain_add, strength, b, warping; + opus_int k, nSamples; + silk_float SNR_adj_dB, HarmBoost, HarmShapeGain, Tilt; + silk_float nrg, pre_nrg, log_energy, log_energy_prev, energy_variation; + silk_float delta, BWExp1, BWExp2, gain_mult, gain_add, strength, b, warping; silk_float x_windowed[ SHAPE_LPC_WIN_MAX ]; silk_float auto_corr[ MAX_SHAPE_LPC_ORDER + 1 ]; - silk_float rc[ MAX_SHAPE_LPC_ORDER + 1 ]; const silk_float *x_ptr, *pitch_res_ptr; /* Point to start of first LPC analysis block */ @@ -196,14 +176,14 @@ void silk_noise_shape_analysis_FLP( if( psEnc->sCmn.indices.signalType == TYPE_VOICED ) { /* Initially set to 0; may be overruled in process_gains(..) */ psEnc->sCmn.indices.quantOffsetType = 0; + psEncCtrl->sparseness = 0.0f; } else { /* Sparseness measure, based on relative fluctuations of energy per 2 milliseconds */ nSamples = 2 * psEnc->sCmn.fs_kHz; energy_variation = 0.0f; log_energy_prev = 0.0f; pitch_res_ptr = pitch_res; - nSegs = silk_SMULBB( SUB_FRAME_LENGTH_MS, psEnc->sCmn.nb_subfr ) / 2; - for( k = 0; k < nSegs; k++ ) { + for( k = 0; k < silk_SMULBB( SUB_FRAME_LENGTH_MS, psEnc->sCmn.nb_subfr ) / 2; k++ ) { nrg = ( silk_float )nSamples + ( silk_float )silk_energy_FLP( pitch_res_ptr, nSamples ); log_energy = silk_log2( nrg ); if( k > 0 ) { @@ -212,13 +192,17 @@ void silk_noise_shape_analysis_FLP( log_energy_prev = log_energy; pitch_res_ptr += nSamples; } + psEncCtrl->sparseness = silk_sigmoid( 0.4f * ( energy_variation - 5.0f ) ); /* Set quantization offset depending on sparseness measure */ - if( energy_variation > ENERGY_VARIATION_THRESHOLD_QNT_OFFSET * (nSegs-1) ) { + if( psEncCtrl->sparseness > SPARSENESS_THRESHOLD_QNT_OFFSET ) { psEnc->sCmn.indices.quantOffsetType = 0; } else { psEnc->sCmn.indices.quantOffsetType = 1; } + + /* Increase coding SNR for sparse signals */ + SNR_adj_dB += SPARSE_SNR_INCR_dB * ( psEncCtrl->sparseness - 0.5f ); } /*******************************/ @@ -226,10 +210,19 @@ void silk_noise_shape_analysis_FLP( /*******************************/ /* More BWE for signals with high prediction gain */ strength = FIND_PITCH_WHITE_NOISE_FRACTION * psEncCtrl->predGain; /* between 0.0 and 1.0 */ - BWExp = BANDWIDTH_EXPANSION / ( 1.0f + strength * strength ); - - /* Slightly more warping in analysis will move quantization noise up in frequency, where it's better masked */ - warping = (silk_float)psEnc->sCmn.warping_Q16 / 65536.0f + 0.01f * psEncCtrl->coding_quality; + BWExp1 = BWExp2 = BANDWIDTH_EXPANSION / ( 1.0f + strength * strength ); + delta = LOW_RATE_BANDWIDTH_EXPANSION_DELTA * ( 1.0f - 0.75f * psEncCtrl->coding_quality ); + BWExp1 -= delta; + BWExp2 += delta; + /* BWExp1 will be applied after BWExp2, so make it relative */ + BWExp1 /= BWExp2; + + if( psEnc->sCmn.warping_Q16 > 0 ) { + /* Slightly more warping in analysis will move quantization noise up in frequency, where it's better masked */ + warping = (silk_float)psEnc->sCmn.warping_Q16 / 65536.0f + 0.01f * psEncCtrl->coding_quality; + } else { + warping = 0.0f; + } /********************************************/ /* Compute noise shaping AR coefs and gains */ @@ -259,28 +252,37 @@ void silk_noise_shape_analysis_FLP( } /* Add white noise, as a fraction of energy */ - auto_corr[ 0 ] += auto_corr[ 0 ] * SHAPE_WHITE_NOISE_FRACTION + 1.0f; + auto_corr[ 0 ] += auto_corr[ 0 ] * SHAPE_WHITE_NOISE_FRACTION; /* Convert correlations to prediction coefficients, and compute residual energy */ - nrg = silk_schur_FLP( rc, auto_corr, psEnc->sCmn.shapingLPCOrder ); - silk_k2a_FLP( &psEncCtrl->AR[ k * MAX_SHAPE_LPC_ORDER ], rc, psEnc->sCmn.shapingLPCOrder ); + nrg = silk_levinsondurbin_FLP( &psEncCtrl->AR2[ k * MAX_SHAPE_LPC_ORDER ], auto_corr, psEnc->sCmn.shapingLPCOrder ); psEncCtrl->Gains[ k ] = ( silk_float )sqrt( nrg ); if( psEnc->sCmn.warping_Q16 > 0 ) { /* Adjust gain for warping */ - psEncCtrl->Gains[ k ] *= warped_gain( &psEncCtrl->AR[ k * MAX_SHAPE_LPC_ORDER ], warping, psEnc->sCmn.shapingLPCOrder ); + psEncCtrl->Gains[ k ] *= warped_gain( &psEncCtrl->AR2[ k * MAX_SHAPE_LPC_ORDER ], warping, psEnc->sCmn.shapingLPCOrder ); } /* Bandwidth expansion for synthesis filter shaping */ - silk_bwexpander_FLP( &psEncCtrl->AR[ k * MAX_SHAPE_LPC_ORDER ], psEnc->sCmn.shapingLPCOrder, BWExp ); + silk_bwexpander_FLP( &psEncCtrl->AR2[ k * MAX_SHAPE_LPC_ORDER ], psEnc->sCmn.shapingLPCOrder, BWExp2 ); - if( psEnc->sCmn.warping_Q16 > 0 ) { - /* Convert to monic warped prediction coefficients and limit absolute values */ - warped_true2monic_coefs( &psEncCtrl->AR[ k * MAX_SHAPE_LPC_ORDER ], warping, 3.999f, psEnc->sCmn.shapingLPCOrder ); - } else { - /* Limit absolute values */ - limit_coefs( &psEncCtrl->AR[ k * MAX_SHAPE_LPC_ORDER ], 3.999f, psEnc->sCmn.shapingLPCOrder ); - } + /* Compute noise shaping filter coefficients */ + silk_memcpy( + &psEncCtrl->AR1[ k * MAX_SHAPE_LPC_ORDER ], + &psEncCtrl->AR2[ k * MAX_SHAPE_LPC_ORDER ], + psEnc->sCmn.shapingLPCOrder * sizeof( silk_float ) ); + + /* Bandwidth expansion for analysis filter shaping */ + silk_bwexpander_FLP( &psEncCtrl->AR1[ k * MAX_SHAPE_LPC_ORDER ], psEnc->sCmn.shapingLPCOrder, BWExp1 ); + + /* Ratio of prediction gains, in energy domain */ + pre_nrg = silk_LPC_inverse_pred_gain_FLP( &psEncCtrl->AR2[ k * MAX_SHAPE_LPC_ORDER ], psEnc->sCmn.shapingLPCOrder ); + nrg = silk_LPC_inverse_pred_gain_FLP( &psEncCtrl->AR1[ k * MAX_SHAPE_LPC_ORDER ], psEnc->sCmn.shapingLPCOrder ); + psEncCtrl->GainsPre[ k ] = 1.0f - 0.7f * ( 1.0f - pre_nrg / nrg ); + + /* Convert to monic warped prediction coefficients and limit absolute values */ + warped_true2monic_coefs( &psEncCtrl->AR2[ k * MAX_SHAPE_LPC_ORDER ], &psEncCtrl->AR1[ k * MAX_SHAPE_LPC_ORDER ], + warping, 3.999f, psEnc->sCmn.shapingLPCOrder ); } /*****************/ @@ -294,6 +296,11 @@ void silk_noise_shape_analysis_FLP( psEncCtrl->Gains[ k ] += gain_add; } + gain_mult = 1.0f + INPUT_TILT + psEncCtrl->coding_quality * HIGH_RATE_INPUT_TILT; + for( k = 0; k < psEnc->sCmn.nb_subfr; k++ ) { + psEncCtrl->GainsPre[ k ] *= gain_mult; + } + /************************************************/ /* Control low-frequency shaping and noise tilt */ /************************************************/ @@ -324,6 +331,12 @@ void silk_noise_shape_analysis_FLP( /****************************/ /* HARMONIC SHAPING CONTROL */ /****************************/ + /* Control boosting of harmonic frequencies */ + HarmBoost = LOW_RATE_HARMONIC_BOOST * ( 1.0f - psEncCtrl->coding_quality ) * psEnc->LTPCorr; + + /* More harmonic boost for noisy input signals */ + HarmBoost += LOW_INPUT_QUALITY_HARMONIC_BOOST * ( 1.0f - psEncCtrl->input_quality ); + if( USE_HARM_SHAPING && psEnc->sCmn.indices.signalType == TYPE_VOICED ) { /* Harmonic noise shaping */ HarmShapeGain = HARMONIC_SHAPING; @@ -342,6 +355,8 @@ void silk_noise_shape_analysis_FLP( /* Smooth over subframes */ /*************************/ for( k = 0; k < psEnc->sCmn.nb_subfr; k++ ) { + psShapeSt->HarmBoost_smth += SUBFR_SMTH_COEF * ( HarmBoost - psShapeSt->HarmBoost_smth ); + psEncCtrl->HarmBoost[ k ] = psShapeSt->HarmBoost_smth; psShapeSt->HarmShapeGain_smth += SUBFR_SMTH_COEF * ( HarmShapeGain - psShapeSt->HarmShapeGain_smth ); psEncCtrl->HarmShapeGain[ k ] = psShapeSt->HarmShapeGain_smth; psShapeSt->Tilt_smth += SUBFR_SMTH_COEF * ( Tilt - psShapeSt->Tilt_smth ); diff --git a/thirdparty/opus/silk/float/pitch_analysis_core_FLP.c b/thirdparty/opus/silk/float/pitch_analysis_core_FLP.c index f351bc3718..d0e637a29d 100644 --- a/thirdparty/opus/silk/float/pitch_analysis_core_FLP.c +++ b/thirdparty/opus/silk/float/pitch_analysis_core_FLP.c @@ -109,11 +109,11 @@ opus_int silk_pitch_analysis_core_FLP( /* O Voicing estimate: 0 voiced, const opus_int8 *Lag_CB_ptr; /* Check for valid sampling frequency */ - celt_assert( Fs_kHz == 8 || Fs_kHz == 12 || Fs_kHz == 16 ); + silk_assert( Fs_kHz == 8 || Fs_kHz == 12 || Fs_kHz == 16 ); /* Check for valid complexity setting */ - celt_assert( complexity >= SILK_PE_MIN_COMPLEX ); - celt_assert( complexity <= SILK_PE_MAX_COMPLEX ); + silk_assert( complexity >= SILK_PE_MIN_COMPLEX ); + silk_assert( complexity <= SILK_PE_MAX_COMPLEX ); silk_assert( search_thres1 >= 0.0f && search_thres1 <= 1.0f ); silk_assert( search_thres2 >= 0.0f && search_thres2 <= 1.0f ); @@ -148,7 +148,7 @@ opus_int silk_pitch_analysis_core_FLP( /* O Voicing estimate: 0 voiced, silk_resampler_down2_3( filt_state, frame_8_FIX, frame_12_FIX, frame_length ); silk_short2float_array( frame_8kHz, frame_8_FIX, frame_length_8kHz ); } else { - celt_assert( Fs_kHz == 8 ); + silk_assert( Fs_kHz == 8 ); silk_float2short_array( frame_8_FIX, frame, frame_length_8kHz ); } @@ -159,7 +159,7 @@ opus_int silk_pitch_analysis_core_FLP( /* O Voicing estimate: 0 voiced, /* Low-pass filter */ for( i = frame_length_4kHz - 1; i > 0; i-- ) { - frame_4kHz[ i ] = silk_ADD_SAT16( frame_4kHz[ i ], frame_4kHz[ i - 1 ] ); + frame_4kHz[ i ] += frame_4kHz[ i - 1 ]; } /****************************************************************************** @@ -169,14 +169,14 @@ opus_int silk_pitch_analysis_core_FLP( /* O Voicing estimate: 0 voiced, target_ptr = &frame_4kHz[ silk_LSHIFT( sf_length_4kHz, 2 ) ]; for( k = 0; k < nb_subfr >> 1; k++ ) { /* Check that we are within range of the array */ - celt_assert( target_ptr >= frame_4kHz ); - celt_assert( target_ptr + sf_length_8kHz <= frame_4kHz + frame_length_4kHz ); + silk_assert( target_ptr >= frame_4kHz ); + silk_assert( target_ptr + sf_length_8kHz <= frame_4kHz + frame_length_4kHz ); basis_ptr = target_ptr - min_lag_4kHz; /* Check that we are within range of the array */ - celt_assert( basis_ptr >= frame_4kHz ); - celt_assert( basis_ptr + sf_length_8kHz <= frame_4kHz + frame_length_4kHz ); + silk_assert( basis_ptr >= frame_4kHz ); + silk_assert( basis_ptr + sf_length_8kHz <= frame_4kHz + frame_length_4kHz ); celt_pitch_xcorr( target_ptr, target_ptr-max_lag_4kHz, xcorr, sf_length_8kHz, max_lag_4kHz - min_lag_4kHz + 1, arch ); @@ -215,7 +215,7 @@ opus_int silk_pitch_analysis_core_FLP( /* O Voicing estimate: 0 voiced, /* Sort */ length_d_srch = 4 + 2 * complexity; - celt_assert( 3 * length_d_srch <= PE_D_SRCH_LENGTH ); + silk_assert( 3 * length_d_srch <= PE_D_SRCH_LENGTH ); silk_insertion_sort_decreasing_FLP( &C[ 0 ][ min_lag_4kHz ], d_srch, max_lag_4kHz - min_lag_4kHz + 1, length_d_srch ); /* Escape if correlation is very low already here */ @@ -238,7 +238,7 @@ opus_int silk_pitch_analysis_core_FLP( /* O Voicing estimate: 0 voiced, break; } } - celt_assert( length_d_srch > 0 ); + silk_assert( length_d_srch > 0 ); for( i = min_lag_8kHz - 5; i < max_lag_8kHz + 5; i++ ) { d_comp[ i ] = 0; @@ -471,7 +471,7 @@ opus_int silk_pitch_analysis_core_FLP( /* O Voicing estimate: 0 voiced, *lagIndex = (opus_int16)( lag - min_lag_8kHz ); *contourIndex = (opus_int8)CBimax; } - celt_assert( *lagIndex >= 0 ); + silk_assert( *lagIndex >= 0 ); /* return as voiced */ return 0; } @@ -506,8 +506,8 @@ static void silk_P_Ana_calc_corr_st3( opus_val32 xcorr[ SCRATCH_SIZE ]; const opus_int8 *Lag_range_ptr, *Lag_CB_ptr; - celt_assert( complexity >= SILK_PE_MIN_COMPLEX ); - celt_assert( complexity <= SILK_PE_MAX_COMPLEX ); + silk_assert( complexity >= SILK_PE_MIN_COMPLEX ); + silk_assert( complexity <= SILK_PE_MAX_COMPLEX ); if( nb_subfr == PE_MAX_NB_SUBFR ) { Lag_range_ptr = &silk_Lag_range_stage3[ complexity ][ 0 ][ 0 ]; @@ -515,7 +515,7 @@ static void silk_P_Ana_calc_corr_st3( nb_cbk_search = silk_nb_cbk_searchs_stage3[ complexity ]; cbk_size = PE_NB_CBKS_STAGE3_MAX; } else { - celt_assert( nb_subfr == PE_MAX_NB_SUBFR >> 1); + silk_assert( nb_subfr == PE_MAX_NB_SUBFR >> 1); Lag_range_ptr = &silk_Lag_range_stage3_10_ms[ 0 ][ 0 ]; Lag_CB_ptr = &silk_CB_lags_stage3_10_ms[ 0 ][ 0 ]; nb_cbk_search = PE_NB_CBKS_STAGE3_10MS; @@ -572,8 +572,8 @@ static void silk_P_Ana_calc_energy_st3( silk_float scratch_mem[ SCRATCH_SIZE ]; const opus_int8 *Lag_range_ptr, *Lag_CB_ptr; - celt_assert( complexity >= SILK_PE_MIN_COMPLEX ); - celt_assert( complexity <= SILK_PE_MAX_COMPLEX ); + silk_assert( complexity >= SILK_PE_MIN_COMPLEX ); + silk_assert( complexity <= SILK_PE_MAX_COMPLEX ); if( nb_subfr == PE_MAX_NB_SUBFR ) { Lag_range_ptr = &silk_Lag_range_stage3[ complexity ][ 0 ][ 0 ]; @@ -581,7 +581,7 @@ static void silk_P_Ana_calc_energy_st3( nb_cbk_search = silk_nb_cbk_searchs_stage3[ complexity ]; cbk_size = PE_NB_CBKS_STAGE3_MAX; } else { - celt_assert( nb_subfr == PE_MAX_NB_SUBFR >> 1); + silk_assert( nb_subfr == PE_MAX_NB_SUBFR >> 1); Lag_range_ptr = &silk_Lag_range_stage3_10_ms[ 0 ][ 0 ]; Lag_CB_ptr = &silk_CB_lags_stage3_10_ms[ 0 ][ 0 ]; nb_cbk_search = PE_NB_CBKS_STAGE3_10MS; diff --git a/thirdparty/opus/silk/float/prefilter_FLP.c b/thirdparty/opus/silk/float/prefilter_FLP.c new file mode 100644 index 0000000000..8bc32fb410 --- /dev/null +++ b/thirdparty/opus/silk/float/prefilter_FLP.c @@ -0,0 +1,206 @@ +/*********************************************************************** +Copyright (c) 2006-2011, Skype Limited. All rights reserved. +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: +- Redistributions of source code must retain the above copyright notice, +this list of conditions and the following disclaimer. +- Redistributions in binary form must reproduce the above copyright +notice, this list of conditions and the following disclaimer in the +documentation and/or other materials provided with the distribution. +- Neither the name of Internet Society, IETF or IETF Trust, nor the +names of specific contributors, may be used to endorse or promote +products derived from this software without specific prior written +permission. +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. +***********************************************************************/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include "main_FLP.h" +#include "tuning_parameters.h" + +/* +* Prefilter for finding Quantizer input signal +*/ +static OPUS_INLINE void silk_prefilt_FLP( + silk_prefilter_state_FLP *P, /* I/O state */ + silk_float st_res[], /* I */ + silk_float xw[], /* O */ + silk_float *HarmShapeFIR, /* I */ + silk_float Tilt, /* I */ + silk_float LF_MA_shp, /* I */ + silk_float LF_AR_shp, /* I */ + opus_int lag, /* I */ + opus_int length /* I */ +); + +static void silk_warped_LPC_analysis_filter_FLP( + silk_float state[], /* I/O State [order + 1] */ + silk_float res[], /* O Residual signal [length] */ + const silk_float coef[], /* I Coefficients [order] */ + const silk_float input[], /* I Input signal [length] */ + const silk_float lambda, /* I Warping factor */ + const opus_int length, /* I Length of input signal */ + const opus_int order /* I Filter order (even) */ +) +{ + opus_int n, i; + silk_float acc, tmp1, tmp2; + + /* Order must be even */ + silk_assert( ( order & 1 ) == 0 ); + + for( n = 0; n < length; n++ ) { + /* Output of lowpass section */ + tmp2 = state[ 0 ] + lambda * state[ 1 ]; + state[ 0 ] = input[ n ]; + /* Output of allpass section */ + tmp1 = state[ 1 ] + lambda * ( state[ 2 ] - tmp2 ); + state[ 1 ] = tmp2; + acc = coef[ 0 ] * tmp2; + /* Loop over allpass sections */ + for( i = 2; i < order; i += 2 ) { + /* Output of allpass section */ + tmp2 = state[ i ] + lambda * ( state[ i + 1 ] - tmp1 ); + state[ i ] = tmp1; + acc += coef[ i - 1 ] * tmp1; + /* Output of allpass section */ + tmp1 = state[ i + 1 ] + lambda * ( state[ i + 2 ] - tmp2 ); + state[ i + 1 ] = tmp2; + acc += coef[ i ] * tmp2; + } + state[ order ] = tmp1; + acc += coef[ order - 1 ] * tmp1; + res[ n ] = input[ n ] - acc; + } +} + +/* +* silk_prefilter. Main prefilter function +*/ +void silk_prefilter_FLP( + silk_encoder_state_FLP *psEnc, /* I/O Encoder state FLP */ + const silk_encoder_control_FLP *psEncCtrl, /* I Encoder control FLP */ + silk_float xw[], /* O Weighted signal */ + const silk_float x[] /* I Speech signal */ +) +{ + silk_prefilter_state_FLP *P = &psEnc->sPrefilt; + opus_int j, k, lag; + silk_float HarmShapeGain, Tilt, LF_MA_shp, LF_AR_shp; + silk_float B[ 2 ]; + const silk_float *AR1_shp; + const silk_float *px; + silk_float *pxw; + silk_float HarmShapeFIR[ 3 ]; + silk_float st_res[ MAX_SUB_FRAME_LENGTH + MAX_LPC_ORDER ]; + + /* Set up pointers */ + px = x; + pxw = xw; + lag = P->lagPrev; + for( k = 0; k < psEnc->sCmn.nb_subfr; k++ ) { + /* Update Variables that change per sub frame */ + if( psEnc->sCmn.indices.signalType == TYPE_VOICED ) { + lag = psEncCtrl->pitchL[ k ]; + } + + /* Noise shape parameters */ + HarmShapeGain = psEncCtrl->HarmShapeGain[ k ] * ( 1.0f - psEncCtrl->HarmBoost[ k ] ); + HarmShapeFIR[ 0 ] = 0.25f * HarmShapeGain; + HarmShapeFIR[ 1 ] = 32767.0f / 65536.0f * HarmShapeGain; + HarmShapeFIR[ 2 ] = 0.25f * HarmShapeGain; + Tilt = psEncCtrl->Tilt[ k ]; + LF_MA_shp = psEncCtrl->LF_MA_shp[ k ]; + LF_AR_shp = psEncCtrl->LF_AR_shp[ k ]; + AR1_shp = &psEncCtrl->AR1[ k * MAX_SHAPE_LPC_ORDER ]; + + /* Short term FIR filtering */ + silk_warped_LPC_analysis_filter_FLP( P->sAR_shp, st_res, AR1_shp, px, + (silk_float)psEnc->sCmn.warping_Q16 / 65536.0f, psEnc->sCmn.subfr_length, psEnc->sCmn.shapingLPCOrder ); + + /* Reduce (mainly) low frequencies during harmonic emphasis */ + B[ 0 ] = psEncCtrl->GainsPre[ k ]; + B[ 1 ] = -psEncCtrl->GainsPre[ k ] * + ( psEncCtrl->HarmBoost[ k ] * HarmShapeGain + INPUT_TILT + psEncCtrl->coding_quality * HIGH_RATE_INPUT_TILT ); + pxw[ 0 ] = B[ 0 ] * st_res[ 0 ] + B[ 1 ] * P->sHarmHP; + for( j = 1; j < psEnc->sCmn.subfr_length; j++ ) { + pxw[ j ] = B[ 0 ] * st_res[ j ] + B[ 1 ] * st_res[ j - 1 ]; + } + P->sHarmHP = st_res[ psEnc->sCmn.subfr_length - 1 ]; + + silk_prefilt_FLP( P, pxw, pxw, HarmShapeFIR, Tilt, LF_MA_shp, LF_AR_shp, lag, psEnc->sCmn.subfr_length ); + + px += psEnc->sCmn.subfr_length; + pxw += psEnc->sCmn.subfr_length; + } + P->lagPrev = psEncCtrl->pitchL[ psEnc->sCmn.nb_subfr - 1 ]; +} + +/* +* Prefilter for finding Quantizer input signal +*/ +static OPUS_INLINE void silk_prefilt_FLP( + silk_prefilter_state_FLP *P, /* I/O state */ + silk_float st_res[], /* I */ + silk_float xw[], /* O */ + silk_float *HarmShapeFIR, /* I */ + silk_float Tilt, /* I */ + silk_float LF_MA_shp, /* I */ + silk_float LF_AR_shp, /* I */ + opus_int lag, /* I */ + opus_int length /* I */ +) +{ + opus_int i; + opus_int idx, LTP_shp_buf_idx; + silk_float n_Tilt, n_LF, n_LTP; + silk_float sLF_AR_shp, sLF_MA_shp; + silk_float *LTP_shp_buf; + + /* To speed up use temp variables instead of using the struct */ + LTP_shp_buf = P->sLTP_shp; + LTP_shp_buf_idx = P->sLTP_shp_buf_idx; + sLF_AR_shp = P->sLF_AR_shp; + sLF_MA_shp = P->sLF_MA_shp; + + for( i = 0; i < length; i++ ) { + if( lag > 0 ) { + silk_assert( HARM_SHAPE_FIR_TAPS == 3 ); + idx = lag + LTP_shp_buf_idx; + n_LTP = LTP_shp_buf[ ( idx - HARM_SHAPE_FIR_TAPS / 2 - 1) & LTP_MASK ] * HarmShapeFIR[ 0 ]; + n_LTP += LTP_shp_buf[ ( idx - HARM_SHAPE_FIR_TAPS / 2 ) & LTP_MASK ] * HarmShapeFIR[ 1 ]; + n_LTP += LTP_shp_buf[ ( idx - HARM_SHAPE_FIR_TAPS / 2 + 1) & LTP_MASK ] * HarmShapeFIR[ 2 ]; + } else { + n_LTP = 0; + } + + n_Tilt = sLF_AR_shp * Tilt; + n_LF = sLF_AR_shp * LF_AR_shp + sLF_MA_shp * LF_MA_shp; + + sLF_AR_shp = st_res[ i ] - n_Tilt; + sLF_MA_shp = sLF_AR_shp - n_LF; + + LTP_shp_buf_idx = ( LTP_shp_buf_idx - 1 ) & LTP_MASK; + LTP_shp_buf[ LTP_shp_buf_idx ] = sLF_MA_shp; + + xw[ i ] = sLF_MA_shp - n_LTP; + } + /* Copy temp variable back to state */ + P->sLF_AR_shp = sLF_AR_shp; + P->sLF_MA_shp = sLF_MA_shp; + P->sLTP_shp_buf_idx = LTP_shp_buf_idx; +} diff --git a/thirdparty/opus/silk/float/residual_energy_FLP.c b/thirdparty/opus/silk/float/residual_energy_FLP.c index 1bd07b33a4..b2e03a86a4 100644 --- a/thirdparty/opus/silk/float/residual_energy_FLP.c +++ b/thirdparty/opus/silk/float/residual_energy_FLP.c @@ -47,7 +47,7 @@ silk_float silk_residual_energy_covar_FLP( /* O silk_float tmp, nrg = 0.0f, regularization; /* Safety checks */ - celt_assert( D >= 0 ); + silk_assert( D >= 0 ); regularization = REGULARIZATION_FACTOR * ( wXX[ 0 ] + wXX[ D * D - 1 ] ); for( k = 0; k < MAX_ITERATIONS_RESIDUAL_NRG; k++ ) { diff --git a/thirdparty/opus/silk/float/schur_FLP.c b/thirdparty/opus/silk/float/schur_FLP.c index 8526c748d3..ee436f8351 100644 --- a/thirdparty/opus/silk/float/schur_FLP.c +++ b/thirdparty/opus/silk/float/schur_FLP.c @@ -38,23 +38,22 @@ silk_float silk_schur_FLP( /* O returns residual energy ) { opus_int k, n; - double C[ SILK_MAX_ORDER_LPC + 1 ][ 2 ]; - double Ctmp1, Ctmp2, rc_tmp; + silk_float C[ SILK_MAX_ORDER_LPC + 1 ][ 2 ]; + silk_float Ctmp1, Ctmp2, rc_tmp; - celt_assert( order >= 0 && order <= SILK_MAX_ORDER_LPC ); + silk_assert( order==6||order==8||order==10||order==12||order==14||order==16 ); /* Copy correlations */ - k = 0; - do { + for( k = 0; k < order+1; k++ ) { C[ k ][ 0 ] = C[ k ][ 1 ] = auto_corr[ k ]; - } while( ++k <= order ); + } for( k = 0; k < order; k++ ) { /* Get reflection coefficient */ rc_tmp = -C[ k + 1 ][ 0 ] / silk_max_float( C[ 0 ][ 1 ], 1e-9f ); /* Save the output */ - refl_coef[ k ] = (silk_float)rc_tmp; + refl_coef[ k ] = rc_tmp; /* Update correlations */ for( n = 0; n < order - k; n++ ) { @@ -66,5 +65,6 @@ silk_float silk_schur_FLP( /* O returns residual energy } /* Return residual energy */ - return (silk_float)C[ 0 ][ 1 ]; + return C[ 0 ][ 1 ]; } + diff --git a/thirdparty/opus/silk/float/solve_LS_FLP.c b/thirdparty/opus/silk/float/solve_LS_FLP.c new file mode 100644 index 0000000000..7c90d665a0 --- /dev/null +++ b/thirdparty/opus/silk/float/solve_LS_FLP.c @@ -0,0 +1,207 @@ +/*********************************************************************** +Copyright (c) 2006-2011, Skype Limited. All rights reserved. +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: +- Redistributions of source code must retain the above copyright notice, +this list of conditions and the following disclaimer. +- Redistributions in binary form must reproduce the above copyright +notice, this list of conditions and the following disclaimer in the +documentation and/or other materials provided with the distribution. +- Neither the name of Internet Society, IETF or IETF Trust, nor the +names of specific contributors, may be used to endorse or promote +products derived from this software without specific prior written +permission. +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. +***********************************************************************/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include "main_FLP.h" +#include "tuning_parameters.h" + +/********************************************************************** + * LDL Factorisation. Finds the upper triangular matrix L and the diagonal + * Matrix D (only the diagonal elements returned in a vector)such that + * the symmetric matric A is given by A = L*D*L'. + **********************************************************************/ +static OPUS_INLINE void silk_LDL_FLP( + silk_float *A, /* I/O Pointer to Symetric Square Matrix */ + opus_int M, /* I Size of Matrix */ + silk_float *L, /* I/O Pointer to Square Upper triangular Matrix */ + silk_float *Dinv /* I/O Pointer to vector holding the inverse diagonal elements of D */ +); + +/********************************************************************** + * Function to solve linear equation Ax = b, when A is a MxM lower + * triangular matrix, with ones on the diagonal. + **********************************************************************/ +static OPUS_INLINE void silk_SolveWithLowerTriangularWdiagOnes_FLP( + const silk_float *L, /* I Pointer to Lower Triangular Matrix */ + opus_int M, /* I Dim of Matrix equation */ + const silk_float *b, /* I b Vector */ + silk_float *x /* O x Vector */ +); + +/********************************************************************** + * Function to solve linear equation (A^T)x = b, when A is a MxM lower + * triangular, with ones on the diagonal. (ie then A^T is upper triangular) + **********************************************************************/ +static OPUS_INLINE void silk_SolveWithUpperTriangularFromLowerWdiagOnes_FLP( + const silk_float *L, /* I Pointer to Lower Triangular Matrix */ + opus_int M, /* I Dim of Matrix equation */ + const silk_float *b, /* I b Vector */ + silk_float *x /* O x Vector */ +); + +/********************************************************************** + * Function to solve linear equation Ax = b, when A is a MxM + * symmetric square matrix - using LDL factorisation + **********************************************************************/ +void silk_solve_LDL_FLP( + silk_float *A, /* I/O Symmetric square matrix, out: reg. */ + const opus_int M, /* I Size of matrix */ + const silk_float *b, /* I Pointer to b vector */ + silk_float *x /* O Pointer to x solution vector */ +) +{ + opus_int i; + silk_float L[ MAX_MATRIX_SIZE ][ MAX_MATRIX_SIZE ]; + silk_float T[ MAX_MATRIX_SIZE ]; + silk_float Dinv[ MAX_MATRIX_SIZE ]; /* inverse diagonal elements of D*/ + + silk_assert( M <= MAX_MATRIX_SIZE ); + + /*************************************************** + Factorize A by LDL such that A = L*D*(L^T), + where L is lower triangular with ones on diagonal + ****************************************************/ + silk_LDL_FLP( A, M, &L[ 0 ][ 0 ], Dinv ); + + /**************************************************** + * substitute D*(L^T) = T. ie: + L*D*(L^T)*x = b => L*T = b <=> T = inv(L)*b + ******************************************************/ + silk_SolveWithLowerTriangularWdiagOnes_FLP( &L[ 0 ][ 0 ], M, b, T ); + + /**************************************************** + D*(L^T)*x = T <=> (L^T)*x = inv(D)*T, because D is + diagonal just multiply with 1/d_i + ****************************************************/ + for( i = 0; i < M; i++ ) { + T[ i ] = T[ i ] * Dinv[ i ]; + } + /**************************************************** + x = inv(L') * inv(D) * T + *****************************************************/ + silk_SolveWithUpperTriangularFromLowerWdiagOnes_FLP( &L[ 0 ][ 0 ], M, T, x ); +} + +static OPUS_INLINE void silk_SolveWithUpperTriangularFromLowerWdiagOnes_FLP( + const silk_float *L, /* I Pointer to Lower Triangular Matrix */ + opus_int M, /* I Dim of Matrix equation */ + const silk_float *b, /* I b Vector */ + silk_float *x /* O x Vector */ +) +{ + opus_int i, j; + silk_float temp; + const silk_float *ptr1; + + for( i = M - 1; i >= 0; i-- ) { + ptr1 = matrix_adr( L, 0, i, M ); + temp = 0; + for( j = M - 1; j > i ; j-- ) { + temp += ptr1[ j * M ] * x[ j ]; + } + temp = b[ i ] - temp; + x[ i ] = temp; + } +} + +static OPUS_INLINE void silk_SolveWithLowerTriangularWdiagOnes_FLP( + const silk_float *L, /* I Pointer to Lower Triangular Matrix */ + opus_int M, /* I Dim of Matrix equation */ + const silk_float *b, /* I b Vector */ + silk_float *x /* O x Vector */ +) +{ + opus_int i, j; + silk_float temp; + const silk_float *ptr1; + + for( i = 0; i < M; i++ ) { + ptr1 = matrix_adr( L, i, 0, M ); + temp = 0; + for( j = 0; j < i; j++ ) { + temp += ptr1[ j ] * x[ j ]; + } + temp = b[ i ] - temp; + x[ i ] = temp; + } +} + +static OPUS_INLINE void silk_LDL_FLP( + silk_float *A, /* I/O Pointer to Symetric Square Matrix */ + opus_int M, /* I Size of Matrix */ + silk_float *L, /* I/O Pointer to Square Upper triangular Matrix */ + silk_float *Dinv /* I/O Pointer to vector holding the inverse diagonal elements of D */ +) +{ + opus_int i, j, k, loop_count, err = 1; + silk_float *ptr1, *ptr2; + double temp, diag_min_value; + silk_float v[ MAX_MATRIX_SIZE ], D[ MAX_MATRIX_SIZE ]; /* temp arrays*/ + + silk_assert( M <= MAX_MATRIX_SIZE ); + + diag_min_value = FIND_LTP_COND_FAC * 0.5f * ( A[ 0 ] + A[ M * M - 1 ] ); + for( loop_count = 0; loop_count < M && err == 1; loop_count++ ) { + err = 0; + for( j = 0; j < M; j++ ) { + ptr1 = matrix_adr( L, j, 0, M ); + temp = matrix_ptr( A, j, j, M ); /* element in row j column j*/ + for( i = 0; i < j; i++ ) { + v[ i ] = ptr1[ i ] * D[ i ]; + temp -= ptr1[ i ] * v[ i ]; + } + if( temp < diag_min_value ) { + /* Badly conditioned matrix: add white noise and run again */ + temp = ( loop_count + 1 ) * diag_min_value - temp; + for( i = 0; i < M; i++ ) { + matrix_ptr( A, i, i, M ) += ( silk_float )temp; + } + err = 1; + break; + } + D[ j ] = ( silk_float )temp; + Dinv[ j ] = ( silk_float )( 1.0f / temp ); + matrix_ptr( L, j, j, M ) = 1.0f; + + ptr1 = matrix_adr( A, j, 0, M ); + ptr2 = matrix_adr( L, j + 1, 0, M); + for( i = j + 1; i < M; i++ ) { + temp = 0.0; + for( k = 0; k < j; k++ ) { + temp += ptr2[ k ] * v[ k ]; + } + matrix_ptr( L, i, j, M ) = ( silk_float )( ( ptr1[ i ] - temp ) * Dinv[ j ] ); + ptr2 += M; /* go to next column*/ + } + } + } + silk_assert( err == 0 ); +} + diff --git a/thirdparty/opus/silk/float/sort_FLP.c b/thirdparty/opus/silk/float/sort_FLP.c index 0e18f31950..f08d7592c5 100644 --- a/thirdparty/opus/silk/float/sort_FLP.c +++ b/thirdparty/opus/silk/float/sort_FLP.c @@ -47,9 +47,9 @@ void silk_insertion_sort_decreasing_FLP( opus_int i, j; /* Safety checks */ - celt_assert( K > 0 ); - celt_assert( L > 0 ); - celt_assert( L >= K ); + silk_assert( K > 0 ); + silk_assert( L > 0 ); + silk_assert( L >= K ); /* Write start indices in index vector */ for( i = 0; i < K; i++ ) { diff --git a/thirdparty/opus/silk/float/structs_FLP.h b/thirdparty/opus/silk/float/structs_FLP.h index 3150b386e4..14d647ced2 100644 --- a/thirdparty/opus/silk/float/structs_FLP.h +++ b/thirdparty/opus/silk/float/structs_FLP.h @@ -42,16 +42,32 @@ extern "C" /********************************/ typedef struct { opus_int8 LastGainIndex; + silk_float HarmBoost_smth; silk_float HarmShapeGain_smth; silk_float Tilt_smth; } silk_shape_state_FLP; /********************************/ +/* Prefilter state */ +/********************************/ +typedef struct { + silk_float sLTP_shp[ LTP_BUF_LENGTH ]; + silk_float sAR_shp[ MAX_SHAPE_LPC_ORDER + 1 ]; + opus_int sLTP_shp_buf_idx; + silk_float sLF_AR_shp; + silk_float sLF_MA_shp; + silk_float sHarmHP; + opus_int32 rand_seed; + opus_int lagPrev; +} silk_prefilter_state_FLP; + +/********************************/ /* Encoder state FLP */ /********************************/ typedef struct { silk_encoder_state sCmn; /* Common struct, shared with fixed-point code */ silk_shape_state_FLP sShape; /* Noise shaping state */ + silk_prefilter_state_FLP sPrefilt; /* Prefilter State */ /* Buffer for find pitch and noise shape analysis */ silk_float x_buf[ 2 * MAX_FRAME_LENGTH + LA_SHAPE_MAX ];/* Buffer for find pitch and noise shape analysis */ @@ -70,9 +86,12 @@ typedef struct { opus_int pitchL[ MAX_NB_SUBFR ]; /* Noise shaping parameters */ - silk_float AR[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ]; + silk_float AR1[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ]; + silk_float AR2[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ]; silk_float LF_MA_shp[ MAX_NB_SUBFR ]; silk_float LF_AR_shp[ MAX_NB_SUBFR ]; + silk_float GainsPre[ MAX_NB_SUBFR ]; + silk_float HarmBoost[ MAX_NB_SUBFR ]; silk_float Tilt[ MAX_NB_SUBFR ]; silk_float HarmShapeGain[ MAX_NB_SUBFR ]; silk_float Lambda; @@ -80,6 +99,7 @@ typedef struct { silk_float coding_quality; /* Measures */ + silk_float sparseness; silk_float predGain; silk_float LTPredCodGain; silk_float ResNrg[ MAX_NB_SUBFR ]; /* Residual energy per subframe */ diff --git a/thirdparty/opus/silk/float/warped_autocorrelation_FLP.c b/thirdparty/opus/silk/float/warped_autocorrelation_FLP.c index 09186e73d4..542414f48e 100644 --- a/thirdparty/opus/silk/float/warped_autocorrelation_FLP.c +++ b/thirdparty/opus/silk/float/warped_autocorrelation_FLP.c @@ -42,11 +42,11 @@ void silk_warped_autocorrelation_FLP( { opus_int n, i; double tmp1, tmp2; - double state[ MAX_SHAPE_LPC_ORDER + 1 ] = { 0 }; - double C[ MAX_SHAPE_LPC_ORDER + 1 ] = { 0 }; + double state[ MAX_SHAPE_LPC_ORDER + 1 ] = { 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 }; + double C[ MAX_SHAPE_LPC_ORDER + 1 ] = { 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 }; /* Order must be even */ - celt_assert( ( order & 1 ) == 0 ); + silk_assert( ( order & 1 ) == 0 ); /* Loop over samples */ for( n = 0; n < length; n++ ) { diff --git a/thirdparty/opus/silk/float/wrappers_FLP.c b/thirdparty/opus/silk/float/wrappers_FLP.c index ad90b874a4..6666b8efaa 100644 --- a/thirdparty/opus/silk/float/wrappers_FLP.c +++ b/thirdparty/opus/silk/float/wrappers_FLP.c @@ -54,14 +54,13 @@ void silk_A2NLSF_FLP( void silk_NLSF2A_FLP( silk_float *pAR, /* O LPC coefficients [ LPC_order ] */ const opus_int16 *NLSF_Q15, /* I NLSF vector [ LPC_order ] */ - const opus_int LPC_order, /* I LPC order */ - int arch /* I Run-time architecture */ + const opus_int LPC_order /* I LPC order */ ) { opus_int i; opus_int16 a_fix_Q12[ MAX_LPC_ORDER ]; - silk_NLSF2A( a_fix_Q12, NLSF_Q15, LPC_order, arch ); + silk_NLSF2A( a_fix_Q12, NLSF_Q15, LPC_order ); for( i = 0; i < LPC_order; i++ ) { pAR[ i ] = ( silk_float )a_fix_Q12[ i ] * ( 1.0f / 4096.0f ); @@ -103,14 +102,14 @@ void silk_NSQ_wrapper_FLP( ) { opus_int i, j; - opus_int16 x16[ MAX_FRAME_LENGTH ]; + opus_int32 x_Q3[ MAX_FRAME_LENGTH ]; opus_int32 Gains_Q16[ MAX_NB_SUBFR ]; silk_DWORD_ALIGN opus_int16 PredCoef_Q12[ 2 ][ MAX_LPC_ORDER ]; opus_int16 LTPCoef_Q14[ LTP_ORDER * MAX_NB_SUBFR ]; opus_int LTP_scale_Q14; /* Noise shaping parameters */ - opus_int16 AR_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ]; + opus_int16 AR2_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ]; opus_int32 LF_shp_Q14[ MAX_NB_SUBFR ]; /* Packs two int16 coefficients per int32 value */ opus_int Lambda_Q10; opus_int Tilt_Q14[ MAX_NB_SUBFR ]; @@ -120,7 +119,7 @@ void silk_NSQ_wrapper_FLP( /* Noise shape parameters */ for( i = 0; i < psEnc->sCmn.nb_subfr; i++ ) { for( j = 0; j < psEnc->sCmn.shapingLPCOrder; j++ ) { - AR_Q13[ i * MAX_SHAPE_LPC_ORDER + j ] = silk_float2int( psEncCtrl->AR[ i * MAX_SHAPE_LPC_ORDER + j ] * 8192.0f ); + AR2_Q13[ i * MAX_SHAPE_LPC_ORDER + j ] = silk_float2int( psEncCtrl->AR2[ i * MAX_SHAPE_LPC_ORDER + j ] * 8192.0f ); } } @@ -156,16 +155,16 @@ void silk_NSQ_wrapper_FLP( /* Convert input to fix */ for( i = 0; i < psEnc->sCmn.frame_length; i++ ) { - x16[ i ] = silk_float2int( x[ i ] ); + x_Q3[ i ] = silk_float2int( 8.0f * x[ i ] ); } /* Call NSQ */ if( psEnc->sCmn.nStatesDelayedDecision > 1 || psEnc->sCmn.warping_Q16 > 0 ) { - silk_NSQ_del_dec( &psEnc->sCmn, psNSQ, psIndices, x16, pulses, PredCoef_Q12[ 0 ], LTPCoef_Q14, - AR_Q13, HarmShapeGain_Q14, Tilt_Q14, LF_shp_Q14, Gains_Q16, psEncCtrl->pitchL, Lambda_Q10, LTP_scale_Q14, psEnc->sCmn.arch ); + silk_NSQ_del_dec( &psEnc->sCmn, psNSQ, psIndices, x_Q3, pulses, PredCoef_Q12[ 0 ], LTPCoef_Q14, + AR2_Q13, HarmShapeGain_Q14, Tilt_Q14, LF_shp_Q14, Gains_Q16, psEncCtrl->pitchL, Lambda_Q10, LTP_scale_Q14, psEnc->sCmn.arch ); } else { - silk_NSQ( &psEnc->sCmn, psNSQ, psIndices, x16, pulses, PredCoef_Q12[ 0 ], LTPCoef_Q14, - AR_Q13, HarmShapeGain_Q14, Tilt_Q14, LF_shp_Q14, Gains_Q16, psEncCtrl->pitchL, Lambda_Q10, LTP_scale_Q14, psEnc->sCmn.arch ); + silk_NSQ( &psEnc->sCmn, psNSQ, psIndices, x_Q3, pulses, PredCoef_Q12[ 0 ], LTPCoef_Q14, + AR2_Q13, HarmShapeGain_Q14, Tilt_Q14, LF_shp_Q14, Gains_Q16, psEncCtrl->pitchL, Lambda_Q10, LTP_scale_Q14, psEnc->sCmn.arch ); } } @@ -173,35 +172,31 @@ void silk_NSQ_wrapper_FLP( /* Floating-point Silk LTP quantiation wrapper */ /***********************************************/ void silk_quant_LTP_gains_FLP( - silk_float B[ MAX_NB_SUBFR * LTP_ORDER ], /* O Quantized LTP gains */ + silk_float B[ MAX_NB_SUBFR * LTP_ORDER ], /* I/O (Un-)quantized LTP gains */ opus_int8 cbk_index[ MAX_NB_SUBFR ], /* O Codebook index */ opus_int8 *periodicity_index, /* O Periodicity index */ opus_int32 *sum_log_gain_Q7, /* I/O Cumulative max prediction gain */ - silk_float *pred_gain_dB, /* O LTP prediction gain */ - const silk_float XX[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ], /* I Correlation matrix */ - const silk_float xX[ MAX_NB_SUBFR * LTP_ORDER ], /* I Correlation vector */ - const opus_int subfr_len, /* I Number of samples per subframe */ - const opus_int nb_subfr, /* I Number of subframes */ + const silk_float W[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ], /* I Error weights */ + const opus_int mu_Q10, /* I Mu value (R/D tradeoff) */ + const opus_int lowComplexity, /* I Flag for low complexity */ + const opus_int nb_subfr, /* I number of subframes */ int arch /* I Run-time architecture */ ) { - opus_int i, pred_gain_dB_Q7; + opus_int i; opus_int16 B_Q14[ MAX_NB_SUBFR * LTP_ORDER ]; - opus_int32 XX_Q17[ MAX_NB_SUBFR * LTP_ORDER * LTP_ORDER ]; - opus_int32 xX_Q17[ MAX_NB_SUBFR * LTP_ORDER ]; + opus_int32 W_Q18[ MAX_NB_SUBFR*LTP_ORDER*LTP_ORDER ]; - for( i = 0; i < nb_subfr * LTP_ORDER * LTP_ORDER; i++ ) { - XX_Q17[ i ] = (opus_int32)silk_float2int( XX[ i ] * 131072.0f ); - } for( i = 0; i < nb_subfr * LTP_ORDER; i++ ) { - xX_Q17[ i ] = (opus_int32)silk_float2int( xX[ i ] * 131072.0f ); + B_Q14[ i ] = (opus_int16)silk_float2int( B[ i ] * 16384.0f ); + } + for( i = 0; i < nb_subfr * LTP_ORDER * LTP_ORDER; i++ ) { + W_Q18[ i ] = (opus_int32)silk_float2int( W[ i ] * 262144.0f ); } - silk_quant_LTP_gains( B_Q14, cbk_index, periodicity_index, sum_log_gain_Q7, &pred_gain_dB_Q7, XX_Q17, xX_Q17, subfr_len, nb_subfr, arch ); + silk_quant_LTP_gains( B_Q14, cbk_index, periodicity_index, sum_log_gain_Q7, W_Q18, mu_Q10, lowComplexity, nb_subfr, arch ); for( i = 0; i < nb_subfr * LTP_ORDER; i++ ) { B[ i ] = (silk_float)B_Q14[ i ] * ( 1.0f / 16384.0f ); } - - *pred_gain_dB = (silk_float)pred_gain_dB_Q7 * ( 1.0f / 128.0f ); } diff --git a/thirdparty/opus/silk/gain_quant.c b/thirdparty/opus/silk/gain_quant.c index ee65245aa3..64ccd0611b 100644 --- a/thirdparty/opus/silk/gain_quant.c +++ b/thirdparty/opus/silk/gain_quant.c @@ -76,7 +76,6 @@ void silk_gains_quant( /* Accumulate deltas */ if( ind[ k ] > double_step_size_threshold ) { *prev_ind += silk_LSHIFT( ind[ k ], 1 ) - double_step_size_threshold; - *prev_ind = silk_min_int( *prev_ind, N_LEVELS_QGAIN - 1 ); } else { *prev_ind += ind[ k ]; } diff --git a/thirdparty/opus/silk/init_decoder.c b/thirdparty/opus/silk/init_decoder.c index 16c03dcd1c..f887c67886 100644 --- a/thirdparty/opus/silk/init_decoder.c +++ b/thirdparty/opus/silk/init_decoder.c @@ -44,7 +44,6 @@ opus_int silk_init_decoder( /* Used to deactivate LSF interpolation */ psDec->first_frame_after_reset = 1; psDec->prev_gain_Q16 = 65536; - psDec->arch = opus_select_arch(); /* Reset CNG state */ silk_CNG_Reset( psDec ); diff --git a/thirdparty/opus/silk/interpolate.c b/thirdparty/opus/silk/interpolate.c index 833c28ef8e..1bd8ca4d53 100644 --- a/thirdparty/opus/silk/interpolate.c +++ b/thirdparty/opus/silk/interpolate.c @@ -42,8 +42,8 @@ void silk_interpolate( { opus_int i; - celt_assert( ifact_Q2 >= 0 ); - celt_assert( ifact_Q2 <= 4 ); + silk_assert( ifact_Q2 >= 0 ); + silk_assert( ifact_Q2 <= 4 ); for( i = 0; i < d; i++ ) { xi[ i ] = (opus_int16)silk_ADD_RSHIFT( x0[ i ], silk_SMULBB( x1[ i ] - x0[ i ], ifact_Q2 ), 2 ); diff --git a/thirdparty/opus/silk/lin2log.c b/thirdparty/opus/silk/lin2log.c index 0d5155aa86..d4fe515321 100644 --- a/thirdparty/opus/silk/lin2log.c +++ b/thirdparty/opus/silk/lin2log.c @@ -41,6 +41,6 @@ opus_int32 silk_lin2log( silk_CLZ_FRAC( inLin, &lz, &frac_Q7 ); /* Piece-wise parabolic approximation */ - return silk_ADD_LSHIFT32( silk_SMLAWB( frac_Q7, silk_MUL( frac_Q7, 128 - frac_Q7 ), 179 ), 31 - lz, 7 ); + return silk_LSHIFT( 31 - lz, 7 ) + silk_SMLAWB( frac_Q7, silk_MUL( frac_Q7, 128 - frac_Q7 ), 179 ); } diff --git a/thirdparty/opus/silk/macros.h b/thirdparty/opus/silk/macros.h index 3c67b6e5d9..d3ca347520 100644 --- a/thirdparty/opus/silk/macros.h +++ b/thirdparty/opus/silk/macros.h @@ -36,6 +36,14 @@ POSSIBILITY OF SUCH DAMAGE. #include "opus_defines.h" #include "arch.h" +#if OPUS_GNUC_PREREQ(3, 0) +#define opus_likely(x) (__builtin_expect(!!