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Only enable SSE4 for Visual Studio 2012 or later (_MSC_FULL_VER >= 170050727), it breaks the build for Visual Studio 2010

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Add additional constructor for btMultiBodyJointMotor
This commit is contained in:
erwincoumans
2014-05-01 22:23:37 -07:00
parent 0e1b90d708
commit 0b6d1af1d4
5 changed files with 39 additions and 13 deletions
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10
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -49,6 +49,7 @@ static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 )
return _mm_add_ps( btVecSplat( result, 0 ), _mm_add_ps( btVecSplat( result, 1 ), btVecSplat( result, 2 ) ) );
}
#if defined (BT_USE_SSE4)
#define USE_FMA 1
#define USE_FMA3_INSTEAD_FMA4 1
#define USE_SSE4_DOT 0
@@ -80,6 +81,7 @@ static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 )
// c - a*b
#define FMNADD(a, b, c) _mm_sub_ps(c, _mm_mul_ps(a, b))
#endif
#endif
// Project Gauss Seidel or the equivalent Sequential Impulse
static btSimdScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
@@ -116,6 +118,7 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& body1,
// Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3
static btSimdScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
{
#if defined (BT_ALLOW_SSE4)
__m128 tmp = _mm_set_ps1(c.m_jacDiagABInv);
__m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm);
const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit);
@@ -134,6 +137,9 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody&
body2.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128), deltaImpulse, body2.internalGetDeltaLinearVelocity().mVec128);
body2.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, body2.internalGetDeltaAngularVelocity().mVec128);
return deltaImpulse;
#else
return gResolveSingleConstraintRowGeneric_sse2(body1,body2,c);
#endif
}
@@ -168,6 +174,7 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& bod
// Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3
static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
{
#ifdef BT_ALLOW_SSE4
__m128 tmp = _mm_set_ps1(c.m_jacDiagABInv);
__m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm);
const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit);
@@ -184,6 +191,9 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBo
body2.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128), deltaImpulse, body2.internalGetDeltaLinearVelocity().mVec128);
body2.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, body2.internalGetDeltaAngularVelocity().mVec128);
return deltaImpulse;
#else
return gResolveSingleConstraintRowLowerLimit_sse2(body1,body2,c);
#endif //BT_ALLOW_SSE4
}