(x), 1)) +#define opus_unlikely(x) (__builtin_expect(!!(x), 0)) +#else +#define opus_likely(x) (!!(x)) +#define opus_unlikely(x) (!!(x)) +#endif + /* This is an OPUS_INLINE header file for general platform. */ /* (a32 * (opus_int32)((opus_int16)(b32))) >> 16 output have to be 32bit int */ diff --git a/thirdparty/opus/silk/main.h b/thirdparty/opus/silk/main.h index 1a33eed549..2f90d68f7d 100644 --- a/thirdparty/opus/silk/main.h +++ b/thirdparty/opus/silk/main.h @@ -42,10 +42,6 @@ POSSIBILITY OF SUCH DAMAGE. #include "x86/main_sse.h" #endif -#if (defined(OPUS_ARM_ASM) || defined(OPUS_ARM_MAY_HAVE_NEON_INTR)) -#include "arm/NSQ_del_dec_arm.h" -#endif - /* Convert Left/Right stereo signal to adaptive Mid/Side representation */ void silk_stereo_LR_to_MS( stereo_enc_state *state, /* I/O State */ @@ -113,22 +109,22 @@ void silk_stereo_decode_mid_only( /* Encodes signs of excitation */ void silk_encode_signs( - ec_enc *psRangeEnc, /* I/O Compressor data structure */ - const opus_int8 pulses[], /* I pulse signal */ - opus_int length, /* I length of input */ - const opus_int signalType, /* I Signal type */ - const opus_int quantOffsetType, /* I Quantization offset type */ - const opus_int sum_pulses[ MAX_NB_SHELL_BLOCKS ] /* I Sum of absolute pulses per block */ + ec_enc *psRangeEnc, /* I/O Compressor data structure */ + const opus_int8 pulses[], /* I pulse signal */ + opus_int length, /* I length of input */ + const opus_int signalType, /* I Signal type */ + const opus_int quantOffsetType, /* I Quantization offset type */ + const opus_int sum_pulses[ MAX_NB_SHELL_BLOCKS ] /* I Sum of absolute pulses per block */ ); /* Decodes signs of excitation */ void silk_decode_signs( - ec_dec *psRangeDec, /* I/O Compressor data structure */ - opus_int16 pulses[], /* I/O pulse signal */ - opus_int length, /* I length of input */ - const opus_int signalType, /* I Signal type */ - const opus_int quantOffsetType, /* I Quantization offset type */ - const opus_int sum_pulses[ MAX_NB_SHELL_BLOCKS ] /* I Sum of absolute pulses per block */ + ec_dec *psRangeDec, /* I/O Compressor data structure */ + opus_int16 pulses[], /* I/O pulse signal */ + opus_int length, /* I length of input */ + const opus_int signalType, /* I Signal type */ + const opus_int quantOffsetType, /* I Quantization offset type */ + const opus_int sum_pulses[ MAX_NB_SHELL_BLOCKS ] /* I Sum of absolute pulses per block */ ); /* Check encoder control struct */ @@ -209,37 +205,37 @@ void silk_interpolate( /* LTP tap quantizer */ void silk_quant_LTP_gains( - opus_int16 B_Q14[ MAX_NB_SUBFR * LTP_ORDER ], /* O Quantized LTP gains */ + opus_int16 B_Q14[ MAX_NB_SUBFR * LTP_ORDER ], /* I/O (un)quantized LTP gains */ opus_int8 cbk_index[ MAX_NB_SUBFR ], /* O Codebook Index */ opus_int8 *periodicity_index, /* O Periodicity Index */ opus_int32 *sum_gain_dB_Q7, /* I/O Cumulative max prediction gain */ - opus_int *pred_gain_dB_Q7, /* O LTP prediction gain */ - const opus_int32 XX_Q17[ MAX_NB_SUBFR*LTP_ORDER*LTP_ORDER ], /* I Correlation matrix in Q18 */ - const opus_int32 xX_Q17[ MAX_NB_SUBFR*LTP_ORDER ], /* I Correlation vector in Q18 */ - const opus_int subfr_len, /* I Number of samples per subframe */ - const opus_int nb_subfr, /* I Number of subframes */ + const opus_int32 W_Q18[ MAX_NB_SUBFR*LTP_ORDER*LTP_ORDER ], /* I Error Weights in Q18 */ + opus_int mu_Q9, /* I Mu value (R/D tradeoff) */ + opus_int lowComplexity, /* I Flag for low complexity */ + const opus_int nb_subfr, /* I number of subframes */ int arch /* I Run-time architecture */ ); /* Entropy constrained matrix-weighted VQ, for a single input data vector */ void silk_VQ_WMat_EC_c( opus_int8 *ind, /* O index of best codebook vector */ - opus_int32 *res_nrg_Q15, /* O best residual energy */ - opus_int32 *rate_dist_Q8, /* O best total bitrate */ + opus_int32 *rate_dist_Q14, /* O best weighted quant error + mu * rate */ opus_int *gain_Q7, /* O sum of absolute LTP coefficients */ - const opus_int32 *XX_Q17, /* I correlation matrix */ - const opus_int32 *xX_Q17, /* I correlation vector */ + const opus_int16 *in_Q14, /* I input vector to be quantized */ + const opus_int32 *W_Q18, /* I weighting matrix */ const opus_int8 *cb_Q7, /* I codebook */ const opus_uint8 *cb_gain_Q7, /* I codebook effective gain */ const opus_uint8 *cl_Q5, /* I code length for each codebook vector */ - const opus_int subfr_len, /* I number of samples per subframe */ + const opus_int mu_Q9, /* I tradeoff betw. weighted error and rate */ const opus_int32 max_gain_Q7, /* I maximum sum of absolute LTP coefficients */ - const opus_int L /* I number of vectors in codebook */ + opus_int L /* I number of vectors in codebook */ ); #if !defined(OVERRIDE_silk_VQ_WMat_EC) -#define silk_VQ_WMat_EC(ind, res_nrg_Q15, rate_dist_Q8, gain_Q7, XX_Q17, xX_Q17, cb_Q7, cb_gain_Q7, cl_Q5, subfr_len, max_gain_Q7, L, arch) \ - ((void)(arch),silk_VQ_WMat_EC_c(ind, res_nrg_Q15, rate_dist_Q8, gain_Q7, XX_Q17, xX_Q17, cb_Q7, cb_gain_Q7, cl_Q5, subfr_len, max_gain_Q7, L)) +#define silk_VQ_WMat_EC(ind, rate_dist_Q14, gain_Q7, in_Q14, W_Q18, cb_Q7, cb_gain_Q7, cl_Q5, \ + mu_Q9, max_gain_Q7, L, arch) \ + ((void)(arch),silk_VQ_WMat_EC_c(ind, rate_dist_Q14, gain_Q7, in_Q14, W_Q18, cb_Q7, cb_gain_Q7, cl_Q5, \ + mu_Q9, max_gain_Q7, L)) #endif /************************************/ @@ -247,14 +243,14 @@ void silk_VQ_WMat_EC_c( /************************************/ void silk_NSQ_c( - const silk_encoder_state *psEncC, /* I Encoder State */ + const silk_encoder_state *psEncC, /* I/O Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ SideInfoIndices *psIndices, /* I/O Quantization Indices */ - const opus_int16 x16[], /* I Input */ + const opus_int32 x_Q3[], /* I Prefiltered input signal */ opus_int8 pulses[], /* O Quantized pulse signal */ const opus_int16 PredCoef_Q12[ 2 * MAX_LPC_ORDER ], /* I Short term prediction coefs */ const opus_int16 LTPCoef_Q14[ LTP_ORDER * MAX_NB_SUBFR ], /* I Long term prediction coefs */ - const opus_int16 AR_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ], /* I Noise shaping coefs */ + const opus_int16 AR2_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ], /* I Noise shaping coefs */ const opus_int HarmShapeGain_Q14[ MAX_NB_SUBFR ], /* I Long term shaping coefs */ const opus_int Tilt_Q14[ MAX_NB_SUBFR ], /* I Spectral tilt */ const opus_int32 LF_shp_Q14[ MAX_NB_SUBFR ], /* I Low frequency shaping coefs */ @@ -265,22 +261,22 @@ void silk_NSQ_c( ); #if !defined(OVERRIDE_silk_NSQ) -#define silk_NSQ(psEncC, NSQ, psIndices, x16, pulses, PredCoef_Q12, LTPCoef_Q14, AR_Q13, \ +#define silk_NSQ(psEncC, NSQ, psIndices, x_Q3, pulses, PredCoef_Q12, LTPCoef_Q14, AR2_Q13, \ HarmShapeGain_Q14, Tilt_Q14, LF_shp_Q14, Gains_Q16, pitchL, Lambda_Q10, LTP_scale_Q14, arch) \ - ((void)(arch),silk_NSQ_c(psEncC, NSQ, psIndices, x16, pulses, PredCoef_Q12, LTPCoef_Q14, AR_Q13, \ + ((void)(arch),silk_NSQ_c(psEncC, NSQ, psIndices, x_Q3, pulses, PredCoef_Q12, LTPCoef_Q14, AR2_Q13, \ HarmShapeGain_Q14, Tilt_Q14, LF_shp_Q14, Gains_Q16, pitchL, Lambda_Q10, LTP_scale_Q14)) #endif /* Noise shaping using delayed decision */ void silk_NSQ_del_dec_c( - const silk_encoder_state *psEncC, /* I Encoder State */ + const silk_encoder_state *psEncC, /* I/O Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ SideInfoIndices *psIndices, /* I/O Quantization Indices */ - const opus_int16 x16[], /* I Input */ + const opus_int32 x_Q3[], /* I Prefiltered input signal */ opus_int8 pulses[], /* O Quantized pulse signal */ const opus_int16 PredCoef_Q12[ 2 * MAX_LPC_ORDER ], /* I Short term prediction coefs */ const opus_int16 LTPCoef_Q14[ LTP_ORDER * MAX_NB_SUBFR ], /* I Long term prediction coefs */ - const opus_int16 AR_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ], /* I Noise shaping coefs */ + const opus_int16 AR2_Q13[ MAX_NB_SUBFR * MAX_SHAPE_LPC_ORDER ], /* I Noise shaping coefs */ const opus_int HarmShapeGain_Q14[ MAX_NB_SUBFR ], /* I Long term shaping coefs */ const opus_int Tilt_Q14[ MAX_NB_SUBFR ], /* I Spectral tilt */ const opus_int32 LF_shp_Q14[ MAX_NB_SUBFR ], /* I Low frequency shaping coefs */ @@ -291,9 +287,9 @@ void silk_NSQ_del_dec_c( ); #if !defined(OVERRIDE_silk_NSQ_del_dec) -#define silk_NSQ_del_dec(psEncC, NSQ, psIndices, x16, pulses, PredCoef_Q12, LTPCoef_Q14, AR_Q13, \ +#define silk_NSQ_del_dec(psEncC, NSQ, psIndices, x_Q3, pulses, PredCoef_Q12, LTPCoef_Q14, AR2_Q13, \ HarmShapeGain_Q14, Tilt_Q14, LF_shp_Q14, Gains_Q16, pitchL, Lambda_Q10, LTP_scale_Q14, arch) \ - ((void)(arch),silk_NSQ_del_dec_c(psEncC, NSQ, psIndices, x16, pulses, PredCoef_Q12, LTPCoef_Q14, AR_Q13, \ + ((void)(arch),silk_NSQ_del_dec_c(psEncC, NSQ, psIndices, x_Q3, pulses, PredCoef_Q12, LTPCoef_Q14, AR2_Q13, \ HarmShapeGain_Q14, Tilt_Q14, LF_shp_Q14, Gains_Q16, pitchL, Lambda_Q10, LTP_scale_Q14)) #endif @@ -350,7 +346,6 @@ void silk_NLSF_VQ( opus_int32 err_Q26[], /* O Quantization errors [K] */ const opus_int16 in_Q15[], /* I Input vectors to be quantized [LPC_order] */ const opus_uint8 pCB_Q8[], /* I Codebook vectors [K*LPC_order] */ - const opus_int16 pWght_Q9[], /* I Codebook weights [K*LPC_order] */ const opus_int K, /* I Number of codebook vectors */ const opus_int LPC_order /* I Number of LPCs */ ); diff --git a/thirdparty/opus/silk/mips/NSQ_del_dec_mipsr1.h b/thirdparty/opus/silk/mips/NSQ_del_dec_mipsr1.h index cd70713a8f..ad1cfe2a9b 100644 --- a/thirdparty/opus/silk/mips/NSQ_del_dec_mipsr1.h +++ b/thirdparty/opus/silk/mips/NSQ_del_dec_mipsr1.h @@ -61,7 +61,7 @@ static inline void silk_noise_shape_quantizer_del_dec( opus_int predictLPCOrder, /* I Prediction filter order */ opus_int warping_Q16, /* I */ opus_int nStatesDelayedDecision, /* I Number of states in decision tree */ - opus_int *smpl_buf_idx, /* I/O Index to newest samples in buffers */ + opus_int *smpl_buf_idx, /* I Index to newest samples in buffers */ opus_int decisionDelay, /* I */ int arch /* I */ ) @@ -323,9 +323,8 @@ static inline void silk_noise_shape_quantizer_del_dec( psSS[ 1 ].xq_Q14 = xq_Q14; } - *smpl_buf_idx = ( *smpl_buf_idx - 1 ) % DECISION_DELAY; - if( *smpl_buf_idx < 0 ) *smpl_buf_idx += DECISION_DELAY; - last_smple_idx = ( *smpl_buf_idx + decisionDelay ) % DECISION_DELAY; + *smpl_buf_idx = ( *smpl_buf_idx - 1 ) & DECISION_DELAY_MASK; /* Index to newest samples */ + last_smple_idx = ( *smpl_buf_idx + decisionDelay ) & DECISION_DELAY_MASK; /* Index to decisionDelay old samples */ /* Find winner */ RDmin_Q10 = psSampleState[ 0 ][ 0 ].RD_Q10; diff --git a/thirdparty/opus/silk/mips/sigproc_fix_mipsr1.h b/thirdparty/opus/silk/mips/sigproc_fix_mipsr1.h index 51520c0a6f..3b0a695365 100644 --- a/thirdparty/opus/silk/mips/sigproc_fix_mipsr1.h +++ b/thirdparty/opus/silk/mips/sigproc_fix_mipsr1.h @@ -28,6 +28,11 @@ POSSIBILITY OF SUCH DAMAGE. #ifndef SILK_SIGPROC_FIX_MIPSR1_H #define SILK_SIGPROC_FIX_MIPSR1_H +#ifdef __cplusplus +extern "C" +{ +#endif + #undef silk_SAT16 static inline short int silk_SAT16(int a) { diff --git a/thirdparty/opus/silk/process_NLSFs.c b/thirdparty/opus/silk/process_NLSFs.c index d130809541..0ab71f0163 100644 --- a/thirdparty/opus/silk/process_NLSFs.c +++ b/thirdparty/opus/silk/process_NLSFs.c @@ -48,7 +48,7 @@ void silk_process_NLSFs( silk_assert( psEncC->speech_activity_Q8 >= 0 ); silk_assert( psEncC->speech_activity_Q8 <= SILK_FIX_CONST( 1.0, 8 ) ); - celt_assert( psEncC->useInterpolatedNLSFs == 1 || psEncC->indices.NLSFInterpCoef_Q2 == ( 1 << 2 ) ); + silk_assert( psEncC->useInterpolatedNLSFs == 1 || psEncC->indices.NLSFInterpCoef_Q2 == ( 1 << 2 ) ); /***********************/ /* Calculate mu values */ @@ -60,7 +60,7 @@ void silk_process_NLSFs( NLSF_mu_Q20 = silk_ADD_RSHIFT( NLSF_mu_Q20, NLSF_mu_Q20, 1 ); } - celt_assert( NLSF_mu_Q20 > 0 ); + silk_assert( NLSF_mu_Q20 > 0 ); silk_assert( NLSF_mu_Q20 <= SILK_FIX_CONST( 0.005, 20 ) ); /* Calculate NLSF weights */ @@ -89,7 +89,7 @@ void silk_process_NLSFs( NLSF_mu_Q20, psEncC->NLSF_MSVQ_Survivors, psEncC->indices.signalType ); /* Convert quantized NLSFs back to LPC coefficients */ - silk_NLSF2A( PredCoef_Q12[ 1 ], pNLSF_Q15, psEncC->predictLPCOrder, psEncC->arch ); + silk_NLSF2A( PredCoef_Q12[ 1 ], pNLSF_Q15, psEncC->predictLPCOrder ); if( doInterpolate ) { /* Calculate the interpolated, quantized LSF vector for the first half */ @@ -97,11 +97,11 @@ void silk_process_NLSFs( psEncC->indices.NLSFInterpCoef_Q2, psEncC->predictLPCOrder ); /* Convert back to LPC coefficients */ - silk_NLSF2A( PredCoef_Q12[ 0 ], pNLSF0_temp_Q15, psEncC->predictLPCOrder, psEncC->arch ); + silk_NLSF2A( PredCoef_Q12[ 0 ], pNLSF0_temp_Q15, psEncC->predictLPCOrder ); } else { /* Copy LPC coefficients for first half from second half */ - celt_assert( psEncC->predictLPCOrder <= MAX_LPC_ORDER ); + silk_assert( psEncC->predictLPCOrder <= MAX_LPC_ORDER ); silk_memcpy( PredCoef_Q12[ 0 ], PredCoef_Q12[ 1 ], psEncC->predictLPCOrder * sizeof( opus_int16 ) ); } } diff --git a/thirdparty/opus/silk/quant_LTP_gains.c b/thirdparty/opus/silk/quant_LTP_gains.c index d6b8eff8d1..513a8c4468 100644 --- a/thirdparty/opus/silk/quant_LTP_gains.c +++ b/thirdparty/opus/silk/quant_LTP_gains.c @@ -33,15 +33,14 @@ POSSIBILITY OF SUCH DAMAGE. #include "tuning_parameters.h" void silk_quant_LTP_gains( - opus_int16 B_Q14[ MAX_NB_SUBFR * LTP_ORDER ], /* O Quantized LTP gains */ + opus_int16 B_Q14[ MAX_NB_SUBFR * LTP_ORDER ], /* I/O (un)quantized LTP gains */ opus_int8 cbk_index[ MAX_NB_SUBFR ], /* O Codebook Index */ opus_int8 *periodicity_index, /* O Periodicity Index */ opus_int32 *sum_log_gain_Q7, /* I/O Cumulative max prediction gain */ - opus_int *pred_gain_dB_Q7, /* O LTP prediction gain */ - const opus_int32 XX_Q17[ MAX_NB_SUBFR*LTP_ORDER*LTP_ORDER ], /* I Correlation matrix in Q18 */ - const opus_int32 xX_Q17[ MAX_NB_SUBFR*LTP_ORDER ], /* I Correlation vector in Q18 */ - const opus_int subfr_len, /* I Number of samples per subframe */ - const opus_int nb_subfr, /* I Number of subframes */ + const opus_int32 W_Q18[ MAX_NB_SUBFR*LTP_ORDER*LTP_ORDER ], /* I Error Weights in Q18 */ + opus_int mu_Q9, /* I Mu value (R/D tradeoff) */ + opus_int lowComplexity, /* I Flag for low complexity */ + const opus_int nb_subfr, /* I number of subframes */ int arch /* I Run-time architecture */ ) { @@ -50,16 +49,16 @@ void silk_quant_LTP_gains( const opus_uint8 *cl_ptr_Q5; const opus_int8 *cbk_ptr_Q7; const opus_uint8 *cbk_gain_ptr_Q7; - const opus_int32 *XX_Q17_ptr, *xX_Q17_ptr; - opus_int32 res_nrg_Q15_subfr, res_nrg_Q15, rate_dist_Q7_subfr, rate_dist_Q7, min_rate_dist_Q7; - opus_int32 sum_log_gain_tmp_Q7, best_sum_log_gain_Q7, max_gain_Q7; - opus_int gain_Q7; + const opus_int16 *b_Q14_ptr; + const opus_int32 *W_Q18_ptr; + opus_int32 rate_dist_Q14_subfr, rate_dist_Q14, min_rate_dist_Q14; + opus_int32 sum_log_gain_tmp_Q7, best_sum_log_gain_Q7, max_gain_Q7, gain_Q7; /***************************************************/ /* iterate over different codebooks with different */ /* rates/distortions, and choose best */ /***************************************************/ - min_rate_dist_Q7 = silk_int32_MAX; + min_rate_dist_Q14 = silk_int32_MAX; best_sum_log_gain_Q7 = 0; for( k = 0; k < 3; k++ ) { /* Safety margin for pitch gain control, to take into account factors @@ -71,47 +70,53 @@ void silk_quant_LTP_gains( cbk_gain_ptr_Q7 = silk_LTP_vq_gain_ptrs_Q7[ k ]; cbk_size = silk_LTP_vq_sizes[ k ]; - /* Set up pointers to first subframe */ - XX_Q17_ptr = XX_Q17; - xX_Q17_ptr = xX_Q17; + /* Set up pointer to first subframe */ + W_Q18_ptr = W_Q18; + b_Q14_ptr = B_Q14; - res_nrg_Q15 = 0; - rate_dist_Q7 = 0; + rate_dist_Q14 = 0; sum_log_gain_tmp_Q7 = *sum_log_gain_Q7; for( j = 0; j < nb_subfr; j++ ) { max_gain_Q7 = silk_log2lin( ( SILK_FIX_CONST( MAX_SUM_LOG_GAIN_DB / 6.0, 7 ) - sum_log_gain_tmp_Q7 ) + SILK_FIX_CONST( 7, 7 ) ) - gain_safety; + silk_VQ_WMat_EC( &temp_idx[ j ], /* O index of best codebook vector */ - &res_nrg_Q15_subfr, /* O residual energy */ - &rate_dist_Q7_subfr, /* O best weighted quantization error + mu * rate */ + &rate_dist_Q14_subfr, /* O best weighted quantization error + mu * rate */ &gain_Q7, /* O sum of absolute LTP coefficients */ - XX_Q17_ptr, /* I correlation matrix */ - xX_Q17_ptr, /* I correlation vector */ + b_Q14_ptr, /* I input vector to be quantized */ + W_Q18_ptr, /* I weighting matrix */ cbk_ptr_Q7, /* I codebook */ cbk_gain_ptr_Q7, /* I codebook effective gains */ cl_ptr_Q5, /* I code length for each codebook vector */ - subfr_len, /* I number of samples per subframe */ + mu_Q9, /* I tradeoff between weighted error and rate */ max_gain_Q7, /* I maximum sum of absolute LTP coefficients */ cbk_size, /* I number of vectors in codebook */ arch /* I Run-time architecture */ ); - res_nrg_Q15 = silk_ADD_POS_SAT32( res_nrg_Q15, res_nrg_Q15_subfr ); - rate_dist_Q7 = silk_ADD_POS_SAT32( rate_dist_Q7, rate_dist_Q7_subfr ); + rate_dist_Q14 = silk_ADD_POS_SAT32( rate_dist_Q14, rate_dist_Q14_subfr ); sum_log_gain_tmp_Q7 = silk_max(0, sum_log_gain_tmp_Q7 + silk_lin2log( gain_safety + gain_Q7 ) - SILK_FIX_CONST( 7, 7 )); - XX_Q17_ptr += LTP_ORDER * LTP_ORDER; - xX_Q17_ptr += LTP_ORDER; + b_Q14_ptr += LTP_ORDER; + W_Q18_ptr += LTP_ORDER * LTP_ORDER; } - if( rate_dist_Q7 <= min_rate_dist_Q7 ) { - min_rate_dist_Q7 = rate_dist_Q7; + /* Avoid never finding a codebook */ + rate_dist_Q14 = silk_min( silk_int32_MAX - 1, rate_dist_Q14 ); + + if( rate_dist_Q14 < min_rate_dist_Q14 ) { + min_rate_dist_Q14 = rate_dist_Q14; *periodicity_index = (opus_int8)k; silk_memcpy( cbk_index, temp_idx, nb_subfr * sizeof( opus_int8 ) ); best_sum_log_gain_Q7 = sum_log_gain_tmp_Q7; } + + /* Break early in low-complexity mode if rate distortion is below threshold */ + if( lowComplexity && ( rate_dist_Q14 < silk_LTP_gain_middle_avg_RD_Q14 ) ) { + break; + } } cbk_ptr_Q7 = silk_LTP_vq_ptrs_Q7[ *periodicity_index ]; @@ -120,13 +125,5 @@ void silk_quant_LTP_gains( B_Q14[ j * LTP_ORDER + k ] = silk_LSHIFT( cbk_ptr_Q7[ cbk_index[ j ] * LTP_ORDER + k ], 7 ); } } - - if( nb_subfr == 2 ) { - res_nrg_Q15 = silk_RSHIFT32( res_nrg_Q15, 1 ); - } else { - res_nrg_Q15 = silk_RSHIFT32( res_nrg_Q15, 2 ); - } - *sum_log_gain_Q7 = best_sum_log_gain_Q7; - *pred_gain_dB_Q7 = (opus_int)silk_SMULBB( -3, silk_lin2log( res_nrg_Q15 ) - ( 15 << 7 ) ); } diff --git a/thirdparty/opus/silk/resampler.c b/thirdparty/opus/silk/resampler.c index 1f11e50891..374fbb3722 100644 --- a/thirdparty/opus/silk/resampler.c +++ b/thirdparty/opus/silk/resampler.c @@ -91,14 +91,14 @@ opus_int silk_resampler_init( if( forEnc ) { if( ( Fs_Hz_in != 8000 && Fs_Hz_in != 12000 && Fs_Hz_in != 16000 && Fs_Hz_in != 24000 && Fs_Hz_in != 48000 ) || ( Fs_Hz_out != 8000 && Fs_Hz_out != 12000 && Fs_Hz_out != 16000 ) ) { - celt_assert( 0 ); + silk_assert( 0 ); return -1; } S->inputDelay = delay_matrix_enc[ rateID( Fs_Hz_in ) ][ rateID( Fs_Hz_out ) ]; } else { if( ( Fs_Hz_in != 8000 && Fs_Hz_in != 12000 && Fs_Hz_in != 16000 ) || ( Fs_Hz_out != 8000 && Fs_Hz_out != 12000 && Fs_Hz_out != 16000 && Fs_Hz_out != 24000 && Fs_Hz_out != 48000 ) ) { - celt_assert( 0 ); + silk_assert( 0 ); return -1; } S->inputDelay = delay_matrix_dec[ rateID( Fs_Hz_in ) ][ rateID( Fs_Hz_out ) ]; @@ -151,7 +151,7 @@ opus_int silk_resampler_init( S->Coefs = silk_Resampler_1_6_COEFS; } else { /* None available */ - celt_assert( 0 ); + silk_assert( 0 ); return -1; } } else { @@ -181,9 +181,9 @@ opus_int silk_resampler( opus_int nSamples; /* Need at least 1 ms of input data */ - celt_assert( inLen >= S->Fs_in_kHz ); + silk_assert( inLen >= S->Fs_in_kHz ); /* Delay can't exceed the 1 ms of buffering */ - celt_assert( S->inputDelay <= S->Fs_in_kHz ); + silk_assert( S->inputDelay <= S->Fs_in_kHz ); nSamples = S->Fs_in_kHz - S->inputDelay; diff --git a/thirdparty/opus/silk/resampler_down2.c b/thirdparty/opus/silk/resampler_down2.c index 971d7bfd4a..cec3634640 100644 --- a/thirdparty/opus/silk/resampler_down2.c +++ b/thirdparty/opus/silk/resampler_down2.c @@ -43,8 +43,8 @@ void silk_resampler_down2( opus_int32 k, len2 = silk_RSHIFT32( inLen, 1 ); opus_int32 in32, out32, Y, X; - celt_assert( silk_resampler_down2_0 > 0 ); - celt_assert( silk_resampler_down2_1 < 0 ); + silk_assert( silk_resampler_down2_0 > 0 ); + silk_assert( silk_resampler_down2_1 < 0 ); /* Internal variables and state are in Q10 format */ for( k = 0; k < len2; k++ ) { diff --git a/thirdparty/opus/silk/resampler_private_down_FIR.c b/thirdparty/opus/silk/resampler_private_down_FIR.c index 3e8735a35a..783e42b356 100644 --- a/thirdparty/opus/silk/resampler_private_down_FIR.c +++ b/thirdparty/opus/silk/resampler_private_down_FIR.c @@ -136,7 +136,7 @@ static OPUS_INLINE opus_int16 *silk_resampler_private_down_FIR_INTERPOL( } break; default: - celt_assert( 0 ); + silk_assert( 0 ); } return out; } diff --git a/thirdparty/opus/silk/sort.c b/thirdparty/opus/silk/sort.c index 4fba16f831..7187c9efb1 100644 --- a/thirdparty/opus/silk/sort.c +++ b/thirdparty/opus/silk/sort.c @@ -48,9 +48,9 @@ void silk_insertion_sort_increasing( opus_int i, j; /* Safety checks */ - celt_assert( K > 0 ); - celt_assert( L > 0 ); - celt_assert( L >= K ); + silk_assert( K > 0 ); + silk_assert( L > 0 ); + silk_assert( L >= K ); /* Write start indices in index vector */ for( i = 0; i < K; i++ ) { @@ -96,9 +96,9 @@ void silk_insertion_sort_decreasing_int16( opus_int value; /* Safety checks */ - celt_assert( K > 0 ); - celt_assert( L > 0 ); - celt_assert( L >= K ); + silk_assert( K > 0 ); + silk_assert( L > 0 ); + silk_assert( L >= K ); /* Write start indices in index vector */ for( i = 0; i < K; i++ ) { @@ -141,7 +141,7 @@ void silk_insertion_sort_increasing_all_values_int16( opus_int i, j; /* Safety checks */ - celt_assert( L > 0 ); + silk_assert( L > 0 ); /* Sort vector elements by value, increasing order */ for( i = 1; i < L; i++ ) { diff --git a/thirdparty/opus/silk/stereo_LR_to_MS.c b/thirdparty/opus/silk/stereo_LR_to_MS.c index c8226663c8..dda0298de2 100644 --- a/thirdparty/opus/silk/stereo_LR_to_MS.c +++ b/thirdparty/opus/silk/stereo_LR_to_MS.c @@ -109,7 +109,7 @@ void silk_stereo_LR_to_MS( if( total_rate_bps < 1 ) { total_rate_bps = 1; } - min_mid_rate_bps = silk_SMLABB( 2000, fs_kHz, 600 ); + min_mid_rate_bps = silk_SMLABB( 2000, fs_kHz, 900 ); silk_assert( min_mid_rate_bps < 32767 ); /* Default bitrate distribution: 8 parts for Mid and (5+3*frac) parts for Side. so: mid_rate = ( 8 / ( 13 + 3 * frac ) ) * total_ rate */ frac_3_Q16 = silk_MUL( 3, frac_Q16 ); diff --git a/thirdparty/opus/silk/stereo_encode_pred.c b/thirdparty/opus/silk/stereo_encode_pred.c index 03becb6736..e6dd195066 100644 --- a/thirdparty/opus/silk/stereo_encode_pred.c +++ b/thirdparty/opus/silk/stereo_encode_pred.c @@ -41,11 +41,11 @@ void silk_stereo_encode_pred( /* Entropy coding */ n = 5 * ix[ 0 ][ 2 ] + ix[ 1 ][ 2 ]; - celt_assert( n < 25 ); + silk_assert( n < 25 ); ec_enc_icdf( psRangeEnc, n, silk_stereo_pred_joint_iCDF, 8 ); for( n = 0; n < 2; n++ ) { - celt_assert( ix[ n ][ 0 ] < 3 ); - celt_assert( ix[ n ][ 1 ] < STEREO_QUANT_SUB_STEPS ); + silk_assert( ix[ n ][ 0 ] < 3 ); + silk_assert( ix[ n ][ 1 ] < STEREO_QUANT_SUB_STEPS ); ec_enc_icdf( psRangeEnc, ix[ n ][ 0 ], silk_uniform3_iCDF, 8 ); ec_enc_icdf( psRangeEnc, ix[ n ][ 1 ], silk_uniform5_iCDF, 8 ); } diff --git a/thirdparty/opus/silk/structs.h b/thirdparty/opus/silk/structs.h index 3380c757b2..827829dc6f 100644 --- a/thirdparty/opus/silk/structs.h +++ b/thirdparty/opus/silk/structs.h @@ -48,7 +48,6 @@ typedef struct { opus_int32 sLPC_Q14[ MAX_SUB_FRAME_LENGTH + NSQ_LPC_BUF_LENGTH ]; opus_int32 sAR2_Q14[ MAX_SHAPE_LPC_ORDER ]; opus_int32 sLF_AR_shp_Q14; - opus_int32 sDiff_shp_Q14; opus_int lagPrev; opus_int sLTP_buf_idx; opus_int sLTP_shp_buf_idx; @@ -78,7 +77,6 @@ typedef struct { opus_int32 In_LP_State[ 2 ]; /* Low pass filter state */ opus_int32 transition_frame_no; /* Counter which is mapped to a cut-off frequency */ opus_int mode; /* Operating mode, <0: switch down, >0: switch up; 0: do nothing */ - opus_int32 saved_fs_kHz; /* If non-zero, holds the last sampling rate before a bandwidth switching reset. */ } silk_LP_state; /* Structure containing NLSF codebook */ @@ -88,7 +86,6 @@ typedef struct { const opus_int16 quantStepSize_Q16; const opus_int16 invQuantStepSize_Q6; const opus_uint8 *CB1_NLSF_Q8; - const opus_int16 *CB1_Wght_Q9; const opus_uint8 *CB1_iCDF; const opus_uint8 *pred_Q8; const opus_uint8 *ec_sel; @@ -172,6 +169,8 @@ typedef struct { opus_int pitchEstimationComplexity; /* Complexity level for pitch estimator */ opus_int pitchEstimationLPCOrder; /* Whitening filter order for pitch estimator */ opus_int32 pitchEstimationThreshold_Q16; /* Threshold for pitch estimator */ + opus_int LTPQuantLowComplexity; /* Flag for low complexity LTP quantization */ + opus_int mu_LTP_Q9; /* Rate-distortion tradeoff in LTP quantization */ opus_int32 sum_log_gain_Q7; /* Cumulative max prediction gain */ opus_int NLSF_MSVQ_Survivors; /* Number of survivors in NLSF MSVQ */ opus_int first_frame_after_reset; /* Flag for deactivating NLSF interpolation, pitch prediction */ @@ -302,7 +301,6 @@ typedef struct { /* Stuff used for PLC */ opus_int lossCnt; opus_int prevSignalType; - int arch; silk_PLC_struct sPLC; diff --git a/thirdparty/opus/silk/sum_sqr_shift.c b/thirdparty/opus/silk/sum_sqr_shift.c index 4fd0c3d7d5..129df191d8 100644 --- a/thirdparty/opus/silk/sum_sqr_shift.c +++ b/thirdparty/opus/silk/sum_sqr_shift.c @@ -41,40 +41,43 @@ void silk_sum_sqr_shift( ) { opus_int i, shft; - opus_uint32 nrg_tmp; - opus_int32 nrg; + opus_int32 nrg_tmp, nrg; - /* Do a first run with the maximum shift we could have. */ - shft = 31-silk_CLZ32(len); - /* Let's be conservative with rounding and start with nrg=len. */ - nrg = len; - for( i = 0; i < len - 1; i += 2 ) { - nrg_tmp = silk_SMULBB( x[ i ], x[ i ] ); - nrg_tmp = silk_SMLABB_ovflw( nrg_tmp, x[ i + 1 ], x[ i + 1 ] ); - nrg = (opus_int32)silk_ADD_RSHIFT_uint( nrg, nrg_tmp, shft ); + nrg = 0; + shft = 0; + len--; + for( i = 0; i < len; i += 2 ) { + nrg = silk_SMLABB_ovflw( nrg, x[ i ], x[ i ] ); + nrg = silk_SMLABB_ovflw( nrg, x[ i + 1 ], x[ i + 1 ] ); + if( nrg < 0 ) { + /* Scale down */ + nrg = (opus_int32)silk_RSHIFT_uint( (opus_uint32)nrg, 2 ); + shft = 2; + i+=2; + break; + } } - if( i < len ) { - /* One sample left to process */ - nrg_tmp = silk_SMULBB( x[ i ], x[ i ] ); - nrg = (opus_int32)silk_ADD_RSHIFT_uint( nrg, nrg_tmp, shft ); - } - silk_assert( nrg >= 0 ); - /* Make sure the result will fit in a 32-bit signed integer with two bits - of headroom. */ - shft = silk_max_32(0, shft+3 - silk_CLZ32(nrg)); - nrg = 0; - for( i = 0 ; i < len - 1; i += 2 ) { + for( ; i < len; i += 2 ) { nrg_tmp = silk_SMULBB( x[ i ], x[ i ] ); nrg_tmp = silk_SMLABB_ovflw( nrg_tmp, x[ i + 1 ], x[ i + 1 ] ); - nrg = (opus_int32)silk_ADD_RSHIFT_uint( nrg, nrg_tmp, shft ); + nrg = (opus_int32)silk_ADD_RSHIFT_uint( nrg, (opus_uint32)nrg_tmp, shft ); + if( nrg < 0 ) { + /* Scale down */ + nrg = (opus_int32)silk_RSHIFT_uint( (opus_uint32)nrg, 2 ); + shft += 2; + } } - if( i < len ) { + if( i == len ) { /* One sample left to process */ nrg_tmp = silk_SMULBB( x[ i ], x[ i ] ); nrg = (opus_int32)silk_ADD_RSHIFT_uint( nrg, nrg_tmp, shft ); } - silk_assert( nrg >= 0 ); + /* Make sure to have at least one extra leading zero (two leading zeros in total) */ + if( nrg & 0xC0000000 ) { + nrg = silk_RSHIFT_uint( (opus_uint32)nrg, 2 ); + shft += 2; + } /* Output arguments */ *shift = shft; diff --git a/thirdparty/opus/silk/tables.h b/thirdparty/opus/silk/tables.h index 95230c451a..7fea6fda39 100644 --- a/thirdparty/opus/silk/tables.h +++ b/thirdparty/opus/silk/tables.h @@ -76,8 +76,10 @@ extern const opus_uint8 silk_NLSF_EXT_iCDF[ 7 ]; extern const opus_uint8 silk_LTP_per_index_iCDF[ 3 ]; /* 3 */ extern const opus_uint8 * const silk_LTP_gain_iCDF_ptrs[ NB_LTP_CBKS ]; /* 3 */ extern const opus_uint8 * const silk_LTP_gain_BITS_Q5_ptrs[ NB_LTP_CBKS ]; /* 3 */ +extern const opus_int16 silk_LTP_gain_middle_avg_RD_Q14; extern const opus_int8 * const silk_LTP_vq_ptrs_Q7[ NB_LTP_CBKS ]; /* 168 */ extern const opus_uint8 * const silk_LTP_vq_gain_ptrs_Q7[NB_LTP_CBKS]; + extern const opus_int8 silk_LTP_vq_sizes[ NB_LTP_CBKS ]; /* 3 */ extern const opus_uint8 silk_LTPscale_iCDF[ 3 ]; /* 4 */ @@ -97,6 +99,12 @@ extern const opus_uint8 silk_NLSF_interpolation_factor_iCDF[ 5 ]; extern const silk_NLSF_CB_struct silk_NLSF_CB_WB; /* 1040 */ extern const silk_NLSF_CB_struct silk_NLSF_CB_NB_MB; /* 728 */ +/* Piece-wise linear mapping from bitrate in kbps to coding quality in dB SNR */ +extern const opus_int32 silk_TargetRate_table_NB[ TARGET_RATE_TAB_SZ ]; /* 32 */ +extern const opus_int32 silk_TargetRate_table_MB[ TARGET_RATE_TAB_SZ ]; /* 32 */ +extern const opus_int32 silk_TargetRate_table_WB[ TARGET_RATE_TAB_SZ ]; /* 32 */ +extern const opus_int16 silk_SNR_table_Q1[ TARGET_RATE_TAB_SZ ]; /* 32 */ + /* Quantization offsets */ extern const opus_int16 silk_Quantization_Offsets_Q10[ 2 ][ 2 ]; /* 8 */ diff --git a/thirdparty/opus/silk/tables_LTP.c b/thirdparty/opus/silk/tables_LTP.c index 5e12c8643e..0e6a0254d5 100644 --- a/thirdparty/opus/silk/tables_LTP.c +++ b/thirdparty/opus/silk/tables_LTP.c @@ -51,6 +51,8 @@ static const opus_uint8 silk_LTP_gain_iCDF_2[32] = { 24, 20, 16, 12, 9, 5, 2, 0 }; +const opus_int16 silk_LTP_gain_middle_avg_RD_Q14 = 12304; + static const opus_uint8 silk_LTP_gain_BITS_Q5_0[8] = { 15, 131, 138, 138, 155, 155, 173, 173 }; diff --git a/thirdparty/opus/silk/tables_NLSF_CB_NB_MB.c b/thirdparty/opus/silk/tables_NLSF_CB_NB_MB.c index 195d5b95bd..8c59d207aa 100644 --- a/thirdparty/opus/silk/tables_NLSF_CB_NB_MB.c +++ b/thirdparty/opus/silk/tables_NLSF_CB_NB_MB.c @@ -74,41 +74,6 @@ static const opus_uint8 silk_NLSF_CB1_NB_MB_Q8[ 320 ] = { 64, 84, 104, 118, 156, 177, 201, 230 }; -static const opus_int16 silk_NLSF_CB1_Wght_Q9[ 320 ] = { - 2897, 2314, 2314, 2314, 2287, 2287, 2314, 2300, 2327, 2287, - 2888, 2580, 2394, 2367, 2314, 2274, 2274, 2274, 2274, 2194, - 2487, 2340, 2340, 2314, 2314, 2314, 2340, 2340, 2367, 2354, - 3216, 2766, 2340, 2340, 2314, 2274, 2221, 2207, 2261, 2194, - 2460, 2474, 2367, 2394, 2394, 2394, 2394, 2367, 2407, 2314, - 3479, 3056, 2127, 2207, 2274, 2274, 2274, 2287, 2314, 2261, - 3282, 3141, 2580, 2394, 2247, 2221, 2207, 2194, 2194, 2114, - 4096, 3845, 2221, 2620, 2620, 2407, 2314, 2394, 2367, 2074, - 3178, 3244, 2367, 2221, 2553, 2434, 2340, 2314, 2167, 2221, - 3338, 3488, 2726, 2194, 2261, 2460, 2354, 2367, 2207, 2101, - 2354, 2420, 2327, 2367, 2394, 2420, 2420, 2420, 2460, 2367, - 3779, 3629, 2434, 2527, 2367, 2274, 2274, 2300, 2207, 2048, - 3254, 3225, 2713, 2846, 2447, 2327, 2300, 2300, 2274, 2127, - 3263, 3300, 2753, 2806, 2447, 2261, 2261, 2247, 2127, 2101, - 2873, 2981, 2633, 2367, 2407, 2354, 2194, 2247, 2247, 2114, - 3225, 3197, 2633, 2580, 2274, 2181, 2247, 2221, 2221, 2141, - 3178, 3310, 2740, 2407, 2274, 2274, 2274, 2287, 2194, 2114, - 3141, 3272, 2460, 2061, 2287, 2500, 2367, 2487, 2434, 2181, - 3507, 3282, 2314, 2700, 2647, 2474, 2367, 2394, 2340, 2127, - 3423, 3535, 3038, 3056, 2300, 1950, 2221, 2274, 2274, 2274, - 3404, 3366, 2087, 2687, 2873, 2354, 2420, 2274, 2474, 2540, - 3760, 3488, 1950, 2660, 2897, 2527, 2394, 2367, 2460, 2261, - 3028, 3272, 2740, 2888, 2740, 2154, 2127, 2287, 2234, 2247, - 3695, 3657, 2025, 1969, 2660, 2700, 2580, 2500, 2327, 2367, - 3207, 3413, 2354, 2074, 2888, 2888, 2340, 2487, 2247, 2167, - 3338, 3366, 2846, 2780, 2327, 2154, 2274, 2287, 2114, 2061, - 2327, 2300, 2181, 2167, 2181, 2367, 2633, 2700, 2700, 2553, - 2407, 2434, 2221, 2261, 2221, 2221, 2340, 2420, 2607, 2700, - 3038, 3244, 2806, 2888, 2474, 2074, 2300, 2314, 2354, 2380, - 2221, 2154, 2127, 2287, 2500, 2793, 2793, 2620, 2580, 2367, - 3676, 3713, 2234, 1838, 2181, 2753, 2726, 2673, 2513, 2207, - 2793, 3160, 2726, 2553, 2846, 2513, 2181, 2394, 2221, 2181 -}; - static const opus_uint8 silk_NLSF_CB1_iCDF_NB_MB[ 64 ] = { 212, 178, 148, 129, 108, 96, 85, 82, 79, 77, 61, 59, 57, 56, 51, 49, @@ -185,7 +150,6 @@ const silk_NLSF_CB_struct silk_NLSF_CB_NB_MB = SILK_FIX_CONST( 0.18, 16 ), SILK_FIX_CONST( 1.0 / 0.18, 6 ), silk_NLSF_CB1_NB_MB_Q8, - silk_NLSF_CB1_Wght_Q9, silk_NLSF_CB1_iCDF_NB_MB, silk_NLSF_PRED_NB_MB_Q8, silk_NLSF_CB2_SELECT_NB_MB, diff --git a/thirdparty/opus/silk/tables_NLSF_CB_WB.c b/thirdparty/opus/silk/tables_NLSF_CB_WB.c index 5cc9f57bff..50af87eb2e 100644 --- a/thirdparty/opus/silk/tables_NLSF_CB_WB.c +++ b/thirdparty/opus/silk/tables_NLSF_CB_WB.c @@ -98,41 +98,6 @@ static const opus_uint8 silk_NLSF_CB1_WB_Q8[ 512 ] = { 110, 119, 129, 141, 175, 198, 218, 237 }; -static const opus_int16 silk_NLSF_CB1_WB_Wght_Q9[ 512 ] = { - 3657, 2925, 2925, 2925, 2925, 2925, 2925, 2925, 2925, 2925, 2925, 2925, 2963, 2963, 2925, 2846, - 3216, 3085, 2972, 3056, 3056, 3010, 3010, 3010, 2963, 2963, 3010, 2972, 2888, 2846, 2846, 2726, - 3920, 4014, 2981, 3207, 3207, 2934, 3056, 2846, 3122, 3244, 2925, 2846, 2620, 2553, 2780, 2925, - 3516, 3197, 3010, 3103, 3019, 2888, 2925, 2925, 2925, 2925, 2888, 2888, 2888, 2888, 2888, 2753, - 5054, 5054, 2934, 3573, 3385, 3056, 3085, 2793, 3160, 3160, 2972, 2846, 2513, 2540, 2753, 2888, - 4428, 4149, 2700, 2753, 2972, 3010, 2925, 2846, 2981, 3019, 2925, 2925, 2925, 2925, 2888, 2726, - 3620, 3019, 2972, 3056, 3056, 2873, 2806, 3056, 3216, 3047, 2981, 3291, 3291, 2981, 3310, 2991, - 5227, 5014, 2540, 3338, 3526, 3385, 3197, 3094, 3376, 2981, 2700, 2647, 2687, 2793, 2846, 2673, - 5081, 5174, 4615, 4428, 2460, 2897, 3047, 3207, 3169, 2687, 2740, 2888, 2846, 2793, 2846, 2700, - 3122, 2888, 2963, 2925, 2925, 2925, 2925, 2963, 2963, 2963, 2963, 2925, 2925, 2963, 2963, 2963, - 4202, 3207, 2981, 3103, 3010, 2888, 2888, 2925, 2972, 2873, 2916, 3019, 2972, 3010, 3197, 2873, - 3760, 3760, 3244, 3103, 2981, 2888, 2925, 2888, 2972, 2934, 2793, 2793, 2846, 2888, 2888, 2660, - 3854, 4014, 3207, 3122, 3244, 2934, 3047, 2963, 2963, 3085, 2846, 2793, 2793, 2793, 2793, 2580, - 3845, 4080, 3357, 3516, 3094, 2740, 3010, 2934, 3122, 3085, 2846, 2846, 2647, 2647, 2846, 2806, - 5147, 4894, 3225, 3845, 3441, 3169, 2897, 3413, 3451, 2700, 2580, 2673, 2740, 2846, 2806, 2753, - 4109, 3789, 3291, 3160, 2925, 2888, 2888, 2925, 2793, 2740, 2793, 2740, 2793, 2846, 2888, 2806, - 5081, 5054, 3047, 3545, 3244, 3056, 3085, 2944, 3103, 2897, 2740, 2740, 2740, 2846, 2793, 2620, - 4309, 4309, 2860, 2527, 3207, 3376, 3376, 3075, 3075, 3376, 3056, 2846, 2647, 2580, 2726, 2753, - 3056, 2916, 2806, 2888, 2740, 2687, 2897, 3103, 3150, 3150, 3216, 3169, 3056, 3010, 2963, 2846, - 4375, 3882, 2925, 2888, 2846, 2888, 2846, 2846, 2888, 2888, 2888, 2846, 2888, 2925, 2888, 2846, - 2981, 2916, 2916, 2981, 2981, 3056, 3122, 3216, 3150, 3056, 3010, 2972, 2972, 2972, 2925, 2740, - 4229, 4149, 3310, 3347, 2925, 2963, 2888, 2981, 2981, 2846, 2793, 2740, 2846, 2846, 2846, 2793, - 4080, 4014, 3103, 3010, 2925, 2925, 2925, 2888, 2925, 2925, 2846, 2846, 2846, 2793, 2888, 2780, - 4615, 4575, 3169, 3441, 3207, 2981, 2897, 3038, 3122, 2740, 2687, 2687, 2687, 2740, 2793, 2700, - 4149, 4269, 3789, 3657, 2726, 2780, 2888, 2888, 3010, 2972, 2925, 2846, 2687, 2687, 2793, 2888, - 4215, 3554, 2753, 2846, 2846, 2888, 2888, 2888, 2925, 2925, 2888, 2925, 2925, 2925, 2963, 2888, - 5174, 4921, 2261, 3432, 3789, 3479, 3347, 2846, 3310, 3479, 3150, 2897, 2460, 2487, 2753, 2925, - 3451, 3685, 3122, 3197, 3357, 3047, 3207, 3207, 2981, 3216, 3085, 2925, 2925, 2687, 2540, 2434, - 2981, 3010, 2793, 2793, 2740, 2793, 2846, 2972, 3056, 3103, 3150, 3150, 3150, 3103, 3010, 3010, - 2944, 2873, 2687, 2726, 2780, 3010, 3432, 3545, 3357, 3244, 3056, 3010, 2963, 2925, 2888, 2846, - 3019, 2944, 2897, 3010, 3010, 2972, 3019, 3103, 3056, 3056, 3010, 2888, 2846, 2925, 2925, 2888, - 3920, 3967, 3010, 3197, 3357, 3216, 3291, 3291, 3479, 3704, 3441, 2726, 2181, 2460, 2580, 2607 -}; - static const opus_uint8 silk_NLSF_CB1_iCDF_WB[ 64 ] = { 225, 204, 201, 184, 183, 175, 158, 154, 153, 135, 119, 115, 113, 110, 109, 99, @@ -223,7 +188,6 @@ const silk_NLSF_CB_struct silk_NLSF_CB_WB = SILK_FIX_CONST( 0.15, 16 ), SILK_FIX_CONST( 1.0 / 0.15, 6 ), silk_NLSF_CB1_WB_Q8, - silk_NLSF_CB1_WB_Wght_Q9, silk_NLSF_CB1_iCDF_WB, silk_NLSF_PRED_WB_Q8, silk_NLSF_CB2_SELECT_WB, diff --git a/thirdparty/opus/silk/tables_other.c b/thirdparty/opus/silk/tables_other.c index e34d90777b..398686bf26 100644 --- a/thirdparty/opus/silk/tables_other.c +++ b/thirdparty/opus/silk/tables_other.c @@ -38,6 +38,20 @@ extern "C" { #endif +/* Piece-wise linear mapping from bitrate in kbps to coding quality in dB SNR */ +const opus_int32 silk_TargetRate_table_NB[ TARGET_RATE_TAB_SZ ] = { + 0, 8000, 9400, 11500, 13500, 17500, 25000, MAX_TARGET_RATE_BPS +}; +const opus_int32 silk_TargetRate_table_MB[ TARGET_RATE_TAB_SZ ] = { + 0, 9000, 12000, 14500, 18500, 24500, 35500, MAX_TARGET_RATE_BPS +}; +const opus_int32 silk_TargetRate_table_WB[ TARGET_RATE_TAB_SZ ] = { + 0, 10500, 14000, 17000, 21500, 28500, 42000, MAX_TARGET_RATE_BPS +}; +const opus_int16 silk_SNR_table_Q1[ TARGET_RATE_TAB_SZ ] = { + 18, 29, 38, 40, 46, 52, 62, 84 +}; + /* Tables for stereo predictor coding */ const opus_int16 silk_stereo_pred_quant_Q13[ STEREO_QUANT_TAB_SIZE ] = { -13732, -10050, -8266, -7526, -6500, -5000, -2950, -820, diff --git a/thirdparty/opus/silk/tuning_parameters.h b/thirdparty/opus/silk/tuning_parameters.h index d70275fd8f..5b8f404235 100644 --- a/thirdparty/opus/silk/tuning_parameters.h +++ b/thirdparty/opus/silk/tuning_parameters.h @@ -53,12 +53,19 @@ extern "C" /* LPC analysis regularization */ #define FIND_LPC_COND_FAC 1e-5f +/* LTP analysis defines */ +#define FIND_LTP_COND_FAC 1e-5f +#define LTP_DAMPING 0.05f +#define LTP_SMOOTHING 0.1f + +/* LTP quantization settings */ +#define MU_LTP_QUANT_NB 0.03f +#define MU_LTP_QUANT_MB 0.025f +#define MU_LTP_QUANT_WB 0.02f + /* Max cumulative LTP gain */ #define MAX_SUM_LOG_GAIN_DB 250.0f -/* LTP analysis defines */ -#define LTP_CORR_INV_MAX 0.03f - /***********************/ /* High pass filtering */ /***********************/ @@ -96,16 +103,25 @@ extern "C" #define SPARSE_SNR_INCR_dB 2.0f /* threshold for sparseness measure above which to use lower quantization offset during unvoiced */ -#define ENERGY_VARIATION_THRESHOLD_QNT_OFFSET 0.6f +#define SPARSENESS_THRESHOLD_QNT_OFFSET 0.75f /* warping control */ #define WARPING_MULTIPLIER 0.015f /* fraction added to first autocorrelation value */ -#define SHAPE_WHITE_NOISE_FRACTION 3e-5f +#define SHAPE_WHITE_NOISE_FRACTION 5e-5f /* noise shaping filter chirp factor */ -#define BANDWIDTH_EXPANSION 0.94f +#define BANDWIDTH_EXPANSION 0.95f + +/* difference between chirp factors for analysis and synthesis noise shaping filters at low bitrates */ +#define LOW_RATE_BANDWIDTH_EXPANSION_DELTA 0.01f + +/* extra harmonic boosting (signal shaping) at low bitrates */ +#define LOW_RATE_HARMONIC_BOOST 0.1f + +/* extra harmonic boosting (signal shaping) for noisy input signals */ +#define LOW_INPUT_QUALITY_HARMONIC_BOOST 0.1f /* harmonic noise shaping */ #define HARMONIC_SHAPING 0.3f diff --git a/thirdparty/opus/silk/x86/NSQ_del_dec_sse4_1.c b/thirdparty/opus/silk/x86/NSQ_del_dec_sse.c index 2c75ede2dd..21d4a8bc1e 100644 --- a/thirdparty/opus/silk/x86/NSQ_del_dec_sse4_1.c +++ b/thirdparty/opus/silk/x86/NSQ_del_dec_sse.c @@ -107,12 +107,12 @@ static OPUS_INLINE void silk_noise_shape_quantizer_del_dec_sse4_1( opus_int predictLPCOrder, /* I Prediction filter order */ opus_int warping_Q16, /* I */ opus_int nStatesDelayedDecision, /* I Number of states in decision tree */ - opus_int *smpl_buf_idx, /* I/O Index to newest samples in buffers */ + opus_int *smpl_buf_idx, /* I Index to newest samples in buffers */ opus_int decisionDelay /* I */ ); void silk_NSQ_del_dec_sse4_1( - const silk_encoder_state *psEncC, /* I Encoder State */ + const silk_encoder_state *psEncC, /* I/O Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ SideInfoIndices *psIndices, /* I/O Quantization Indices */ const opus_int32 x_Q3[], /* I Prefiltered input signal */ @@ -234,8 +234,7 @@ void silk_NSQ_del_dec_sse4_1( psDD = &psDelDec[ Winner_ind ]; last_smple_idx = smpl_buf_idx + decisionDelay; for( i = 0; i < decisionDelay; i++ ) { - last_smple_idx = ( last_smple_idx - 1 ) % DECISION_DELAY; - if( last_smple_idx < 0 ) last_smple_idx += DECISION_DELAY; + last_smple_idx = ( last_smple_idx - 1 ) & DECISION_DELAY_MASK; pulses[ i - decisionDelay ] = (opus_int8)silk_RSHIFT_ROUND( psDD->Q_Q10[ last_smple_idx ], 10 ); pxq[ i - decisionDelay ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( silk_SMULWW( psDD->Xq_Q14[ last_smple_idx ], Gains_Q16[ 1 ] ), 14 ) ); @@ -247,7 +246,7 @@ void silk_NSQ_del_dec_sse4_1( /* Rewhiten with new A coefs */ start_idx = psEncC->ltp_mem_length - lag - psEncC->predictLPCOrder - LTP_ORDER / 2; - celt_assert( start_idx > 0 ); + silk_assert( start_idx > 0 ); silk_LPC_analysis_filter( &sLTP[ start_idx ], &NSQ->xq[ start_idx + k * psEncC->subfr_length ], A_Q12, psEncC->ltp_mem_length - start_idx, psEncC->predictLPCOrder, psEncC->arch ); @@ -286,8 +285,7 @@ void silk_NSQ_del_dec_sse4_1( last_smple_idx = smpl_buf_idx + decisionDelay; Gain_Q10 = silk_RSHIFT32( Gains_Q16[ psEncC->nb_subfr - 1 ], 6 ); for( i = 0; i < decisionDelay; i++ ) { - last_smple_idx = ( last_smple_idx - 1 ) % DECISION_DELAY; - if( last_smple_idx < 0 ) last_smple_idx += DECISION_DELAY; + last_smple_idx = ( last_smple_idx - 1 ) & DECISION_DELAY_MASK; pulses[ i - decisionDelay ] = (opus_int8)silk_RSHIFT_ROUND( psDD->Q_Q10[ last_smple_idx ], 10 ); pxq[ i - decisionDelay ] = (opus_int16)silk_SAT16( silk_RSHIFT_ROUND( silk_SMULWW( psDD->Xq_Q14[ last_smple_idx ], Gain_Q10 ), 8 ) ); @@ -301,6 +299,7 @@ void silk_NSQ_del_dec_sse4_1( NSQ->lagPrev = pitchL[ psEncC->nb_subfr - 1 ]; /* Save quantized speech signal */ + /* DEBUG_STORE_DATA( enc.pcm, &NSQ->xq[psEncC->ltp_mem_length], psEncC->frame_length * sizeof( opus_int16 ) ) */ silk_memmove( NSQ->xq, &NSQ->xq[ psEncC->frame_length ], psEncC->ltp_mem_length * sizeof( opus_int16 ) ); silk_memmove( NSQ->sLTP_shp_Q14, &NSQ->sLTP_shp_Q14[ psEncC->frame_length ], psEncC->ltp_mem_length * sizeof( opus_int32 ) ); RESTORE_STACK; @@ -334,7 +333,7 @@ static OPUS_INLINE void silk_noise_shape_quantizer_del_dec_sse4_1( opus_int predictLPCOrder, /* I Prediction filter order */ opus_int warping_Q16, /* I */ opus_int nStatesDelayedDecision, /* I Number of states in decision tree */ - opus_int *smpl_buf_idx, /* I/O Index to newest samples in buffers */ + opus_int *smpl_buf_idx, /* I Index to newest samples in buffers */ opus_int decisionDelay /* I */ ) { @@ -353,7 +352,7 @@ static OPUS_INLINE void silk_noise_shape_quantizer_del_dec_sse4_1( __m128i b_Q12_0123, b_sr_Q12_0123; SAVE_STACK; - celt_assert( nStatesDelayedDecision > 0 ); + silk_assert( nStatesDelayedDecision > 0 ); ALLOC( psSampleState, nStatesDelayedDecision, NSQ_sample_pair ); shp_lag_ptr = &NSQ->sLTP_shp_Q14[ NSQ->sLTP_shp_buf_idx - lag + HARM_SHAPE_FIR_TAPS / 2 ]; @@ -639,9 +638,8 @@ static OPUS_INLINE void silk_noise_shape_quantizer_del_dec_sse4_1( psSS[ 1 ].xq_Q14 = xq_Q14; } } - *smpl_buf_idx = ( *smpl_buf_idx - 1 ) % DECISION_DELAY; - if( *smpl_buf_idx < 0 ) *smpl_buf_idx += DECISION_DELAY; - last_smple_idx = ( *smpl_buf_idx + decisionDelay ) % DECISION_DELAY; + *smpl_buf_idx = ( *smpl_buf_idx - 1 ) & DECISION_DELAY_MASK; /* Index to newest samples */ + last_smple_idx = ( *smpl_buf_idx + decisionDelay ) & DECISION_DELAY_MASK; /* Index to decisionDelay old samples */ /* Find winner */ RDmin_Q10 = psSampleState[ 0 ][ 0 ].RD_Q10; diff --git a/thirdparty/opus/silk/x86/NSQ_sse4_1.c b/thirdparty/opus/silk/x86/NSQ_sse.c index b0315e35fc..bb3c5f1955 100644 --- a/thirdparty/opus/silk/x86/NSQ_sse4_1.c +++ b/thirdparty/opus/silk/x86/NSQ_sse.c @@ -71,7 +71,7 @@ static OPUS_INLINE void silk_noise_shape_quantizer_10_16_sse4_1( ); void silk_NSQ_sse4_1( - const silk_encoder_state *psEncC, /* I Encoder State */ + const silk_encoder_state *psEncC, /* I/O Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ SideInfoIndices *psIndices, /* I/O Quantization Indices */ const opus_int32 x_Q3[], /* I Prefiltered input signal */ @@ -199,7 +199,7 @@ void silk_NSQ_sse4_1( if( ( k & ( 3 - silk_LSHIFT( LSF_interpolation_flag, 1 ) ) ) == 0 ) { /* Rewhiten with new A coefs */ start_idx = psEncC->ltp_mem_length - lag - psEncC->predictLPCOrder - LTP_ORDER / 2; - celt_assert( start_idx > 0 ); + silk_assert( start_idx > 0 ); silk_LPC_analysis_filter( &sLTP[ start_idx ], &NSQ->xq[ start_idx + k * psEncC->subfr_length ], A_Q12, psEncC->ltp_mem_length - start_idx, psEncC->predictLPCOrder, psEncC->arch ); @@ -233,6 +233,7 @@ void silk_NSQ_sse4_1( NSQ->lagPrev = pitchL[ psEncC->nb_subfr - 1 ]; /* Save quantized speech and noise shaping signals */ + /* DEBUG_STORE_DATA( enc.pcm, &NSQ->xq[ psEncC->ltp_mem_length ], psEncC->frame_length * sizeof( opus_int16 ) ) */ silk_memmove( NSQ->xq, &NSQ->xq[ psEncC->frame_length ], psEncC->ltp_mem_length * sizeof( opus_int16 ) ); silk_memmove( NSQ->sLTP_shp_Q14, &NSQ->sLTP_shp_Q14[ psEncC->frame_length ], psEncC->ltp_mem_length * sizeof( opus_int32 ) ); RESTORE_STACK; diff --git a/thirdparty/opus/silk/x86/VAD_sse4_1.c b/thirdparty/opus/silk/x86/VAD_sse.c index d02ddf4ad0..4e90f4410d 100644 --- a/thirdparty/opus/silk/x86/VAD_sse4_1.c +++ b/thirdparty/opus/silk/x86/VAD_sse.c @@ -65,9 +65,9 @@ opus_int silk_VAD_GetSA_Q8_sse4_1( /* O Return value, 0 if s /* Safety checks */ silk_assert( VAD_N_BANDS == 4 ); - celt_assert( MAX_FRAME_LENGTH >= psEncC->frame_length ); - celt_assert( psEncC->frame_length <= 512 ); - celt_assert( psEncC->frame_length == 8 * silk_RSHIFT( psEncC->frame_length, 3 ) ); + silk_assert( MAX_FRAME_LENGTH >= psEncC->frame_length ); + silk_assert( psEncC->frame_length <= 512 ); + silk_assert( psEncC->frame_length == 8 * silk_RSHIFT( psEncC->frame_length, 3 ) ); /***********************/ /* Filter and Decimate */ diff --git a/thirdparty/opus/silk/x86/VQ_WMat_EC_sse4_1.c b/thirdparty/opus/silk/x86/VQ_WMat_EC_sse.c index 74d6c6d0ec..74d6c6d0ec 100644 --- a/thirdparty/opus/silk/x86/VQ_WMat_EC_sse4_1.c +++ b/thirdparty/opus/silk/x86/VQ_WMat_EC_sse.c diff --git a/thirdparty/opus/silk/x86/main_sse.h b/thirdparty/opus/silk/x86/main_sse.h index 2f15d44869..d8d61310ed 100644 --- a/thirdparty/opus/silk/x86/main_sse.h +++ b/thirdparty/opus/silk/x86/main_sse.h @@ -34,7 +34,6 @@ # if defined(OPUS_X86_MAY_HAVE_SSE4_1) -#if 0 /* FIXME: SSE disabled until silk_VQ_WMat_EC_sse4_1() gets updated. */ # define OVERRIDE_silk_VQ_WMat_EC void silk_VQ_WMat_EC_sse4_1( @@ -80,13 +79,11 @@ extern void (*const SILK_VQ_WMAT_EC_IMPL[OPUS_ARCHMASK + 1])( mu_Q9, max_gain_Q7, L)) #endif -#endif -#if 0 /* FIXME: SSE disabled until the NSQ code gets updated. */ # define OVERRIDE_silk_NSQ void silk_NSQ_sse4_1( - const silk_encoder_state *psEncC, /* I Encoder State */ + const silk_encoder_state *psEncC, /* I/O Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ SideInfoIndices *psIndices, /* I/O Quantization Indices */ const opus_int32 x_Q3[], /* I Prefiltered input signal */ @@ -113,7 +110,7 @@ void silk_NSQ_sse4_1( #else extern void (*const SILK_NSQ_IMPL[OPUS_ARCHMASK + 1])( - const silk_encoder_state *psEncC, /* I Encoder State */ + const silk_encoder_state *psEncC, /* I/O Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ SideInfoIndices *psIndices, /* I/O Quantization Indices */ const opus_int32 x_Q3[], /* I Prefiltered input signal */ @@ -140,7 +137,7 @@ extern void (*const SILK_NSQ_IMPL[OPUS_ARCHMASK + 1])( # define OVERRIDE_silk_NSQ_del_dec void silk_NSQ_del_dec_sse4_1( - const silk_encoder_state *psEncC, /* I Encoder State */ + const silk_encoder_state *psEncC, /* I/O Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ SideInfoIndices *psIndices, /* I/O Quantization Indices */ const opus_int32 x_Q3[], /* I Prefiltered input signal */ @@ -167,7 +164,7 @@ void silk_NSQ_del_dec_sse4_1( #else extern void (*const SILK_NSQ_DEL_DEC_IMPL[OPUS_ARCHMASK + 1])( - const silk_encoder_state *psEncC, /* I Encoder State */ + const silk_encoder_state *psEncC, /* I/O Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ SideInfoIndices *psIndices, /* I/O Quantization Indices */ const opus_int32 x_Q3[], /* I Prefiltered input signal */ @@ -190,7 +187,6 @@ extern void (*const SILK_NSQ_DEL_DEC_IMPL[OPUS_ARCHMASK + 1])( HarmShapeGain_Q14, Tilt_Q14, LF_shp_Q14, Gains_Q16, pitchL, Lambda_Q10, LTP_scale_Q14)) #endif -#endif void silk_noise_shape_quantizer( silk_nsq_state *NSQ, /* I/O NSQ state */ @@ -242,6 +238,39 @@ extern opus_int (*const SILK_VAD_GETSA_Q8_IMPL[OPUS_ARCHMASK + 1])( silk_encoder_state *psEnC, const opus_int16 pIn[]); +# define OVERRIDE_silk_warped_LPC_analysis_filter_FIX + +#endif + +void silk_warped_LPC_analysis_filter_FIX_sse4_1( + opus_int32 state[], /* I/O State [order + 1] */ + opus_int32 res_Q2[], /* O Residual signal [length] */ + const opus_int16 coef_Q13[], /* I Coefficients [order] */ + const opus_int16 input[], /* I Input signal [length] */ + const opus_int16 lambda_Q16, /* I Warping factor */ + const opus_int length, /* I Length of input signal */ + const opus_int order /* I Filter order (even) */ +); + +#if defined(OPUS_X86_PRESUME_SSE4_1) +#define silk_warped_LPC_analysis_filter_FIX(state, res_Q2, coef_Q13, input, lambda_Q16, length, order, arch) \ + ((void)(arch),silk_warped_LPC_analysis_filter_FIX_c(state, res_Q2, coef_Q13, input, lambda_Q16, length, order)) + +#else + +extern void (*const SILK_WARPED_LPC_ANALYSIS_FILTER_FIX_IMPL[OPUS_ARCHMASK + 1])( + opus_int32 state[], /* I/O State [order + 1] */ + opus_int32 res_Q2[], /* O Residual signal [length] */ + const opus_int16 coef_Q13[], /* I Coefficients [order] */ + const opus_int16 input[], /* I Input signal [length] */ + const opus_int16 lambda_Q16, /* I Warping factor */ + const opus_int length, /* I Length of input signal */ + const opus_int order /* I Filter order (even) */ +); + +# define silk_warped_LPC_analysis_filter_FIX(state, res_Q2, coef_Q13, input, lambda_Q16, length, order, arch) \ + ((*SILK_WARPED_LPC_ANALYSIS_FILTER_FIX_IMPL[(arch) & OPUS_ARCHMASK])(state, res_Q2, coef_Q13, input, lambda_Q16, length, order)) + #endif # endif diff --git a/thirdparty/opus/silk/x86/x86_silk_map.c b/thirdparty/opus/silk/x86/x86_silk_map.c index 32dcc3cab7..818841f2c1 100644 --- a/thirdparty/opus/silk/x86/x86_silk_map.c +++ b/thirdparty/opus/silk/x86/x86_silk_map.c @@ -66,9 +66,8 @@ opus_int (*const SILK_VAD_GETSA_Q8_IMPL[ OPUS_ARCHMASK + 1 ] )( MAY_HAVE_SSE4_1( silk_VAD_GetSA_Q8 ) /* avx */ }; -#if 0 /* FIXME: SSE disabled until the NSQ code gets updated. */ void (*const SILK_NSQ_IMPL[ OPUS_ARCHMASK + 1 ] )( - const silk_encoder_state *psEncC, /* I Encoder State */ + const silk_encoder_state *psEncC, /* I/O Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ SideInfoIndices *psIndices, /* I/O Quantization Indices */ const opus_int32 x_Q3[], /* I Prefiltered input signal */ @@ -90,9 +89,7 @@ void (*const SILK_NSQ_IMPL[ OPUS_ARCHMASK + 1 ] )( MAY_HAVE_SSE4_1( silk_NSQ ), /* sse4.1 */ MAY_HAVE_SSE4_1( silk_NSQ ) /* avx */ }; -#endif -#if 0 /* FIXME: SSE disabled until silk_VQ_WMat_EC_sse4_1() gets updated. */ void (*const SILK_VQ_WMAT_EC_IMPL[ OPUS_ARCHMASK + 1 ] )( opus_int8 *ind, /* O index of best codebook vector */ opus_int32 *rate_dist_Q14, /* O best weighted quant error + mu * rate */ @@ -112,11 +109,9 @@ void (*const SILK_VQ_WMAT_EC_IMPL[ OPUS_ARCHMASK + 1 ] )( MAY_HAVE_SSE4_1( silk_VQ_WMat_EC ), /* sse4.1 */ MAY_HAVE_SSE4_1( silk_VQ_WMat_EC ) /* avx */ }; -#endif -#if 0 /* FIXME: SSE disabled until the NSQ code gets updated. */ void (*const SILK_NSQ_DEL_DEC_IMPL[ OPUS_ARCHMASK + 1 ] )( - const silk_encoder_state *psEncC, /* I Encoder State */ + const silk_encoder_state *psEncC, /* I/O Encoder State */ silk_nsq_state *NSQ, /* I/O NSQ state */ SideInfoIndices *psIndices, /* I/O Quantization Indices */ const opus_int32 x_Q3[], /* I Prefiltered input signal */ @@ -138,10 +133,25 @@ void (*const SILK_NSQ_DEL_DEC_IMPL[ OPUS_ARCHMASK + 1 ] )( MAY_HAVE_SSE4_1( silk_NSQ_del_dec ), /* sse4.1 */ MAY_HAVE_SSE4_1( silk_NSQ_del_dec ) /* avx */ }; -#endif #if defined(FIXED_POINT) +void (*const SILK_WARPED_LPC_ANALYSIS_FILTER_FIX_IMPL[ OPUS_ARCHMASK + 1 ] )( + opus_int32 state[], /* I/O State [order + 1] */ + opus_int32 res_Q2[], /* O Residual signal [length] */ + const opus_int16 coef_Q13[], /* I Coefficients [order] */ + const opus_int16 input[], /* I Input signal [length] */ + const opus_int16 lambda_Q16, /* I Warping factor */ + const opus_int length, /* I Length of input signal */ + const opus_int order /* I Filter order (even) */ +) = { + silk_warped_LPC_analysis_filter_FIX_c, /* non-sse */ + silk_warped_LPC_analysis_filter_FIX_c, + silk_warped_LPC_analysis_filter_FIX_c, + MAY_HAVE_SSE4_1( silk_warped_LPC_analysis_filter_FIX ), /* sse4.1 */ + MAY_HAVE_SSE4_1( silk_warped_LPC_analysis_filter_FIX ) /* avx */ +}; + void (*const SILK_BURG_MODIFIED_IMPL[ OPUS_ARCHMASK + 1 ] )( opus_int32 *res_nrg, /* O Residual energy */ opus_int *res_nrg_Q, /* O Residual energy Q value */ diff --git a/thirdparty/opus/stream.c b/thirdparty/opus/stream.c index 6a85197a66..0238a6b31b 100644 --- a/thirdparty/opus/stream.c +++ b/thirdparty/opus/stream.c @@ -235,7 +235,8 @@ void *op_fopen(OpusFileCallbacks *_cb,const char *_path,const char *_mode){ fp=fopen(_path,_mode); #else fp=NULL; - { + if(_path==NULL||_mode==NULL)errno=EINVAL; + else{ wchar_t *wpath; wchar_t *wmode; wpath=op_utf8_to_utf16(_path); @@ -265,7 +266,8 @@ void *op_freopen(OpusFileCallbacks *_cb,const char *_path,const char *_mode, fp=freopen(_path,_mode,(FILE *)_stream); #else fp=NULL; - { + if(_path==NULL||_mode==NULL)errno=EINVAL; + else{ wchar_t *wpath; wchar_t *wmode; wpath=op_utf8_to_utf16(_path); diff --git a/thirdparty/vhacd/0003-fix-musl-build.patch b/thirdparty/vhacd/0003-fix-musl-build.patch new file mode 100644 index 0000000000..67af8546f3 --- /dev/null +++ b/thirdparty/vhacd/0003-fix-musl-build.patch @@ -0,0 +1,15 @@ +diff --git a/thirdparty/vhacd/inc/vhacdMutex.h b/thirdparty/vhacd/inc/vhacdMutex.h +index 6b09259200..d587dd6387 100644 +--- a/thirdparty/vhacd/inc/vhacdMutex.h ++++ b/thirdparty/vhacd/inc/vhacdMutex.h +@@ -71,7 +71,9 @@ + #include <pthread.h> + #endif + +-#if defined(__APPLE__) ++// -- GODOT start -- ++#if defined(__APPLE__) || !defined(__GLIBC__) ++// -- GODOT end -- + #define PTHREAD_MUTEX_RECURSIVE_NP PTHREAD_MUTEX_RECURSIVE + #endif + diff --git a/thirdparty/vhacd/0004-fix-uwp-arm-build.patch b/thirdparty/vhacd/0004-fix-uwp-arm-build.patch new file mode 100644 index 0000000000..a5bba3fd7d --- /dev/null +++ b/thirdparty/vhacd/0004-fix-uwp-arm-build.patch @@ -0,0 +1,16 @@ +diff --git a/thirdparty/vhacd/inc/btScalar.h b/thirdparty/vhacd/inc/btScalar.h +index 3999a71521..4c9e0cf7ab 100644 +--- a/thirdparty/vhacd/inc/btScalar.h ++++ b/thirdparty/vhacd/inc/btScalar.h +@@ -72,7 +72,10 @@ inline int32_t btGetVersion() + #define btFsel(a, b, c) __fsel((a), (b), (c)) + #else + +-#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) ++// -- GODOT start -- ++//#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) ++#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) && (!defined(_M_ARM)) ++// -- GODOT end -- + #define BT_USE_SSE + #include <emmintrin.h> + #endif diff --git a/thirdparty/vhacd/inc/btScalar.h b/thirdparty/vhacd/inc/btScalar.h index 3999a71521..4c9e0cf7ab 100644 --- a/thirdparty/vhacd/inc/btScalar.h +++ b/thirdparty/vhacd/inc/btScalar.h @@ -72,7 +72,10 @@ inline int32_t btGetVersion() #define btFsel(a, b, c) __fsel((a), (b), (c)) #else -#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) +// -- GODOT start -- +//#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) +#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) && (!defined(_M_ARM)) +// -- GODOT end -- #define BT_USE_SSE #include <emmintrin.h> #endif diff --git a/thirdparty/vhacd/inc/vhacdMutex.h b/thirdparty/vhacd/inc/vhacdMutex.h index 6b09259200..d587dd6387 100644 --- a/thirdparty/vhacd/inc/vhacdMutex.h +++ b/thirdparty/vhacd/inc/vhacdMutex.h @@ -71,7 +71,9 @@ #include <pthread.h> #endif -#if defined(__APPLE__) +// -- GODOT start -- +#if defined(__APPLE__) || !defined(__GLIBC__) +// -- GODOT end -- #define PTHREAD_MUTEX_RECURSIVE_NP PTHREAD_MUTEX_RECURSIVE #endif diff --git a/thirdparty/xatlas/LICENSE b/thirdparty/xatlas/LICENSE index 94d0c60485..9e61e15fb7 100644 --- a/thirdparty/xatlas/LICENSE +++ b/thirdparty/xatlas/LICENSE @@ -1,14 +1,21 @@ -xatlas -https://github.com/jpcy/xatlas -Copyright (c) 2018 Jonathan Young +MIT License -thekla_atlas -https://github.com/Thekla/thekla_atlas -Copyright (c) 2013 Thekla, Inc -Copyright NVIDIA Corporation 2006 -- Ignacio Castano <icastano@nvidia.com> +Copyright (c) 2018-2019 Jonathan Young -Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: -The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE.
\ No newline at end of file diff --git a/thirdparty/xatlas/xatlas.cpp b/thirdparty/xatlas/xatlas.cpp index 56794211a6..80cacf9746 100644 --- a/thirdparty/xatlas/xatlas.cpp +++ b/thirdparty/xatlas/xatlas.cpp @@ -33,7 +33,6 @@ https://github.com/brandonpelfrey/Fast-BVH MIT License Copyright (c) 2012 Brandon Pelfrey */ -#include <algorithm> #include <atomic> #include <condition_variable> #include <mutex> @@ -114,22 +113,25 @@ Copyright (c) 2012 Brandon Pelfrey #define XA_UNUSED(a) ((void)(a)) -#define XA_GROW_CHARTS_COPLANAR 1 #define XA_MERGE_CHARTS 1 #define XA_MERGE_CHARTS_MIN_NORMAL_DEVIATION 0.5f #define XA_RECOMPUTE_CHARTS 1 -#define XA_SKIP_PARAMETERIZATION 0 // Use the orthogonal parameterization from segment::Atlas #define XA_CLOSE_HOLES_CHECK_EDGE_INTERSECTION 0 +#define XA_FIX_INTERNAL_BOUNDARY_LOOPS 1 +#define XA_PRINT_CHART_WARNINGS 0 #define XA_DEBUG_HEAP 0 #define XA_DEBUG_SINGLE_CHART 0 #define XA_DEBUG_EXPORT_ATLAS_IMAGES 0 +#define XA_DEBUG_EXPORT_ATLAS_IMAGES_PER_CHART 0 // Export an atlas image after each chart is added. +#define XA_DEBUG_EXPORT_BOUNDARY_GRID 0 +#define XA_DEBUG_EXPORT_TGA (XA_DEBUG_EXPORT_ATLAS_IMAGES || XA_DEBUG_EXPORT_BOUNDARY_GRID) #define XA_DEBUG_EXPORT_OBJ_SOURCE_MESHES 0 #define XA_DEBUG_EXPORT_OBJ_CHART_GROUPS 0 +#define XA_DEBUG_EXPORT_OBJ_PLANAR_REGIONS 0 #define XA_DEBUG_EXPORT_OBJ_CHARTS 0 #define XA_DEBUG_EXPORT_OBJ_BEFORE_FIX_TJUNCTION 0 #define XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR 0 -#define XA_DEBUG_EXPORT_OBJ_NOT_DISK 0 #define XA_DEBUG_EXPORT_OBJ_CHARTS_AFTER_PARAMETERIZATION 0 #define XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION 0 #define XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS 0 @@ -137,10 +139,10 @@ Copyright (c) 2012 Brandon Pelfrey #define XA_DEBUG_EXPORT_OBJ (0 \ || XA_DEBUG_EXPORT_OBJ_SOURCE_MESHES \ || XA_DEBUG_EXPORT_OBJ_CHART_GROUPS \ + || XA_DEBUG_EXPORT_OBJ_PLANAR_REGIONS \ || XA_DEBUG_EXPORT_OBJ_CHARTS \ || XA_DEBUG_EXPORT_OBJ_BEFORE_FIX_TJUNCTION \ || XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR \ - || XA_DEBUG_EXPORT_OBJ_NOT_DISK \ || XA_DEBUG_EXPORT_OBJ_CHARTS_AFTER_PARAMETERIZATION \ || XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION \ || XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS) @@ -166,6 +168,10 @@ struct MemTag enum { Default, + BitImage, + BVH, + FullVector, + Matrix, Mesh, MeshBoundaries, MeshColocals, @@ -174,6 +180,10 @@ struct MemTag MeshNormals, MeshPositions, MeshTexcoords, + SegmentAtlasChartCandidates, + SegmentAtlasChartFaces, + SegmentAtlasMeshData, + SegmentAtlasPlanarRegions, Count }; }; @@ -192,7 +202,7 @@ struct AllocHeader static std::mutex s_allocMutex; static AllocHeader *s_allocRoot = nullptr; -static size_t s_allocTotalSize = 0, s_allocPeakSize = 0, s_allocTotalTagSize[MemTag::Count] = { 0 }, s_allocPeakTagSize[MemTag::Count] = { 0 }; +static size_t s_allocTotalCount = 0, s_allocTotalSize = 0, s_allocPeakSize = 0, s_allocCount[MemTag::Count] = { 0 }, s_allocTotalTagSize[MemTag::Count] = { 0 }, s_allocPeakTagSize[MemTag::Count] = { 0 }; static uint32_t s_allocId =0 ; static constexpr uint32_t kAllocRedzone = 0x12345678; @@ -245,9 +255,11 @@ static void *Realloc(void *ptr, size_t size, int tag, const char *file, int line s_allocRoot = header; header->next->prev = header; } + s_allocTotalCount++; s_allocTotalSize += size; if (s_allocTotalSize > s_allocPeakSize) s_allocPeakSize = s_allocTotalSize; + s_allocCount[tag]++; s_allocTotalTagSize[tag] += size; if (s_allocTotalTagSize[tag] > s_allocPeakTagSize[tag]) s_allocPeakTagSize[tag] = s_allocTotalTagSize[tag]; @@ -287,9 +299,14 @@ static void ReportLeaks() static void PrintMemoryUsage() { + XA_PRINT("Total allocations: %zu\n", s_allocTotalCount); XA_PRINT("Memory usage: %0.2fMB current, %0.2fMB peak\n", internal::s_allocTotalSize / 1024.0f / 1024.0f, internal::s_allocPeakSize / 1024.0f / 1024.0f); static const char *labels[] = { // Sync with MemTag "Default", + "BitImage", + "BVH", + "FullVector", + "Matrix", "Mesh", "MeshBoundaries", "MeshColocals", @@ -297,10 +314,14 @@ static void PrintMemoryUsage() "MeshIndices", "MeshNormals", "MeshPositions", - "MeshTexcoords" + "MeshTexcoords", + "SegmentAtlasChartCandidates", + "SegmentAtlasChartFaces", + "SegmentAtlasMeshData", + "SegmentAtlasPlanarRegions" }; for (int i = 0; i < MemTag::Count; i++) { - XA_PRINT(" %s: %0.2fMB current, %0.2fMB peak\n", labels[i], internal::s_allocTotalTagSize[i] / 1024.0f / 1024.0f, internal::s_allocPeakTagSize[i] / 1024.0f / 1024.0f); + XA_PRINT(" %s: %zu allocations, %0.2fMB current, %0.2fMB peak\n", labels[i], internal::s_allocCount[i], internal::s_allocTotalTagSize[i] / 1024.0f / 1024.0f, internal::s_allocPeakTagSize[i] / 1024.0f / 1024.0f); } } @@ -308,7 +329,9 @@ static void PrintMemoryUsage() #else static void *Realloc(void *ptr, size_t size, int /*tag*/, const char * /*file*/, int /*line*/) { - if (ptr && size == 0 && s_free) { + if (size == 0 && !ptr) + return nullptr; + if (size == 0 && s_free) { s_free(ptr); return nullptr; } @@ -333,7 +356,6 @@ struct ProfileData std::atomic<clock_t> addMeshThread; std::atomic<clock_t> addMeshCreateColocals; std::atomic<clock_t> addMeshCreateFaceGroups; - std::atomic<clock_t> addMeshCreateBoundaries; std::atomic<clock_t> addMeshCreateChartGroupsReal; std::atomic<clock_t> addMeshCreateChartGroupsThread; clock_t computeChartsReal; @@ -362,7 +384,6 @@ struct ProfileData clock_t packChartsRasterize; clock_t packChartsDilate; clock_t packChartsFindLocation; - std::atomic<clock_t> packChartsFindLocationThread; clock_t packChartsBlit; clock_t buildOutputMeshes; }; @@ -386,6 +407,7 @@ static double clockToSeconds(clock_t c) static constexpr float kPi = 3.14159265358979323846f; static constexpr float kPi2 = 6.28318530717958647692f; +static constexpr float kPi4 = 12.56637061435917295384f; static constexpr float kEpsilon = 0.0001f; static constexpr float kAreaEpsilon = FLT_EPSILON; static constexpr float kNormalEpsilon = 0.001f; @@ -430,11 +452,9 @@ static T clamp(const T &x, const T &a, const T &b) template <typename T> static void swap(T &a, T &b) { - T temp; - temp = a; + T temp = a; a = b; b = temp; - temp = T(); } union FloatUint32 @@ -620,6 +640,14 @@ static Vector2 normalize(const Vector2 &v, float epsilon) return n; } +static Vector2 normalizeSafe(const Vector2 &v, const Vector2 &fallback, float epsilon) +{ + float l = length(v); + if (isZero(l, epsilon)) + return fallback; + return v * (1.0f / l); +} + static bool equal(const Vector2 &v1, const Vector2 &v2, float epsilon) { return equal(v1.x, v2.x, epsilon) && equal(v1.y, v2.y, epsilon); @@ -640,23 +668,19 @@ static bool isFinite(const Vector2 &v) return isFinite(v.x) && isFinite(v.y); } -// Note, this is the area scaled by 2! -static float triangleArea(const Vector2 &v0, const Vector2 &v1) -{ - return (v0.x * v1.y - v0.y * v1.x); // * 0.5f; -} - static float triangleArea(const Vector2 &a, const Vector2 &b, const Vector2 &c) { // IC: While it may be appealing to use the following expression: - //return (c.x * a.y + a.x * b.y + b.x * c.y - b.x * a.y - c.x * b.y - a.x * c.y); // * 0.5f; + //return (c.x * a.y + a.x * b.y + b.x * c.y - b.x * a.y - c.x * b.y - a.x * c.y) * 0.5f; // That's actually a terrible idea. Small triangles far from the origin can end up producing fairly large floating point // numbers and the results becomes very unstable and dependent on the order of the factors. // Instead, it's preferable to subtract the vertices first, and multiply the resulting small values together. The result // in this case is always much more accurate (as long as the triangle is small) and less dependent of the location of // the triangle. - //return ((a.x - c.x) * (b.y - c.y) - (a.y - c.y) * (b.x - c.x)); // * 0.5f; - return triangleArea(a - c, b - c); + //return ((a.x - c.x) * (b.y - c.y) - (a.y - c.y) * (b.x - c.x)) * 0.5f; + const Vector2 v0 = a - c; + const Vector2 v1 = b - c; + return (v0.x * v1.y - v0.y * v1.x) * 0.5f; } static bool linesIntersect(const Vector2 &a1, const Vector2 &a2, const Vector2 &b1, const Vector2 &b2, float epsilon) @@ -746,11 +770,6 @@ public: float x, y, z; }; -static bool operator!=(const Vector3 &a, const Vector3 &b) -{ - return a.x != b.x || a.y != b.y || a.z != b.z; -} - static Vector3 operator+(const Vector3 &a, const Vector3 &b) { return Vector3(a.x + b.x, a.y + b.y, a.z + b.z); @@ -837,6 +856,33 @@ bool isFinite(const Vector3 &v) } #endif +struct Extents2 +{ + Vector2 min, max; + + void reset() + { + min.x = min.y = FLT_MAX; + max.x = max.y = -FLT_MAX; + } + + void add(Vector2 p) + { + min = xatlas::internal::min(min, p); + max = xatlas::internal::max(max, p); + } + + Vector2 midpoint() const + { + return Vector2(min.x + (max.x - min.x) * 0.5f, min.y + (max.y - min.y) * 0.5f); + } + + static bool intersect(Extents2 e1, Extents2 e2) + { + return e1.min.x <= e2.max.x && e1.max.x >= e2.min.x && e1.min.y <= e2.max.y && e1.max.y >= e2.min.y; + } +}; + struct Plane { Plane() = default; @@ -979,7 +1025,14 @@ struct AABB struct ArrayBase { - ArrayBase(uint32_t elementSize, int memTag = MemTag::Default) : buffer(nullptr), elementSize(elementSize), size(0), capacity(0), memTag(memTag) {} + ArrayBase(uint32_t elementSize, int memTag = MemTag::Default) : buffer(nullptr), elementSize(elementSize), size(0), capacity(0) + { +#if XA_DEBUG_HEAP + this->memTag = memTag; +#else + XA_UNUSED(memTag); +#endif + } ~ArrayBase() { @@ -991,6 +1044,12 @@ struct ArrayBase size = 0; } + void copyFrom(const uint8_t *data, uint32_t length) + { + resize(length, true); + memcpy(buffer, data, length * elementSize); + } + void copyTo(ArrayBase &other) const { XA_DEBUG_ASSERT(elementSize == other.elementSize); @@ -1025,7 +1084,9 @@ struct ArrayBase other.elementSize = elementSize; other.size = size; other.capacity = capacity; +#if XA_DEBUG_HEAP other.memTag = memTag; +#endif buffer = nullptr; elementSize = size = capacity = 0; } @@ -1043,6 +1104,16 @@ struct ArrayBase memcpy(&buffer[(size - 1) * elementSize], value, elementSize); } + void push_back(const ArrayBase &other) + { + XA_DEBUG_ASSERT(elementSize == other.elementSize); + if (other.size == 0) + return; + const uint32_t oldSize = size; + resize(size + other.size, false); + memcpy(buffer + oldSize * elementSize, other.buffer, other.size * other.elementSize); + } + // Remove the element at the given index. This is an expensive operation! void removeAt(uint32_t index) { @@ -1083,16 +1154,29 @@ struct ArrayBase } } else { // realloc the buffer +#if XA_DEBUG_HEAP buffer = XA_REALLOC_SIZE(memTag, buffer, newCapacity * elementSize); +#else + buffer = XA_REALLOC_SIZE(MemTag::Default, buffer, newCapacity * elementSize); +#endif } capacity = newCapacity; } +#if XA_DEBUG_HEAP + void setMemTag(int memTag) + { + this->memTag = memTag; + } +#endif + uint8_t *buffer; uint32_t elementSize; uint32_t size; uint32_t capacity; +#if XA_DEBUG_HEAP int memTag; +#endif }; template<typename T> @@ -1101,7 +1185,7 @@ class Array public: Array(int memTag = MemTag::Default) : m_base(sizeof(T), memTag) {} Array(const Array&) = delete; - const Array &operator=(const Array &) = delete; + Array &operator=(const Array &) = delete; XA_INLINE const T &operator[](uint32_t index) const { @@ -1123,6 +1207,17 @@ public: XA_INLINE T *begin() { return (T *)m_base.buffer; } XA_INLINE void clear() { m_base.clear(); } + + bool contains(const T &value) const + { + for (uint32_t i = 0; i < m_base.size; i++) { + if (((const T *)m_base.buffer)[i] == value) + return true; + } + return false; + } + + void copyFrom(const T *data, uint32_t length) { m_base.copyFrom((const uint8_t *)data, length); } void copyTo(Array &other) const { m_base.copyTo(other.m_base); } XA_INLINE const T *data() const { return (const T *)m_base.buffer; } XA_INLINE T *data() { return (T *)m_base.buffer; } @@ -1131,11 +1226,24 @@ public: void insertAt(uint32_t index, const T &value) { m_base.insertAt(index, (const uint8_t *)&value); } void moveTo(Array &other) { m_base.moveTo(other.m_base); } void push_back(const T &value) { m_base.push_back((const uint8_t *)&value); } + void push_back(const Array &other) { m_base.push_back(other.m_base); } void pop_back() { m_base.pop_back(); } void removeAt(uint32_t index) { m_base.removeAt(index); } void reserve(uint32_t desiredSize) { m_base.reserve(desiredSize); } void resize(uint32_t newSize) { m_base.resize(newSize, true); } + void runCtors() + { + for (uint32_t i = 0; i < m_base.size; i++) + new (&((T *)m_base.buffer)[i]) T; + } + + void runDtors() + { + for (uint32_t i = 0; i < m_base.size; i++) + ((T *)m_base.buffer)[i].~T(); + } + void setAll(const T &value) { auto buffer = (T *)m_base.buffer; @@ -1143,6 +1251,10 @@ public: buffer[i] = value; } +#if XA_DEBUG_HEAP + void setMemTag(int memTag) { m_base.setMemTag(memTag); } +#endif + XA_INLINE uint32_t size() const { return m_base.size; } XA_INLINE void zeroOutMemory() { memset(m_base.buffer, 0, m_base.elementSize * m_base.size); } @@ -1150,6 +1262,28 @@ private: ArrayBase m_base; }; +template<typename T> +struct ArrayView +{ + ArrayView(Array<T> &a) : data(a.data()), length(a.size()) {} + ArrayView(T *data, uint32_t length) : data(data), length(length) {} + ArrayView &operator=(Array<T> &a) { data = a.data(); length = a.size(); return *this; } + XA_INLINE const T &operator[](uint32_t index) const { XA_DEBUG_ASSERT(index < length); return data[index]; } + T *data; + uint32_t length; +}; + +template<typename T> +struct ConstArrayView +{ + ConstArrayView(const Array<T> &a) : data(a.data()), length(a.size()) {} + ConstArrayView(const T *data, uint32_t length) : data(data), length(length) {} + ConstArrayView &operator=(const Array<T> &a) { data = a.data(); length = a.size(); return *this; } + XA_INLINE const T &operator[](uint32_t index) const { XA_DEBUG_ASSERT(index < length); return data[index]; } + const T *data; + uint32_t length; +}; + /// Basis class to compute tangent space basis, ortogonalizations and to transform vectors from one space to another. struct Basis { @@ -1197,40 +1331,34 @@ public: m_wordArray.resize((m_size + 31) >> 5); } - /// Get bit. - bool bitAt(uint32_t b) const + bool get(uint32_t index) const { - XA_DEBUG_ASSERT( b < m_size ); - return (m_wordArray[b >> 5] & (1 << (b & 31))) != 0; + XA_DEBUG_ASSERT(index < m_size); + return (m_wordArray[index >> 5] & (1 << (index & 31))) != 0; } - // Set a bit. - void setBitAt(uint32_t idx) + void set(uint32_t index) { - XA_DEBUG_ASSERT(idx < m_size); - m_wordArray[idx >> 5] |= (1 << (idx & 31)); + XA_DEBUG_ASSERT(index < m_size); + m_wordArray[index >> 5] |= (1 << (index & 31)); } - // Clear all the bits. - void clearAll() + void zeroOutMemory() { - memset(m_wordArray.data(), 0, m_wordArray.size() * sizeof(uint32_t)); + m_wordArray.zeroOutMemory(); } private: - // Number of bits stored. - uint32_t m_size; - - // Array of bits. + uint32_t m_size; // Number of bits stored. Array<uint32_t> m_wordArray; }; class BitImage { public: - BitImage() : m_width(0), m_height(0), m_rowStride(0) {} + BitImage() : m_width(0), m_height(0), m_rowStride(0), m_data(MemTag::BitImage) {} - BitImage(uint32_t w, uint32_t h) : m_width(w), m_height(h) + BitImage(uint32_t w, uint32_t h) : m_width(w), m_height(h), m_data(MemTag::BitImage) { m_rowStride = (m_width + 63) >> 6; m_data.resize(m_rowStride * m_height); @@ -1238,7 +1366,7 @@ public: } BitImage(const BitImage &other) = delete; - const BitImage &operator=(const BitImage &other) = delete; + BitImage &operator=(const BitImage &other) = delete; uint32_t width() const { return m_width; } uint32_t height() const { return m_height; } @@ -1275,22 +1403,22 @@ public: m_rowStride = rowStride; } - bool bitAt(uint32_t x, uint32_t y) const + bool get(uint32_t x, uint32_t y) const { XA_DEBUG_ASSERT(x < m_width && y < m_height); const uint32_t index = (x >> 6) + y * m_rowStride; return (m_data[index] & (UINT64_C(1) << (uint64_t(x) & UINT64_C(63)))) != 0; } - void setBitAt(uint32_t x, uint32_t y) + void set(uint32_t x, uint32_t y) { XA_DEBUG_ASSERT(x < m_width && y < m_height); const uint32_t index = (x >> 6) + y * m_rowStride; m_data[index] |= UINT64_C(1) << (uint64_t(x) & UINT64_C(63)); - XA_DEBUG_ASSERT(bitAt(x, y)); + XA_DEBUG_ASSERT(get(x, y)); } - void clearAll() + void zeroOutMemory() { m_data.zeroOutMemory(); } @@ -1324,26 +1452,26 @@ public: { BitImage tmp(m_width, m_height); for (uint32_t p = 0; p < padding; p++) { - tmp.clearAll(); + tmp.zeroOutMemory(); for (uint32_t y = 0; y < m_height; y++) { for (uint32_t x = 0; x < m_width; x++) { - bool b = bitAt(x, y); + bool b = get(x, y); if (!b) { if (x > 0) { - b |= bitAt(x - 1, y); - if (y > 0) b |= bitAt(x - 1, y - 1); - if (y < m_height - 1) b |= bitAt(x - 1, y + 1); + b |= get(x - 1, y); + if (y > 0) b |= get(x - 1, y - 1); + if (y < m_height - 1) b |= get(x - 1, y + 1); } - if (y > 0) b |= bitAt(x, y - 1); - if (y < m_height - 1) b |= bitAt(x, y + 1); + if (y > 0) b |= get(x, y - 1); + if (y < m_height - 1) b |= get(x, y + 1); if (x < m_width - 1) { - b |= bitAt(x + 1, y); - if (y > 0) b |= bitAt(x + 1, y - 1); - if (y < m_height - 1) b |= bitAt(x + 1, y + 1); + b |= get(x + 1, y); + if (y > 0) b |= get(x + 1, y - 1); + if (y < m_height - 1) b |= get(x + 1, y + 1); } } if (b) - tmp.setBitAt(x, y); + tmp.set(x, y); } } tmp.m_data.copyTo(m_data); @@ -1361,7 +1489,7 @@ private: class BVH { public: - BVH(const Array<AABB> &objectAabbs, uint32_t leafSize = 4) + BVH(const Array<AABB> &objectAabbs, uint32_t leafSize = 4) : m_objectIds(MemTag::BVH), m_nodes(MemTag::BVH) { m_objectAabbs = &objectAabbs; if (m_objectAabbs->isEmpty()) @@ -1494,9 +1622,118 @@ private: Array<Node> m_nodes; }; -class Fit +struct Fit { -public: + static bool computeBasis(const Vector3 *points, uint32_t pointsCount, Basis *basis) + { + if (computeLeastSquaresNormal(points, pointsCount, &basis->normal)) { + basis->tangent = Basis::computeTangent(basis->normal); + basis->bitangent = Basis::computeBitangent(basis->normal, basis->tangent); + return true; + } + return computeEigen(points, pointsCount, basis); + } + +private: + // Fit a plane to a collection of points. + // Fast, and accurate to within a few degrees. + // Returns None if the points do not span a plane. + // https://www.ilikebigbits.com/2015_03_04_plane_from_points.html + static bool computeLeastSquaresNormal(const Vector3 *points, uint32_t pointsCount, Vector3 *normal) + { + XA_DEBUG_ASSERT(pointsCount >= 3); + if (pointsCount == 3) { + *normal = normalize(cross(points[2] - points[0], points[1] - points[0]), kEpsilon); + return true; + } + const float invN = 1.0f / float(pointsCount); + Vector3 centroid(0.0f); + for (uint32_t i = 0; i < pointsCount; i++) + centroid += points[i]; + centroid *= invN; + // Calculate full 3x3 covariance matrix, excluding symmetries: + float xx = 0.0f, xy = 0.0f, xz = 0.0f, yy = 0.0f, yz = 0.0f, zz = 0.0f; + for (uint32_t i = 0; i < pointsCount; i++) { + Vector3 r = points[i] - centroid; + xx += r.x * r.x; + xy += r.x * r.y; + xz += r.x * r.z; + yy += r.y * r.y; + yz += r.y * r.z; + zz += r.z * r.z; + } +#if 0 + xx *= invN; + xy *= invN; + xz *= invN; + yy *= invN; + yz *= invN; + zz *= invN; + Vector3 weighted_dir(0.0f); + { + float det_x = yy * zz - yz * yz; + const Vector3 axis_dir(det_x, xz * yz - xy * zz, xy * yz - xz * yy); + float weight = det_x * det_x; + if (dot(weighted_dir, axis_dir) < 0.0f) + weight = -weight; + weighted_dir += axis_dir * weight; + } + { + float det_y = xx * zz - xz * xz; + const Vector3 axis_dir(xz * yz - xy * zz, det_y, xy * xz - yz * xx); + float weight = det_y * det_y; + if (dot(weighted_dir, axis_dir) < 0.0f) + weight = -weight; + weighted_dir += axis_dir * weight; + } + { + float det_z = xx * yy - xy * xy; + const Vector3 axis_dir(xy * yz - xz * yy, xy * xz - yz * xx, det_z); + float weight = det_z * det_z; + if (dot(weighted_dir, axis_dir) < 0.0f) + weight = -weight; + weighted_dir += axis_dir * weight; + } + *normal = normalize(weighted_dir, kEpsilon); +#else + const float det_x = yy * zz - yz * yz; + const float det_y = xx * zz - xz * xz; + const float det_z = xx * yy - xy * xy; + const float det_max = max(det_x, max(det_y, det_z)); + if (det_max <= 0.0f) + return false; // The points don't span a plane + // Pick path with best conditioning: + Vector3 dir(0.0f); + if (det_max == det_x) + dir = Vector3(det_x,xz * yz - xy * zz,xy * yz - xz * yy); + else if (det_max == det_y) + dir = Vector3(xz * yz - xy * zz, det_y, xy * xz - yz * xx); + else if (det_max == det_z) + dir = Vector3(xy * yz - xz * yy, xy * xz - yz * xx, det_z); + const float len = length(dir); + if (isZero(len, kEpsilon)) + return false; + *normal = dir * (1.0f / len); +#endif + return isNormalized(*normal); + } + + static bool computeEigen(const Vector3 *points, uint32_t pointsCount, Basis *basis) + { + float matrix[6]; + computeCovariance(pointsCount, points, matrix); + if (matrix[0] == 0 && matrix[3] == 0 && matrix[5] == 0) + return false; + float eigenValues[3]; + Vector3 eigenVectors[3]; + if (!eigenSolveSymmetric3(matrix, eigenValues, eigenVectors)) + return false; + basis->normal = normalize(eigenVectors[2], kEpsilon); + basis->tangent = normalize(eigenVectors[0], kEpsilon); + basis->bitangent = normalize(eigenVectors[1], kEpsilon); + return true; + } + static Vector3 computeCentroid(int n, const Vector3 * points) { Vector3 centroid(0.0f); @@ -1694,9 +1931,9 @@ private: class FullVector { public: - FullVector(uint32_t dim) { m_array.resize(dim); } - FullVector(const FullVector &v) { v.m_array.copyTo(m_array); } - const FullVector &operator=(const FullVector &v) = delete; + FullVector(uint32_t dim) : m_array(MemTag::FullVector) { m_array.resize(dim); } + FullVector(const FullVector &v) : m_array(MemTag::FullVector) { v.m_array.copyTo(m_array); } + FullVector &operator=(const FullVector &v) = delete; XA_INLINE uint32_t dimension() const { return m_array.size(); } XA_INLINE const float &operator[](uint32_t index) const { return m_array[index]; } XA_INLINE float &operator[](uint32_t index) { return m_array[index]; } @@ -1767,7 +2004,10 @@ private: void alloc() { XA_DEBUG_ASSERT(m_size > 0); - m_numSlots = (uint32_t)(m_size * 1.3); + m_numSlots = nextPowerOfTwo(m_size); + auto minNumSlots = uint32_t(m_size * 1.3); + if (m_numSlots < minNumSlots) + m_numSlots = nextPowerOfTwo(minNumSlots); m_slots = XA_ALLOC_ARRAY(m_memTag, uint32_t, m_numSlots); for (uint32_t i = 0; i < m_numSlots; i++) m_slots[i] = UINT32_MAX; @@ -1778,7 +2018,7 @@ private: uint32_t computeHash(const Key &key) const { H hash; - return hash(key) % m_numSlots; + return hash(key) & (m_numSlots - 1); } int m_memTag; @@ -1806,6 +2046,16 @@ static void insertionSort(T *data, uint32_t length) class KISSRng { public: + KISSRng() { reset(); } + + void reset() + { + x = 123456789; + y = 362436000; + z = 521288629; + c = 7654321; + } + uint32_t getRange(uint32_t range) { if (range == 0) @@ -1820,7 +2070,7 @@ public: } private: - uint32_t x = 123456789, y = 362436000, z = 521288629, c = 7654321; + uint32_t x, y, z, c; }; // Based on Pierre Terdiman's and Michael Herf's source code. @@ -2009,15 +2259,27 @@ private: class BoundingBox2D { public: - Vector2 majorAxis() const { return m_majorAxis; } - Vector2 minorAxis() const { return m_minorAxis; } - Vector2 minCorner() const { return m_minCorner; } - Vector2 maxCorner() const { return m_maxCorner; } + Vector2 majorAxis, minorAxis, minCorner, maxCorner; + + void clear() + { + m_boundaryVertices.clear(); + } + + void appendBoundaryVertex(Vector2 v) + { + m_boundaryVertices.push_back(v); + } // This should compute convex hull and use rotating calipers to find the best box. Currently it uses a brute force method. - void compute(const Vector2 *boundaryVertices, uint32_t boundaryVertexCount, const Vector2 *vertices, uint32_t vertexCount) + // If vertices is null or vertexCount is 0, the boundary vertices are used. + void compute(const Vector2 *vertices = nullptr, uint32_t vertexCount = 0) { - convexHull(boundaryVertices, boundaryVertexCount, m_hull, 0.00001f); + if (!vertices || vertexCount == 0) { + vertices = m_boundaryVertices.data(); + vertexCount = m_boundaryVertices.size(); + } + convexHull(m_boundaryVertices.data(), m_boundaryVertices.size(), m_hull, 0.00001f); // @@ Ideally I should use rotating calipers to find the best box. Using brute force for now. float best_area = FLT_MAX; Vector2 best_min(0); @@ -2051,11 +2313,11 @@ public: best_axis = axis; } } - m_majorAxis = best_axis; - m_minorAxis = Vector2(-best_axis.y, best_axis.x); - m_minCorner = best_min; - m_maxCorner = best_max; - XA_ASSERT(isFinite(m_majorAxis) && isFinite(m_minorAxis) && isFinite(m_minCorner)); + majorAxis = best_axis; + minorAxis = Vector2(-best_axis.y, best_axis.x); + minCorner = best_min; + maxCorner = best_max; + XA_ASSERT(isFinite(majorAxis) && isFinite(minorAxis) && isFinite(minCorner)); } private: @@ -2088,6 +2350,7 @@ private: } // Filter top list. output.clear(); + XA_DEBUG_ASSERT(m_top.size() >= 2); output.push_back(m_top[0]); output.push_back(m_top[1]); for (uint32_t i = 2; i < m_top.size(); ) { @@ -2103,6 +2366,7 @@ private: } } uint32_t top_count = output.size(); + XA_DEBUG_ASSERT(m_bottom.size() >= 2); output.push_back(m_bottom[1]); // Filter bottom list. for (uint32_t i = 2; i < m_bottom.size(); ) { @@ -2122,9 +2386,9 @@ private: output.pop_back(); } + Array<Vector2> m_boundaryVertices; Array<float> m_coords; Array<Vector2> m_top, m_bottom, m_hull; - Vector2 m_majorAxis, m_minorAxis, m_minCorner, m_maxCorner; }; static uint32_t meshEdgeFace(uint32_t edge) { return edge / 3; } @@ -2152,7 +2416,7 @@ static void meshGetBoundaryLoops(const Mesh &mesh, Array<uint32_t> &boundaryLoop class Mesh { public: - Mesh(float epsilon, uint32_t approxVertexCount, uint32_t approxFaceCount, uint32_t flags = 0, uint32_t id = UINT32_MAX) : m_epsilon(epsilon), m_flags(flags), m_id(id), m_faceIgnore(MemTag::Mesh), m_faceGroups(MemTag::Mesh), m_indices(MemTag::MeshIndices), m_positions(MemTag::MeshPositions), m_normals(MemTag::MeshNormals), m_texcoords(MemTag::MeshTexcoords), m_colocalVertexCount(0), m_nextColocalVertex(MemTag::MeshColocals), m_boundaryVertices(MemTag::MeshBoundaries), m_oppositeEdges(MemTag::MeshBoundaries), m_nextBoundaryEdges(MemTag::MeshBoundaries), m_edgeMap(MemTag::MeshEdgeMap, approxFaceCount * 3) + Mesh(float epsilon, uint32_t approxVertexCount, uint32_t approxFaceCount, uint32_t flags = 0, uint32_t id = UINT32_MAX) : m_epsilon(epsilon), m_flags(flags), m_id(id), m_faceIgnore(MemTag::Mesh), m_ignoredFaceCount(0), m_indices(MemTag::MeshIndices), m_positions(MemTag::MeshPositions), m_normals(MemTag::MeshNormals), m_texcoords(MemTag::MeshTexcoords), m_faceGroups(MemTag::Mesh), m_faceGroupFirstFace(MemTag::Mesh), m_faceGroupNextFace(MemTag::Mesh), m_faceGroupFaceCounts(MemTag::Mesh), m_colocalVertexCount(0), m_nextColocalVertex(MemTag::MeshColocals), m_boundaryEdges(MemTag::MeshBoundaries), m_oppositeEdges(MemTag::MeshBoundaries), m_nextBoundaryEdges(MemTag::MeshBoundaries), m_edgeMap(MemTag::MeshEdgeMap, approxFaceCount * 3) { m_indices.reserve(approxFaceCount * 3); m_positions.reserve(approxVertexCount); @@ -2165,6 +2429,7 @@ public: m_normals.reserve(approxVertexCount); } + static constexpr uint16_t kInvalidFaceGroup = UINT16_MAX; uint32_t flags() const { return m_flags; } uint32_t id() const { return m_id; } @@ -2199,9 +2464,12 @@ public: { AddFaceResult::Enum result = AddFaceResult::OK; if (m_flags & MeshFlags::HasFaceGroups) - m_faceGroups.push_back(UINT32_MAX); - if (m_flags & MeshFlags::HasIgnoredFaces) + m_faceGroups.push_back(kInvalidFaceGroup); + if (m_flags & MeshFlags::HasIgnoredFaces) { m_faceIgnore.push_back(ignore); + if (ignore) + m_ignoredFaceCount++; + } const uint32_t firstIndex = m_indices.size(); for (uint32_t i = 0; i < 3; i++) m_indices.push_back(indices[i]); @@ -2221,13 +2489,13 @@ public: void createColocals() { const uint32_t vertexCount = m_positions.size(); - Array<AABB> aabbs; + Array<AABB> aabbs(MemTag::BVH); aabbs.resize(vertexCount); for (uint32_t i = 0; i < m_positions.size(); i++) aabbs[i] = AABB(m_positions[i], m_epsilon); BVH bvh(aabbs); - Array<uint32_t> colocals; - Array<uint32_t> potential; + Array<uint32_t> colocals(MemTag::MeshColocals); + Array<uint32_t> potential(MemTag::MeshColocals); m_colocalVertexCount = 0; m_nextColocalVertex.resize(vertexCount); for (uint32_t i = 0; i < vertexCount; i++) @@ -2259,7 +2527,7 @@ public: } // Check if the face duplicates any edges of any face already in the group. - bool faceDuplicatesGroupEdge(uint32_t group, uint32_t face) const + bool faceDuplicatesGroupEdge(uint16_t group, uint32_t face) const { for (FaceEdgeIterator edgeIt(this, face); !edgeIt.isDone(); edgeIt.advance()) { for (ColocalEdgeIterator colocalEdgeIt(this, edgeIt.vertex0(), edgeIt.vertex1()); !colocalEdgeIt.isDone(); colocalEdgeIt.advance()) { @@ -2270,55 +2538,31 @@ public: return false; } - // Check if the face mirrors any face already in the group. - // i.e. don't want two-sided faces in the same group. - // A face mirrors another face if all edges match with opposite winding. - bool faceMirrorsGroupFace(uint32_t group, uint32_t face) const - { - FaceEdgeIterator edgeIt(this, face); - for (ColocalEdgeIterator colocalEdgeIt(this, edgeIt.vertex1(), edgeIt.vertex0()); !colocalEdgeIt.isDone(); colocalEdgeIt.advance()) { - const uint32_t candidateFace = meshEdgeFace(colocalEdgeIt.edge()); - if (m_faceGroups[candidateFace] == group) { - // Found a match for mirrored first edge, try the other edges. - bool match = false; - for (; !edgeIt.isDone(); edgeIt.advance()) { - match = false; - for (ColocalEdgeIterator colocalEdgeIt2(this, edgeIt.vertex1(), edgeIt.vertex0()); !colocalEdgeIt2.isDone(); colocalEdgeIt2.advance()) { - if (meshEdgeFace(colocalEdgeIt2.edge()) == candidateFace) { - match = true; - break; - } - } - if (!match) - break; - } - if (match) - return true; // All edges are mirrored in this face. - // Try the next face. - edgeIt = FaceEdgeIterator(this, candidateFace); - } - } - return false; - } - void createFaceGroups() { - uint32_t group = 0; + uint32_t firstUnassignedFace = 0; + uint16_t group = 0; Array<uint32_t> growFaces; + const uint32_t n = faceCount(); + m_faceGroupNextFace.resize(n); for (;;) { // Find an unassigned face. uint32_t face = UINT32_MAX; - for (uint32_t f = 0; f < faceCount(); f++) { - if (m_faceGroups[f] == UINT32_MAX && !isFaceIgnored(f)) { + for (uint32_t f = firstUnassignedFace; f < n; f++) { + if (m_faceGroups[f] == kInvalidFaceGroup && !isFaceIgnored(f)) { face = f; + firstUnassignedFace = f + 1; break; } } if (face == UINT32_MAX) break; // All faces assigned to a group (except ignored faces). m_faceGroups[face] = group; + m_faceGroupNextFace[face] = UINT32_MAX; + m_faceGroupFirstFace.push_back(face); growFaces.clear(); growFaces.push_back(face); + uint32_t prevFace = face, groupFaceCount = 1; // Find faces connected to the face and assign them to the same group as the face, unless they are already assigned to another group. for (;;) { if (growFaces.isEmpty()) @@ -2340,24 +2584,38 @@ public: alreadyAssignedToThisGroup = true; break; } - if (m_faceGroups[oppositeFace] != UINT32_MAX) + if (m_faceGroups[oppositeFace] != kInvalidFaceGroup) continue; // Connected face is already assigned to another group. if (faceDuplicatesGroupEdge(group, oppositeFace)) continue; // Don't want duplicate edges in a group. - if (faceMirrorsGroupFace(group, oppositeFace)) - continue; // Don't want two-sided faces in a group. const uint32_t oppositeVertex0 = m_indices[meshEdgeIndex0(oppositeEdge)]; const uint32_t oppositeVertex1 = m_indices[meshEdgeIndex1(oppositeEdge)]; if (bestConnectedFace == UINT32_MAX || (oppositeVertex0 == edgeIt.vertex1() && oppositeVertex1 == edgeIt.vertex0())) bestConnectedFace = oppositeFace; +#if 0 + else { + // Choose the opposite face with the smallest dihedral angle. + const float d1 = 1.0f - dot(computeFaceNormal(f), computeFaceNormal(bestConnectedFace)); + const float d2 = 1.0f - dot(computeFaceNormal(f), computeFaceNormal(oppositeFace)); + if (d2 < d1) + bestConnectedFace = oppositeFace; + } +#endif } if (!alreadyAssignedToThisGroup && bestConnectedFace != UINT32_MAX) { m_faceGroups[bestConnectedFace] = group; + m_faceGroupNextFace[bestConnectedFace] = UINT32_MAX; + if (prevFace != UINT32_MAX) + m_faceGroupNextFace[prevFace] = bestConnectedFace; + prevFace = bestConnectedFace; + groupFaceCount++; growFaces.push_back(bestConnectedFace); } } } + m_faceGroupFaceCounts.push_back(groupFaceCount); group++; + XA_ASSERT(group < kInvalidFaceGroup); } } @@ -2366,29 +2624,27 @@ public: const uint32_t edgeCount = m_indices.size(); const uint32_t vertexCount = m_positions.size(); m_oppositeEdges.resize(edgeCount); - m_boundaryVertices.resize(vertexCount); + m_boundaryEdges.reserve(uint32_t(edgeCount * 0.1f)); + m_isBoundaryVertex.resize(vertexCount); + m_isBoundaryVertex.zeroOutMemory(); for (uint32_t i = 0; i < edgeCount; i++) m_oppositeEdges[i] = UINT32_MAX; - for (uint32_t i = 0; i < vertexCount; i++) - m_boundaryVertices[i] = false; - const bool hasFaceGroups = m_flags & MeshFlags::HasFaceGroups; - for (uint32_t i = 0; i < faceCount(); i++) { + const uint32_t faceCount = m_indices.size() / 3; + for (uint32_t i = 0; i < faceCount; i++) { if (isFaceIgnored(i)) continue; for (uint32_t j = 0; j < 3; j++) { - const uint32_t vertex0 = m_indices[i * 3 + j]; + const uint32_t edge = i * 3 + j; + const uint32_t vertex0 = m_indices[edge]; const uint32_t vertex1 = m_indices[i * 3 + (j + 1) % 3]; // If there is an edge with opposite winding to this one, the edge isn't on a boundary. - const uint32_t oppositeEdge = findEdge(hasFaceGroups ? m_faceGroups[i] : UINT32_MAX, vertex1, vertex0); + const uint32_t oppositeEdge = findEdge(vertex1, vertex0); if (oppositeEdge != UINT32_MAX) { -#if XA_DEBUG - if (hasFaceGroups) - XA_DEBUG_ASSERT(m_faceGroups[meshEdgeFace(oppositeEdge)] == m_faceGroups[i]); -#endif - XA_DEBUG_ASSERT(!isFaceIgnored(meshEdgeFace(oppositeEdge))); - m_oppositeEdges[i * 3 + j] = oppositeEdge; + m_oppositeEdges[edge] = oppositeEdge; } else { - m_boundaryVertices[vertex0] = m_boundaryVertices[vertex1] = true; + m_boundaryEdges.push_back(edge); + m_isBoundaryVertex.set(vertex0); + m_isBoundaryVertex.set(vertex1); } } } @@ -2407,12 +2663,12 @@ public: m_nextBoundaryEdges[i] = UINT32_MAX; uint32_t numBoundaryLoops = 0, numUnclosedBoundaries = 0; BitArray linkedEdges(edgeCount); - linkedEdges.clearAll(); + linkedEdges.zeroOutMemory(); for (;;) { // Find the first boundary edge that hasn't been linked yet. uint32_t firstEdge = UINT32_MAX; for (uint32_t i = 0; i < edgeCount; i++) { - if (m_oppositeEdges[i] == UINT32_MAX && !linkedEdges.bitAt(i)) { + if (m_oppositeEdges[i] == UINT32_MAX && !linkedEdges.get(i)) { firstEdge = i; break; } @@ -2430,12 +2686,8 @@ public: const uint32_t otherEdge = mapIndex / 2; // Two vertices added per edge. if (m_oppositeEdges[otherEdge] != UINT32_MAX) goto next; // Not a boundary edge. - if (linkedEdges.bitAt(otherEdge)) + if (linkedEdges.get(otherEdge)) goto next; // Already linked. - if (m_flags & MeshFlags::HasFaceGroups && m_faceGroups[meshEdgeFace(currentEdge)] != m_faceGroups[meshEdgeFace(otherEdge)]) - goto next; // Don't cross face groups. - if (isFaceIgnored(meshEdgeFace(otherEdge))) - goto next; // Face is ignored. if (m_indices[meshEdgeIndex0(otherEdge)] != it.vertex()) goto next; // Edge contains the vertex, but it's the wrong one. // First edge (closing the boundary loop) has the highest priority. @@ -2449,11 +2701,11 @@ public: if (bestNextEdge == UINT32_MAX) { numUnclosedBoundaries++; if (currentEdge == firstEdge) - linkedEdges.setBitAt(firstEdge); // Only 1 edge in this boundary "loop". + linkedEdges.set(firstEdge); // Only 1 edge in this boundary "loop". break; // Can't find a next edge. } m_nextBoundaryEdges[currentEdge] = bestNextEdge; - linkedEdges.setBitAt(bestNextEdge); + linkedEdges.set(bestNextEdge); currentEdge = bestNextEdge; if (currentEdge == firstEdge) { numBoundaryLoops++; @@ -2461,6 +2713,7 @@ public: } } } +#if XA_FIX_INTERNAL_BOUNDARY_LOOPS // Find internal boundary loops and separate them. // Detect by finding two edges in a boundary loop that have a colocal end vertex. // Fix by swapping their next boundary edge. @@ -2469,28 +2722,29 @@ public: fixInternalBoundary: meshGetBoundaryLoops(*this, boundaryLoops); for (uint32_t loop = 0; loop < boundaryLoops.size(); loop++) { - linkedEdges.clearAll(); - for (Mesh::BoundaryEdgeIterator it1(this, boundaryLoops[loop]); !it1.isDone(); it1.advance()) { + linkedEdges.zeroOutMemory(); + for (Mesh::BoundaryLoopEdgeIterator it1(this, boundaryLoops[loop]); !it1.isDone(); it1.advance()) { const uint32_t e1 = it1.edge(); - if (linkedEdges.bitAt(e1)) + if (linkedEdges.get(e1)) continue; - for (Mesh::BoundaryEdgeIterator it2(this, boundaryLoops[loop]); !it2.isDone(); it2.advance()) { + for (Mesh::BoundaryLoopEdgeIterator it2(this, boundaryLoops[loop]); !it2.isDone(); it2.advance()) { const uint32_t e2 = it2.edge(); - if (e1 == e2 || !isBoundaryEdge(e2) || linkedEdges.bitAt(e2)) + if (e1 == e2 || !isBoundaryEdge(e2) || linkedEdges.get(e2)) continue; if (!areColocal(m_indices[meshEdgeIndex1(e1)], m_indices[meshEdgeIndex1(e2)])) continue; swap(m_nextBoundaryEdges[e1], m_nextBoundaryEdges[e2]); - linkedEdges.setBitAt(e1); - linkedEdges.setBitAt(e2); + linkedEdges.set(e1); + linkedEdges.set(e2); goto fixInternalBoundary; // start over } } } +#endif } /// Find edge, test all colocals. - uint32_t findEdge(uint32_t faceGroup, uint32_t vertex0, uint32_t vertex1) const + uint32_t findEdge(uint32_t vertex0, uint32_t vertex1) const { uint32_t result = UINT32_MAX; if (m_nextColocalVertex.isEmpty()) { @@ -2498,7 +2752,7 @@ public: uint32_t edge = m_edgeMap.get(key); while (edge != UINT32_MAX) { // Don't find edges of ignored faces. - if ((faceGroup == UINT32_MAX || m_faceGroups[meshEdgeFace(edge)] == faceGroup) && !isFaceIgnored(meshEdgeFace(edge))) { + if (!isFaceIgnored(meshEdgeFace(edge))) { //XA_DEBUG_ASSERT(m_id != UINT32_MAX || (m_id == UINT32_MAX && result == UINT32_MAX)); // duplicate edge - ignore on initial meshes result = edge; #if !XA_DEBUG @@ -2514,7 +2768,7 @@ public: uint32_t edge = m_edgeMap.get(key); while (edge != UINT32_MAX) { // Don't find edges of ignored faces. - if ((faceGroup == UINT32_MAX || m_faceGroups[meshEdgeFace(edge)] == faceGroup) && !isFaceIgnored(meshEdgeFace(edge))) { + if (!isFaceIgnored(meshEdgeFace(edge))) { XA_DEBUG_ASSERT(m_id != UINT32_MAX || (m_id == UINT32_MAX && result == UINT32_MAX)); // duplicate edge - ignore on initial meshes result = edge; #if !XA_DEBUG @@ -2607,7 +2861,7 @@ public: { float area = 0; for (uint32_t f = 0; f < faceCount(); f++) - area += faceArea(f); + area += computeFaceArea(f); XA_DEBUG_ASSERT(area >= 0); return area; } @@ -2616,11 +2870,11 @@ public: { float area = 0; for (uint32_t f = 0; f < faceCount(); f++) - area += faceParametricArea(f); + area += computeFaceParametricArea(f); return fabsf(area); // May be negative, depends on texcoord winding. } - float faceArea(uint32_t face) const + float computeFaceArea(uint32_t face) const { const Vector3 &p0 = m_positions[m_indices[face * 3 + 0]]; const Vector3 &p1 = m_positions[m_indices[face * 3 + 1]]; @@ -2628,7 +2882,7 @@ public: return length(cross(p1 - p0, p2 - p0)) * 0.5f; } - Vector3 faceCentroid(uint32_t face) const + Vector3 computeFaceCentroid(uint32_t face) const { Vector3 sum(0.0f); for (uint32_t i = 0; i < 3; i++) @@ -2636,22 +2890,9 @@ public: return sum / 3.0f; } - Vector3 calculateFaceNormal(uint32_t face) const - { - return normalizeSafe(triangleNormalAreaScaled(face), Vector3(0, 0, 1), 0.0f); - } - - float faceParametricArea(uint32_t face) const - { - const Vector2 &t0 = m_texcoords[m_indices[face * 3 + 0]]; - const Vector2 &t1 = m_texcoords[m_indices[face * 3 + 1]]; - const Vector2 &t2 = m_texcoords[m_indices[face * 3 + 2]]; - return triangleArea(t0, t1, t2) * 0.5f; - } - // Average of the edge midpoints weighted by the edge length. // I want a point inside the triangle, but closer to the cirumcenter. - Vector3 triangleCenter(uint32_t face) const + Vector3 computeFaceCenter(uint32_t face) const { const Vector3 &p0 = m_positions[m_indices[face * 3 + 0]]; const Vector3 &p1 = m_positions[m_indices[face * 3 + 1]]; @@ -2665,22 +2906,25 @@ public: return m0 + m1 + m2; } - // Unnormalized face normal assuming it's a triangle. - Vector3 triangleNormal(uint32_t face) const - { - return normalizeSafe(triangleNormalAreaScaled(face), Vector3(0), 0.0f); - } - - Vector3 triangleNormalAreaScaled(uint32_t face) const + Vector3 computeFaceNormal(uint32_t face) const { const Vector3 &p0 = m_positions[m_indices[face * 3 + 0]]; const Vector3 &p1 = m_positions[m_indices[face * 3 + 1]]; const Vector3 &p2 = m_positions[m_indices[face * 3 + 2]]; const Vector3 e0 = p2 - p0; const Vector3 e1 = p1 - p0; - return cross(e0, e1); + const Vector3 normalAreaScaled = cross(e0, e1); + return normalizeSafe(normalAreaScaled, Vector3(0, 0, 1), 0.0f); } + float computeFaceParametricArea(uint32_t face) const + { + const Vector2 &t0 = m_texcoords[m_indices[face * 3 + 0]]; + const Vector2 &t1 = m_texcoords[m_indices[face * 3 + 1]]; + const Vector2 &t2 = m_texcoords[m_indices[face * 3 + 2]]; + return triangleArea(t0, t1, t2); + } + // @@ This is not exactly accurate, we should compare the texture coordinates... bool isSeam(uint32_t edge) const { @@ -2732,7 +2976,8 @@ public: XA_INLINE uint32_t edgeCount() const { return m_indices.size(); } XA_INLINE uint32_t oppositeEdge(uint32_t edge) const { return m_oppositeEdges[edge]; } XA_INLINE bool isBoundaryEdge(uint32_t edge) const { return m_oppositeEdges[edge] == UINT32_MAX; } - XA_INLINE bool isBoundaryVertex(uint32_t vertex) const { return m_boundaryVertices[vertex]; } + XA_INLINE const Array<uint32_t> &boundaryEdges() const { return m_boundaryEdges; } + XA_INLINE bool isBoundaryVertex(uint32_t vertex) const { return m_isBoundaryVertex.get(vertex); } XA_INLINE uint32_t colocalVertexCount() const { return m_colocalVertexCount; } XA_INLINE uint32_t vertexCount() const { return m_positions.size(); } XA_INLINE uint32_t vertexAt(uint32_t i) const { return m_indices[i]; } @@ -2740,10 +2985,14 @@ public: XA_INLINE const Vector3 &normal(uint32_t vertex) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasNormals); return m_normals[vertex]; } XA_INLINE const Vector2 &texcoord(uint32_t vertex) const { return m_texcoords[vertex]; } XA_INLINE Vector2 &texcoord(uint32_t vertex) { return m_texcoords[vertex]; } + XA_INLINE const Vector2 *texcoords() const { return m_texcoords.data(); } XA_INLINE Vector2 *texcoords() { return m_texcoords.data(); } + XA_INLINE uint32_t ignoredFaceCount() const { return m_ignoredFaceCount; } XA_INLINE uint32_t faceCount() const { return m_indices.size() / 3; } - XA_INLINE uint32_t faceGroupCount() const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroups.size(); } - XA_INLINE uint32_t faceGroupAt(uint32_t face) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroups[face]; } + XA_INLINE uint16_t faceGroupAt(uint32_t face) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroups[face]; } + XA_INLINE uint32_t faceGroupCount() const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroupFaceCounts.size(); } + XA_INLINE uint32_t faceGroupNextFace(uint32_t face) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroupNextFace[face]; } + XA_INLINE uint32_t faceGroupFaceCount(uint32_t group) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroupFaceCounts[group]; } XA_INLINE const uint32_t *indices() const { return m_indices.data(); } XA_INLINE uint32_t indexCount() const { return m_indices.size(); } @@ -2754,18 +3003,25 @@ private: uint32_t m_flags; uint32_t m_id; Array<bool> m_faceIgnore; - Array<uint32_t> m_faceGroups; + uint32_t m_ignoredFaceCount; Array<uint32_t> m_indices; Array<Vector3> m_positions; Array<Vector3> m_normals; Array<Vector2> m_texcoords; + // Populated by createFaceGroups + Array<uint16_t> m_faceGroups; + Array<uint32_t> m_faceGroupFirstFace; + Array<uint32_t> m_faceGroupNextFace; // In: face. Out: the next face in the same group. + Array<uint32_t> m_faceGroupFaceCounts; // In: face group. Out: number of faces in the group. + // Populated by createColocals uint32_t m_colocalVertexCount; Array<uint32_t> m_nextColocalVertex; // In: vertex index. Out: the vertex index of the next colocal position. // Populated by createBoundaries - Array<bool> m_boundaryVertices; + BitArray m_isBoundaryVertex; + Array<uint32_t> m_boundaryEdges; Array<uint32_t> m_oppositeEdges; // In: edge index. Out: the index of the opposite edge (i.e. wound the opposite direction). UINT32_MAX if the input edge is a boundary edge. // Populated by linkBoundaries @@ -2776,28 +3032,24 @@ private: EdgeKey() {} EdgeKey(const EdgeKey &k) : v0(k.v0), v1(k.v1) {} EdgeKey(uint32_t v0, uint32_t v1) : v0(v0), v1(v1) {} - - void operator=(const EdgeKey &k) - { - v0 = k.v0; - v1 = k.v1; - } - bool operator==(const EdgeKey &k) const - { - return v0 == k.v0 && v1 == k.v1; - } + bool operator==(const EdgeKey &k) const { return v0 == k.v0 && v1 == k.v1; } uint32_t v0; uint32_t v1; }; - HashMap<EdgeKey> m_edgeMap; + struct EdgeHash + { + uint32_t operator()(const EdgeKey &k) const { return k.v0 * 32768u + k.v1; } + }; + + HashMap<EdgeKey, EdgeHash> m_edgeMap; public: - class BoundaryEdgeIterator + class BoundaryLoopEdgeIterator { public: - BoundaryEdgeIterator(const Mesh *mesh, uint32_t edge) : m_mesh(mesh), m_first(UINT32_MAX), m_current(edge) {} + BoundaryLoopEdgeIterator(const Mesh *mesh, uint32_t edge) : m_mesh(mesh), m_first(UINT32_MAX), m_current(edge) {} void advance() { @@ -2866,7 +3118,14 @@ public: public: ColocalEdgeIterator(const Mesh *mesh, uint32_t vertex0, uint32_t vertex1) : m_mesh(mesh), m_vertex0It(mesh, vertex0), m_vertex1It(mesh, vertex1), m_vertex1(vertex1) { - resetElement(); + do { + if (!resetElement()) { + advanceVertex1(); + } + else { + break; + } + } while (!isDone()); } void advance() @@ -2885,7 +3144,7 @@ public: } private: - void resetElement() + bool resetElement() { m_edge = m_mesh->m_edgeMap.get(Mesh::EdgeKey(m_vertex0It.vertex(), m_vertex1It.vertex())); while (m_edge != UINT32_MAX) { @@ -2893,8 +3152,10 @@ public: break; m_edge = m_mesh->m_edgeMap.getNext(m_edge); } - if (m_edge == UINT32_MAX) - advanceVertex1(); + if (m_edge == UINT32_MAX) { + return false; + } + return true; } void advanceElement() @@ -2910,22 +3171,22 @@ public: advanceVertex1(); } - void advanceVertex0() - { - m_vertex0It.advance(); - if (m_vertex0It.isDone()) - return; - m_vertex1It = ColocalVertexIterator(m_mesh, m_vertex1); - resetElement(); - } - void advanceVertex1() { - m_vertex1It.advance(); - if (m_vertex1It.isDone()) - advanceVertex0(); - else - resetElement(); + auto successful = false; + while (!successful) { + m_vertex1It.advance(); + if (m_vertex1It.isDone()) { + if (!m_vertex0It.isDone()) { + m_vertex0It.advance(); + m_vertex1It = ColocalVertexIterator(m_mesh, m_vertex1); + } + else { + return; + } + } + successful = resetElement(); + } } bool isIgnoredFace() const @@ -2976,16 +3237,8 @@ public: return meshEdgeFace(oedge); } - uint32_t vertex0() const - { - return m_mesh->m_indices[m_face * 3 + m_relativeEdge]; - } - - uint32_t vertex1() const - { - return m_mesh->m_indices[m_face * 3 + (m_relativeEdge + 1) % 3]; - } - + uint32_t vertex0() const { return m_mesh->m_indices[m_face * 3 + m_relativeEdge]; } + uint32_t vertex1() const { return m_mesh->m_indices[m_face * 3 + (m_relativeEdge + 1) % 3]; } const Vector3 &position0() const { return m_mesh->m_positions[vertex0()]; } const Vector3 &position1() const { return m_mesh->m_positions[vertex1()]; } const Vector3 &normal0() const { return m_mesh->m_normals[vertex0()]; } @@ -2999,8 +3252,39 @@ public: uint32_t m_edge; uint32_t m_relativeEdge; }; + + class GroupFaceIterator + { + public: + GroupFaceIterator(const Mesh *mesh, uint32_t group) : m_mesh(mesh) + { + XA_DEBUG_ASSERT(group != UINT32_MAX); + m_current = mesh->m_faceGroupFirstFace[group]; + } + + void advance() + { + m_current = m_mesh->m_faceGroupNextFace[m_current]; + } + + bool isDone() const + { + return m_current == UINT32_MAX; + } + + uint32_t face() const + { + return m_current; + } + + private: + const Mesh *m_mesh; + uint32_t m_current; + }; }; +constexpr uint16_t Mesh::kInvalidFaceGroup; + static bool meshCloseHole(Mesh *mesh, const Array<uint32_t> &holeVertices, const Vector3 &normal) { #if XA_CLOSE_HOLES_CHECK_EDGE_INTERSECTION @@ -3027,15 +3311,15 @@ static bool meshCloseHole(Mesh *mesh, const Array<uint32_t> &holeVertices, const const uint32_t i3 = (i + 1) % frontCount; const Vector3 edge1 = frontPoints[i1] - frontPoints[i2]; const Vector3 edge2 = frontPoints[i3] - frontPoints[i2]; - frontAngles[i] = acosf(dot(edge1, edge2) / (length(edge1) * length(edge2))); + frontAngles[i] = atan2f(length(cross(edge1, edge2)), dot(edge1, edge2)); if (frontAngles[i] >= smallestAngle || isNan(frontAngles[i])) continue; // Don't duplicate edges. - if (mesh->findEdge(UINT32_MAX, frontVertices[i1], frontVertices[i2]) != UINT32_MAX) + if (mesh->findEdge(frontVertices[i1], frontVertices[i2]) != UINT32_MAX) continue; - if (mesh->findEdge(UINT32_MAX, frontVertices[i2], frontVertices[i3]) != UINT32_MAX) + if (mesh->findEdge(frontVertices[i2], frontVertices[i3]) != UINT32_MAX) continue; - if (mesh->findEdge(UINT32_MAX, frontVertices[i3], frontVertices[i1]) != UINT32_MAX) + if (mesh->findEdge(frontVertices[i3], frontVertices[i1]) != UINT32_MAX) continue; /* Make sure he new edge that would be formed by (i3, i1) doesn't intersect any vertices. This often happens when fixing t-junctions. @@ -3128,9 +3412,10 @@ static bool meshCloseHole(Mesh *mesh, const Array<uint32_t> &holeVertices, const return true; } -static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, const Vector3 &normal, Array<uint32_t> &holeFaceCounts) +static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, const Vector3 &normal, uint32_t *holeCount, Array<uint32_t> *holeFaceCounts) { - holeFaceCounts.clear(); + if (holeFaceCounts) + holeFaceCounts->clear(); // Compute lengths. const uint32_t boundaryCount = boundaryLoops.size(); Array<float> boundaryLengths; @@ -3139,7 +3424,7 @@ static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, con for (uint32_t i = 0; i < boundaryCount; i++) { float boundaryLength = 0.0f; boundaryEdgeCounts[i] = 0; - for (Mesh::BoundaryEdgeIterator it(mesh, boundaryLoops[i]); !it.isDone(); it.advance()) { + for (Mesh::BoundaryLoopEdgeIterator it(mesh, boundaryLoops[i]); !it.isDone(); it.advance()) { const Vector3 &t0 = mesh->position(mesh->vertexAt(meshEdgeIndex0(it.edge()))); const Vector3 &t1 = mesh->position(mesh->vertexAt(meshEdgeIndex1(it.edge()))); boundaryLength += length(t1 - t0); @@ -3167,7 +3452,7 @@ static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, con holePoints.resize(boundaryEdgeCounts[i]); // Winding is backwards for internal boundaries. uint32_t e = 0; - for (Mesh::BoundaryEdgeIterator it(mesh, boundaryLoops[i]); !it.isDone(); it.advance()) { + for (Mesh::BoundaryLoopEdgeIterator it(mesh, boundaryLoops[i]); !it.isDone(); it.advance()) { const uint32_t vertex = mesh->vertexAt(meshEdgeIndex0(it.edge())); holeVertices[boundaryEdgeCounts[i] - 1 - e] = vertex; holePoints[boundaryEdgeCounts[i] - 1 - e] = mesh->position(vertex); @@ -3176,7 +3461,10 @@ static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, con const uint32_t oldFaceCount = mesh->faceCount(); if (!meshCloseHole(mesh, holeVertices, normal)) result = false; // Return false if any hole failed to close, but keep trying to close other holes. - holeFaceCounts.push_back(mesh->faceCount() - oldFaceCount); + if (holeCount) + (*holeCount)++; + if (holeFaceCounts) + holeFaceCounts->push_back(mesh->faceCount() - oldFaceCount); } return result; } @@ -3307,104 +3595,18 @@ static void meshGetBoundaryLoops(const Mesh &mesh, Array<uint32_t> &boundaryLoop { const uint32_t edgeCount = mesh.edgeCount(); BitArray bitFlags(edgeCount); - bitFlags.clearAll(); + bitFlags.zeroOutMemory(); boundaryLoops.clear(); // Search for boundary edges. Mark all the edges that belong to the same boundary. for (uint32_t e = 0; e < edgeCount; e++) { - if (bitFlags.bitAt(e) || !mesh.isBoundaryEdge(e)) + if (bitFlags.get(e) || !mesh.isBoundaryEdge(e)) continue; - for (Mesh::BoundaryEdgeIterator it(&mesh, e); !it.isDone(); it.advance()) - bitFlags.setBitAt(it.edge()); + for (Mesh::BoundaryLoopEdgeIterator it(&mesh, e); !it.isDone(); it.advance()) + bitFlags.set(it.edge()); boundaryLoops.push_back(e); } } -class MeshTopology -{ -public: - MeshTopology(const Mesh *mesh) - { - const uint32_t vertexCount = mesh->colocalVertexCount(); - const uint32_t faceCount = mesh->faceCount(); - const uint32_t edgeCount = mesh->edgeCount(); - Array<uint32_t> stack(MemTag::Default); - stack.reserve(faceCount); - BitArray bitFlags(faceCount); - bitFlags.clearAll(); - // Compute connectivity. - m_connectedCount = 0; - for (uint32_t f = 0; f < faceCount; f++ ) { - if (bitFlags.bitAt(f) == false) { - m_connectedCount++; - stack.push_back(f); - while (!stack.isEmpty()) { - const uint32_t top = stack.back(); - XA_ASSERT(top != uint32_t(~0)); - stack.pop_back(); - if (bitFlags.bitAt(top) == false) { - bitFlags.setBitAt(top); - for (Mesh::FaceEdgeIterator it(mesh, top); !it.isDone(); it.advance()) { - const uint32_t oppositeFace = it.oppositeFace(); - if (oppositeFace != UINT32_MAX) - stack.push_back(oppositeFace); - } - } - } - } - } - XA_ASSERT(stack.isEmpty()); - // Count boundary loops. - m_boundaryCount = 0; - bitFlags.resize(edgeCount); - bitFlags.clearAll(); - // Don't forget to link the boundary otherwise this won't work. - for (uint32_t e = 0; e < edgeCount; e++) { - if (bitFlags.bitAt(e) || !mesh->isBoundaryEdge(e)) - continue; - m_boundaryCount++; - for (Mesh::BoundaryEdgeIterator it(mesh, e); !it.isDone(); it.advance()) - bitFlags.setBitAt(it.edge()); - } - // Compute euler number. - m_eulerNumber = vertexCount - edgeCount + faceCount; - // Compute genus. (only valid on closed connected surfaces) - m_genus = -1; - if (isClosed() && isConnected()) - m_genus = (2 - m_eulerNumber) / 2; - } - - /// Determine if the mesh is connected. - bool isConnected() const - { - return m_connectedCount == 1; - } - - /// Determine if the mesh is closed. (Each edge is shared by two faces) - bool isClosed() const - { - return m_boundaryCount == 0; - } - - /// Return true if the mesh has the topology of a disk. - bool isDisk() const - { - return isConnected() && m_boundaryCount == 1/* && m_eulerNumber == 1*/; - } - -private: - ///< Number of boundary loops. - int m_boundaryCount; - - ///< Number of connected components. - int m_connectedCount; - - ///< Euler number. - int m_eulerNumber; - - /// Mesh genus. - int m_genus; -}; - struct Progress { Progress(ProgressCategory::Enum category, ProgressFunc func, void *userData, uint32_t maxValue) : value(0), cancel(false), m_category(category), m_func(func), m_userData(userData), m_maxValue(maxValue), m_progress(0) @@ -3482,6 +3684,7 @@ class TaskScheduler public: TaskScheduler() : m_shutdown(false) { + m_threadIndex = 0; // Max with current task scheduler usage is 1 per thread + 1 deep nesting, but allow for some slop. m_maxGroups = std::thread::hardware_concurrency() * 4; m_groups = XA_ALLOC_ARRAY(MemTag::Default, TaskGroup, m_maxGroups); @@ -3494,7 +3697,7 @@ public: for (uint32_t i = 0; i < m_workers.size(); i++) { new (&m_workers[i]) Worker(); m_workers[i].wakeup = false; - m_workers[i].thread = XA_NEW_ARGS(MemTag::Default, std::thread, workerThread, this, &m_workers[i]); + m_workers[i].thread = XA_NEW_ARGS(MemTag::Default, std::thread, workerThread, this, &m_workers[i], i + 1); } } @@ -3517,6 +3720,11 @@ public: XA_FREE(m_groups); } + uint32_t threadCount() const + { + return max(1u, std::thread::hardware_concurrency()); // Including the main thread. + } + TaskGroupHandle createTaskGroup(uint32_t reserveSize = 0) { // Claim the first free group. @@ -3581,6 +3789,8 @@ public: handle->value = UINT32_MAX; } + static uint32_t currentThreadIndex() { return m_threadIndex; } + private: struct TaskGroup { @@ -3603,9 +3813,11 @@ private: uint32_t m_maxGroups; Array<Worker> m_workers; std::atomic<bool> m_shutdown; + static thread_local uint32_t m_threadIndex; - static void workerThread(TaskScheduler *scheduler, Worker *worker) + static void workerThread(TaskScheduler *scheduler, Worker *worker, uint32_t threadIndex) { + m_threadIndex = threadIndex; std::unique_lock<std::mutex> lock(worker->mutex); for (;;) { worker->cv.wait(lock, [=]{ return worker->wakeup.load(); }); @@ -3636,6 +3848,8 @@ private: } } }; + +thread_local uint32_t TaskScheduler::m_threadIndex; #else class TaskScheduler { @@ -3646,6 +3860,11 @@ public: destroyGroup({ i }); } + uint32_t threadCount() const + { + return 1; + } + TaskGroupHandle createTaskGroup(uint32_t reserveSize = 0) { TaskGroup *group = XA_NEW(MemTag::Default, TaskGroup); @@ -3675,6 +3894,8 @@ public: handle->value = UINT32_MAX; } + static uint32_t currentThreadIndex() { return 0; } + private: void destroyGroup(TaskGroupHandle handle) { @@ -3695,6 +3916,369 @@ private: }; #endif +#if XA_DEBUG_EXPORT_TGA +const uint8_t TGA_TYPE_RGB = 2; +const uint8_t TGA_ORIGIN_UPPER = 0x20; + +#pragma pack(push, 1) +struct TgaHeader +{ + uint8_t id_length; + uint8_t colormap_type; + uint8_t image_type; + uint16_t colormap_index; + uint16_t colormap_length; + uint8_t colormap_size; + uint16_t x_origin; + uint16_t y_origin; + uint16_t width; + uint16_t height; + uint8_t pixel_size; + uint8_t flags; + enum { Size = 18 }; +}; +#pragma pack(pop) + +static void WriteTga(const char *filename, const uint8_t *data, uint32_t width, uint32_t height) +{ + XA_DEBUG_ASSERT(sizeof(TgaHeader) == TgaHeader::Size); + FILE *f; + XA_FOPEN(f, filename, "wb"); + if (!f) + return; + TgaHeader tga; + tga.id_length = 0; + tga.colormap_type = 0; + tga.image_type = TGA_TYPE_RGB; + tga.colormap_index = 0; + tga.colormap_length = 0; + tga.colormap_size = 0; + tga.x_origin = 0; + tga.y_origin = 0; + tga.width = (uint16_t)width; + tga.height = (uint16_t)height; + tga.pixel_size = 24; + tga.flags = TGA_ORIGIN_UPPER; + fwrite(&tga, sizeof(TgaHeader), 1, f); + fwrite(data, sizeof(uint8_t), width * height * 3, f); + fclose(f); +} +#endif + +template<typename T> +class ThreadLocal +{ +public: + ThreadLocal() + { +#if XA_MULTITHREADED + const uint32_t n = std::thread::hardware_concurrency(); +#else + const uint32_t n = 1; +#endif + m_array = XA_ALLOC_ARRAY(MemTag::Default, T, n); + for (uint32_t i = 0; i < n; i++) + new (&m_array[i]) T; + } + + ~ThreadLocal() + { +#if XA_MULTITHREADED + const uint32_t n = std::thread::hardware_concurrency(); +#else + const uint32_t n = 1; +#endif + for (uint32_t i = 0; i < n; i++) + m_array[i].~T(); + XA_FREE(m_array); + } + + T &get() const + { + return m_array[TaskScheduler::currentThreadIndex()]; + } + +private: + T *m_array; +}; + +class UniformGrid2 +{ +public: + void reset(const Vector2 *positions, const uint32_t *indices = nullptr, uint32_t reserveEdgeCount = 0) + { + m_edges.clear(); + if (reserveEdgeCount > 0) + m_edges.reserve(reserveEdgeCount); + m_positions = positions; + m_indices = indices; + m_cellDataOffsets.clear(); + } + + void append(uint32_t edge) + { + XA_DEBUG_ASSERT(m_cellDataOffsets.isEmpty()); + m_edges.push_back(edge); + } + + bool intersect(Vector2 v1, Vector2 v2, float epsilon) + { + const uint32_t edgeCount = m_edges.size(); + bool bruteForce = edgeCount <= 64; + if (!bruteForce && m_cellDataOffsets.isEmpty()) + bruteForce = !createGrid(); + if (bruteForce) { + for (uint32_t j = 0; j < edgeCount; j++) { + const uint32_t edge = m_edges[j]; + if (linesIntersect(v1, v2, edgePosition0(edge), edgePosition1(edge), epsilon)) + return true; + } + } else { + computePotentialEdges(v1, v2); + uint32_t prevEdge = UINT32_MAX; + for (uint32_t j = 0; j < m_potentialEdges.size(); j++) { + const uint32_t edge = m_potentialEdges[j]; + if (edge == prevEdge) + continue; + if (linesIntersect(v1, v2, edgePosition0(edge), edgePosition1(edge), epsilon)) + return true; + prevEdge = edge; + } + } + return false; + } + + bool intersectSelf(float epsilon) + { + const uint32_t edgeCount = m_edges.size(); + bool bruteForce = edgeCount <= 64; + if (!bruteForce && m_cellDataOffsets.isEmpty()) + bruteForce = !createGrid(); + for (uint32_t i = 0; i < edgeCount; i++) { + const uint32_t edge1 = m_edges[i]; + if (bruteForce) { + for (uint32_t j = 0; j < edgeCount; j++) { + const uint32_t edge2 = m_edges[j]; + if (edgesIntersect(edge1, edge2, epsilon)) + return true; + } + } else { + computePotentialEdges(edgePosition0(edge1), edgePosition1(edge1)); + uint32_t prevEdge = UINT32_MAX; + for (uint32_t j = 0; j < m_potentialEdges.size(); j++) { + const uint32_t edge2 = m_potentialEdges[j]; + if (edge2 == prevEdge) + continue; + if (edgesIntersect(edge1, edge2, epsilon)) + return true; + prevEdge = edge2; + } + } + } + return false; + } + +#if XA_DEBUG_EXPORT_BOUNDARY_GRID + void debugExport(const char *filename) + { + Array<uint8_t> image; + image.resize(m_gridWidth * m_gridHeight * 3); + for (uint32_t y = 0; y < m_gridHeight; y++) { + for (uint32_t x = 0; x < m_gridWidth; x++) { + uint8_t *bgr = &image[(x + y * m_gridWidth) * 3]; + bgr[0] = bgr[1] = bgr[2] = 32; + uint32_t offset = m_cellDataOffsets[x + y * m_gridWidth]; + while (offset != UINT32_MAX) { + const uint32_t edge2 = m_cellData[offset]; + srand(edge2); + for (uint32_t i = 0; i < 3; i++) + bgr[i] = uint8_t(bgr[i] * 0.5f + (rand() % 255) * 0.5f); + offset = m_cellData[offset + 1]; + } + } + } + WriteTga(filename, image.data(), m_gridWidth, m_gridHeight); + } +#endif + +private: + bool createGrid() + { + // Compute edge extents. Min will be the grid origin. + const uint32_t edgeCount = m_edges.size(); + Extents2 edgeExtents; + edgeExtents.reset(); + for (uint32_t i = 0; i < edgeCount; i++) { + const uint32_t edge = m_edges[i]; + edgeExtents.add(edgePosition0(edge)); + edgeExtents.add(edgePosition1(edge)); + } + m_gridOrigin = edgeExtents.min; + // Size grid to approximately one edge per cell. + const Vector2 extentsSize(edgeExtents.max - edgeExtents.min); + m_cellSize = min(extentsSize.x, extentsSize.y) / sqrtf((float)edgeCount); + if (m_cellSize <= 0.0f) + return false; + m_gridWidth = uint32_t(ceilf(extentsSize.x / m_cellSize)); + m_gridHeight = uint32_t(ceilf(extentsSize.y / m_cellSize)); + if (m_gridWidth == 0 || m_gridHeight == 0) + return false; + // Insert edges into cells. + m_cellDataOffsets.resize(m_gridWidth * m_gridHeight); + for (uint32_t i = 0; i < m_cellDataOffsets.size(); i++) + m_cellDataOffsets[i] = UINT32_MAX; + m_cellData.clear(); + m_cellData.reserve(edgeCount * 2); + for (uint32_t i = 0; i < edgeCount; i++) { + const uint32_t edge = m_edges[i]; + traverse(edgePosition0(edge), edgePosition1(edge)); + XA_DEBUG_ASSERT(!m_traversedCellOffsets.isEmpty()); + for (uint32_t j = 0; j < m_traversedCellOffsets.size(); j++) { + const uint32_t cell = m_traversedCellOffsets[j]; + uint32_t offset = m_cellDataOffsets[cell]; + if (offset == UINT32_MAX) + m_cellDataOffsets[cell] = m_cellData.size(); + else { + for (;;) { + uint32_t &nextOffset = m_cellData[offset + 1]; + if (nextOffset == UINT32_MAX) { + nextOffset = m_cellData.size(); + break; + } + offset = nextOffset; + } + } + m_cellData.push_back(edge); + m_cellData.push_back(UINT32_MAX); + } + } + return true; + } + + void computePotentialEdges(Vector2 p1, Vector2 p2) + { + m_potentialEdges.clear(); + traverse(p1, p2); + for (uint32_t j = 0; j < m_traversedCellOffsets.size(); j++) { + const uint32_t cell = m_traversedCellOffsets[j]; + uint32_t offset = m_cellDataOffsets[cell]; + while (offset != UINT32_MAX) { + const uint32_t edge2 = m_cellData[offset]; + m_potentialEdges.push_back(edge2); + offset = m_cellData[offset + 1]; + } + } + if (m_potentialEdges.isEmpty()) + return; + insertionSort(m_potentialEdges.data(), m_potentialEdges.size()); + } + + // "A Fast Voxel Traversal Algorithm for Ray Tracing" + void traverse(Vector2 p1, Vector2 p2) + { + const Vector2 dir = p2 - p1; + const Vector2 normal = normalizeSafe(dir, Vector2(0.0f), kEpsilon); + const int stepX = dir.x >= 0 ? 1 : -1; + const int stepY = dir.y >= 0 ? 1 : -1; + const uint32_t firstCell[2] = { cellX(p1.x), cellY(p1.y) }; + const uint32_t lastCell[2] = { cellX(p2.x), cellY(p2.y) }; + float distToNextCellX; + if (stepX == 1) + distToNextCellX = (firstCell[0] + 1) * m_cellSize - (p1.x - m_gridOrigin.x); + else + distToNextCellX = (p1.x - m_gridOrigin.x) - firstCell[0] * m_cellSize; + float distToNextCellY; + if (stepY == 1) + distToNextCellY = (firstCell[1] + 1) * m_cellSize - (p1.y - m_gridOrigin.y); + else + distToNextCellY = (p1.y - m_gridOrigin.y) - firstCell[1] * m_cellSize; + float tMaxX, tMaxY, tDeltaX, tDeltaY; + if (normal.x > kEpsilon || normal.x < -kEpsilon) { + tMaxX = (distToNextCellX * stepX) / normal.x; + tDeltaX = (m_cellSize * stepX) / normal.x; + } + else + tMaxX = tDeltaX = FLT_MAX; + if (normal.y > kEpsilon || normal.y < -kEpsilon) { + tMaxY = (distToNextCellY * stepY) / normal.y; + tDeltaY = (m_cellSize * stepY) / normal.y; + } + else + tMaxY = tDeltaY = FLT_MAX; + m_traversedCellOffsets.clear(); + m_traversedCellOffsets.push_back(firstCell[0] + firstCell[1] * m_gridWidth); + uint32_t currentCell[2] = { firstCell[0], firstCell[1] }; + while (!(currentCell[0] == lastCell[0] && currentCell[1] == lastCell[1])) { + if (tMaxX < tMaxY) { + tMaxX += tDeltaX; + currentCell[0] += stepX; + } else { + tMaxY += tDeltaY; + currentCell[1] += stepY; + } + if (currentCell[0] >= m_gridWidth || currentCell[1] >= m_gridHeight) + break; + if (stepX == 0 && currentCell[0] < lastCell[0]) + break; + if (stepX == 1 && currentCell[0] > lastCell[0]) + break; + if (stepY == 0 && currentCell[1] < lastCell[1]) + break; + if (stepY == 1 && currentCell[1] > lastCell[1]) + break; + m_traversedCellOffsets.push_back(currentCell[0] + currentCell[1] * m_gridWidth); + } + } + + bool edgesIntersect(uint32_t edge1, uint32_t edge2, float epsilon) const + { + if (edge1 == edge2) + return false; + const uint32_t ai[2] = { vertexAt(meshEdgeIndex0(edge1)), vertexAt(meshEdgeIndex1(edge1)) }; + const uint32_t bi[2] = { vertexAt(meshEdgeIndex0(edge2)), vertexAt(meshEdgeIndex1(edge2)) }; + // Ignore connected edges, since they can't intersect (only overlap), and may be detected as false positives. + if (ai[0] == bi[0] || ai[0] == bi[1] || ai[1] == bi[0] || ai[1] == bi[1]) + return false; + return linesIntersect(m_positions[ai[0]], m_positions[ai[1]], m_positions[bi[0]], m_positions[bi[1]], epsilon); + } + + uint32_t cellX(float x) const + { + return min((uint32_t)max(0.0f, (x - m_gridOrigin.x) / m_cellSize), m_gridWidth - 1u); + } + + uint32_t cellY(float y) const + { + return min((uint32_t)max(0.0f, (y - m_gridOrigin.y) / m_cellSize), m_gridHeight - 1u); + } + + Vector2 edgePosition0(uint32_t edge) const + { + return m_positions[vertexAt(meshEdgeIndex0(edge))]; + } + + Vector2 edgePosition1(uint32_t edge) const + { + return m_positions[vertexAt(meshEdgeIndex1(edge))]; + } + + uint32_t vertexAt(uint32_t index) const + { + return m_indices ? m_indices[index] : index; + } + + Array<uint32_t> m_edges; + const Vector2 *m_positions; + const uint32_t *m_indices; // Optional + float m_cellSize; + Vector2 m_gridOrigin; + uint32_t m_gridWidth, m_gridHeight; // in cells + Array<uint32_t> m_cellDataOffsets; + Array<uint32_t> m_cellData; + Array<uint32_t> m_potentialEdges; + Array<uint32_t> m_traversedCellOffsets; +}; + struct UvMeshChart { Array<uint32_t> faces; @@ -3834,15 +4418,16 @@ struct Triangle // make sure every triangle is front facing. flipBackface(); // Compute deltas. - computeUnitInwardNormals(); + if (isValid()) + computeUnitInwardNormals(); } bool isValid() { const Vector2 e0 = v3 - v1; const Vector2 e1 = v2 - v1; - const float denom = 1.0f / (e0.y * e1.x - e1.y * e0.x); - return isFinite(denom); + const float area = e0.y * e1.x - e1.y * e0.x; + return area != 0.0f; } // extents has to be multiple of BK_SIZE!! @@ -3926,6 +4511,7 @@ struct Triangle return true; } +private: void flipBackface() { // check if triangle is backfacing, if so, swap two vertices @@ -3941,13 +4527,13 @@ struct Triangle { n1 = v1 - v2; n1 = Vector2(-n1.y, n1.x); - n1 = n1 * (1.0f / sqrtf(n1.x * n1.x + n1.y * n1.y)); + n1 = n1 * (1.0f / sqrtf(dot(n1, n1))); n2 = v2 - v3; n2 = Vector2(-n2.y, n2.x); - n2 = n2 * (1.0f / sqrtf(n2.x * n2.x + n2.y * n2.y)); + n2 = n2 * (1.0f / sqrtf(dot(n2, n2))); n3 = v3 - v1; n3 = Vector2(-n3.y, n3.x); - n3 = n3 * (1.0f / sqrtf(n3.x * n3.x + n3.y * n3.y)); + n3 = n3 * (1.0f / sqrtf(dot(n3, n3))); } // Vertices. @@ -3990,28 +4576,33 @@ public: float v; // value }; - Matrix(uint32_t d) : m_width(d) + Matrix(uint32_t d) : m_width(d), m_array(MemTag::Matrix) { m_array.resize(d); - for (uint32_t i = 0; i < m_array.size(); i++) - new (&m_array[i]) Array<Coefficient>(); + m_array.runCtors(); +#if XA_DEBUG_HEAP + for (uint32_t i = 0; i < d; i++) + m_array[i].setMemTag(MemTag::Matrix); +#endif } - Matrix(uint32_t w, uint32_t h) : m_width(w) + Matrix(uint32_t w, uint32_t h) : m_width(w), m_array(MemTag::Matrix) { m_array.resize(h); - for (uint32_t i = 0; i < m_array.size(); i++) - new (&m_array[i]) Array<Coefficient>(); + m_array.runCtors(); +#if XA_DEBUG_HEAP + for (uint32_t i = 0; i < h; i++) + m_array[i].setMemTag(MemTag::Matrix); +#endif } ~Matrix() { - for (uint32_t i = 0; i < m_array.size(); i++) - m_array[i].~Array(); + m_array.runDtors(); } Matrix(const Matrix &m) = delete; - const Matrix &operator=(const Matrix &m) = delete; + Matrix &operator=(const Matrix &m) = delete; uint32_t width() const { return m_width; } uint32_t height() const { return m_array.size(); } bool isSquare() const { return width() == height(); } @@ -4211,164 +4802,164 @@ static void mult(const Matrix &A, const Matrix &B, Matrix &C) namespace segment { -// Dummy implementation of a priority queue using sort at insertion. // - Insertion is o(n) // - Smallest element goes at the end, so that popping it is o(1). -// - Resorting is n*log(n) -// @@ Number of elements in the queue is usually small, and we'd have to rebalance often. I'm not sure it's worth implementing a heap. -// @@ Searcing at removal would remove the need for sorting when priorities change. -struct PriorityQueue +struct CostQueue { - PriorityQueue(uint32_t size = UINT32_MAX) : maxSize(size) {} + CostQueue(uint32_t size = UINT32_MAX) : m_maxSize(size), m_pairs(MemTag::SegmentAtlasChartCandidates) {} - void push(float priority, uint32_t face) + float peekCost() const { - uint32_t i = 0; - const uint32_t count = pairs.size(); - for (; i < count; i++) { - if (pairs[i].priority > priority) break; - } - Pair p = { priority, face }; - pairs.insertAt(i, p); - if (pairs.size() > maxSize) - pairs.removeAt(0); + return m_pairs.back().cost; } - // push face out of order, to be sorted later. - void push(uint32_t face) + uint32_t peekFace() const { - Pair p = { 0.0f, face }; - pairs.push_back(p); + return m_pairs.back().face; } - uint32_t pop() + void push(float cost, uint32_t face) { - XA_DEBUG_ASSERT(!pairs.isEmpty()); - uint32_t f = pairs.back().face; - pairs.pop_back(); - return f; + const Pair p = { cost, face }; + if (m_pairs.isEmpty() || cost < peekCost()) + m_pairs.push_back(p); + else { + uint32_t i = 0; + const uint32_t count = m_pairs.size(); + for (; i < count; i++) { + if (m_pairs[i].cost < cost) + break; + } + m_pairs.insertAt(i, p); + if (m_pairs.size() > m_maxSize) + m_pairs.removeAt(0); + } } - void sort() + uint32_t pop() { - //sort(pairs); // @@ My intro sort appears to be much slower than it should! - std::sort(pairs.begin(), pairs.end()); + XA_DEBUG_ASSERT(!m_pairs.isEmpty()); + uint32_t f = m_pairs.back().face; + m_pairs.pop_back(); + return f; } XA_INLINE void clear() { - pairs.clear(); + m_pairs.clear(); } XA_INLINE uint32_t count() const { - return pairs.size(); + return m_pairs.size(); } - float firstPriority() const - { - return pairs.back().priority; - } - - const uint32_t maxSize; +private: + const uint32_t m_maxSize; struct Pair { - bool operator<(const Pair &p) const - { - return priority > p.priority; // !! Sort in inverse priority order! - } - - float priority; + float cost; uint32_t face; }; - Array<Pair> pairs; + Array<Pair> m_pairs; }; struct Chart { + Chart() : faces(MemTag::SegmentAtlasChartFaces) {} + int id = -1; - Vector3 averageNormal = Vector3(0.0f); + Basis basis; // Best fit normal. float area = 0.0f; float boundaryLength = 0.0f; - Vector3 normalSum = Vector3(0.0f); Vector3 centroidSum = Vector3(0.0f); // Sum of chart face centroids. Vector3 centroid = Vector3(0.0f); // Average centroid of chart faces. Array<uint32_t> seeds; Array<uint32_t> faces; - PriorityQueue candidates; - Basis basis; // Of first face. + Array<uint32_t> failedPlanarRegions; + CostQueue candidates; }; struct Atlas { - // @@ Hardcoded to 10? - Atlas(const Mesh *mesh, Array<uint32_t> *meshFaces, const ChartOptions &options) : m_mesh(mesh), m_meshFaces(meshFaces), m_facesLeft(mesh->faceCount()), m_bestTriangles(10), m_options(options) + Atlas() : m_edgeLengths(MemTag::SegmentAtlasMeshData), m_faceAreas(MemTag::SegmentAtlasMeshData), m_faceNormals(MemTag::SegmentAtlasMeshData), m_texcoords(MemTag::SegmentAtlasMeshData), m_bestTriangles(10), m_nextPlanarRegionFace(MemTag::SegmentAtlasPlanarRegions), m_facePlanarRegionId(MemTag::SegmentAtlasPlanarRegions) {} + + ~Atlas() + { + const uint32_t chartCount = m_charts.size(); + for (uint32_t i = 0; i < chartCount; i++) { + m_charts[i]->~Chart(); + XA_FREE(m_charts[i]); + } + } + + uint32_t facesLeft() const { return m_facesLeft; } + uint32_t chartCount() const { return m_charts.size(); } + const Array<uint32_t> &chartFaces(uint32_t i) const { return m_charts[i]->faces; } + const Basis &chartBasis(uint32_t chartIndex) const { return m_charts[chartIndex]->basis; } + + void reset(uint32_t meshId, uint32_t chartGroupId, const Mesh *mesh, const ChartOptions &options) { + XA_UNUSED(meshId); + XA_UNUSED(chartGroupId); XA_PROFILE_START(buildAtlasInit) + m_mesh = mesh; const uint32_t faceCount = m_mesh->faceCount(); - if (meshFaces) { - m_ignoreFaces.resize(faceCount); - m_ignoreFaces.setAll(true); - for (uint32_t f = 0; f < meshFaces->size(); f++) - m_ignoreFaces[(*meshFaces)[f]] = false; - m_facesLeft = meshFaces->size(); - } else { - m_ignoreFaces.resize(faceCount); - m_ignoreFaces.setAll(false); + m_facesLeft = faceCount; + m_options = options; + m_rand.reset(); + const uint32_t chartCount = m_charts.size(); + for (uint32_t i = 0; i < chartCount; i++) { + m_charts[i]->~Chart(); + XA_FREE(m_charts[i]); } - m_faceChartArray.resize(faceCount); - m_faceChartArray.setAll(-1); - m_faceCandidateCharts.resize(faceCount); - m_faceCandidateCosts.resize(faceCount); + m_charts.clear(); + m_faceCharts.resize(faceCount); + m_faceCharts.setAll(-1); m_texcoords.resize(faceCount * 3); - // @@ Floyd for the whole mesh is too slow. We could compute floyd progressively per patch as the patch grows. We need a better solution to compute most central faces. - //computeShortestPaths(); // Precompute edge lengths and face areas. const uint32_t edgeCount = m_mesh->edgeCount(); m_edgeLengths.resize(edgeCount); - m_edgeLengths.zeroOutMemory(); m_faceAreas.resize(faceCount); - m_faceAreas.zeroOutMemory(); m_faceNormals.resize(faceCount); - m_faceTangents.resize(faceCount); - m_faceBitangents.resize(faceCount); for (uint32_t f = 0; f < faceCount; f++) { - if (m_ignoreFaces[f]) - continue; - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - m_edgeLengths[it.edge()] = internal::length(it.position1() - it.position0()); - XA_DEBUG_ASSERT(m_edgeLengths[it.edge()] > 0.0f); + for (uint32_t i = 0; i < 3; i++) { + const uint32_t edge = f * 3 + i; + const Vector3 &p0 = mesh->position(m_mesh->vertexAt(meshEdgeIndex0(edge))); + const Vector3 &p1 = mesh->position(m_mesh->vertexAt(meshEdgeIndex1(edge))); + m_edgeLengths[edge] = length(p1 - p0); + XA_DEBUG_ASSERT(m_edgeLengths[edge] > 0.0f); } - m_faceAreas[f] = mesh->faceArea(f); + m_faceAreas[f] = m_mesh->computeFaceArea(f); XA_DEBUG_ASSERT(m_faceAreas[f] > 0.0f); - m_faceNormals[f] = m_mesh->triangleNormal(f); - m_faceTangents[f] = Basis::computeTangent(m_faceNormals[f]); - m_faceBitangents[f] = Basis::computeBitangent(m_faceNormals[f], m_faceTangents[f]); + m_faceNormals[f] = m_mesh->computeFaceNormal(f); } -#if XA_GROW_CHARTS_COPLANAR // Precompute regions of coplanar incident faces. m_nextPlanarRegionFace.resize(faceCount); - for (uint32_t f = 0; f < faceCount; f++) + m_facePlanarRegionId.resize(faceCount); + for (uint32_t f = 0; f < faceCount; f++) { m_nextPlanarRegionFace[f] = f; + m_facePlanarRegionId[f] = UINT32_MAX; + } Array<uint32_t> faceStack; faceStack.reserve(min(faceCount, 16u)); + uint32_t planarRegionCount = 0; for (uint32_t f = 0; f < faceCount; f++) { if (m_nextPlanarRegionFace[f] != f) continue; // Already assigned. - if (m_ignoreFaces[f]) - continue; faceStack.clear(); faceStack.push_back(f); for (;;) { if (faceStack.isEmpty()) break; const uint32_t face = faceStack.back(); + m_facePlanarRegionId[face] = planarRegionCount; faceStack.pop_back(); for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { const uint32_t oface = it.oppositeFace(); - if (it.isBoundary() || m_ignoreFaces[oface]) + if (it.isBoundary()) continue; if (m_nextPlanarRegionFace[oface] != oface) continue; // Already assigned. @@ -4377,29 +4968,33 @@ struct Atlas const uint32_t next = m_nextPlanarRegionFace[face]; m_nextPlanarRegionFace[face] = oface; m_nextPlanarRegionFace[oface] = next; + m_facePlanarRegionId[oface] = planarRegionCount; faceStack.push_back(oface); } } + planarRegionCount++; + } +#if XA_DEBUG_EXPORT_OBJ_PLANAR_REGIONS + char filename[256]; + XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u_chartgroup_%03u_planar_regions.obj", meshId, chartGroupId); + FILE *file; + XA_FOPEN(file, filename, "w"); + if (file) { + m_mesh->writeObjVertices(file); + fprintf(file, "s off\n"); + for (uint32_t i = 0; i < planarRegionCount; i++) { + fprintf(file, "o region%u\n", i); + for (uint32_t j = 0; j < faceCount; j++) { + if (m_facePlanarRegionId[j] == i) + m_mesh->writeObjFace(file, j); + } + } + fclose(file); } #endif XA_PROFILE_END(buildAtlasInit) } - ~Atlas() - { - const uint32_t chartCount = m_chartArray.size(); - for (uint32_t i = 0; i < chartCount; i++) { - m_chartArray[i]->~Chart(); - XA_FREE(m_chartArray[i]); - } - } - - uint32_t facesLeft() const { return m_facesLeft; } - uint32_t chartCount() const { return m_chartArray.size(); } - const Array<uint32_t> &chartFaces(uint32_t i) const { return m_chartArray[i]->faces; } - const Basis &chartBasis(uint32_t chartIndex) const { return m_chartArray[chartIndex]->basis; } - const Vector2 *faceTexcoords(uint32_t face) const { return &m_texcoords[face * 3]; } - void placeSeeds(float threshold) { XA_PROFILE_START(buildAtlasPlaceSeeds) @@ -4415,28 +5010,51 @@ struct Atlas } // Returns true if any of the charts can grow more. - bool growCharts(float threshold) + void growCharts(float threshold) { XA_PROFILE_START(buildAtlasGrowCharts) - // Build global candidate list. - m_faceCandidateCharts.zeroOutMemory(); - for (uint32_t i = 0; i < m_chartArray.size(); i++) - addChartCandidateToGlobalCandidates(m_chartArray[i]); - // Add one candidate face per chart (threshold permitting). - const uint32_t faceCount = m_mesh->faceCount(); - bool canAddAny = false; - for (uint32_t f = 0; f < faceCount; f++) { - Chart *chart = m_faceCandidateCharts[f]; - if (!chart || m_faceCandidateCosts[f] > threshold) - continue; - createFaceTexcoords(chart, f); - if (!canAddFaceToChart(chart, f)) - continue; - addFaceToChart(chart, f); - canAddAny = true; + for (;;) { + if (m_facesLeft == 0) + break; + // Get the single best candidate out of the chart best candidates. + uint32_t bestFace = UINT32_MAX, bestChart = UINT32_MAX; + float lowestCost = FLT_MAX; + for (uint32_t i = 0; i < m_charts.size(); i++) { + Chart *chart = m_charts[i]; + // Get the best candidate from the chart. + // Cleanup any best candidates that have been claimed by another chart. + uint32_t face = UINT32_MAX; + float cost = FLT_MAX; + for (;;) { + if (chart->candidates.count() == 0) + break; + cost = chart->candidates.peekCost(); + face = chart->candidates.peekFace(); + if (m_faceCharts[face] == -1) + break; + else { + // Face belongs to another chart. Pop from queue so the next best candidate can be retrieved. + chart->candidates.pop(); + face = UINT32_MAX; + } + } + if (face == UINT32_MAX) + continue; // No candidates for this chart. + // See if best candidate overall. + if (cost < lowestCost) { + lowestCost = cost; + bestFace = face; + bestChart = i; + } + } + if (bestFace == UINT32_MAX || lowestCost > threshold) + break; + Chart *chart = m_charts[bestChart]; + chart->candidates.pop(); // Pop the selected candidate from the queue. + if (!addFaceToChart(chart, bestFace)) + chart->failedPlanarRegions.push_back(m_facePlanarRegionId[bestFace]); } XA_PROFILE_END(buildAtlasGrowCharts) - return canAddAny && m_facesLeft != 0; // Can continue growing. } void resetCharts() @@ -4444,53 +5062,34 @@ struct Atlas XA_PROFILE_START(buildAtlasResetCharts) const uint32_t faceCount = m_mesh->faceCount(); for (uint32_t i = 0; i < faceCount; i++) - m_faceChartArray[i] = -1; - m_facesLeft = m_meshFaces ? m_meshFaces->size() : faceCount; - const uint32_t chartCount = m_chartArray.size(); + m_faceCharts[i] = -1; + m_facesLeft = faceCount; + const uint32_t chartCount = m_charts.size(); for (uint32_t i = 0; i < chartCount; i++) { - Chart *chart = m_chartArray[i]; + Chart *chart = m_charts[i]; const uint32_t seed = chart->seeds.back(); chart->area = 0.0f; chart->boundaryLength = 0.0f; - chart->normalSum = Vector3(0.0f); + chart->basis.normal = Vector3(0.0f); + chart->basis.tangent = Vector3(0.0f); + chart->basis.bitangent = Vector3(0.0f); chart->centroidSum = Vector3(0.0f); chart->centroid = Vector3(0.0f); chart->faces.clear(); chart->candidates.clear(); + chart->failedPlanarRegions.clear(); addFaceToChart(chart, seed); } -#if XA_GROW_CHARTS_COPLANAR - for (uint32_t i = 0; i < chartCount; i++) { - Chart *chart = m_chartArray[i]; - growChartCoplanar(chart); - } -#endif XA_PROFILE_END(buildAtlasResetCharts) } - void updateChartCandidates(Chart *chart, uint32_t f) - { - // Traverse neighboring faces, add the ones that do not belong to any chart yet. - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - if (!it.isBoundary() && !m_ignoreFaces[it.oppositeFace()] && m_faceChartArray[it.oppositeFace()] == -1) - chart->candidates.push(it.oppositeFace()); - } - // Re-evaluate all candidate priorities. - uint32_t candidateCount = chart->candidates.count(); - for (uint32_t i = 0; i < candidateCount; i++) { - PriorityQueue::Pair &pair = chart->candidates.pairs[i]; - pair.priority = evaluateCost(chart, pair.face); - } - chart->candidates.sort(); - } - bool relocateSeeds() { XA_PROFILE_START(buildAtlasRelocateSeeds) bool anySeedChanged = false; - const uint32_t chartCount = m_chartArray.size(); + const uint32_t chartCount = m_charts.size(); for (uint32_t i = 0; i < chartCount; i++) { - if (relocateSeed(m_chartArray[i])) { + if (relocateSeed(m_charts[i])) { anySeedChanged = true; } } @@ -4510,45 +5109,38 @@ struct Atlas void mergeCharts() { XA_PROFILE_START(buildAtlasMergeCharts) - Array<float> sharedBoundaryLengths; - Array<float> sharedBoundaryLengthsNoSeams; - Array<uint32_t> sharedBoundaryEdgeCountNoSeams; - Array<Vector2> tempTexcoords; - const uint32_t chartCount = m_chartArray.size(); + const uint32_t chartCount = m_charts.size(); // Merge charts progressively until there's none left to merge. for (;;) { bool merged = false; for (int c = chartCount - 1; c >= 0; c--) { - Chart *chart = m_chartArray[c]; + Chart *chart = m_charts[c]; if (chart == nullptr) continue; float externalBoundaryLength = 0.0f; - sharedBoundaryLengths.clear(); - sharedBoundaryLengths.resize(chartCount); - sharedBoundaryLengths.zeroOutMemory(); - sharedBoundaryLengthsNoSeams.clear(); - sharedBoundaryLengthsNoSeams.resize(chartCount); - sharedBoundaryLengthsNoSeams.zeroOutMemory(); - sharedBoundaryEdgeCountNoSeams.clear(); - sharedBoundaryEdgeCountNoSeams.resize(chartCount); - sharedBoundaryEdgeCountNoSeams.zeroOutMemory(); + m_sharedBoundaryLengths.resize(chartCount); + m_sharedBoundaryLengths.zeroOutMemory(); + m_sharedBoundaryLengthsNoSeams.resize(chartCount); + m_sharedBoundaryLengthsNoSeams.zeroOutMemory(); + m_sharedBoundaryEdgeCountNoSeams.resize(chartCount); + m_sharedBoundaryEdgeCountNoSeams.zeroOutMemory(); const uint32_t faceCount = chart->faces.size(); for (uint32_t i = 0; i < faceCount; i++) { const uint32_t f = chart->faces[i]; for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { const float l = m_edgeLengths[it.edge()]; - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) { + if (it.isBoundary()) { externalBoundaryLength += l; } else { - const int neighborChart = m_faceChartArray[it.oppositeFace()]; - if (m_chartArray[neighborChart] != chart) { + const int neighborChart = m_faceCharts[it.oppositeFace()]; + if (m_charts[neighborChart] != chart) { if ((it.isSeam() && (isNormalSeam(it.edge()) || it.isTextureSeam()))) { externalBoundaryLength += l; } else { - sharedBoundaryLengths[neighborChart] += l; + m_sharedBoundaryLengths[neighborChart] += l; } - sharedBoundaryLengthsNoSeams[neighborChart] += l; - sharedBoundaryEdgeCountNoSeams[neighborChart]++; + m_sharedBoundaryLengthsNoSeams[neighborChart] += l; + m_sharedBoundaryEdgeCountNoSeams[neighborChart]++; } } } @@ -4556,50 +5148,38 @@ struct Atlas for (int cc = chartCount - 1; cc >= 0; cc--) { if (cc == c) continue; - Chart *chart2 = m_chartArray[cc]; + Chart *chart2 = m_charts[cc]; if (chart2 == nullptr) continue; + // Must share a boundary. + if (m_sharedBoundaryLengths[cc] <= 0.0f) + continue; // Compare proxies. - if (dot(chart2->averageNormal, chart->averageNormal) < XA_MERGE_CHARTS_MIN_NORMAL_DEVIATION) + if (dot(chart2->basis.normal, chart->basis.normal) < XA_MERGE_CHARTS_MIN_NORMAL_DEVIATION) continue; // Obey max chart area and boundary length. if (m_options.maxChartArea > 0.0f && chart->area + chart2->area > m_options.maxChartArea) continue; - if (m_options.maxBoundaryLength > 0.0f && chart->boundaryLength + chart2->boundaryLength - sharedBoundaryLengthsNoSeams[cc] > m_options.maxBoundaryLength) + if (m_options.maxBoundaryLength > 0.0f && chart->boundaryLength + chart2->boundaryLength - m_sharedBoundaryLengthsNoSeams[cc] > m_options.maxBoundaryLength) continue; // Merge if chart2 has a single face. // chart1 must have more than 1 face. // chart2 area must be <= 10% of chart1 area. - if (sharedBoundaryLengthsNoSeams[cc] > 0.0f && chart->faces.size() > 1 && chart2->faces.size() == 1 && chart2->area <= chart->area * 0.1f) + if (m_sharedBoundaryLengthsNoSeams[cc] > 0.0f && chart->faces.size() > 1 && chart2->faces.size() == 1 && chart2->area <= chart->area * 0.1f) goto merge; // Merge if chart2 has two faces (probably a quad), and chart1 bounds at least 2 of its edges. - if (chart2->faces.size() == 2 && sharedBoundaryEdgeCountNoSeams[cc] >= 2) + if (chart2->faces.size() == 2 && m_sharedBoundaryEdgeCountNoSeams[cc] >= 2) goto merge; // Merge if chart2 is wholely inside chart1, ignoring seams. - if (sharedBoundaryLengthsNoSeams[cc] > 0.0f && equal(sharedBoundaryLengthsNoSeams[cc], chart2->boundaryLength, kEpsilon)) + if (m_sharedBoundaryLengthsNoSeams[cc] > 0.0f && equal(m_sharedBoundaryLengthsNoSeams[cc], chart2->boundaryLength, kEpsilon)) goto merge; - if (sharedBoundaryLengths[cc] > 0.2f * max(0.0f, chart->boundaryLength - externalBoundaryLength) || - sharedBoundaryLengths[cc] > 0.75f * chart2->boundaryLength) + if (m_sharedBoundaryLengths[cc] > 0.2f * max(0.0f, chart->boundaryLength - externalBoundaryLength) || + m_sharedBoundaryLengths[cc] > 0.75f * chart2->boundaryLength) goto merge; continue; merge: - // Create texcoords for chart 2 using chart 1 basis. Backup chart 2 texcoords for restoration if charts cannot be merged. - tempTexcoords.resize(chart2->faces.size() * 3); - for (uint32_t i = 0; i < chart2->faces.size(); i++) { - const uint32_t face = chart2->faces[i]; - for (uint32_t j = 0; j < 3; j++) - tempTexcoords[i * 3 + j] = m_texcoords[face * 3 + j]; - createFaceTexcoords(chart, face); - } - if (!canMergeCharts(chart, chart2)) { - // Restore chart 2 texcoords. - for (uint32_t i = 0; i < chart2->faces.size(); i++) { - for (uint32_t j = 0; j < 3; j++) - m_texcoords[chart2->faces[i] * 3 + j] = tempTexcoords[i * 3 + j]; - } + if (!mergeChart(chart, chart2, m_sharedBoundaryLengthsNoSeams[cc])) continue; - } - mergeChart(chart, chart2, sharedBoundaryLengthsNoSeams[cc]); merged = true; break; } @@ -4610,20 +5190,20 @@ struct Atlas break; } // Remove deleted charts. - for (int c = 0; c < int32_t(m_chartArray.size()); /*do not increment if removed*/) { - if (m_chartArray[c] == nullptr) { - m_chartArray.removeAt(c); - // Update m_faceChartArray. - const uint32_t faceCount = m_faceChartArray.size(); + for (int c = 0; c < int32_t(m_charts.size()); /*do not increment if removed*/) { + if (m_charts[c] == nullptr) { + m_charts.removeAt(c); + // Update m_faceCharts. + const uint32_t faceCount = m_faceCharts.size(); for (uint32_t i = 0; i < faceCount; i++) { - XA_DEBUG_ASSERT(m_faceChartArray[i] != c); - XA_DEBUG_ASSERT(m_faceChartArray[i] <= int32_t(m_chartArray.size())); - if (m_faceChartArray[i] > c) { - m_faceChartArray[i]--; + XA_DEBUG_ASSERT(m_faceCharts[i] != c); + XA_DEBUG_ASSERT(m_faceCharts[i] <= int32_t(m_charts.size())); + if (m_faceCharts[i] > c) { + m_faceCharts[i]--; } } } else { - m_chartArray[c]->id = c; + m_charts[c]->id = c; c++; } } @@ -4635,264 +5215,204 @@ private: void createRandomChart(float threshold) { Chart *chart = XA_NEW(MemTag::Default, Chart); - chart->id = (int)m_chartArray.size(); - m_chartArray.push_back(chart); + chart->id = (int)m_charts.size(); + m_charts.push_back(chart); // Pick random face that is not used by any chart yet. uint32_t face = m_rand.getRange(m_mesh->faceCount() - 1); - while (m_ignoreFaces[face] || m_faceChartArray[face] != -1) { + while (m_faceCharts[face] != -1) { if (++face >= m_mesh->faceCount()) face = 0; } chart->seeds.push_back(face); addFaceToChart(chart, face); -#if XA_GROW_CHARTS_COPLANAR - growChartCoplanar(chart); -#endif // Grow the chart as much as possible within the given threshold. - for (uint32_t i = 0; i < m_facesLeft; ) { - if (chart->candidates.count() == 0 || chart->candidates.firstPriority() > threshold) + for (;;) { + if (chart->candidates.count() == 0 || chart->candidates.peekCost() > threshold) break; const uint32_t f = chart->candidates.pop(); - if (m_faceChartArray[f] != -1) + if (m_faceCharts[f] != -1) continue; - createFaceTexcoords(chart, f); - if (!canAddFaceToChart(chart, f)) + if (!addFaceToChart(chart, f)) { + chart->failedPlanarRegions.push_back(m_facePlanarRegionId[f]); continue; - addFaceToChart(chart, f); - i++; - } - } - - void addChartCandidateToGlobalCandidates(Chart *chart) - { - if (chart->candidates.count() == 0) - return; - const float cost = chart->candidates.firstPriority(); - const uint32_t face = chart->candidates.pop(); - if (m_faceChartArray[face] != -1) { - addChartCandidateToGlobalCandidates(chart); - } else if (!m_faceCandidateCharts[face]) { - // No candidate assigned to this face yet. - m_faceCandidateCharts[face] = chart; - m_faceCandidateCosts[face] = cost; - } else { - if (cost < m_faceCandidateCosts[face]) { - // This is a better candidate for this face (lower cost). The other chart can choose another candidate. - Chart *otherChart = m_faceCandidateCharts[face]; - m_faceCandidateCharts[face] = chart; - m_faceCandidateCosts[face] = cost; - addChartCandidateToGlobalCandidates(otherChart); - } else { - // Existing candidate is better. This chart can choose another candidate. - addChartCandidateToGlobalCandidates(chart); } } } - void createFaceTexcoords(Chart *chart, uint32_t face) - { - for (uint32_t i = 0; i < 3; i++) { - const Vector3 &pos = m_mesh->position(m_mesh->vertexAt(face * 3 + i)); - m_texcoords[face * 3 + i] = Vector2(dot(chart->basis.tangent, pos), dot(chart->basis.bitangent, pos)); - } - } - bool isChartBoundaryEdge(const Chart *chart, uint32_t edge) const { const uint32_t oppositeEdge = m_mesh->oppositeEdge(edge); const uint32_t oppositeFace = meshEdgeFace(oppositeEdge); - return oppositeEdge == UINT32_MAX || m_ignoreFaces[oppositeFace] || m_faceChartArray[oppositeFace] != chart->id; + return oppositeEdge == UINT32_MAX || m_faceCharts[oppositeFace] != chart->id; } - bool edgeArraysIntersect(const uint32_t *edges1, uint32_t edges1Count, const uint32_t *edges2, uint32_t edges2Count) + bool computeChartBasis(Chart *chart, Basis *basis) { - for (uint32_t i = 0; i < edges1Count; i++) { - const uint32_t edge1 = edges1[i]; - for (uint32_t j = 0; j < edges2Count; j++) { - const uint32_t edge2 = edges2[j]; - const Vector2 &a1 = m_texcoords[meshEdgeIndex0(edge1)]; - const Vector2 &a2 = m_texcoords[meshEdgeIndex1(edge1)]; - const Vector2 &b1 = m_texcoords[meshEdgeIndex0(edge2)]; - const Vector2 &b2 = m_texcoords[meshEdgeIndex1(edge2)]; - if (linesIntersect(a1, a2, b1, b2, m_mesh->epsilon())) - return true; - } + const uint32_t faceCount = chart->faces.size(); + m_tempPoints.resize(chart->faces.size() * 3); + for (uint32_t i = 0; i < faceCount; i++) { + const uint32_t f = chart->faces[i]; + for (uint32_t j = 0; j < 3; j++) + m_tempPoints[i * 3 + j] = m_mesh->position(m_mesh->vertexAt(f * 3 + j)); } - return false; + return Fit::computeBasis(m_tempPoints.data(), m_tempPoints.size(), basis); } bool isFaceFlipped(uint32_t face) const { - const float t1 = m_texcoords[face * 3 + 0].x; - const float s1 = m_texcoords[face * 3 + 0].y; - const float t2 = m_texcoords[face * 3 + 1].x; - const float s2 = m_texcoords[face * 3 + 1].y; - const float t3 = m_texcoords[face * 3 + 2].x; - const float s3 = m_texcoords[face * 3 + 2].y; - const float parametricArea = ((s2 - s1) * (t3 - t1) - (s3 - s1) * (t2 - t1)) / 2; + const Vector2 &v1 = m_texcoords[face * 3 + 0]; + const Vector2 &v2 = m_texcoords[face * 3 + 1]; + const Vector2 &v3 = m_texcoords[face * 3 + 2]; + const float parametricArea = ((v2.x - v1.x) * (v3.y - v1.y) - (v3.x - v1.x) * (v2.y - v1.y)) * 0.5f; return parametricArea < 0.0f; } - void computeChartBoundaryEdges(const Chart *chart, Array<uint32_t> *dest) const + void parameterizeChart(const Chart *chart) { - dest->clear(); - for (uint32_t f = 0; f < chart->faces.size(); f++) { - const uint32_t face = chart->faces[f]; - for (uint32_t i = 0; i < 3; i++) { - const uint32_t edge = face * 3 + i; - if (isChartBoundaryEdge(chart, edge)) - dest->push_back(edge); + const uint32_t faceCount = chart->faces.size(); + for (uint32_t i = 0; i < faceCount; i++) { + const uint32_t face = chart->faces[i]; + for (uint32_t j = 0; j < 3; j++) { + const uint32_t offset = face * 3 + j; + const Vector3 &pos = m_mesh->position(m_mesh->vertexAt(offset)); + m_texcoords[offset] = Vector2(dot(chart->basis.tangent, pos), dot(chart->basis.bitangent, pos)); } } } - bool canAddFaceToChart(Chart *chart, uint32_t face) + // m_faceCharts for the chart faces must be set to the chart ID. Needed to compute boundary edges. + bool isChartParameterizationValid(const Chart *chart) { - // Check for flipped triangles. - if (isFaceFlipped(face)) + const uint32_t faceCount = chart->faces.size(); + // Check for flipped faces in the parameterization. OK if all are flipped. + uint32_t flippedFaceCount = 0; + for (uint32_t i = 0; i < faceCount; i++) { + if (isFaceFlipped(chart->faces[i])) + flippedFaceCount++; + } + if (flippedFaceCount != 0 && flippedFaceCount != faceCount) return false; - // Find face edges that don't border this chart. - m_tempEdges1.clear(); - for (uint32_t i = 0; i < 3; i++) { - const uint32_t edge = face * 3 + i; - if (isChartBoundaryEdge(chart, edge)) - m_tempEdges1.push_back(edge); - } - if (m_tempEdges1.isEmpty()) - return true; // This can happen if the face is surrounded by the chart. - // Get chart boundary edges, except those that border the face. - m_tempEdges2.clear(); - for (uint32_t i = 0; i < chart->faces.size(); i++) { - const uint32_t chartFace = chart->faces[i]; + // Check for boundary intersection in the parameterization. + m_boundaryGrid.reset(m_texcoords.data()); + for (uint32_t i = 0; i < faceCount; i++) { + const uint32_t f = chart->faces[i]; for (uint32_t j = 0; j < 3; j++) { - const uint32_t chartEdge = chartFace * 3 + j; - if (!isChartBoundaryEdge(chart, chartEdge)) - continue; - // Don't check chart boundary edges that border the face. - const uint32_t oppositeChartEdge = m_mesh->oppositeEdge(chartEdge); - if (meshEdgeFace(oppositeChartEdge) == face) - continue; - m_tempEdges2.push_back(chartEdge); - } - } - const bool intersect = edgeArraysIntersect(m_tempEdges1.data(), m_tempEdges1.size(), m_tempEdges2.data(), m_tempEdges2.size()); -#if 0 - if (intersect) { - static std::atomic<uint32_t> count = 0; - char filename[256]; - XA_SPRINTF(filename, sizeof(filename), "intersect%04u.obj", count.fetch_add(1)); - FILE *file; - XA_FOPEN(file, filename, "w"); - if (file) { - for (uint32_t i = 0; i < m_texcoords.size(); i++) - fprintf(file, "v %g %g 0.0\n", m_texcoords[i].x, m_texcoords[i].y); - fprintf(file, "s off\n"); - fprintf(file, "o face\n"); - { - fprintf(file, "f "); - for (uint32_t j = 0; j < 3; j++) { - const uint32_t index = face * 3 + j + 1; // 1-indexed - fprintf(file, "%d/%d/%d%c", index, index, index, j == 2 ? '\n' : ' '); - } - } - fprintf(file, "s off\n"); - fprintf(file, "o chart\n"); - for (uint32_t i = 0; i < chart->faces.size(); i++) { - const uint32_t chartFace = chart->faces[i]; - fprintf(file, "f "); - for (uint32_t j = 0; j < 3; j++) { - const uint32_t index = chartFace * 3 + j + 1; // 1-indexed - fprintf(file, "%d/%d/%d%c", index, index, index, j == 2 ? '\n' : ' '); - } - } - fclose(file); + const uint32_t edge = f * 3 + j; + if (isChartBoundaryEdge(chart, edge)) + m_boundaryGrid.append(edge); } } -#endif - return !intersect; + if (m_boundaryGrid.intersectSelf(m_mesh->epsilon())) + return false; + return true; } - bool canMergeCharts(Chart *chart1, Chart *chart2) + bool addFaceToChart(Chart *chart, uint32_t face) { - for (uint32_t i = 0; i < chart2->faces.size(); i++) { - if (isFaceFlipped(chart2->faces[i])) - return false; + XA_DEBUG_ASSERT(m_faceCharts[face] == -1); + const uint32_t oldFaceCount = chart->faces.size(); + const bool firstFace = oldFaceCount == 0; + // Append the face and any coplanar connected faces to the chart faces array. + chart->faces.push_back(face); + uint32_t coplanarFace = m_nextPlanarRegionFace[face]; + while (coplanarFace != face) { + XA_DEBUG_ASSERT(m_faceCharts[coplanarFace] == -1); + chart->faces.push_back(coplanarFace); + coplanarFace = m_nextPlanarRegionFace[coplanarFace]; } - computeChartBoundaryEdges(chart1, &m_tempEdges1); - computeChartBoundaryEdges(chart2, &m_tempEdges2); - return !edgeArraysIntersect(m_tempEdges1.data(), m_tempEdges1.size(), m_tempEdges2.data(), m_tempEdges2.size()); - } - - void addFaceToChart(Chart *chart, uint32_t f) - { - const bool firstFace = chart->faces.isEmpty(); - // Use the first face normal as the chart basis. + const uint32_t faceCount = chart->faces.size(); + // Compute basis. + Basis basis; if (firstFace) { - chart->basis.normal = m_faceNormals[f]; - chart->basis.tangent = m_faceTangents[f]; - chart->basis.bitangent = m_faceBitangents[f]; - createFaceTexcoords(chart, f); - } - // Add face to chart. - chart->faces.push_back(f); - XA_DEBUG_ASSERT(m_faceChartArray[f] == -1); - m_faceChartArray[f] = chart->id; - m_facesLeft--; - // Update area and boundary length. - chart->area = chart->area + m_faceAreas[f]; - chart->boundaryLength = computeBoundaryLength(chart, f); - chart->normalSum += m_mesh->triangleNormalAreaScaled(f); - chart->averageNormal = normalizeSafe(chart->normalSum, Vector3(0), 0.0f); - chart->centroidSum += m_mesh->triangleCenter(f); + // Use the first face normal. + // Use any edge as the tangent vector. + basis.normal = m_faceNormals[face]; + basis.tangent = normalize(m_mesh->position(m_mesh->vertexAt(face * 3 + 0)) - m_mesh->position(m_mesh->vertexAt(face * 3 + 1)), kEpsilon); + basis.bitangent = cross(basis.normal, basis.tangent); + } else { + // Use best fit normal. + if (!computeChartBasis(chart, &basis)) { + chart->faces.resize(oldFaceCount); + return false; + } + if (dot(basis.normal, m_faceNormals[face]) < 0.0f) // Flip normal if oriented in the wrong direction. + basis.normal = -basis.normal; + } + if (!firstFace) { + // Compute orthogonal parameterization and check that it is valid. + parameterizeChart(chart); + for (uint32_t i = oldFaceCount; i < faceCount; i++) + m_faceCharts[chart->faces[i]] = chart->id; + if (!isChartParameterizationValid(chart)) { + for (uint32_t i = oldFaceCount; i < faceCount; i++) + m_faceCharts[chart->faces[i]] = -1; + chart->faces.resize(oldFaceCount); + return false; + } + } + // Add face(s) to chart. + chart->basis = basis; + chart->area = computeArea(chart, face); + chart->boundaryLength = computeBoundaryLength(chart, face); + for (uint32_t i = oldFaceCount; i < faceCount; i++) { + const uint32_t f = chart->faces[i]; + m_faceCharts[f] = chart->id; + m_facesLeft--; + chart->centroidSum += m_mesh->computeFaceCenter(f); + } chart->centroid = chart->centroidSum / float(chart->faces.size()); - // Update candidates. - updateChartCandidates(chart, f); - } - -#if XA_GROW_CHARTS_COPLANAR - void growChartCoplanar(Chart *chart) - { - XA_DEBUG_ASSERT(!chart->faces.isEmpty()); - for (uint32_t i = 0; i < chart->faces.size(); i++) { - const uint32_t chartFace = chart->faces[i]; - uint32_t face = m_nextPlanarRegionFace[chartFace]; - while (face != chartFace) { - // Not assigned to a chart? - if (m_faceChartArray[face] == -1) { - createFaceTexcoords(chart, face); - addFaceToChart(chart, face); - } - face = m_nextPlanarRegionFace[face]; + // Refresh candidates. + chart->candidates.clear(); + for (uint32_t i = 0; i < faceCount; i++) { + // Traverse neighboring faces, add the ones that do not belong to any chart yet. + const uint32_t f = chart->faces[i]; + for (uint32_t j = 0; j < 3; j++) { + const uint32_t edge = f * 3 + j; + const uint32_t oedge = m_mesh->oppositeEdge(edge); + if (oedge == UINT32_MAX) + continue; // Boundary edge. + const uint32_t oface = meshEdgeFace(oedge); + if (m_faceCharts[oface] != -1) + continue; // Face belongs to another chart. + if (chart->failedPlanarRegions.contains(m_facePlanarRegionId[oface])) + continue; // Failed to add this faces planar region to the chart before. + const float cost = evaluateCost(chart, oface); + if (cost < FLT_MAX) + chart->candidates.push(cost, oface); } } + return true; } -#endif + // Returns true if the seed has changed. bool relocateSeed(Chart *chart) { // Find the first N triangles that fit the proxy best. const uint32_t faceCount = chart->faces.size(); m_bestTriangles.clear(); for (uint32_t i = 0; i < faceCount; i++) { - float priority = evaluateProxyFitMetric(chart, chart->faces[i]); - m_bestTriangles.push(priority, chart->faces[i]); + const float cost = evaluateProxyFitMetric(chart, chart->faces[i]); + m_bestTriangles.push(cost, chart->faces[i]); } // Of those, choose the least central triangle. uint32_t leastCentral = 0; float maxDistance = -1; - const uint32_t bestCount = m_bestTriangles.count(); - for (uint32_t i = 0; i < bestCount; i++) { - Vector3 faceCentroid = m_mesh->triangleCenter(m_bestTriangles.pairs[i].face); - float distance = length(chart->centroid - faceCentroid); + for (;;) { + if (m_bestTriangles.count() == 0) + break; + const uint32_t face = m_bestTriangles.pop(); + Vector3 faceCentroid = m_mesh->computeFaceCenter(face); + const float distance = length(chart->centroid - faceCentroid); if (distance > maxDistance) { maxDistance = distance; - leastCentral = m_bestTriangles.pairs[i].face; + leastCentral = face; } } XA_DEBUG_ASSERT(maxDistance >= 0); // In order to prevent k-means cyles we record all the previously chosen seeds. for (uint32_t i = 0; i < chart->seeds.size(); i++) { - if (chart->seeds[i] == leastCentral) { + // Treat seeds belong to the same planar region as equal. + if (chart->seeds[i] == leastCentral || m_facePlanarRegionId[chart->seeds[i]] == m_facePlanarRegionId[leastCentral]) { // Move new seed to the end of the seed array. uint32_t last = chart->seeds.size() - 1; swap(chart->seeds[i], chart->seeds[last]); @@ -4907,26 +5427,32 @@ private: // Evaluate combined metric. float evaluateCost(Chart *chart, uint32_t face) const { + if (dot(m_faceNormals[face], chart->basis.normal) <= 0.26f) // ~75 degrees + return FLT_MAX; // Estimate boundary length and area: - const float newChartArea = chart->area + m_faceAreas[face]; - const float newBoundaryLength = computeBoundaryLength(chart, face); + float newChartArea = 0.0f, newBoundaryLength = 0.0f; + if (m_options.maxChartArea > 0.0f || m_options.roundnessMetricWeight > 0.0f) + newChartArea = computeArea(chart, face); + if (m_options.maxBoundaryLength > 0.0f || m_options.roundnessMetricWeight > 0.0f) + newBoundaryLength = computeBoundaryLength(chart, face); // Enforce limits strictly: if (m_options.maxChartArea > 0.0f && newChartArea > m_options.maxChartArea) return FLT_MAX; if (m_options.maxBoundaryLength > 0.0f && newBoundaryLength > m_options.maxBoundaryLength) return FLT_MAX; - if (dot(m_faceNormals[face], chart->averageNormal) < 0.5f) - return FLT_MAX; - // Penalize faces that cross seams, reward faces that close seams or reach boundaries. - // Make sure normal seams are fully respected: - const float N = evaluateNormalSeamMetric(chart, face); - if (m_options.normalSeamMetricWeight >= 1000.0f && N > 0.0f) - return FLT_MAX; - float cost = m_options.normalSeamMetricWeight * N; + float cost = 0.0f; + if (m_options.normalSeamMetricWeight > 0.0f) { + // Penalize faces that cross seams, reward faces that close seams or reach boundaries. + // Make sure normal seams are fully respected: + const float N = evaluateNormalSeamMetric(chart, face); + if (m_options.normalSeamMetricWeight >= 1000.0f && N > 0.0f) + return FLT_MAX; + cost += m_options.normalSeamMetricWeight * N; + } if (m_options.proxyFitMetricWeight > 0.0f) cost += m_options.proxyFitMetricWeight * evaluateProxyFitMetric(chart, face); if (m_options.roundnessMetricWeight > 0.0f) - cost += m_options.roundnessMetricWeight * evaluateRoundnessMetric(chart, face, newBoundaryLength, newChartArea); + cost += m_options.roundnessMetricWeight * evaluateRoundnessMetric(chart, newBoundaryLength, newChartArea); if (m_options.straightnessMetricWeight > 0.0f) cost += m_options.straightnessMetricWeight * evaluateStraightnessMetric(chart, face); if (m_options.textureSeamMetricWeight > 0.0f) @@ -4941,40 +5467,45 @@ private: } // Returns a value in [0-1]. - float evaluateProxyFitMetric(Chart *chart, uint32_t f) const + float evaluateProxyFitMetric(Chart *chart, uint32_t face) const { - const Vector3 faceNormal = m_faceNormals[f]; + // All faces in coplanar regions have the same normal, can use any face. + const Vector3 faceNormal = m_faceNormals[face]; // Use plane fitting metric for now: - return 1 - dot(faceNormal, chart->averageNormal); // @@ normal deviations should be weighted by face area + return 1 - dot(faceNormal, chart->basis.normal); // @@ normal deviations should be weighted by face area } - float evaluateRoundnessMetric(Chart *chart, uint32_t /*face*/, float newBoundaryLength, float newChartArea) const + float evaluateRoundnessMetric(Chart *chart, float newBoundaryLength, float newChartArea) const { - float roundness = square(chart->boundaryLength) / chart->area; - float newRoundness = square(newBoundaryLength) / newChartArea; - if (newRoundness > roundness) { - return square(newBoundaryLength) / (newChartArea * 4.0f * kPi); - } else { - // Offer no impedance to faces that improve roundness. - return 0; - } + const float roundness = square(chart->boundaryLength) / chart->area; + const float newBoundaryLengthSq = square(newBoundaryLength); + const float newRoundness = newBoundaryLengthSq / newChartArea; + if (newRoundness > roundness) + return newBoundaryLengthSq / (newChartArea * kPi4); + // Offer no impedance to faces that improve roundness. + return 0; } - float evaluateStraightnessMetric(Chart *chart, uint32_t f) const + float evaluateStraightnessMetric(Chart *chart, uint32_t firstFace) const { - float l_out = 0.0f; - float l_in = 0.0f; - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - float l = m_edgeLengths[it.edge()]; - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) { - l_out += l; - } else { - if (m_faceChartArray[it.oppositeFace()] != chart->id) { + float l_out = 0.0f, l_in = 0.0f; + const uint32_t planarRegionId = m_facePlanarRegionId[firstFace]; + uint32_t face = firstFace; + for (;;) { + for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { + const float l = m_edgeLengths[it.edge()]; + if (it.isBoundary()) { l_out += l; - } else { - l_in += l; + } else if (m_facePlanarRegionId[it.oppositeFace()] != planarRegionId) { + if (m_faceCharts[it.oppositeFace()] != chart->id) + l_out += l; + else + l_in += l; } } + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; } XA_DEBUG_ASSERT(l_in != 0.0f); // Candidate face must be adjacent to chart. @@ This is not true if the input mesh has zero-length edges. float ratio = (l_out - l_in) / (l_out + l_in); @@ -4991,128 +5522,184 @@ private: const uint32_t v1 = m_mesh->vertexAt(meshEdgeIndex1(edge)); const uint32_t ov0 = m_mesh->vertexAt(meshEdgeIndex0(oppositeEdge)); const uint32_t ov1 = m_mesh->vertexAt(meshEdgeIndex1(oppositeEdge)); - return m_mesh->normal(v0) != m_mesh->normal(ov1) || m_mesh->normal(v1) != m_mesh->normal(ov0); + if (v0 == ov1 && v1 == ov0) + return false; + return !equal(m_mesh->normal(v0), m_mesh->normal(ov1), kNormalEpsilon) || !equal(m_mesh->normal(v1), m_mesh->normal(ov0), kNormalEpsilon); } - return m_faceNormals[meshEdgeFace(edge)] != m_faceNormals[meshEdgeFace(oppositeEdge)]; + const uint32_t f0 = meshEdgeFace(edge); + const uint32_t f1 = meshEdgeFace(oppositeEdge); + if (m_facePlanarRegionId[f0] == m_facePlanarRegionId[f1]) + return false; + return !equal(m_faceNormals[f0], m_faceNormals[f1], kNormalEpsilon); } - float evaluateNormalSeamMetric(Chart *chart, uint32_t f) const + float evaluateNormalSeamMetric(Chart *chart, uint32_t firstFace) const { - float seamFactor = 0.0f; - float totalLength = 0.0f; - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) - continue; - if (m_faceChartArray[it.oppositeFace()] != chart->id) - continue; - float l = m_edgeLengths[it.edge()]; - totalLength += l; - if (!it.isSeam()) - continue; - // Make sure it's a normal seam. - if (isNormalSeam(it.edge())) { - float d; - if (m_mesh->flags() & MeshFlags::HasNormals) { - const Vector3 &n0 = m_mesh->normal(it.vertex0()); - const Vector3 &n1 = m_mesh->normal(it.vertex1()); - const Vector3 &on0 = m_mesh->normal(m_mesh->vertexAt(meshEdgeIndex0(it.oppositeEdge()))); - const Vector3 &on1 = m_mesh->normal(m_mesh->vertexAt(meshEdgeIndex1(it.oppositeEdge()))); - const float d0 = clamp(dot(n0, on1), 0.0f, 1.0f); - const float d1 = clamp(dot(n1, on0), 0.0f, 1.0f); - d = (d0 + d1) * 0.5f; - } else { - d = clamp(dot(m_faceNormals[f], m_faceNormals[meshEdgeFace(it.oppositeEdge())]), 0.0f, 1.0f); + float seamFactor = 0.0f, totalLength = 0.0f; + uint32_t face = firstFace; + for (;;) { + for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { + if (it.isBoundary()) + continue; + if (m_faceCharts[it.oppositeFace()] != chart->id) + continue; + float l = m_edgeLengths[it.edge()]; + totalLength += l; + if (!it.isSeam()) + continue; + // Make sure it's a normal seam. + if (isNormalSeam(it.edge())) { + float d; + if (m_mesh->flags() & MeshFlags::HasNormals) { + const Vector3 &n0 = m_mesh->normal(it.vertex0()); + const Vector3 &n1 = m_mesh->normal(it.vertex1()); + const Vector3 &on0 = m_mesh->normal(m_mesh->vertexAt(meshEdgeIndex0(it.oppositeEdge()))); + const Vector3 &on1 = m_mesh->normal(m_mesh->vertexAt(meshEdgeIndex1(it.oppositeEdge()))); + const float d0 = clamp(dot(n0, on1), 0.0f, 1.0f); + const float d1 = clamp(dot(n1, on0), 0.0f, 1.0f); + d = (d0 + d1) * 0.5f; + } else { + d = clamp(dot(m_faceNormals[face], m_faceNormals[meshEdgeFace(it.oppositeEdge())]), 0.0f, 1.0f); + } + l *= 1 - d; + seamFactor += l; } - l *= 1 - d; - seamFactor += l; } + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; } if (seamFactor <= 0.0f) return 0.0f; return seamFactor / totalLength; } - float evaluateTextureSeamMetric(Chart *chart, uint32_t f) const + float evaluateTextureSeamMetric(Chart *chart, uint32_t firstFace) const { - float seamLength = 0.0f; - float totalLength = 0.0f; - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) - continue; - if (m_faceChartArray[it.oppositeFace()] != chart->id) - continue; - float l = m_edgeLengths[it.edge()]; - totalLength += l; - if (!it.isSeam()) - continue; - // Make sure it's a texture seam. - if (it.isTextureSeam()) - seamLength += l; + float seamLength = 0.0f, totalLength = 0.0f; + uint32_t face = firstFace; + for (;;) { + for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { + if (it.isBoundary()) + continue; + if (m_faceCharts[it.oppositeFace()] != chart->id) + continue; + float l = m_edgeLengths[it.edge()]; + totalLength += l; + if (!it.isSeam()) + continue; + // Make sure it's a texture seam. + if (it.isTextureSeam()) + seamLength += l; + } + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; } - if (seamLength == 0.0f) + if (seamLength <= 0.0f) return 0.0f; // Avoid division by zero. return seamLength / totalLength; } - float computeBoundaryLength(Chart *chart, uint32_t f) const + float computeArea(Chart *chart, uint32_t firstFace) const + { + float area = chart->area; + uint32_t face = firstFace; + for (;;) { + area += m_faceAreas[face]; + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; + } + return area; + } + + float computeBoundaryLength(Chart *chart, uint32_t firstFace) const { float boundaryLength = chart->boundaryLength; // Add new edges, subtract edges shared with the chart. - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - const float edgeLength = m_edgeLengths[it.edge()]; - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) { - boundaryLength += edgeLength; - } else { - if (m_faceChartArray[it.oppositeFace()] != chart->id) + const uint32_t planarRegionId = m_facePlanarRegionId[firstFace]; + uint32_t face = firstFace; + for (;;) { + for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { + const float edgeLength = m_edgeLengths[it.edge()]; + if (it.isBoundary()) { boundaryLength += edgeLength; - else - boundaryLength -= edgeLength; + } else if (m_facePlanarRegionId[it.oppositeFace()] != planarRegionId) { + if (m_faceCharts[it.oppositeFace()] != chart->id) + boundaryLength += edgeLength; + else + boundaryLength -= edgeLength; + } } + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; } return max(0.0f, boundaryLength); // @@ Hack! } - void mergeChart(Chart *owner, Chart *chart, float sharedBoundaryLength) + bool mergeChart(Chart *owner, Chart *chart, float sharedBoundaryLength) { - const uint32_t faceCount = chart->faces.size(); - for (uint32_t i = 0; i < faceCount; i++) { - uint32_t f = chart->faces[i]; - XA_DEBUG_ASSERT(m_faceChartArray[f] == chart->id); - m_faceChartArray[f] = owner->id; - owner->faces.push_back(f); + const uint32_t oldOwnerFaceCount = owner->faces.size(); + const uint32_t chartFaceCount = chart->faces.size(); + owner->faces.push_back(chart->faces); + for (uint32_t i = 0; i < chartFaceCount; i++) { + XA_DEBUG_ASSERT(m_faceCharts[chart->faces[i]] == chart->id); + m_faceCharts[chart->faces[i]] = owner->id; + } + // Compute basis using best fit normal. + Basis basis; + if (!computeChartBasis(owner, &basis)) { + owner->faces.resize(oldOwnerFaceCount); + for (uint32_t i = 0; i < chartFaceCount; i++) + m_faceCharts[chart->faces[i]] = chart->id; + return false; + } + if (dot(basis.normal, m_faceNormals[owner->faces[0]]) < 0.0f) // Flip normal if oriented in the wrong direction. + basis.normal = -basis.normal; + // Compute orthogonal parameterization and check that it is valid. + parameterizeChart(owner); + if (!isChartParameterizationValid(owner)) { + owner->faces.resize(oldOwnerFaceCount); + for (uint32_t i = 0; i < chartFaceCount; i++) + m_faceCharts[chart->faces[i]] = chart->id; + return false; } + // Merge chart. + owner->basis = basis; + owner->failedPlanarRegions.push_back(chart->failedPlanarRegions); // Update adjacencies? owner->area += chart->area; owner->boundaryLength += chart->boundaryLength - sharedBoundaryLength; - owner->normalSum += chart->normalSum; - owner->averageNormal = normalizeSafe(owner->normalSum, Vector3(0), 0.0f); // Delete chart. - m_chartArray[chart->id] = nullptr; + m_charts[chart->id] = nullptr; chart->~Chart(); XA_FREE(chart); + return true; } const Mesh *m_mesh; - const Array<uint32_t> *m_meshFaces; - Array<bool> m_ignoreFaces; Array<float> m_edgeLengths; Array<float> m_faceAreas; Array<Vector3> m_faceNormals; - Array<Vector3> m_faceTangents; - Array<Vector3> m_faceBitangents; Array<Vector2> m_texcoords; uint32_t m_facesLeft; - Array<int> m_faceChartArray; - Array<Chart *> m_chartArray; - PriorityQueue m_bestTriangles; + Array<int> m_faceCharts; + Array<Chart *> m_charts; + CostQueue m_bestTriangles; KISSRng m_rand; ChartOptions m_options; - Array<Chart *> m_faceCandidateCharts; - Array<float> m_faceCandidateCosts; -#if XA_GROW_CHARTS_COPLANAR Array<uint32_t> m_nextPlanarRegionFace; + Array<uint32_t> m_facePlanarRegionId; + Array<Vector3> m_tempPoints; + UniformGrid2 m_boundaryGrid; +#if XA_MERGE_CHARTS + // mergeCharts + Array<float> m_sharedBoundaryLengths; + Array<float> m_sharedBoundaryLengthsNoSeams; + Array<uint32_t> m_sharedBoundaryEdgeCountNoSeams; #endif - Array<uint32_t> m_tempEdges1, m_tempEdges2; }; } // namespace segment @@ -5301,7 +5888,11 @@ private: // q = A·p sparse::mult(A, p, q); // alpha = delta_new / p·q - alpha = delta_new / sparse::dot(p, q); + const float pdotq = sparse::dot(p, q); + if (!isFinite(pdotq) || isNan(pdotq)) + alpha = 0.0f; + else + alpha = delta_new / pdotq; // x = alfa·p + x sparse::saxpy(alpha, p, x); if ((i & 31) == 0) { // recompute r after 32 steps @@ -5514,186 +6105,518 @@ static bool computeLeastSquaresConformalMap(Mesh *mesh) // Solve Solver::LeastSquaresSolver(A, b, x, lockedParameters, 4, 0.000001f); // Map x back to texcoords: - for (uint32_t v = 0; v < vertexCount; v++) + for (uint32_t v = 0; v < vertexCount; v++) { mesh->texcoord(v) = Vector2(x[2 * v + 0], x[2 * v + 1]); + XA_DEBUG_ASSERT(!isNan(mesh->texcoord(v).x)); + XA_DEBUG_ASSERT(!isNan(mesh->texcoord(v).y)); + } return true; } -static bool computeOrthogonalProjectionMap(Mesh *mesh) +#if XA_RECOMPUTE_CHARTS +struct PiecewiseParam { - uint32_t vertexCount = mesh->vertexCount(); - // Avoid redundant computations. - float matrix[6]; - Fit::computeCovariance(vertexCount, &mesh->position(0), matrix); - if (matrix[0] == 0 && matrix[3] == 0 && matrix[5] == 0) - return false; - float eigenValues[3]; - Vector3 eigenVectors[3]; - if (!Fit::eigenSolveSymmetric3(matrix, eigenValues, eigenVectors)) - return false; - Vector3 axis[2]; - axis[0] = normalize(eigenVectors[0], kEpsilon); - axis[1] = normalize(eigenVectors[1], kEpsilon); - // Project vertices to plane. - for (uint32_t i = 0; i < vertexCount; i++) - mesh->texcoord(i) = Vector2(dot(axis[0], mesh->position(i)), dot(axis[1], mesh->position(i))); - return true; -} + void reset(const Mesh *mesh, uint32_t faceCount) + { + m_mesh = mesh; + m_faceCount = faceCount; + const uint32_t vertexCount = m_mesh->vertexCount(); + m_texcoords.resize(vertexCount); + m_patch.reserve(m_faceCount); + m_faceAssigned.resize(m_faceCount); + m_faceAssigned.zeroOutMemory(); + m_faceInvalid.resize(m_faceCount); + m_faceInPatch.resize(m_faceCount); + m_vertexInPatch.resize(vertexCount); + m_faceInCandidates.resize(m_faceCount); + } + + ConstArrayView<uint32_t> chartFaces() const { return m_patch; } + const Vector2 *texcoords() const { return m_texcoords.data(); } + + bool computeChart() + { + m_patch.clear(); + m_faceInvalid.zeroOutMemory(); + m_faceInPatch.zeroOutMemory(); + m_vertexInPatch.zeroOutMemory(); + // Add the seed face (first unassigned face) to the patch. + uint32_t seed = UINT32_MAX; + for (uint32_t f = 0; f < m_faceCount; f++) { + if (m_faceAssigned.get(f)) + continue; + seed = f; + m_patch.push_back(seed); + m_faceInPatch.set(seed); + m_faceAssigned.set(seed); + Vector2 texcoords[3]; + orthoProjectFace(seed, texcoords); + for (uint32_t i = 0; i < 3; i++) { + const uint32_t vertex = m_mesh->vertexAt(seed * 3 + i); + m_vertexInPatch.set(vertex); + m_texcoords[vertex] = texcoords[i]; + } + break; + } + if (seed == UINT32_MAX) + return false; + for (;;) { + findCandidates(); + if (m_candidates.isEmpty()) + break; + for (;;) { + // Find the candidate with the lowest cost. + float lowestCost = FLT_MAX; + uint32_t bestCandidate = UINT32_MAX; + for (uint32_t i = 0; i < m_candidates.size(); i++) { + const Candidate &candidate = m_candidates[i]; + if (m_faceInvalid.get(candidate.face)) // A candidate face may be invalidated after is was added. + continue; + if (candidate.maxCost < lowestCost) { + lowestCost = candidate.maxCost; + bestCandidate = i; + } + } + if (bestCandidate == UINT32_MAX) + break; + // Compute the position by averaging linked candidates (candidates that share the same free vertex). + Vector2 position(0.0f); + uint32_t n = 0; + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) { + position += it.current().position; + n++; + } + position *= 1.0f / (float)n; + const uint32_t freeVertex = m_candidates[bestCandidate].vertex; + XA_DEBUG_ASSERT(!isNan(position.x)); + XA_DEBUG_ASSERT(!isNan(position.y)); + m_texcoords[freeVertex] = position; + // Check for flipped faces. This is also done when candidates are first added, but the averaged position of the free vertex is different now, so check again. + bool invalid = false; + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) { + const uint32_t vertex0 = m_mesh->vertexAt(meshEdgeIndex0(it.current().patchEdge)); + const uint32_t vertex1 = m_mesh->vertexAt(meshEdgeIndex1(it.current().patchEdge)); + const float freeVertexOrient = orientToEdge(m_texcoords[vertex0], m_texcoords[vertex1], position); + if ((it.current().patchVertexOrient < 0.0f && freeVertexOrient < 0.0f) || (it.current().patchVertexOrient > 0.0f && freeVertexOrient > 0.0f)) { + invalid = true; + break; + } + } + // Check for boundary intersection. + if (!invalid) { + m_boundaryGrid.reset(m_texcoords.data(), m_mesh->indices()); + // Add edges on the patch boundary to the grid. + // Temporarily adding candidate faces to the patch makes it simpler to detect which edges are on the boundary. + const uint32_t oldPatchSize = m_patch.size(); + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) + m_patch.push_back(it.current().face); + for (uint32_t i = 0; i < m_patch.size(); i++) { + for (Mesh::FaceEdgeIterator it(m_mesh, m_patch[i]); !it.isDone(); it.advance()) { + const uint32_t oface = it.oppositeFace(); + if (oface == UINT32_MAX || oface >= m_faceCount || !m_faceInPatch.get(oface)) + m_boundaryGrid.append(it.edge()); + } + } + invalid = m_boundaryGrid.intersectSelf(m_mesh->epsilon()); + m_patch.resize(oldPatchSize); + } + if (invalid) { + // Mark all faces of linked candidates as invalid. + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) + m_faceInvalid.set(it.current().face); + continue; + } + // Add faces to the patch. + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) { + m_patch.push_back(it.current().face); + m_faceInPatch.set(it.current().face); + m_faceAssigned.set(it.current().face); + } + // Add vertex to the patch. + m_vertexInPatch.set(freeVertex); + // Successfully added candidate face(s) to patch. + break; + } + } + return true; + } + +private: + struct Candidate + { + uint32_t face, vertex; + uint32_t next; // The next candidate with the same vertex. + Vector2 position; + float cost; + float maxCost; // Of all linked candidates. + uint32_t patchEdge; + float patchVertexOrient; + }; + + struct CandidateIterator + { + CandidateIterator(Array<Candidate> &candidates, uint32_t first) : m_candidates(candidates), m_current(first) {} + void advance() { if (m_current != UINT32_MAX) m_current = m_candidates[m_current].next; } + bool isDone() const { return m_current == UINT32_MAX; } + Candidate ¤t() { return m_candidates[m_current]; } + + private: + Array<Candidate> &m_candidates; + uint32_t m_current; + }; + + const Mesh *m_mesh; + uint32_t m_faceCount; + Array<Vector2> m_texcoords; + Array<Candidate> m_candidates; + BitArray m_faceInCandidates; + Array<uint32_t> m_patch; + BitArray m_faceAssigned; // Face is assigned to a previous chart or the current patch. + BitArray m_faceInPatch, m_vertexInPatch; + BitArray m_faceInvalid; // Face cannot be added to the patch - flipped, cost too high or causes boundary intersection. + UniformGrid2 m_boundaryGrid; + + // Find candidate faces on the patch front. + void findCandidates() + { + m_candidates.clear(); + m_faceInCandidates.zeroOutMemory(); + for (uint32_t i = 0; i < m_patch.size(); i++) { + for (Mesh::FaceEdgeIterator it(m_mesh, m_patch[i]); !it.isDone(); it.advance()) { + const uint32_t oface = it.oppositeFace(); + if (oface == UINT32_MAX || oface >= m_faceCount || m_faceAssigned.get(oface) || m_faceInCandidates.get(oface)) + continue; + // Found an active edge on the patch front. + // Find the free vertex (the vertex that isn't on the active edge). + // Compute the orientation of the other patch face vertex to the active edge. + uint32_t freeVertex = UINT32_MAX; + float orient = 0.0f; + for (uint32_t j = 0; j < 3; j++) { + const uint32_t vertex = m_mesh->vertexAt(oface * 3 + j); + if (vertex != it.vertex0() && vertex != it.vertex1()) { + freeVertex = vertex; + orient = orientToEdge(m_texcoords[it.vertex0()], m_texcoords[it.vertex1()], m_texcoords[m_mesh->vertexAt(m_patch[i] * 3 + j)]); + break; + } + } + XA_DEBUG_ASSERT(freeVertex != UINT32_MAX); + // If the free vertex is already in the patch, the face is enclosed by the patch. Add the face to the patch - don't need to assign texcoords. + if (m_vertexInPatch.get(freeVertex)) { + freeVertex = UINT32_MAX; + m_patch.push_back(oface); + m_faceAssigned.set(oface); + continue; + } + // Check this here rather than above so faces enclosed by the patch are always added. + if (m_faceInvalid.get(oface)) + continue; + addCandidateFace(it.edge(), orient, oface, it.oppositeEdge(), freeVertex); + } + } + // Link candidates that share the same vertex. + for (uint32_t i = 0; i < m_candidates.size(); i++) { + if (m_candidates[i].next != UINT32_MAX) + continue; + uint32_t current = i; + for (uint32_t j = i + 1; j < m_candidates.size(); j++) { + if (m_candidates[j].vertex == m_candidates[current].vertex) { + m_candidates[current].next = j; + current = j; + } + } + } + // Set max cost for linked candidates. + for (uint32_t i = 0; i < m_candidates.size(); i++) { + float maxCost = 0.0f; + for (CandidateIterator it(m_candidates, i); !it.isDone(); it.advance()) + maxCost = max(maxCost, it.current().cost); + for (CandidateIterator it(m_candidates, i); !it.isDone(); it.advance()) + it.current().maxCost = maxCost; + } + } + + void addCandidateFace(uint32_t patchEdge, float patchVertexOrient, uint32_t face, uint32_t edge, uint32_t freeVertex) + { + Vector2 texcoords[3]; + orthoProjectFace(face, texcoords); + // Find corresponding vertices between the patch edge and candidate edge. + const uint32_t vertex0 = m_mesh->vertexAt(meshEdgeIndex0(patchEdge)); + const uint32_t vertex1 = m_mesh->vertexAt(meshEdgeIndex1(patchEdge)); + uint32_t localVertex0 = UINT32_MAX, localVertex1 = UINT32_MAX, localFreeVertex = UINT32_MAX; + for (uint32_t i = 0; i < 3; i++) { + const uint32_t vertex = m_mesh->vertexAt(face * 3 + i); + if (vertex == m_mesh->vertexAt(meshEdgeIndex1(edge))) + localVertex0 = i; + else if (vertex == m_mesh->vertexAt(meshEdgeIndex0(edge))) + localVertex1 = i; + else + localFreeVertex = i; + } + // Scale orthogonal projection to match the patch edge. + const Vector2 patchEdgeVec = m_texcoords[vertex1] - m_texcoords[vertex0]; + const Vector2 localEdgeVec = texcoords[localVertex1] - texcoords[localVertex0]; + const float len1 = length(patchEdgeVec); + const float len2 = length(localEdgeVec); + const float scale = len1 / len2; + XA_ASSERT(scale > 0.0f); + for (uint32_t i = 0; i < 3; i++) + texcoords[i] *= scale; + // Translate to the first vertex on the patch edge. + const Vector2 translate = m_texcoords[vertex0] - texcoords[localVertex0]; + for (uint32_t i = 0; i < 3; i++) + texcoords[i] += translate; + // Compute the angle between the patch edge and the corresponding local edge. + const float angle = atan2f(patchEdgeVec.y, patchEdgeVec.x) - atan2f(localEdgeVec.y, localEdgeVec.x); + // Rotate so the patch edge and the corresponding local edge occupy the same space. + for (uint32_t i = 0; i < 3; i++) { + if (i == localVertex0) + continue; + Vector2 &uv = texcoords[i]; + uv -= texcoords[localVertex0]; // Rotate around the first vertex. + const float c = cosf(angle); + const float s = sinf(angle); + const float x = uv.x * c - uv.y * s; + const float y = uv.y * c + uv.x * s; + uv.x = x + texcoords[localVertex0].x; + uv.y = y + texcoords[localVertex0].y; + } + // Check for local overlap (flipped triangle). + // The patch face vertex that isn't on the active edge and the free vertex should be oriented on opposite sides to the active edge. + const float freeVertexOrient = orientToEdge(m_texcoords[vertex0], m_texcoords[vertex1], texcoords[localFreeVertex]); + if ((patchVertexOrient < 0.0f && freeVertexOrient < 0.0f) || (patchVertexOrient > 0.0f && freeVertexOrient > 0.0f)) { + m_faceInvalid.set(face); + return; + } + const float stretch = computeStretch(m_mesh->position(vertex0), m_mesh->position(vertex1), m_mesh->position(freeVertex), texcoords[0], texcoords[1], texcoords[2]); + if (stretch >= FLT_MAX) { + m_faceInvalid.set(face); + return; + } + const float cost = fabsf(stretch - 1.0f); +#if 0 + if (cost > 0.25f) { + m_faceInvalid.set(face); + return; + } +#endif + // Add the candidate. + Candidate candidate; + candidate.face = face; + candidate.vertex = freeVertex; + candidate.position = texcoords[localFreeVertex]; + candidate.next = UINT32_MAX; + candidate.cost = cost; + candidate.patchEdge = patchEdge; + candidate.patchVertexOrient = patchVertexOrient; + m_candidates.push_back(candidate); + m_faceInCandidates.set(face); + } + + void orthoProjectFace(uint32_t face, Vector2 *texcoords) const + { + const Vector3 normal = m_mesh->computeFaceNormal(face); + const Vector3 tangent = normalize(m_mesh->position(m_mesh->vertexAt(face * 3 + 1)) - m_mesh->position(m_mesh->vertexAt(face * 3 + 0)), kEpsilon); + const Vector3 bitangent = cross(normal, tangent); + for (uint32_t i = 0; i < 3; i++) { + const Vector3 &pos = m_mesh->position(m_mesh->vertexAt(face * 3 + i)); + texcoords[i] = Vector2(dot(tangent, pos), dot(bitangent, pos)); + } + } + + float parametricArea(const Vector2 *texcoords) const + { + const Vector2 &v1 = texcoords[0]; + const Vector2 &v2 = texcoords[1]; + const Vector2 &v3 = texcoords[2]; + return ((v2.x - v1.x) * (v3.y - v1.y) - (v3.x - v1.x) * (v2.y - v1.y)) * 0.5f; + } + + float computeStretch(Vector3 p1, Vector3 p2, Vector3 p3, Vector2 t1, Vector2 t2, Vector2 t3) const + { + float parametricArea = ((t2.y - t1.y) * (t3.x - t1.x) - (t3.y - t1.y) * (t2.x - t1.x)) * 0.5f; + if (isZero(parametricArea, kAreaEpsilon)) + return FLT_MAX; + if (parametricArea < 0.0f) + parametricArea = fabsf(parametricArea); + const float geometricArea = length(cross(p2 - p1, p3 - p1)) * 0.5f; + if (parametricArea <= geometricArea) + return parametricArea / geometricArea; + else + return geometricArea / parametricArea; + } + + // Return value is positive if the point is one side of the edge, negative if on the other side. + float orientToEdge(Vector2 edgeVertex0, Vector2 edgeVertex1, Vector2 point) const + { + return (edgeVertex0.x - point.x) * (edgeVertex1.y - point.y) - (edgeVertex0.y - point.y) * (edgeVertex1.x - point.x); + } +}; +#endif // Estimate quality of existing parameterization. -struct ParameterizationQuality +struct Quality { + // computeBoundaryIntersection + bool boundaryIntersection = false; + + // computeFlippedFaces uint32_t totalTriangleCount = 0; uint32_t flippedTriangleCount = 0; uint32_t zeroAreaTriangleCount = 0; - float parametricArea = 0.0f; - float geometricArea = 0.0f; + + // computeMetrics + float totalParametricArea = 0.0f; + float totalGeometricArea = 0.0f; float stretchMetric = 0.0f; float maxStretchMetric = 0.0f; float conformalMetric = 0.0f; float authalicMetric = 0.0f; - bool boundaryIntersection = false; -}; -static ParameterizationQuality calculateParameterizationQuality(const Mesh *mesh, uint32_t faceCount, Array<uint32_t> *flippedFaces) -{ - XA_DEBUG_ASSERT(mesh != nullptr); - ParameterizationQuality quality; - uint32_t firstBoundaryEdge = UINT32_MAX; - for (uint32_t e = 0; e < mesh->edgeCount(); e++) { - if (mesh->isBoundaryEdge(e)) { - firstBoundaryEdge = e; - break; - } + void computeBoundaryIntersection(const Mesh *mesh, UniformGrid2 &boundaryGrid) + { + const Array<uint32_t> &boundaryEdges = mesh->boundaryEdges(); + const uint32_t boundaryEdgeCount = boundaryEdges.size(); + boundaryGrid.reset(mesh->texcoords(), mesh->indices(), boundaryEdgeCount); + for (uint32_t i = 0; i < boundaryEdgeCount; i++) + boundaryGrid.append(boundaryEdges[i]); + boundaryIntersection = boundaryGrid.intersectSelf(mesh->epsilon()); +#if XA_DEBUG_EXPORT_BOUNDARY_GRID + static int exportIndex = 0; + char filename[256]; + XA_SPRINTF(filename, sizeof(filename), "debug_boundary_grid_%03d.tga", exportIndex); + boundaryGrid.debugExport(filename); + exportIndex++; +#endif } - XA_DEBUG_ASSERT(firstBoundaryEdge != UINT32_MAX); - for (Mesh::BoundaryEdgeIterator it1(mesh, firstBoundaryEdge); !it1.isDone(); it1.advance()) { - const uint32_t edge1 = it1.edge(); - for (Mesh::BoundaryEdgeIterator it2(mesh, firstBoundaryEdge); !it2.isDone(); it2.advance()) { - const uint32_t edge2 = it2.edge(); - // Skip self and edges directly connected to edge1. - if (edge1 == edge2 || it1.nextEdge() == edge2 || it2.nextEdge() == edge1) + + void computeFlippedFaces(const Mesh *mesh, uint32_t faceCount, Array<uint32_t> *flippedFaces) + { + totalTriangleCount = flippedTriangleCount = zeroAreaTriangleCount = 0; + if (flippedFaces) + flippedFaces->clear(); + for (uint32_t f = 0; f < faceCount; f++) { + Vector2 texcoord[3]; + for (int i = 0; i < 3; i++) { + const uint32_t v = mesh->vertexAt(f * 3 + i); + texcoord[i] = mesh->texcoord(v); + } + totalTriangleCount++; + const float t1 = texcoord[0].x; + const float s1 = texcoord[0].y; + const float t2 = texcoord[1].x; + const float s2 = texcoord[1].y; + const float t3 = texcoord[2].x; + const float s3 = texcoord[2].y; + const float parametricArea = ((s2 - s1) * (t3 - t1) - (s3 - s1) * (t2 - t1)) * 0.5f; + if (isZero(parametricArea, kAreaEpsilon)) { + zeroAreaTriangleCount++; continue; - const Vector2 &a1 = mesh->texcoord(mesh->vertexAt(meshEdgeIndex0(edge1))); - const Vector2 &a2 = mesh->texcoord(mesh->vertexAt(meshEdgeIndex1(edge1))); - const Vector2 &b1 = mesh->texcoord(mesh->vertexAt(meshEdgeIndex0(edge2))); - const Vector2 &b2 = mesh->texcoord(mesh->vertexAt(meshEdgeIndex1(edge2))); - if (linesIntersect(a1, a2, b1, b2, mesh->epsilon())) { - quality.boundaryIntersection = true; - break; + } + if (parametricArea < 0.0f) { + // Count flipped triangles. + flippedTriangleCount++; + if (flippedFaces) + flippedFaces->push_back(f); } } - if (quality.boundaryIntersection) - break; - } - if (flippedFaces) - flippedFaces->clear(); - for (uint32_t f = 0; f < faceCount; f++) { - Vector3 pos[3]; - Vector2 texcoord[3]; - for (int i = 0; i < 3; i++) { - const uint32_t v = mesh->vertexAt(f * 3 + i); - pos[i] = mesh->position(v); - texcoord[i] = mesh->texcoord(v); - } - quality.totalTriangleCount++; - // Evaluate texture stretch metric. See: - // - "Texture Mapping Progressive Meshes", Sander, Snyder, Gortler & Hoppe - // - "Mesh Parameterization: Theory and Practice", Siggraph'07 Course Notes, Hormann, Levy & Sheffer. - const float t1 = texcoord[0].x; - const float s1 = texcoord[0].y; - const float t2 = texcoord[1].x; - const float s2 = texcoord[1].y; - const float t3 = texcoord[2].x; - const float s3 = texcoord[2].y; - float parametricArea = ((s2 - s1) * (t3 - t1) - (s3 - s1) * (t2 - t1)) / 2; - if (isZero(parametricArea, kAreaEpsilon)) { - quality.zeroAreaTriangleCount++; - continue; - } - if (parametricArea < 0.0f) { - // Count flipped triangles. - quality.flippedTriangleCount++; + if (flippedTriangleCount + zeroAreaTriangleCount == totalTriangleCount) { + // If all triangles are flipped, then none are. if (flippedFaces) - flippedFaces->push_back(f); - parametricArea = fabsf(parametricArea); + flippedFaces->clear(); + flippedTriangleCount = 0; } - const float geometricArea = length(cross(pos[1] - pos[0], pos[2] - pos[0])) / 2; - const Vector3 Ss = (pos[0] * (t2 - t3) + pos[1] * (t3 - t1) + pos[2] * (t1 - t2)) / (2 * parametricArea); - const Vector3 St = (pos[0] * (s3 - s2) + pos[1] * (s1 - s3) + pos[2] * (s2 - s1)) / (2 * parametricArea); - const float a = dot(Ss, Ss); // E - const float b = dot(Ss, St); // F - const float c = dot(St, St); // G - // Compute eigen-values of the first fundamental form: - const float sigma1 = sqrtf(0.5f * max(0.0f, a + c - sqrtf(square(a - c) + 4 * square(b)))); // gamma uppercase, min eigenvalue. - const float sigma2 = sqrtf(0.5f * max(0.0f, a + c + sqrtf(square(a - c) + 4 * square(b)))); // gamma lowercase, max eigenvalue. - XA_ASSERT(sigma2 > sigma1 || equal(sigma1, sigma2, kEpsilon)); - // isometric: sigma1 = sigma2 = 1 - // conformal: sigma1 / sigma2 = 1 - // authalic: sigma1 * sigma2 = 1 - const float rmsStretch = sqrtf((a + c) * 0.5f); - const float rmsStretch2 = sqrtf((square(sigma1) + square(sigma2)) * 0.5f); - XA_DEBUG_ASSERT(equal(rmsStretch, rmsStretch2, 0.01f)); - XA_UNUSED(rmsStretch2); - quality.stretchMetric += square(rmsStretch) * geometricArea; - quality.maxStretchMetric = max(quality.maxStretchMetric, sigma2); - if (!isZero(sigma1, 0.000001f)) { - // sigma1 is zero when geometricArea is zero. - quality.conformalMetric += (sigma2 / sigma1) * geometricArea; - } - quality.authalicMetric += (sigma1 * sigma2) * geometricArea; - // Accumulate total areas. - quality.geometricArea += geometricArea; - quality.parametricArea += parametricArea; - //triangleConformalEnergy(q, p); - } - if (quality.flippedTriangleCount + quality.zeroAreaTriangleCount == quality.totalTriangleCount) { - // If all triangles are flipped, then none are. - if (flippedFaces) - flippedFaces->clear(); - quality.flippedTriangleCount = 0; - } - if (quality.flippedTriangleCount > quality.totalTriangleCount / 2) - { - // If more than half the triangles are flipped, reverse the flipped / not flipped classification. - quality.flippedTriangleCount = quality.totalTriangleCount - quality.flippedTriangleCount; - if (flippedFaces) { - Array<uint32_t> temp; - flippedFaces->copyTo(temp); - flippedFaces->clear(); - for (uint32_t f = 0; f < faceCount; f++) { - bool match = false; - for (uint32_t ff = 0; ff < temp.size(); ff++) { - if (temp[ff] == f) { - match = true; - break; + if (flippedTriangleCount > totalTriangleCount / 2) + { + // If more than half the triangles are flipped, reverse the flipped / not flipped classification. + flippedTriangleCount = totalTriangleCount - flippedTriangleCount; + if (flippedFaces) { + Array<uint32_t> temp; + flippedFaces->copyTo(temp); + flippedFaces->clear(); + for (uint32_t f = 0; f < faceCount; f++) { + bool match = false; + for (uint32_t ff = 0; ff < temp.size(); ff++) { + if (temp[ff] == f) { + match = true; + break; + } } + if (!match) + flippedFaces->push_back(f); } - if (!match) - flippedFaces->push_back(f); } } } - XA_DEBUG_ASSERT(isFinite(quality.parametricArea) && quality.parametricArea >= 0); - XA_DEBUG_ASSERT(isFinite(quality.geometricArea) && quality.geometricArea >= 0); - XA_DEBUG_ASSERT(isFinite(quality.stretchMetric)); - XA_DEBUG_ASSERT(isFinite(quality.maxStretchMetric)); - XA_DEBUG_ASSERT(isFinite(quality.conformalMetric)); - XA_DEBUG_ASSERT(isFinite(quality.authalicMetric)); - if (quality.geometricArea <= 0.0f) { - quality.stretchMetric = 0.0f; - quality.maxStretchMetric = 0.0f; - quality.conformalMetric = 0.0f; - quality.authalicMetric = 0.0f; - } else { - const float normFactor = sqrtf(quality.parametricArea / quality.geometricArea); - quality.stretchMetric = sqrtf(quality.stretchMetric / quality.geometricArea) * normFactor; - quality.maxStretchMetric *= normFactor; - quality.conformalMetric = sqrtf(quality.conformalMetric / quality.geometricArea); - quality.authalicMetric = sqrtf(quality.authalicMetric / quality.geometricArea); + + void computeMetrics(const Mesh *mesh, uint32_t faceCount) + { + totalGeometricArea = totalParametricArea = 0.0f; + stretchMetric = maxStretchMetric = conformalMetric = authalicMetric = 0.0f; + for (uint32_t f = 0; f < faceCount; f++) { + Vector3 pos[3]; + Vector2 texcoord[3]; + for (int i = 0; i < 3; i++) { + const uint32_t v = mesh->vertexAt(f * 3 + i); + pos[i] = mesh->position(v); + texcoord[i] = mesh->texcoord(v); + } + // Evaluate texture stretch metric. See: + // - "Texture Mapping Progressive Meshes", Sander, Snyder, Gortler & Hoppe + // - "Mesh Parameterization: Theory and Practice", Siggraph'07 Course Notes, Hormann, Levy & Sheffer. + const float t1 = texcoord[0].x; + const float s1 = texcoord[0].y; + const float t2 = texcoord[1].x; + const float s2 = texcoord[1].y; + const float t3 = texcoord[2].x; + const float s3 = texcoord[2].y; + float parametricArea = ((s2 - s1) * (t3 - t1) - (s3 - s1) * (t2 - t1)) * 0.5f; + if (isZero(parametricArea, kAreaEpsilon)) + continue; + if (parametricArea < 0.0f) + parametricArea = fabsf(parametricArea); + const float geometricArea = length(cross(pos[1] - pos[0], pos[2] - pos[0])) / 2; + const Vector3 Ss = (pos[0] * (t2 - t3) + pos[1] * (t3 - t1) + pos[2] * (t1 - t2)) / (2 * parametricArea); + const Vector3 St = (pos[0] * (s3 - s2) + pos[1] * (s1 - s3) + pos[2] * (s2 - s1)) / (2 * parametricArea); + const float a = dot(Ss, Ss); // E + const float b = dot(Ss, St); // F + const float c = dot(St, St); // G + // Compute eigen-values of the first fundamental form: + const float sigma1 = sqrtf(0.5f * max(0.0f, a + c - sqrtf(square(a - c) + 4 * square(b)))); // gamma uppercase, min eigenvalue. + const float sigma2 = sqrtf(0.5f * max(0.0f, a + c + sqrtf(square(a - c) + 4 * square(b)))); // gamma lowercase, max eigenvalue. + XA_ASSERT(sigma2 > sigma1 || equal(sigma1, sigma2, kEpsilon)); + // isometric: sigma1 = sigma2 = 1 + // conformal: sigma1 / sigma2 = 1 + // authalic: sigma1 * sigma2 = 1 + const float rmsStretch = sqrtf((a + c) * 0.5f); + const float rmsStretch2 = sqrtf((square(sigma1) + square(sigma2)) * 0.5f); + XA_DEBUG_ASSERT(equal(rmsStretch, rmsStretch2, 0.01f)); + XA_UNUSED(rmsStretch2); + stretchMetric += square(rmsStretch) * geometricArea; + maxStretchMetric = max(maxStretchMetric, sigma2); + if (!isZero(sigma1, 0.000001f)) { + // sigma1 is zero when geometricArea is zero. + conformalMetric += (sigma2 / sigma1) * geometricArea; + } + authalicMetric += (sigma1 * sigma2) * geometricArea; + // Accumulate total areas. + totalGeometricArea += geometricArea; + totalParametricArea += parametricArea; + } + XA_DEBUG_ASSERT(isFinite(totalParametricArea) && totalParametricArea >= 0); + XA_DEBUG_ASSERT(isFinite(totalGeometricArea) && totalGeometricArea >= 0); + XA_DEBUG_ASSERT(isFinite(stretchMetric)); + XA_DEBUG_ASSERT(isFinite(maxStretchMetric)); + XA_DEBUG_ASSERT(isFinite(conformalMetric)); + XA_DEBUG_ASSERT(isFinite(authalicMetric)); + if (totalGeometricArea > 0.0f) { + const float normFactor = sqrtf(totalParametricArea / totalGeometricArea); + stretchMetric = sqrtf(stretchMetric / totalGeometricArea) * normFactor; + maxStretchMetric *= normFactor; + conformalMetric = sqrtf(conformalMetric / totalGeometricArea); + authalicMetric = sqrtf(authalicMetric / totalGeometricArea); + } } - return quality; -} +}; struct ChartWarningFlags { @@ -5706,24 +6629,30 @@ struct ChartWarningFlags }; }; +struct ChartCtorBuffers +{ + Array<uint32_t> chartMeshIndices; + Array<uint32_t> unifiedMeshIndices; + Array<uint32_t> boundaryLoops; +}; + /// A chart is a connected set of faces with a certain topology (usually a disk). class Chart { public: - Chart(const segment::Atlas *atlas, const Mesh *originalMesh, uint32_t chartIndex, uint32_t meshId, uint32_t chartGroupId, uint32_t chartId) : m_mesh(nullptr), m_unifiedMesh(nullptr), m_isDisk(false), m_isOrtho(false), m_isPlanar(false), m_warningFlags(0), m_closedHolesCount(0), m_fixedTJunctionsCount(0) + Chart(ChartCtorBuffers &buffers, const Basis &basis, ConstArrayView<uint32_t> faces, const Mesh *originalMesh, uint32_t meshId, uint32_t chartGroupId, uint32_t chartId) : m_basis(basis), m_mesh(nullptr), m_unifiedMesh(nullptr), m_unmodifiedUnifiedMesh(nullptr), m_type(ChartType::LSCM), m_warningFlags(0), m_closedHolesCount(0), m_fixedTJunctionsCount(0) { XA_UNUSED(meshId); XA_UNUSED(chartGroupId); XA_UNUSED(chartId); - m_basis = atlas->chartBasis(chartIndex); - atlas->chartFaces(chartIndex).copyTo(m_faceArray); + m_faceArray.copyFrom(faces.data, faces.length); // Copy face indices. m_mesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, originalMesh->epsilon(), m_faceArray.size() * 3, m_faceArray.size()); m_unifiedMesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, originalMesh->epsilon(), m_faceArray.size() * 3, m_faceArray.size()); - Array<uint32_t> chartMeshIndices; + Array<uint32_t> &chartMeshIndices = buffers.chartMeshIndices; chartMeshIndices.resize(originalMesh->vertexCount()); chartMeshIndices.setAll(UINT32_MAX); - Array<uint32_t> unifiedMeshIndices; + Array<uint32_t> &unifiedMeshIndices = buffers.unifiedMeshIndices; unifiedMeshIndices.resize(originalMesh->vertexCount()); unifiedMeshIndices.setAll(UINT32_MAX); // Add vertices. @@ -5735,11 +6664,7 @@ public: if (unifiedMeshIndices[unifiedVertex] == (uint32_t)~0) { unifiedMeshIndices[unifiedVertex] = m_unifiedMesh->vertexCount(); XA_DEBUG_ASSERT(equal(originalMesh->position(vertex), originalMesh->position(unifiedVertex), originalMesh->epsilon())); -#if XA_SKIP_PARAMETERIZATION - m_unifiedMesh->addVertex(originalMesh->position(vertex), Vector3(0.0f), atlas->faceTexcoords(m_faceArray[f])[i]); -#else m_unifiedMesh->addVertex(originalMesh->position(vertex)); -#endif } if (chartMeshIndices[vertex] == (uint32_t)~0) { chartMeshIndices[vertex] = m_mesh->vertexCount(); @@ -5774,11 +6699,10 @@ public: } m_mesh->createBoundaries(); // For AtlasPacker::computeBoundingBox m_unifiedMesh->createBoundaries(); - m_unifiedMesh->linkBoundaries(); - m_isPlanar = meshIsPlanar(*m_unifiedMesh); - if (m_isPlanar) { - m_isDisk = true; - } else { + if (meshIsPlanar(*m_unifiedMesh)) + m_type = ChartType::Planar; + else { + m_unifiedMesh->linkBoundaries(); #if XA_DEBUG_EXPORT_OBJ_BEFORE_FIX_TJUNCTION m_unifiedMesh->writeObjFile("debug_before_fix_tjunction.obj"); #endif @@ -5791,15 +6715,14 @@ public: m_warningFlags |= ChartWarningFlags::FixTJunctionsDuplicatedEdge; if (failed) m_warningFlags |= ChartWarningFlags::FixTJunctionsFailed; - m_unifiedMesh->~Mesh(); - XA_FREE(m_unifiedMesh); + m_unmodifiedUnifiedMesh = m_unifiedMesh; m_unifiedMesh = fixedUnifiedMesh; m_unifiedMesh->createBoundaries(); m_unifiedMesh->linkBoundaries(); m_initialFaceCount = m_unifiedMesh->faceCount(); // Fixing t-junctions rewrites faces. } // See if there are any holes that need closing. - Array<uint32_t> boundaryLoops; + Array<uint32_t> &boundaryLoops = buffers.boundaryLoops; meshGetBoundaryLoops(*m_unifiedMesh, boundaryLoops); if (boundaryLoops.size() > 1) { #if XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR @@ -5810,16 +6733,21 @@ public: // - Find cuts that reduce genus. // - Find cuts to connect holes. // - Use minimal spanning trees or seamster. - Array<uint32_t> holeFaceCounts; XA_PROFILE_START(closeChartMeshHoles) - failed = !meshCloseHoles(m_unifiedMesh, boundaryLoops, m_basis.normal, holeFaceCounts); + uint32_t holeCount = 0; +#if XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR + Array<uint32_t> holeFaceCounts; + failed = !meshCloseHoles(m_unifiedMesh, boundaryLoops, m_basis.normal, &holeFaceCounts); +#else + failed = !meshCloseHoles(m_unifiedMesh, boundaryLoops, m_basis.normal, &holeCount, nullptr); +#endif XA_PROFILE_END(closeChartMeshHoles) m_unifiedMesh->createBoundaries(); m_unifiedMesh->linkBoundaries(); meshGetBoundaryLoops(*m_unifiedMesh, boundaryLoops); if (failed || boundaryLoops.size() > 1) m_warningFlags |= ChartWarningFlags::CloseHolesFailed; - m_closedHolesCount = holeFaceCounts.size(); + m_closedHolesCount = holeCount; #if XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR if (m_warningFlags & ChartWarningFlags::CloseHolesFailed) { char filename[256]; @@ -5848,18 +6776,75 @@ public: } #endif } - // Note: MeshTopology needs linked boundaries. - MeshTopology topology(m_unifiedMesh); - m_isDisk = topology.isDisk(); -#if XA_DEBUG_EXPORT_OBJ_NOT_DISK - if (!m_isDisk) { - char filename[256]; - XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u_chartgroup_%03u_chart_%03u_not_disk.obj", meshId, chartGroupId, chartId); - m_unifiedMesh->writeObjFile(filename); + } + } + +#if XA_RECOMPUTE_CHARTS + Chart(ChartCtorBuffers &buffers, const Chart *parent, const Mesh *parentMesh, ConstArrayView<uint32_t> faces, const Vector2 *texcoords, const Mesh *originalMesh, uint32_t meshId, uint32_t chartGroupId, uint32_t chartId) : m_mesh(nullptr), m_unifiedMesh(nullptr), m_unmodifiedUnifiedMesh(nullptr), m_type(ChartType::Piecewise), m_warningFlags(0), m_closedHolesCount(0), m_fixedTJunctionsCount(0) + { + XA_UNUSED(meshId); + XA_UNUSED(chartGroupId); + XA_UNUSED(chartId); + const uint32_t faceCount = m_initialFaceCount = faces.length; + m_faceArray.resize(faceCount); + for (uint32_t i = 0; i < faceCount; i++) + m_faceArray[i] = parent->m_faceArray[faces[i]]; // Map faces to parent chart original mesh. + // Copy face indices. + m_mesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, originalMesh->epsilon(), m_faceArray.size() * 3, m_faceArray.size()); + m_unifiedMesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, originalMesh->epsilon(), m_faceArray.size() * 3, m_faceArray.size()); + Array<uint32_t> &chartMeshIndices = buffers.chartMeshIndices; + chartMeshIndices.resize(originalMesh->vertexCount()); + chartMeshIndices.setAll(UINT32_MAX); + Array<uint32_t> &unifiedMeshIndices = buffers.unifiedMeshIndices; + unifiedMeshIndices.resize(originalMesh->vertexCount()); + unifiedMeshIndices.setAll(UINT32_MAX); + // Add vertices. + for (uint32_t f = 0; f < faceCount; f++) { + for (uint32_t i = 0; i < 3; i++) { + const uint32_t vertex = originalMesh->vertexAt(m_faceArray[f] * 3 + i); + const uint32_t unifiedVertex = originalMesh->firstColocal(vertex); + const uint32_t parentVertex = parentMesh->vertexAt(faces[f] * 3 + i); + if (unifiedMeshIndices[unifiedVertex] == (uint32_t)~0) { + unifiedMeshIndices[unifiedVertex] = m_unifiedMesh->vertexCount(); + XA_DEBUG_ASSERT(equal(originalMesh->position(vertex), originalMesh->position(unifiedVertex), originalMesh->epsilon())); + m_unifiedMesh->addVertex(originalMesh->position(vertex), Vector3(0.0f), texcoords[parentVertex]); + } + if (chartMeshIndices[vertex] == (uint32_t)~0) { + chartMeshIndices[vertex] = m_mesh->vertexCount(); + m_chartToOriginalMap.push_back(vertex); + m_chartToUnifiedMap.push_back(unifiedMeshIndices[unifiedVertex]); + m_mesh->addVertex(originalMesh->position(vertex), Vector3(0.0f), texcoords[parentVertex]); + } + } + } + // Add faces. + for (uint32_t f = 0; f < faceCount; f++) { + uint32_t indices[3], unifiedIndices[3]; + for (uint32_t i = 0; i < 3; i++) { + const uint32_t vertex = originalMesh->vertexAt(m_faceArray[f] * 3 + i); + indices[i] = chartMeshIndices[vertex]; + unifiedIndices[i] = unifiedMeshIndices[originalMesh->firstColocal(vertex)]; + } + Mesh::AddFaceResult::Enum result = m_mesh->addFace(indices); + XA_UNUSED(result); + XA_DEBUG_ASSERT(result == Mesh::AddFaceResult::OK); +#if XA_DEBUG + // Unifying colocals may create degenerate edges. e.g. if two triangle vertices are colocal. + for (int i = 0; i < 3; i++) { + const uint32_t index1 = unifiedIndices[i]; + const uint32_t index2 = unifiedIndices[(i + 1) % 3]; + XA_DEBUG_ASSERT(index1 != index2); } #endif + result = m_unifiedMesh->addFace(unifiedIndices); + XA_UNUSED(result); + XA_DEBUG_ASSERT(result == Mesh::AddFaceResult::OK); } + m_mesh->createBoundaries(); // For AtlasPacker::computeBoundingBox + m_unifiedMesh->createBoundaries(); + m_unifiedMesh->linkBoundaries(); } +#endif ~Chart() { @@ -5871,16 +6856,19 @@ public: m_unifiedMesh->~Mesh(); XA_FREE(m_unifiedMesh); } + if (m_unmodifiedUnifiedMesh) { + m_unmodifiedUnifiedMesh->~Mesh(); + XA_FREE(m_unmodifiedUnifiedMesh); + } } const Basis &basis() const { return m_basis; } - bool isDisk() const { return m_isDisk; } - bool isOrtho() const { return m_isOrtho; } - bool isPlanar() const { return m_isPlanar; } + ChartType::Enum type() const { return m_type; } uint32_t warningFlags() const { return m_warningFlags; } uint32_t closedHolesCount() const { return m_closedHolesCount; } uint32_t fixedTJunctionsCount() const { return m_fixedTJunctionsCount; } - const ParameterizationQuality ¶mQuality() const { return m_paramQuality; } + const Quality &quality() const { return m_quality; } + uint32_t initialFaceCount() const { return m_initialFaceCount; } #if XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION const Array<uint32_t> ¶mFlippedFaces() const { return m_paramFlippedFaces; } #endif @@ -5889,26 +6877,31 @@ public: Mesh *mesh() { return m_mesh; } const Mesh *unifiedMesh() const { return m_unifiedMesh; } Mesh *unifiedMesh() { return m_unifiedMesh; } + const Mesh *unmodifiedUnifiedMesh() const { return m_unmodifiedUnifiedMesh; } uint32_t mapChartVertexToOriginalVertex(uint32_t i) const { return m_chartToOriginalMap[i]; } - void evaluateOrthoParameterizationQuality() + void evaluateOrthoQuality(UniformGrid2 &boundaryGrid) { XA_PROFILE_START(parameterizeChartsEvaluateQuality) - m_paramQuality = calculateParameterizationQuality(m_unifiedMesh, m_initialFaceCount, nullptr); + m_quality.computeBoundaryIntersection(m_unifiedMesh, boundaryGrid); + m_quality.computeFlippedFaces(m_unifiedMesh, m_initialFaceCount, nullptr); + m_quality.computeMetrics(m_unifiedMesh, m_initialFaceCount); XA_PROFILE_END(parameterizeChartsEvaluateQuality) // Use orthogonal parameterization if quality is acceptable. - if (!m_paramQuality.boundaryIntersection && m_paramQuality.geometricArea > 0.0f && m_paramQuality.stretchMetric <= 1.1f && m_paramQuality.maxStretchMetric <= 1.25f) - m_isOrtho = true; + if (!m_quality.boundaryIntersection && m_quality.totalGeometricArea > 0.0f && m_quality.stretchMetric <= 1.1f && m_quality.maxStretchMetric <= 1.25f) + m_type = ChartType::Ortho; } - void evaluateParameterizationQuality() + void evaluateQuality(UniformGrid2 &boundaryGrid) { XA_PROFILE_START(parameterizeChartsEvaluateQuality) + m_quality.computeBoundaryIntersection(m_unifiedMesh, boundaryGrid); #if XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION - m_paramQuality = calculateParameterizationQuality(m_unifiedMesh, m_initialFaceCount, &m_paramFlippedFaces); + m_quality.computeFlippedFaces(m_unifiedMesh, m_initialFaceCount, &m_paramFlippedFaces); #else - m_paramQuality = calculateParameterizationQuality(m_unifiedMesh, m_initialFaceCount, nullptr); + m_quality.computeFlippedFaces(m_unifiedMesh, m_initialFaceCount, nullptr); #endif + // Don't need to call computeMetrics here, that's only used in evaluateOrthoQuality to determine if quality is acceptable enough to use ortho projection. XA_PROFILE_END(parameterizeChartsEvaluateQuality) } @@ -5920,16 +6913,6 @@ public: m_mesh->texcoord(v) = m_unifiedMesh->texcoord(m_chartToUnifiedMap[v]); } - float computeSurfaceArea() const - { - return m_mesh->computeSurfaceArea(); - } - - float computeParametricArea() const - { - return m_mesh->computeParametricArea(); - } - Vector2 computeParametricBounds() const { Vector2 minCorner(FLT_MAX, FLT_MAX); @@ -5946,7 +6929,8 @@ private: Basis m_basis; Mesh *m_mesh; Mesh *m_unifiedMesh; - bool m_isDisk, m_isOrtho, m_isPlanar; + Mesh *m_unmodifiedUnifiedMesh; // Unified mesh before fixing t-junctions. Null if no t-junctions were fixed + ChartType::Enum m_type; uint32_t m_warningFlags; uint32_t m_initialFaceCount; // Before fixing T-junctions and/or closing holes. uint32_t m_closedHolesCount, m_fixedTJunctionsCount; @@ -5959,7 +6943,7 @@ private: Array<uint32_t> m_chartToUnifiedMap; - ParameterizationQuality m_paramQuality; + Quality m_quality; #if XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION Array<uint32_t> m_paramFlippedFaces; #endif @@ -5967,12 +6951,13 @@ private: struct CreateChartTaskArgs { - const segment::Atlas *atlas; const Mesh *mesh; - uint32_t chartIndex; // In the atlas. + const Basis *basis; + ConstArrayView<uint32_t> faces; uint32_t meshId; uint32_t chartGroupId; uint32_t chartId; + ThreadLocal<ChartCtorBuffers> *chartBuffers; Chart **chart; }; @@ -5980,7 +6965,7 @@ static void runCreateChartTask(void *userData) { XA_PROFILE_START(createChartMeshesThread) auto args = (CreateChartTaskArgs *)userData; - *(args->chart) = XA_NEW_ARGS(MemTag::Default, Chart, args->atlas, args->mesh, args->chartIndex, args->meshId, args->chartGroupId, args->chartId); + *(args->chart) = XA_NEW_ARGS(MemTag::Default, Chart, args->chartBuffers->get(), *(args->basis), args->faces, args->mesh, args->meshId, args->chartGroupId, args->chartId); XA_PROFILE_END(createChartMeshesThread) } @@ -5988,6 +6973,7 @@ struct ParameterizeChartTaskArgs { Chart *chart; ParameterizeFunc func; + ThreadLocal<UniformGrid2> *boundaryGrid; }; static void runParameterizeChartTask(void *userData) @@ -5995,24 +6981,26 @@ static void runParameterizeChartTask(void *userData) auto args = (ParameterizeChartTaskArgs *)userData; Mesh *mesh = args->chart->unifiedMesh(); XA_PROFILE_START(parameterizeChartsOrthogonal) -#if 1 - computeOrthogonalProjectionMap(mesh); -#else - for (uint32_t i = 0; i < vertexCount; i++) - mesh->texcoord(i) = Vector2(dot(args->chart->basis().tangent, mesh->position(i)), dot(args->chart->basis().bitangent, mesh->position(i))); -#endif + { + // Project vertices to plane. + const uint32_t vertexCount = mesh->vertexCount(); + const Basis &basis = args->chart->basis(); + for (uint32_t i = 0; i < vertexCount; i++) + mesh->texcoord(i) = Vector2(dot(basis.tangent, mesh->position(i)), dot(basis.bitangent, mesh->position(i))); + } XA_PROFILE_END(parameterizeChartsOrthogonal) - args->chart->evaluateOrthoParameterizationQuality(); - if (!args->chart->isOrtho() && !args->chart->isPlanar()) { + // Computing charts checks for flipped triangles and boundary intersection. Don't need to do that again here if chart is planar. + if (args->chart->type() != ChartType::Planar) + args->chart->evaluateOrthoQuality(args->boundaryGrid->get()); + if (args->chart->type() == ChartType::LSCM) { XA_PROFILE_START(parameterizeChartsLSCM) if (args->func) args->func(&mesh->position(0).x, &mesh->texcoord(0).x, mesh->vertexCount(), mesh->indices(), mesh->indexCount()); - else if (args->chart->isDisk()) + else computeLeastSquaresConformalMap(mesh); XA_PROFILE_END(parameterizeChartsLSCM) - args->chart->evaluateParameterizationQuality(); + args->chart->evaluateQuality(args->boundaryGrid->get()); } - // @@ Check that parameterization quality is above a certain threshold. // Transfer parameterization from unified mesh to chart mesh. args->chart->transferParameterization(); } @@ -6021,27 +7009,33 @@ static void runParameterizeChartTask(void *userData) class ChartGroup { public: - ChartGroup(uint32_t id, const Mesh *sourceMesh, uint32_t faceGroup) : m_sourceId(sourceMesh->id()), m_id(id), m_isVertexMap(faceGroup == UINT32_MAX), m_paramAddedChartsCount(0), m_paramDeletedChartsCount(0) + ChartGroup(uint32_t id, const Mesh *sourceMesh, uint16_t faceGroup) : m_sourceId(sourceMesh->id()), m_id(id), m_isVertexMap(faceGroup == Mesh::kInvalidFaceGroup), m_paramAddedChartsCount(0), m_paramDeletedChartsCount(0) { // Create new mesh from the source mesh, using faces that belong to this group. const uint32_t sourceFaceCount = sourceMesh->faceCount(); - for (uint32_t f = 0; f < sourceFaceCount; f++) { - if (sourceMesh->faceGroupAt(f) == faceGroup) - m_faceToSourceFaceMap.push_back(f); + if (!m_isVertexMap) { + m_faceToSourceFaceMap.reserve(sourceMesh->faceGroupFaceCount(faceGroup)); + for (Mesh::GroupFaceIterator it(sourceMesh, faceGroup); !it.isDone(); it.advance()) + m_faceToSourceFaceMap.push_back(it.face()); + } else { + for (uint32_t f = 0; f < sourceFaceCount; f++) { + if (sourceMesh->faceGroupAt(f) == faceGroup) + m_faceToSourceFaceMap.push_back(f); + } } // Only initial meshes have face groups and ignored faces. The only flag we care about is HasNormals. const uint32_t faceCount = m_faceToSourceFaceMap.size(); - m_mesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, sourceMesh->epsilon(), faceCount * 3, faceCount, sourceMesh->flags() & MeshFlags::HasNormals); XA_DEBUG_ASSERT(faceCount > 0); - Array<uint32_t> meshIndices; - meshIndices.resize(sourceMesh->vertexCount()); - meshIndices.setAll((uint32_t)~0); + const uint32_t approxVertexCount = faceCount * 3; + m_mesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, sourceMesh->epsilon(), approxVertexCount, faceCount, sourceMesh->flags() & MeshFlags::HasNormals); + m_vertexToSourceVertexMap.reserve(approxVertexCount); + HashMap<uint32_t> sourceVertexToVertexMap(MemTag::Mesh, approxVertexCount); for (uint32_t f = 0; f < faceCount; f++) { const uint32_t face = m_faceToSourceFaceMap[f]; for (uint32_t i = 0; i < 3; i++) { const uint32_t vertex = sourceMesh->vertexAt(face * 3 + i); - if (meshIndices[vertex] == (uint32_t)~0) { - meshIndices[vertex] = m_mesh->vertexCount(); + if (sourceVertexToVertexMap.get(vertex) == UINT32_MAX) { + sourceVertexToVertexMap.add(vertex); m_vertexToSourceVertexMap.push_back(vertex); Vector3 normal(0.0f); if (sourceMesh->flags() & MeshFlags::HasNormals) @@ -6056,8 +7050,8 @@ public: uint32_t indices[3]; for (uint32_t i = 0; i < 3; i++) { const uint32_t vertex = sourceMesh->vertexAt(face * 3 + i); - XA_DEBUG_ASSERT(meshIndices[vertex] != (uint32_t)~0); - indices[i] = meshIndices[vertex]; + indices[i] = sourceVertexToVertexMap.get(vertex); + XA_DEBUG_ASSERT(indices[i] != UINT32_MAX); } // Don't copy flags, it doesn't matter if a face is ignored after this point. All ignored faces get their own vertex map (m_isVertexMap) ChartGroup. // Don't hash edges if m_isVertexMap, they may be degenerate. @@ -6068,7 +7062,6 @@ public: if (!m_isVertexMap) { m_mesh->createColocals(); m_mesh->createBoundaries(); - m_mesh->linkBoundaries(); } #if XA_DEBUG_EXPORT_OBJ_CHART_GROUPS char filename[256]; @@ -6083,14 +7076,14 @@ public: { m_mesh->~Mesh(); XA_FREE(m_mesh); - for (uint32_t i = 0; i < m_chartArray.size(); i++) { - m_chartArray[i]->~Chart(); - XA_FREE(m_chartArray[i]); + for (uint32_t i = 0; i < m_charts.size(); i++) { + m_charts[i]->~Chart(); + XA_FREE(m_charts[i]); } } - uint32_t chartCount() const { return m_chartArray.size(); } - Chart *chartAt(uint32_t i) const { return m_chartArray[i]; } + uint32_t chartCount() const { return m_charts.size(); } + Chart *chartAt(uint32_t i) const { return m_charts[i]; } uint32_t paramAddedChartsCount() const { return m_paramAddedChartsCount; } uint32_t paramDeletedChartsCount() const { return m_paramDeletedChartsCount; } bool isVertexMap() const { return m_isVertexMap; } @@ -6158,40 +7151,41 @@ public: - emphasize roundness metrics to prevent those cases. - If interior self-overlaps: preserve boundary parameterization and use mean-value map. */ - void computeCharts(TaskScheduler *taskScheduler, const ChartOptions &options) + void computeCharts(TaskScheduler *taskScheduler, const ChartOptions &options, segment::Atlas &atlas, ThreadLocal<ChartCtorBuffers> *chartBuffers) { m_chartOptions = options; // This function may be called multiple times, so destroy existing charts. - for (uint32_t i = 0; i < m_chartArray.size(); i++) { - m_chartArray[i]->~Chart(); - XA_FREE(m_chartArray[i]); + for (uint32_t i = 0; i < m_charts.size(); i++) { + m_charts[i]->~Chart(); + XA_FREE(m_charts[i]); } - m_chartArray.clear(); + m_charts.clear(); #if XA_DEBUG_SINGLE_CHART Array<uint32_t> chartFaces; chartFaces.resize(m_mesh->faceCount()); for (uint32_t i = 0; i < chartFaces.size(); i++) chartFaces[i] = i; Chart *chart = XA_NEW_ARGS(MemTag::Default, Chart, m_mesh, chartFaces, m_sourceId, m_id, 0); - m_chartArray.push_back(chart); + m_charts.push_back(chart); #else XA_PROFILE_START(buildAtlas) - segment::Atlas atlas(m_mesh, nullptr, options); + atlas.reset(m_sourceId, m_id, m_mesh, options); buildAtlas(atlas, options); XA_PROFILE_END(buildAtlas) const uint32_t chartCount = atlas.chartCount(); - m_chartArray.resize(chartCount); + m_charts.resize(chartCount); Array<CreateChartTaskArgs> taskArgs; taskArgs.resize(chartCount); for (uint32_t i = 0; i < chartCount; i++) { CreateChartTaskArgs &args = taskArgs[i]; - args.atlas = &atlas; + args.basis = &atlas.chartBasis(i); + args.faces = atlas.chartFaces(i); args.mesh = m_mesh; - args.chartIndex = i; args.meshId = m_sourceId; args.chartGroupId = m_id; args.chartId = i; - args.chart = &m_chartArray[i]; + args.chartBuffers = chartBuffers; + args.chart = &m_charts[i]; } XA_PROFILE_START(createChartMeshesReal) TaskGroupHandle taskGroup = taskScheduler->createTaskGroup(chartCount); @@ -6225,26 +7219,22 @@ public: #endif } - void parameterizeCharts(TaskScheduler *taskScheduler, ParameterizeFunc func) - { - const uint32_t chartCount = m_chartArray.size(); -#if XA_SKIP_PARAMETERIZATION - XA_UNUSED(taskScheduler); - XA_UNUSED(func); - for (uint32_t i = 0; i < chartCount; i++) { - Chart *chart = m_chartArray[i]; - chart->evaluateOrthoParameterizationQuality(); - chart->evaluateParameterizationQuality(); - chart->transferParameterization(); - } +#if XA_RECOMPUTE_CHARTS + void parameterizeCharts(TaskScheduler *taskScheduler, ParameterizeFunc func, ThreadLocal<UniformGrid2> *boundaryGrid, ThreadLocal<ChartCtorBuffers> *chartBuffers, ThreadLocal<PiecewiseParam> *piecewiseParam) #else + void parameterizeCharts(TaskScheduler* taskScheduler, ParameterizeFunc func, ThreadLocal<UniformGrid2>* boundaryGrid, ThreadLocal<ChartCtorBuffers>* /*chartBuffers*/) +#endif + { + m_paramAddedChartsCount = 0; + const uint32_t chartCount = m_charts.size(); Array<ParameterizeChartTaskArgs> taskArgs; taskArgs.resize(chartCount); TaskGroupHandle taskGroup = taskScheduler->createTaskGroup(chartCount); for (uint32_t i = 0; i < chartCount; i++) { ParameterizeChartTaskArgs &args = taskArgs[i]; - args.chart = m_chartArray[i]; + args.chart = m_charts[i]; args.func = func; + args.boundaryGrid = boundaryGrid; Task task; task.userData = &args; task.func = runParameterizeChartTask; @@ -6255,67 +7245,65 @@ public: // Find charts with invalid parameterizations. Array<Chart *> invalidCharts; for (uint32_t i = 0; i < chartCount; i++) { - Chart *chart = m_chartArray[i]; - const ParameterizationQuality &quality = chart->paramQuality(); + Chart *chart = m_charts[i]; + const Quality &quality = chart->quality(); if (quality.boundaryIntersection || quality.flippedTriangleCount > 0) invalidCharts.push_back(chart); } if (invalidCharts.isEmpty()) return; // Recompute charts with invalid parameterizations. - Array<uint32_t> meshFaces; + PiecewiseParam &pp = piecewiseParam->get(); for (uint32_t i = 0; i < invalidCharts.size(); i++) { Chart *invalidChart = invalidCharts[i]; - const Mesh *invalidMesh = invalidChart->mesh(); - const uint32_t faceCount = invalidMesh->faceCount(); - meshFaces.resize(faceCount); - float invalidChartArea = 0.0f; - for (uint32_t j = 0; j < faceCount; j++) { - meshFaces[j] = invalidChart->mapFaceToSourceFace(j); - invalidChartArea += invalidMesh->faceArea(j); - } - ChartOptions options = m_chartOptions; - options.maxChartArea = invalidChartArea * 0.2f; - options.maxThreshold = 0.25f; - options.maxIterations = 3; - segment::Atlas atlas(m_mesh, &meshFaces, options); - buildAtlas(atlas, options); - for (uint32_t j = 0; j < atlas.chartCount(); j++) { - Chart *chart = XA_NEW_ARGS(MemTag::Default, Chart, &atlas, m_mesh, j, m_sourceId, m_id, m_chartArray.size()); - m_chartArray.push_back(chart); - m_paramAddedChartsCount++; + // Fixing t-junctions rewrites unified mesh faces, and we need to map faces back to input mesh. So use the unmodified unified mesh. + const Mesh *invalidMesh = invalidChart->unmodifiedUnifiedMesh(); + uint32_t faceCount = 0; + if (invalidMesh) { + faceCount = invalidMesh->faceCount(); + } else { + invalidMesh = invalidChart->unifiedMesh(); + faceCount = invalidChart->initialFaceCount(); // Not invalidMesh->faceCount(). Don't want faces added by hole closing. } + pp.reset(invalidMesh, faceCount); #if XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS char filename[256]; - XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u_chartgroup_%03u_recomputed_chart_%u.obj", m_sourceId, m_id, i); + XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u_chartgroup_%03u_recomputed_chart_%03u.obj", m_sourceId, m_id, m_paramAddedChartsCount); FILE *file; XA_FOPEN(file, filename, "w"); - if (file) { - m_mesh->writeObjVertices(file); - for (uint32_t j = 0; j < builder.chartCount(); j++) { - fprintf(file, "o chart_%04d\n", j); + uint32_t subChartIndex = 0; +#endif + for (;;) { + if (!pp.computeChart()) + break; + Chart *chart = XA_NEW_ARGS(MemTag::Default, Chart, chartBuffers->get(), invalidChart, invalidMesh, pp.chartFaces(), pp.texcoords(), m_mesh, m_sourceId, m_id, m_charts.size()); + m_charts.push_back(chart); +#if XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS + if (file) { + for (uint32_t j = 0; j < invalidMesh->vertexCount(); j++) { + fprintf(file, "v %g %g %g\n", invalidMesh->position(j).x, invalidMesh->position(j).y, invalidMesh->position(j).z); + fprintf(file, "vt %g %g\n", pp.texcoords()[j].x, pp.texcoords()[j].y); + } + fprintf(file, "o chart%03u\n", subChartIndex); fprintf(file, "s off\n"); - const Array<uint32_t> &faces = builder.chartFaces(j); - for (uint32_t f = 0; f < faces.size(); f++) - m_mesh->writeObjFace(file, faces[f]); + for (uint32_t f = 0; f < pp.chartFaces().length; f++) { + fprintf(file, "f "); + const uint32_t face = pp.chartFaces()[f]; + for (uint32_t j = 0; j < 3; j++) { + const uint32_t index = invalidMesh->vertexCount() * subChartIndex + invalidMesh->vertexAt(face * 3 + j) + 1; // 1-indexed + fprintf(file, "%d/%d/%c", index, index, j == 2 ? '\n' : ' '); + } + } } - fclose(file); + subChartIndex++; +#endif + m_paramAddedChartsCount++; } +#if XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS + if (file) + fclose(file); #endif } - // Parameterize the new charts. - taskGroup = taskScheduler->createTaskGroup(m_chartArray.size() - chartCount); - taskArgs.resize(m_chartArray.size() - chartCount); - for (uint32_t i = chartCount; i < m_chartArray.size(); i++) { - ParameterizeChartTaskArgs &args = taskArgs[i - chartCount]; - args.chart = m_chartArray[i]; - args.func = func; - Task task; - task.userData = &args; - task.func = runParameterizeChartTask; - taskScheduler->run(taskGroup, task); - } - taskScheduler->wait(&taskGroup); // Remove and delete the invalid charts. for (uint32_t i = 0; i < invalidCharts.size(); i++) { Chart *chart = invalidCharts[i]; @@ -6325,7 +7313,6 @@ public: m_paramDeletedChartsCount++; } #endif // XA_RECOMPUTE_CHARTS -#endif // XA_SKIP_PARAMETERIZATION } private: @@ -6343,19 +7330,18 @@ private: atlas.resetCharts(); // Restart process growing charts in parallel. uint32_t iteration = 0; - while (true) { - if (!atlas.growCharts(options.maxThreshold)) { - // If charts cannot grow more: fill holes, merge charts, relocate seeds and start new iteration. - atlas.fillHoles(options.maxThreshold * 0.5f); + for (;;) { + atlas.growCharts(options.maxThreshold); + // When charts cannot grow more: fill holes, merge charts, relocate seeds and start new iteration. + atlas.fillHoles(options.maxThreshold * 0.5f); #if XA_MERGE_CHARTS - atlas.mergeCharts(); + atlas.mergeCharts(); #endif - if (++iteration == options.maxIterations) - break; - if (!atlas.relocateSeeds()) - break; - atlas.resetCharts(); - } + if (++iteration == options.maxIterations) + break; + if (!atlas.relocateSeeds()) + break; + atlas.resetCharts(); } // Make sure no holes are left! XA_DEBUG_ASSERT(atlas.facesLeft() == 0); @@ -6363,9 +7349,9 @@ private: void removeChart(const Chart *chart) { - for (uint32_t i = 0; i < m_chartArray.size(); i++) { - if (m_chartArray[i] == chart) { - m_chartArray.removeAt(i); + for (uint32_t i = 0; i < m_charts.size(); i++) { + if (m_charts[i] == chart) { + m_charts.removeAt(i); return; } } @@ -6376,7 +7362,7 @@ private: Mesh *m_mesh; Array<uint32_t> m_faceToSourceFaceMap; // List of faces of the source mesh that belong to this chart group. Array<uint32_t> m_vertexToSourceVertexMap; // Map vertices of the mesh to vertices of the source mesh. - Array<Chart *> m_chartArray; + Array<Chart *> m_charts; ChartOptions m_chartOptions; uint32_t m_paramAddedChartsCount; // Number of new charts added by recomputing charts with invalid parameterizations. uint32_t m_paramDeletedChartsCount; // Number of charts with invalid parameterizations that were deleted, after charts were recomputed. @@ -6384,7 +7370,7 @@ private: struct CreateChartGroupTaskArgs { - uint32_t faceGroup; + uint16_t faceGroup; uint32_t groupId; const Mesh *mesh; ChartGroup **chartGroup; @@ -6402,6 +7388,8 @@ struct ComputeChartsTaskArgs { TaskScheduler *taskScheduler; ChartGroup *chartGroup; + ThreadLocal<segment::Atlas> *atlas; + ThreadLocal<ChartCtorBuffers> *chartBuffers; const ChartOptions *options; Progress *progress; }; @@ -6412,7 +7400,7 @@ static void runComputeChartsJob(void *userData) if (args->progress->cancel) return; XA_PROFILE_START(computeChartsThread) - args->chartGroup->computeCharts(args->taskScheduler, *args->options); + args->chartGroup->computeCharts(args->taskScheduler, *args->options, args->atlas->get(), args->chartBuffers); XA_PROFILE_END(computeChartsThread) args->progress->value++; args->progress->update(); @@ -6423,6 +7411,11 @@ struct ParameterizeChartsTaskArgs TaskScheduler *taskScheduler; ChartGroup *chartGroup; ParameterizeFunc func; + ThreadLocal<UniformGrid2> *boundaryGrid; + ThreadLocal<ChartCtorBuffers> *chartBuffers; +#if XA_RECOMPUTE_CHARTS + ThreadLocal<PiecewiseParam> *piecewiseParam; +#endif Progress *progress; }; @@ -6432,7 +7425,11 @@ static void runParameterizeChartsJob(void *userData) if (args->progress->cancel) return; XA_PROFILE_START(parameterizeChartsThread) - args->chartGroup->parameterizeCharts(args->taskScheduler, args->func); +#if XA_RECOMPUTE_CHARTS + args->chartGroup->parameterizeCharts(args->taskScheduler, args->func, args->boundaryGrid, args->chartBuffers, args->piecewiseParam); +#else + args->chartGroup->parameterizeCharts(args->taskScheduler, args->func, args->boundaryGrid, args->chartBuffers); +#endif XA_PROFILE_END(parameterizeChartsThread) args->progress->value++; args->progress->update(); @@ -6482,31 +7479,17 @@ public: // This function is thread safe. void addMesh(TaskScheduler *taskScheduler, const Mesh *mesh) { - // Get list of face groups. - const uint32_t faceCount = mesh->faceCount(); - Array<uint32_t> faceGroups; - for (uint32_t f = 0; f < faceCount; f++) { - const uint32_t group = mesh->faceGroupAt(f); - bool exists = false; - for (uint32_t g = 0; g < faceGroups.size(); g++) { - if (faceGroups[g] == group) { - exists = true; - break; - } - } - if (!exists) - faceGroups.push_back(group); - } // Create one chart group per face group. + // If there's any ignored faces in the mesh, create an extra face group for that (vertex map). // Chart group creation is slow since it copies a chunk of the source mesh, so use tasks. Array<ChartGroup *> chartGroups; - chartGroups.resize(faceGroups.size()); + chartGroups.resize(mesh->faceGroupCount() + (mesh->ignoredFaceCount() > 0 ? 1 : 0)); Array<CreateChartGroupTaskArgs> taskArgs; taskArgs.resize(chartGroups.size()); for (uint32_t g = 0; g < chartGroups.size(); g++) { CreateChartGroupTaskArgs &args = taskArgs[g]; args.chartGroup = &chartGroups[g]; - args.faceGroup = faceGroups[g]; + args.faceGroup = uint16_t(g < mesh->faceGroupCount() ? g : Mesh::kInvalidFaceGroup); args.groupId = g; args.mesh = mesh; } @@ -6561,6 +7544,8 @@ public: chartGroupCount++; } Progress progress(ProgressCategory::ComputeCharts, progressFunc, progressUserData, chartGroupCount); + ThreadLocal<segment::Atlas> atlas; + ThreadLocal<ChartCtorBuffers> chartBuffers; Array<ComputeChartsTaskArgs> taskArgs; taskArgs.reserve(chartGroupCount); for (uint32_t i = 0; i < m_chartGroups.size(); i++) { @@ -6568,6 +7553,8 @@ public: ComputeChartsTaskArgs args; args.taskScheduler = taskScheduler; args.chartGroup = m_chartGroups[i]; + args.atlas = &atlas; + args.chartBuffers = &chartBuffers; args.options = &options; args.progress = &progress; taskArgs.push_back(args); @@ -6605,6 +7592,11 @@ public: chartGroupCount++; } Progress progress(ProgressCategory::ParameterizeCharts, progressFunc, progressUserData, chartGroupCount); + ThreadLocal<UniformGrid2> boundaryGrid; // For Quality boundary intersection. + ThreadLocal<ChartCtorBuffers> chartBuffers; +#if XA_RECOMPUTE_CHARTS + ThreadLocal<PiecewiseParam> piecewiseParam; +#endif Array<ParameterizeChartsTaskArgs> taskArgs; taskArgs.reserve(chartGroupCount); for (uint32_t i = 0; i < m_chartGroups.size(); i++) { @@ -6613,6 +7605,11 @@ public: args.taskScheduler = taskScheduler; args.chartGroup = m_chartGroups[i]; args.func = func; + args.boundaryGrid = &boundaryGrid; + args.chartBuffers = &chartBuffers; +#if XA_RECOMPUTE_CHARTS + args.piecewiseParam = &piecewiseParam; +#endif args.progress = &progress; taskArgs.push_back(args); } @@ -6646,55 +7643,6 @@ private: namespace pack { -#if XA_DEBUG_EXPORT_ATLAS_IMAGES -const uint8_t TGA_TYPE_RGB = 2; -const uint8_t TGA_ORIGIN_UPPER = 0x20; - -#pragma pack(push, 1) -struct TgaHeader -{ - uint8_t id_length; - uint8_t colormap_type; - uint8_t image_type; - uint16_t colormap_index; - uint16_t colormap_length; - uint8_t colormap_size; - uint16_t x_origin; - uint16_t y_origin; - uint16_t width; - uint16_t height; - uint8_t pixel_size; - uint8_t flags; - enum { Size = 18 }; -}; -#pragma pack(pop) - -static void WriteTga(const char *filename, const uint8_t *data, uint32_t width, uint32_t height) -{ - XA_DEBUG_ASSERT(sizeof(TgaHeader) == TgaHeader::Size); - FILE *f; - XA_FOPEN(f, filename, "wb"); - if (!f) - return; - TgaHeader tga; - tga.id_length = 0; - tga.colormap_type = 0; - tga.image_type = TGA_TYPE_RGB; - tga.colormap_index = 0; - tga.colormap_length = 0; - tga.colormap_size = 0; - tga.x_origin = 0; - tga.y_origin = 0; - tga.width = (uint16_t)width; - tga.height = (uint16_t)height; - tga.pixel_size = 24; - tga.flags = TGA_ORIGIN_UPPER; - fwrite(&tga, sizeof(TgaHeader), 1, f); - fwrite(data, sizeof(uint8_t), width * height * 3, f); - fclose(f); -} -#endif - class AtlasImage { public: @@ -6728,13 +7676,13 @@ public: const int xx = x + offset_x; if (xx >= 0 && xx < atlas_w && yy < atlas_h) { const uint32_t dataOffset = xx + yy * m_width; - if (image->bitAt(x, y)) { + if (image->get(x, y)) { XA_DEBUG_ASSERT(m_data[dataOffset] == 0); m_data[dataOffset] = chartIndex | kImageHasChartIndexBit; - } else if (imageBilinear && imageBilinear->bitAt(x, y)) { + } else if (imageBilinear && imageBilinear->get(x, y)) { XA_DEBUG_ASSERT(m_data[dataOffset] == 0); m_data[dataOffset] = chartIndex | kImageHasChartIndexBit | kImageIsBilinearBit; - } else if (imagePadding && imagePadding->bitAt(x, y)) { + } else if (imagePadding && imagePadding->get(x, y)) { XA_DEBUG_ASSERT(m_data[dataOffset] == 0); m_data[dataOffset] = chartIndex | kImageHasChartIndexBit | kImageIsPaddingBit; } @@ -6807,6 +7755,8 @@ struct Chart bool allowRotate; // bounding box Vector2 majorAxis, minorAxis, minCorner, maxCorner; + // Mesh only + const Array<uint32_t> *boundaryEdges; // UvMeshChart only Array<uint32_t> faces; @@ -6816,6 +7766,7 @@ struct Chart struct AddChartTaskArgs { + ThreadLocal<BoundingBox2D> *boundingBox; param::Chart *paramChart; Chart *chart; // out }; @@ -6834,102 +7785,32 @@ static void runAddChartTask(void *userData) chart->material = 0; chart->indexCount = mesh->indexCount(); chart->indices = mesh->indices(); - chart->parametricArea = paramChart->computeParametricArea(); + chart->parametricArea = mesh->computeParametricArea(); if (chart->parametricArea < kAreaEpsilon) { // When the parametric area is too small we use a rough approximation to prevent divisions by very small numbers. const Vector2 bounds = paramChart->computeParametricBounds(); chart->parametricArea = bounds.x * bounds.y; } - chart->surfaceArea = paramChart->computeSurfaceArea(); + chart->surfaceArea = mesh->computeSurfaceArea(); chart->vertices = mesh->texcoords(); chart->vertexCount = mesh->vertexCount(); chart->allowRotate = true; - // Compute list of boundary vertices. - Array<Vector2> boundary; - boundary.reserve(16); + chart->boundaryEdges = &mesh->boundaryEdges(); + // Compute bounding box of chart. + BoundingBox2D &bb = args->boundingBox->get(); + bb.clear(); for (uint32_t v = 0; v < chart->vertexCount; v++) { if (mesh->isBoundaryVertex(v)) - boundary.push_back(mesh->texcoord(v)); + bb.appendBoundaryVertex(mesh->texcoord(v)); } - XA_DEBUG_ASSERT(boundary.size() > 0); - // Compute bounding box of chart. - static thread_local BoundingBox2D boundingBox; - boundingBox.compute(boundary.data(), boundary.size(), mesh->texcoords(), mesh->vertexCount()); - chart->majorAxis = boundingBox.majorAxis(); - chart->minorAxis = boundingBox.minorAxis(); - chart->minCorner = boundingBox.minCorner(); - chart->maxCorner = boundingBox.maxCorner(); + bb.compute(mesh->texcoords(), mesh->vertexCount()); + chart->majorAxis = bb.majorAxis; + chart->minorAxis = bb.minorAxis; + chart->minCorner = bb.minCorner; + chart->maxCorner = bb.maxCorner; XA_PROFILE_END(packChartsAddChartsThread) } -struct FindChartLocationBruteForceTaskArgs -{ - std::atomic<bool> *finished; // One of the tasks found a location that doesn't expand the atlas. - Vector2i startPosition; - const BitImage *atlasBitImage; - const BitImage *chartBitImage; - const BitImage *chartBitImageRotated; - int w, h; - bool blockAligned, allowRotate; - uint32_t maxResolution; - // out - bool best_insideAtlas; - int best_metric, best_x, best_y, best_w, best_h, best_r; -}; - -static void runFindChartLocationBruteForceTask(void *userData) -{ - XA_PROFILE_START(packChartsFindLocationThread) - auto args = (FindChartLocationBruteForceTaskArgs *)userData; - args->best_metric = INT_MAX; - if (args->finished->load()) - return; - // Try two different orientations. - for (int r = 0; r < 2; r++) { - if (args->finished->load()) - break; - int cw = args->chartBitImage->width(); - int ch = args->chartBitImage->height(); - if (r == 1) { - if (args->allowRotate) - swap(cw, ch); - else - break; - } - const int y = args->startPosition.y; - const int stepSize = args->blockAligned ? 4 : 1; - for (int x = args->startPosition.x; x <= args->w + stepSize; x += stepSize) { - if (args->maxResolution > 0 && (x > (int)args->maxResolution - cw || y > (int)args->maxResolution - ch)) - continue; - if (args->finished->load()) - break; - // Early out if metric not better. - const int area = max(args->w, x + cw) * max(args->h, y + ch); - const int extents = max(max(args->w, x + cw), max(args->h, y + ch)); - const int metric = extents * extents + area; - if (metric > args->best_metric) - continue; - // If metric is the same, pick the one closest to the origin. - if (metric == args->best_metric && max(x, y) >= max(args->best_x, args->best_y)) - continue; - if (!args->atlasBitImage->canBlit(r == 1 ? *(args->chartBitImageRotated) : *(args->chartBitImage), x, y)) - continue; - args->best_metric = metric; - args->best_insideAtlas = area == args->w * args->h; - args->best_x = x; - args->best_y = y; - args->best_w = cw; - args->best_h = ch; - args->best_r = r; - if (args->best_insideAtlas) { - args->finished->store(true); - break; - } - } - } - XA_PROFILE_END(packChartsFindLocationThread) -} - struct Atlas { ~Atlas() @@ -6975,6 +7856,7 @@ struct Atlas taskArgs.resize(chartCount); TaskGroupHandle taskGroup = taskScheduler->createTaskGroup(chartCount); uint32_t chartIndex = 0; + ThreadLocal<BoundingBox2D> boundingBox; for (uint32_t i = 0; i < chartGroupsCount; i++) { const param::ChartGroup *chartGroup = paramAtlas->chartGroupAt(i); if (chartGroup->isVertexMap()) @@ -6982,6 +7864,7 @@ struct Atlas const uint32_t count = chartGroup->chartCount(); for (uint32_t j = 0; j < count; j++) { AddChartTaskArgs &args = taskArgs[chartIndex]; + args.boundingBox = &boundingBox; args.paramChart = chartGroup->chartAt(j); Task task; task.userData = &taskArgs[chartIndex]; @@ -7000,8 +7883,6 @@ struct Atlas void addUvMeshCharts(UvMeshInstance *mesh) { BitArray vertexUsed(mesh->texcoords.size()); - Array<Vector2> boundary; - boundary.reserve(16); BoundingBox2D boundingBox; for (uint32_t c = 0; c < mesh->mesh->charts.size(); c++) { UvMeshChart *uvChart = mesh->mesh->charts[c]; @@ -7013,14 +7894,15 @@ struct Atlas chart->vertices = mesh->texcoords.data(); chart->vertexCount = mesh->texcoords.size(); chart->allowRotate = mesh->rotateCharts; + chart->boundaryEdges = nullptr; chart->faces.resize(uvChart->faces.size()); memcpy(chart->faces.data(), uvChart->faces.data(), sizeof(uint32_t) * uvChart->faces.size()); // Find unique vertices. - vertexUsed.clearAll(); + vertexUsed.zeroOutMemory(); for (uint32_t i = 0; i < chart->indexCount; i++) { const uint32_t vertex = chart->indices[i]; - if (!vertexUsed.bitAt(vertex)) { - vertexUsed.setBitAt(vertex); + if (!vertexUsed.get(vertex)) { + vertexUsed.set(vertex); chart->uniqueVertices.push_back(vertex); } } @@ -7045,24 +7927,22 @@ struct Atlas const Vector2 bounds = (maxCorner - minCorner) * 0.5f; chart->parametricArea = bounds.x * bounds.y; } - // Compute list of boundary vertices. + // Compute bounding box of chart. // Using all unique vertices for simplicity, can compute real boundaries if this is too slow. - boundary.clear(); + boundingBox.clear(); for (uint32_t v = 0; v < chart->uniqueVertexCount(); v++) - boundary.push_back(chart->uniqueVertexAt(v)); - XA_DEBUG_ASSERT(boundary.size() > 0); - // Compute bounding box of chart. - boundingBox.compute(boundary.data(), boundary.size(), boundary.data(), boundary.size()); - chart->majorAxis = boundingBox.majorAxis(); - chart->minorAxis = boundingBox.minorAxis(); - chart->minCorner = boundingBox.minCorner(); - chart->maxCorner = boundingBox.maxCorner(); + boundingBox.appendBoundaryVertex(chart->uniqueVertexAt(v)); + boundingBox.compute(); + chart->majorAxis = boundingBox.majorAxis; + chart->minorAxis = boundingBox.minorAxis; + chart->minCorner = boundingBox.minCorner; + chart->maxCorner = boundingBox.maxCorner; m_charts.push_back(chart); } } // Pack charts in the smallest possible rectangle. - bool packCharts(TaskScheduler *taskScheduler, const PackOptions &options, ProgressFunc progressFunc, void *progressUserData) + bool packCharts(const PackOptions &options, ProgressFunc progressFunc, void *progressUserData) { if (progressFunc) { if (!progressFunc(ProgressCategory::PackCharts, 0, progressUserData)) @@ -7107,10 +7987,11 @@ struct Atlas for (uint32_t c = 0; c < chartCount; c++) { Chart *chart = m_charts[c]; // Compute chart scale - float scale = (chart->surfaceArea / chart->parametricArea) * m_texelsPerUnit; - if (chart->parametricArea == 0.0f) - scale = 0; - XA_ASSERT(isFinite(scale)); + float scale = 1.0f; + if (chart->parametricArea != 0.0f) { + scale = (chart->surfaceArea / chart->parametricArea) * m_texelsPerUnit; + XA_ASSERT(isFinite(scale)); + } // Translate, rotate and scale vertices. Compute extents. Vector2 minCorner(FLT_MAX, FLT_MAX); if (!chart->allowRotate) { @@ -7181,6 +8062,8 @@ struct Atlas texcoord.y += 0.5f + options.padding; extents = max(extents, texcoord); } + if (extents.x > resolution || extents.y > resolution) + XA_PRINT(" Chart %u extents are large (%gx%g)\n", c, extents.x, extents.y); chartExtents[c] = extents; chartOrderArray[c] = extents.x + extents.y; // Use perimeter for chart sort key. minChartPerimeter = min(minChartPerimeter, chartOrderArray[c]); @@ -7207,6 +8090,7 @@ struct Atlas // Rotated versions swap x and y. BitImage chartImage, chartImageBilinear, chartImagePadding; BitImage chartImageRotated, chartImageBilinearRotated, chartImagePaddingRotated; + UniformGrid2 boundaryEdgeGrid; Array<Vector2i> atlasSizes; atlasSizes.push_back(Vector2i(0, 0)); int progress = 0; @@ -7249,7 +8133,7 @@ struct Atlas } // Expand chart by pixels sampled by bilinear interpolation. if (options.bilinear) - bilinearExpand(chart, &chartImage, &chartImageBilinear, chart->allowRotate ? &chartImageBilinearRotated : nullptr); + bilinearExpand(chart, &chartImage, &chartImageBilinear, chart->allowRotate ? &chartImageBilinearRotated : nullptr, boundaryEdgeGrid); // Expand chart by padding pixels (dilation). if (options.padding > 0) { // Copy into the same BitImage instances for every chart to avoid reallocating BitImage buffers (largest chart is packed first). @@ -7310,7 +8194,7 @@ struct Atlas chartStartPositions.push_back(Vector2i(0, 0)); } XA_PROFILE_START(packChartsFindLocation) - const bool foundLocation = findChartLocation(taskScheduler, chartStartPositions[currentAtlas], options.bruteForce, m_bitImages[currentAtlas], chartImageToPack, chartImageToPackRotated, atlasSizes[currentAtlas].x, atlasSizes[currentAtlas].y, &best_x, &best_y, &best_cw, &best_ch, &best_r, options.blockAlign, maxResolution, chart->allowRotate); + const bool foundLocation = findChartLocation(chartStartPositions[currentAtlas], options.bruteForce, m_bitImages[currentAtlas], chartImageToPack, chartImageToPackRotated, atlasSizes[currentAtlas].x, atlasSizes[currentAtlas].y, &best_x, &best_y, &best_cw, &best_ch, &best_r, options.blockAlign, maxResolution, chart->allowRotate); XA_PROFILE_END(packChartsFindLocation) XA_DEBUG_ASSERT(!(firstChartInBitImage && !foundLocation)); // Chart doesn't fit in an empty, newly allocated bitImage. Shouldn't happen, since charts are resized if they are too big to fit in the atlas. if (maxResolution == 0) { @@ -7359,6 +8243,13 @@ struct Atlas } else { m_atlasImages[currentAtlas]->addChart(c, &chartImageRotated, options.bilinear ? &chartImageBilinearRotated : nullptr, options.padding > 0 ? &chartImagePaddingRotated : nullptr, atlasSizes[currentAtlas].x, atlasSizes[currentAtlas].y, best_x, best_y); } +#if XA_DEBUG_EXPORT_ATLAS_IMAGES && XA_DEBUG_EXPORT_ATLAS_IMAGES_PER_CHART + for (uint32_t j = 0; j < m_atlasImages.size(); j++) { + char filename[256]; + XA_SPRINTF(filename, sizeof(filename), "debug_atlas_image%02u_chart%04u.tga", j, i); + m_atlasImages[j]->writeTga(filename, (uint32_t)atlasSizes[j].x, (uint32_t)atlasSizes[j].y); + } +#endif } chart->atlasIndex = (int32_t)currentAtlas; // Modify texture coordinates: @@ -7415,7 +8306,7 @@ struct Atlas uint32_t count = 0; for (uint32_t y = 0; y < m_height; y++) { for (uint32_t x = 0; x < m_width; x++) - count += m_bitImages[i]->bitAt(x, y); + count += m_bitImages[i]->get(x, y); } m_utilization[i] = float(count) / (m_width * m_height); } @@ -7445,70 +8336,56 @@ private: // is occupied at this point. At the end we have many small charts and a large atlas with sparse holes. Finding those holes randomly is slow. A better approach would be to // start stacking large charts as if they were tetris pieces. Once charts get small try to place them randomly. It may be interesting to try a intermediate strategy, first try // along one axis and then try exhaustively along that axis. - bool findChartLocation(TaskScheduler *taskScheduler, const Vector2i &startPosition, bool bruteForce, const BitImage *atlasBitImage, const BitImage *chartBitImage, const BitImage *chartBitImageRotated, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned, uint32_t maxResolution, bool allowRotate) + bool findChartLocation(const Vector2i &startPosition, bool bruteForce, const BitImage *atlasBitImage, const BitImage *chartBitImage, const BitImage *chartBitImageRotated, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned, uint32_t maxResolution, bool allowRotate) { const int attempts = 4096; if (bruteForce || attempts >= w * h) - return findChartLocation_bruteForce(taskScheduler, startPosition, atlasBitImage, chartBitImage, chartBitImageRotated, w, h, best_x, best_y, best_w, best_h, best_r, blockAligned, maxResolution, allowRotate); + return findChartLocation_bruteForce(startPosition, atlasBitImage, chartBitImage, chartBitImageRotated, w, h, best_x, best_y, best_w, best_h, best_r, blockAligned, maxResolution, allowRotate); return findChartLocation_random(atlasBitImage, chartBitImage, chartBitImageRotated, w, h, best_x, best_y, best_w, best_h, best_r, attempts, blockAligned, maxResolution, allowRotate); } - bool findChartLocation_bruteForce(TaskScheduler *taskScheduler, const Vector2i &startPosition, const BitImage *atlasBitImage, const BitImage *chartBitImage, const BitImage *chartBitImageRotated, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned, uint32_t maxResolution, bool allowRotate) + bool findChartLocation_bruteForce(const Vector2i &startPosition, const BitImage *atlasBitImage, const BitImage *chartBitImage, const BitImage *chartBitImageRotated, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned, uint32_t maxResolution, bool allowRotate) { const int stepSize = blockAligned ? 4 : 1; - const int chartMinHeight = min(chartBitImage->height(), chartBitImageRotated->height()); - uint32_t taskCount = 0; - for (int y = startPosition.y; y <= h + stepSize; y += stepSize) { - if (maxResolution > 0 && y > (int)maxResolution - chartMinHeight) - break; - taskCount++; - } - m_bruteForceTaskArgs.clear(); - m_bruteForceTaskArgs.resize(taskCount); - TaskGroupHandle taskGroup = taskScheduler->createTaskGroup(taskCount); - std::atomic<bool> finished(false); // One of the tasks found a location that doesn't expand the atlas. - uint32_t i = 0; - for (int y = startPosition.y; y <= h + stepSize; y += stepSize) { - if (maxResolution > 0 && y > (int)maxResolution - chartMinHeight) - break; - FindChartLocationBruteForceTaskArgs &args = m_bruteForceTaskArgs[i]; - args.finished = &finished; - args.startPosition = Vector2i(y == startPosition.y ? startPosition.x : 0, y); - args.atlasBitImage = atlasBitImage; - args.chartBitImage = chartBitImage; - args.chartBitImageRotated = chartBitImageRotated; - args.w = w; - args.h = h; - args.blockAligned = blockAligned; - args.allowRotate = allowRotate; - args.maxResolution = maxResolution; - Task task; - task.userData = &m_bruteForceTaskArgs[i]; - task.func = runFindChartLocationBruteForceTask; - taskScheduler->run(taskGroup, task); - i++; - } - taskScheduler->wait(&taskGroup); - // Find the task result with the best metric. int best_metric = INT_MAX; - bool best_insideAtlas = false; - for (i = 0; i < taskCount; i++) { - FindChartLocationBruteForceTaskArgs &args = m_bruteForceTaskArgs[i]; - if (args.best_metric > best_metric) - continue; - // A location that doesn't expand the atlas is always preferred. - if (!args.best_insideAtlas && best_insideAtlas) - continue; - // If metric is the same, pick the one closest to the origin. - if (args.best_insideAtlas == best_insideAtlas && args.best_metric == best_metric && max(args.best_x, args.best_y) >= max(*best_x, *best_y)) - continue; - best_metric = args.best_metric; - best_insideAtlas = args.best_insideAtlas; - *best_x = args.best_x; - *best_y = args.best_y; - *best_w = args.best_w; - *best_h = args.best_h; - *best_r = args.best_r; + // Try two different orientations. + for (int r = 0; r < 2; r++) { + int cw = chartBitImage->width(); + int ch = chartBitImage->height(); + if (r == 1) { + if (allowRotate) + swap(cw, ch); + else + break; + } + for (int y = startPosition.y; y <= h + stepSize; y += stepSize) { + if (maxResolution > 0 && y > (int)maxResolution - ch) + break; + for (int x = (y == startPosition.y ? startPosition.x : 0); x <= w + stepSize; x += stepSize) { + if (maxResolution > 0 && x > (int)maxResolution - cw) + break; + // Early out if metric is not better. + const int extentX = max(w, x + cw), extentY = max(h, y + ch); + const int area = extentX * extentY; + const int extents = max(extentX, extentY); + const int metric = extents * extents + area; + if (metric > best_metric) + continue; + // If metric is the same, pick the one closest to the origin. + if (metric == best_metric && max(x, y) >= max(*best_x, *best_y)) + continue; + if (!atlasBitImage->canBlit(r == 1 ? *chartBitImageRotated : *chartBitImage, x, y)) + continue; + best_metric = metric; + *best_x = x; + *best_y = y; + *best_w = cw; + *best_h = ch; + *best_r = r; + if (area == w * h) + return true; // Chart is completely inside, do not look at any other location. + } + } } return best_metric != INT_MAX; } @@ -7581,10 +8458,10 @@ private: for (int x = 0; x < w; x++) { int xx = x + offset_x; if (xx >= 0) { - if (image->bitAt(x, y)) { + if (image->get(x, y)) { if (xx < atlas_w && yy < atlas_h) { - XA_DEBUG_ASSERT(atlasBitImage->bitAt(xx, yy) == false); - atlasBitImage->setBitAt(xx, yy); + XA_DEBUG_ASSERT(atlasBitImage->get(xx, yy) == false); + atlasBitImage->set(xx, yy); } } } @@ -7593,14 +8470,23 @@ private: } } - void bilinearExpand(const Chart *chart, BitImage *source, BitImage *dest, BitImage *destRotated) const + void bilinearExpand(const Chart *chart, BitImage *source, BitImage *dest, BitImage *destRotated, UniformGrid2 &boundaryEdgeGrid) const { + boundaryEdgeGrid.reset(chart->vertices, chart->indices); + if (chart->boundaryEdges) { + const uint32_t edgeCount = chart->boundaryEdges->size(); + for (uint32_t i = 0; i < edgeCount; i++) + boundaryEdgeGrid.append((*chart->boundaryEdges)[i]); + } else { + for (uint32_t i = 0; i < chart->indexCount; i++) + boundaryEdgeGrid.append(i); + } const int xOffsets[] = { -1, 0, 1, -1, 1, -1, 0, 1 }; const int yOffsets[] = { -1, -1, -1, 0, 0, 1, 1, 1 }; for (uint32_t y = 0; y < source->height(); y++) { for (uint32_t x = 0; x < source->width(); x++) { // Copy pixels from source. - if (source->bitAt(x, y)) + if (source->get(x, y)) goto setPixel; // Empty pixel. If none of of the surrounding pixels are set, this pixel can't be sampled by bilinear interpolation. { @@ -7610,44 +8496,32 @@ private: const int sy = (int)y + yOffsets[s]; if (sx < 0 || sy < 0 || sx >= (int)source->width() || sy >= (int)source->height()) continue; - if (source->bitAt((uint32_t)sx, (uint32_t)sy)) + if (source->get((uint32_t)sx, (uint32_t)sy)) break; } if (s == 8) continue; } - // If a 2x2 square centered on the pixels centroid intersects the triangle, this pixel will be sampled by bilinear interpolation. - // See "Precomputed Global Illumination in Frostbite (GDC 2018)" page 95 - for (uint32_t f = 0; f < chart->indexCount / 3; f++) { + { + // If a 2x2 square centered on the pixels centroid intersects the triangle, this pixel will be sampled by bilinear interpolation. + // See "Precomputed Global Illumination in Frostbite (GDC 2018)" page 95 const Vector2 centroid((float)x + 0.5f, (float)y + 0.5f); - Vector2 vertices[3]; - for (uint32_t i = 0; i < 3; i++) - vertices[i] = chart->vertices[chart->indices[f * 3 + i]]; - // Test for triangle vertex in square bounds. - for (uint32_t i = 0; i < 3; i++) { - const Vector2 &v = vertices[i]; - if (v.x > centroid.x - 1.0f && v.x < centroid.x + 1.0f && v.y > centroid.y - 1.0f && v.y < centroid.y + 1.0f) - goto setPixel; - } - // Test for triangle edge intersection with square edge. const Vector2 squareVertices[4] = { Vector2(centroid.x - 1.0f, centroid.y - 1.0f), Vector2(centroid.x + 1.0f, centroid.y - 1.0f), Vector2(centroid.x + 1.0f, centroid.y + 1.0f), Vector2(centroid.x - 1.0f, centroid.y + 1.0f) }; - for (uint32_t i = 0; i < 3; i++) { - for (uint32_t j = 0; j < 4; j++) { - if (linesIntersect(vertices[i], vertices[(i + 1) % 3], squareVertices[j], squareVertices[(j + 1) % 4], 0.0f)) - goto setPixel; - } + for (uint32_t j = 0; j < 4; j++) { + if (boundaryEdgeGrid.intersect(squareVertices[j], squareVertices[(j + 1) % 4], 0.0f)) + goto setPixel; } } continue; setPixel: - dest->setBitAt(x, y); + dest->set(x, y); if (destRotated) - destRotated->setBitAt(y, x); + destRotated->set(y, x); } } } @@ -7660,9 +8534,9 @@ private: static bool drawTriangleCallback(void *param, int x, int y) { auto args = (DrawTriangleCallbackArgs *)param; - args->chartBitImage->setBitAt(x, y); + args->chartBitImage->set(x, y); if (args->chartBitImageRotated) - args->chartBitImageRotated->setBitAt(y, x); + args->chartBitImageRotated->set(y, x); return true; } @@ -7670,7 +8544,6 @@ private: Array<float> m_utilization; Array<BitImage *> m_bitImages; Array<Chart *> m_charts; - Array<FindChartLocationBruteForceTaskArgs> m_bruteForceTaskArgs; RadixSort m_radix; uint32_t m_width = 0; uint32_t m_height = 0; @@ -7789,13 +8662,6 @@ static void runAddMeshTask(void *userData) } if (progress->cancel) goto cleanup; - { - XA_PROFILE_START(addMeshCreateBoundaries) - mesh->createBoundaries(); - XA_PROFILE_END(addMeshCreateBoundaries) - } - if (progress->cancel) - goto cleanup; #if XA_DEBUG_EXPORT_OBJ_SOURCE_MESHES char filename[256]; XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u.obj", mesh->id()); @@ -7805,22 +8671,22 @@ static void runAddMeshTask(void *userData) mesh->writeObjVertices(file); // groups uint32_t numGroups = 0; - for (uint32_t i = 0; i < mesh->faceGroupCount(); i++) { - if (mesh->faceGroupAt(i) != UINT32_MAX) + for (uint32_t i = 0; i < mesh->faceCount(); i++) { + if (mesh->faceGroupAt(i) != Mesh::kInvalidFaceGroup) numGroups = internal::max(numGroups, mesh->faceGroupAt(i) + 1); } for (uint32_t i = 0; i < numGroups; i++) { fprintf(file, "o group_%04d\n", i); fprintf(file, "s off\n"); - for (uint32_t f = 0; f < mesh->faceGroupCount(); f++) { + for (uint32_t f = 0; f < mesh->faceCount(); f++) { if (mesh->faceGroupAt(f) == i) mesh->writeObjFace(file, f); } } fprintf(file, "o group_ignored\n"); fprintf(file, "s off\n"); - for (uint32_t f = 0; f < mesh->faceGroupCount(); f++) { - if (mesh->faceGroupAt(f) == UINT32_MAX) + for (uint32_t f = 0; f < mesh->faceCount(); f++) { + if (mesh->faceGroupAt(f) == Mesh::kInvalidFaceGroup) mesh->writeObjFace(file, f); } mesh->writeObjBoundaryEges(file); @@ -8033,7 +8899,6 @@ void AddMeshJoin(Atlas *atlas) XA_PROFILE_PRINT_AND_RESET(" Total (thread): ", addMeshThread) XA_PROFILE_PRINT_AND_RESET(" Create colocals: ", addMeshCreateColocals) XA_PROFILE_PRINT_AND_RESET(" Create face groups: ", addMeshCreateFaceGroups) - XA_PROFILE_PRINT_AND_RESET(" Create boundaries: ", addMeshCreateBoundaries) XA_PROFILE_PRINT_AND_RESET(" Create chart groups (real): ", addMeshCreateChartGroupsReal) XA_PROFILE_PRINT_AND_RESET(" Create chart groups (thread): ", addMeshCreateChartGroupsThread) XA_PRINT_MEM_USAGE @@ -8044,16 +8909,7 @@ struct EdgeKey EdgeKey() {} EdgeKey(const EdgeKey &k) : v0(k.v0), v1(k.v1) {} EdgeKey(uint32_t v0, uint32_t v1) : v0(v0), v1(v1) {} - - void operator=(const EdgeKey &k) - { - v0 = k.v0; - v1 = k.v1; - } - bool operator==(const EdgeKey &k) const - { - return v0 == k.v0 && v1 == k.v1; - } + bool operator==(const EdgeKey &k) const { return v0 == k.v0 && v1 == k.v1; } uint32_t v0; uint32_t v1; @@ -8119,15 +8975,15 @@ AddMeshError::Enum AddUvMesh(Atlas *atlas, const UvMeshDecl &decl) for (uint32_t i = 0; i < indexCount; i++) vertexToFaceMap.add(meshInstance->texcoords[mesh->indices[i]]); internal::BitArray faceAssigned(faceCount); - faceAssigned.clearAll(); + faceAssigned.zeroOutMemory(); for (uint32_t f = 0; f < faceCount; f++) { - if (faceAssigned.bitAt(f)) + if (faceAssigned.get(f)) continue; // Found an unassigned face, create a new chart. internal::UvMeshChart *chart = XA_NEW(internal::MemTag::Default, internal::UvMeshChart); chart->material = decl.faceMaterialData ? decl.faceMaterialData[f] : 0; // Walk incident faces and assign them to the chart. - faceAssigned.setBitAt(f); + faceAssigned.set(f); chart->faces.push_back(f); for (;;) { bool newFaceAssigned = false; @@ -8140,8 +8996,8 @@ AddMeshError::Enum AddUvMesh(Atlas *atlas, const UvMeshDecl &decl) while (mapIndex != UINT32_MAX) { const uint32_t face2 = mapIndex / 3; // 3 vertices added per face. // Materials must match. - if (!faceAssigned.bitAt(face2) && (!decl.faceMaterialData || decl.faceMaterialData[face] == decl.faceMaterialData[face2])) { - faceAssigned.setBitAt(face2); + if (!faceAssigned.get(face2) && (!decl.faceMaterialData || decl.faceMaterialData[face] == decl.faceMaterialData[face2])) { + faceAssigned.set(face2); chart->faces.push_back(face2); newFaceAssigned = true; } @@ -8202,6 +9058,7 @@ void ComputeCharts(Atlas *atlas, ChartOptions chartOptions) continue; for (uint32_t k = 0; k < chartGroup->chartCount(); k++) { const internal::param::Chart *chart = chartGroup->chartAt(k); +#if XA_PRINT_CHART_WARNINGS if (chart->warningFlags() & internal::param::ChartWarningFlags::CloseHolesFailed) XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u): failed to close holes\n", chartCount, i, j, k); if (chart->warningFlags() & internal::param::ChartWarningFlags::FixTJunctionsDuplicatedEdge) @@ -8210,8 +9067,7 @@ void ComputeCharts(Atlas *atlas, ChartOptions chartOptions) XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u): fixing t-junctions failed\n", chartCount, i, j, k); if (chart->warningFlags() & internal::param::ChartWarningFlags::TriangulateDuplicatedEdge) XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u): triangulation created non-manifold geometry\n", chartCount, i, j, k); - if (!chart->isDisk()) - XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u): doesn't have disk topology\n", chartCount, i, j, k); +#endif holesCount += chart->closedHolesCount(); if (chart->closedHolesCount() > 0) chartsWithHolesCount++; @@ -8279,7 +9135,7 @@ void ParameterizeCharts(Atlas *atlas, ParameterizeFunc func) return; } XA_PROFILE_END(parameterizeChartsReal) - uint32_t chartCount = 0, orthoChartsCount = 0, planarChartsCount = 0, chartsAddedCount = 0, chartsDeletedCount = 0; + uint32_t chartCount = 0, orthoChartsCount = 0, planarChartsCount = 0, lscmChartsCount = 0, piecewiseChartsCount = 0, chartsAddedCount = 0, chartsDeletedCount = 0; for (uint32_t i = 0; i < ctx->meshCount; i++) { for (uint32_t j = 0; j < ctx->paramAtlas.chartGroupCount(i); j++) { const internal::param::ChartGroup *chartGroup = ctx->paramAtlas.chartGroupAt(i, j); @@ -8287,19 +9143,23 @@ void ParameterizeCharts(Atlas *atlas, ParameterizeFunc func) continue; for (uint32_t k = 0; k < chartGroup->chartCount(); k++) { const internal::param::Chart *chart = chartGroup->chartAt(k); - if (chart->isPlanar()) + if (chart->type() == ChartType::Planar) planarChartsCount++; - else if (chart->isOrtho()) + else if (chart->type() == ChartType::Ortho) orthoChartsCount++; + else if (chart->type() == ChartType::LSCM) + lscmChartsCount++; + else if (chart->type() == ChartType::Piecewise) + piecewiseChartsCount++; } chartCount += chartGroup->chartCount(); chartsAddedCount += chartGroup->paramAddedChartsCount(); chartsDeletedCount += chartGroup->paramDeletedChartsCount(); } } - XA_PRINT(" %u planar charts, %u ortho charts, %u other\n", planarChartsCount, orthoChartsCount, chartCount - (planarChartsCount + orthoChartsCount)); + XA_PRINT(" %u planar charts, %u ortho charts, %u LSCM charts, %u piecewise charts\n", planarChartsCount, orthoChartsCount, lscmChartsCount, piecewiseChartsCount); if (chartsDeletedCount > 0) { - XA_PRINT(" %u charts deleted due to invalid parameterizations, %u new charts added\n", chartsDeletedCount, chartsAddedCount); + XA_PRINT(" %u charts with invalid parameterizations replaced with %u new charts\n", chartsDeletedCount, chartsAddedCount); XA_PRINT(" %u charts\n", chartCount); } uint32_t chartIndex = 0, invalidParamCount = 0; @@ -8310,7 +9170,7 @@ void ParameterizeCharts(Atlas *atlas, ParameterizeFunc func) continue; for (uint32_t k = 0; k < chartGroup->chartCount(); k++) { const internal::param::Chart *chart = chartGroup->chartAt(k); - const internal::param::ParameterizationQuality &quality = chart->paramQuality(); + const internal::param::Quality &quality = chart->quality(); #if XA_DEBUG_EXPORT_OBJ_CHARTS_AFTER_PARAMETERIZATION { char filename[256]; @@ -8319,13 +9179,20 @@ void ParameterizeCharts(Atlas *atlas, ParameterizeFunc func) } #endif bool invalid = false; + const char *type = "LSCM"; + if (chart->type() == ChartType::Planar) + type = "planar"; + else if (chart->type() == ChartType::Ortho) + type = "ortho"; + else if (chart->type() == ChartType::Piecewise) + type = "piecewise"; if (quality.boundaryIntersection) { invalid = true; - XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u) (%s): invalid parameterization, self-intersecting boundary.\n", chartIndex, i, j, k, chart->isPlanar() ? "planar" : chart->isOrtho() ? "ortho" : "other"); + XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u) (%s): invalid parameterization, self-intersecting boundary.\n", chartIndex, i, j, k, type); } if (quality.flippedTriangleCount > 0) { invalid = true; - XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u) (%s): invalid parameterization, %u / %u flipped triangles.\n", chartIndex, i, j, k, chart->isPlanar() ? "planar" : chart->isOrtho() ? "ortho" : "other", quality.flippedTriangleCount, quality.totalTriangleCount); + XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u) (%s): invalid parameterization, %u / %u flipped triangles.\n", chartIndex, i, j, k, type, quality.flippedTriangleCount, quality.totalTriangleCount); } if (invalid) invalidParamCount++; @@ -8415,7 +9282,7 @@ void PackCharts(Atlas *atlas, PackOptions packOptions) packAtlas.addCharts(ctx->taskScheduler, &ctx->paramAtlas); XA_PROFILE_END(packChartsAddCharts) XA_PROFILE_START(packCharts) - if (!packAtlas.packCharts(ctx->taskScheduler, packOptions, ctx->progressFunc, ctx->progressUserData)) + if (!packAtlas.packCharts(packOptions, ctx->progressFunc, ctx->progressUserData)) return; XA_PROFILE_END(packCharts) // Populate atlas object with pack results. @@ -8440,8 +9307,7 @@ void PackCharts(Atlas *atlas, PackOptions packOptions) XA_PROFILE_PRINT_AND_RESET(" Restore texcoords: ", packChartsAddChartsRestoreTexcoords) XA_PROFILE_PRINT_AND_RESET(" Rasterize: ", packChartsRasterize) XA_PROFILE_PRINT_AND_RESET(" Dilate (padding): ", packChartsDilate) - XA_PROFILE_PRINT_AND_RESET(" Find location (real): ", packChartsFindLocation) - XA_PROFILE_PRINT_AND_RESET(" Find location (thread): ", packChartsFindLocationThread) + XA_PROFILE_PRINT_AND_RESET(" Find location: ", packChartsFindLocation) XA_PROFILE_PRINT_AND_RESET(" Blit: ", packChartsBlit) XA_PRINT_MEM_USAGE XA_PRINT("Building output meshes\n"); @@ -8527,9 +9393,7 @@ void PackCharts(Atlas *atlas, PackOptions packOptions) const int32_t atlasIndex = packAtlas.getChart(chartIndex)->atlasIndex; XA_DEBUG_ASSERT(atlasIndex >= 0); outputChart->atlasIndex = (uint32_t)atlasIndex; - outputChart->flags = 0; - if (chart->paramQuality().boundaryIntersection || chart->paramQuality().flippedTriangleCount > 0) - outputChart->flags |= ChartFlags::Invalid; + outputChart->type = chart->type(); outputChart->faceCount = mesh->faceCount(); outputChart->faceArray = XA_ALLOC_ARRAY(internal::MemTag::Default, uint32_t, outputChart->faceCount); for (uint32_t f = 0; f < outputChart->faceCount; f++) diff --git a/thirdparty/xatlas/xatlas.h b/thirdparty/xatlas/xatlas.h index 7be165e7e5..e59f493287 100644 --- a/thirdparty/xatlas/xatlas.h +++ b/thirdparty/xatlas/xatlas.h @@ -35,11 +35,14 @@ Copyright NVIDIA Corporation 2006 -- Ignacio Castano <icastano@nvidia.com> namespace xatlas { -struct ChartFlags +struct ChartType { - enum + enum Enum { - Invalid = 1 << 0 + Planar, + Ortho, + LSCM, + Piecewise }; }; @@ -47,10 +50,10 @@ struct ChartFlags struct Chart { uint32_t atlasIndex; // Sub-atlas index. - uint32_t flags; uint32_t *faceArray; uint32_t faceCount; uint32_t material; + ChartType::Enum type; }; // Output vertex. |