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fix Linux build

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This commit is contained in:
erwincoumans
2014-05-03 02:50:09 -07:00
parent 66ab2a2022
commit 0e1a77047c
4 changed files with 179 additions and 136 deletions
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7
Demos3/AllBullet2Demos/CMakeLists.txt
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@@ -34,6 +34,10 @@ SET(App_AllBullet2Demos_SRCS
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
) )
LINK_LIBRARIES(
Bullet3Common BulletSoftBody BulletDynamics BulletCollision LinearMath OpenGLWindow gwen ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32) IF (WIN32)
SET(App_AllBullet2Demos_SRCS ${App_AllBullet2Demos_SRCS} ${App_AllBullet2Demos_Common_SRCS}) SET(App_AllBullet2Demos_SRCS ${App_AllBullet2Demos_SRCS} ${App_AllBullet2Demos_Common_SRCS})
INCLUDE_DIRECTORIES( INCLUDE_DIRECTORIES(
@@ -52,9 +56,6 @@ ENDIF(WIN32)
LINK_LIBRARIES(
Bullet3Common BulletSoftBody BulletDynamics BulletCollision LinearMath OpenGLWindow gwen ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(App_AllBullet2Demos ADD_EXECUTABLE(App_AllBullet2Demos
${App_AllBullet2Demos_SRCS} ${App_AllBullet2Demos_SRCS}

159
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -22,6 +22,8 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "LinearMath/btIDebugDraw.h" #include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btCpuFeatureUtility.h"
//#include "btJacobianEntry.h" //#include "btJacobianEntry.h"
#include "LinearMath/btMinMax.h" #include "LinearMath/btMinMax.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
@@ -38,11 +40,70 @@ int gNumSplitImpulseRecoveries = 0;
#include "BulletDynamics/Dynamics/btRigidBody.h" #include "BulletDynamics/Dynamics/btRigidBody.h"
///This is the scalar reference implementation of solving a single constraint row, the innerloop of the Projected Gauss Seidel/Sequential Impulse constraint solver
///Below are optional SSE2 and SSE4/FMA3 versions. We assume most hardware has SSE2. For SSE4/FMA3 we perform a CPU feature check.
static btSimdScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
if (sum < c.m_lowerLimit)
{
deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
c.m_appliedImpulse = c.m_lowerLimit;
}
else if (sum > c.m_upperLimit)
{
deltaImpulse = c.m_upperLimit - c.m_appliedImpulse;
c.m_appliedImpulse = c.m_upperLimit;
}
else
{
c.m_appliedImpulse = sum;
}
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
return deltaImpulse;
}
static btSimdScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
if (sum < c.m_lowerLimit)
{
deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
c.m_appliedImpulse = c.m_lowerLimit;
}
else
{
c.m_appliedImpulse = sum;
}
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
return deltaImpulse;
}
#ifdef USE_SIMD #ifdef USE_SIMD
#include <emmintrin.h> #include <emmintrin.h>
//#include <intrin.h>//is it safe to include this header?
#define btVecSplat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e,e,e,e)) #define btVecSplat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e,e,e,e))
static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 ) static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 )
@@ -51,12 +112,12 @@ static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 )
return _mm_add_ps( btVecSplat( result, 0 ), _mm_add_ps( btVecSplat( result, 1 ), btVecSplat( result, 2 ) ) ); return _mm_add_ps( btVecSplat( result, 0 ), _mm_add_ps( btVecSplat( result, 1 ), btVecSplat( result, 2 ) ) );
} }
#if defined (BT_USE_SSE4) #if defined (BT_ALLOW_SSE4)
#include <intrin.h> #include <intrin.h>
#define USE_FMA 1 #define USE_FMA 1
#define USE_FMA3_INSTEAD_FMA4 1 #define USE_FMA3_INSTEAD_FMA4 1
#define USE_SSE4_DOT 0 #define USE_SSE4_DOT 1
#define SSE4_DP(a, b) _mm_dp_ps(a, b, 0x7f) #define SSE4_DP(a, b) _mm_dp_ps(a, b, 0x7f)
#define SSE4_DP_FP(a, b) _mm_cvtss_f32(_mm_dp_ps(a, b, 0x7f)) #define SSE4_DP_FP(a, b) _mm_cvtss_f32(_mm_dp_ps(a, b, 0x7f))
@@ -147,6 +208,7 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody&
} }
static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
{ {
__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse); __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
@@ -217,34 +279,7 @@ btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGene
// Project Gauss Seidel or the equivalent Sequential Impulse // Project Gauss Seidel or the equivalent Sequential Impulse
btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{ {
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm; return gResolveSingleConstraintRowGeneric_scalar_reference(body1, body2, c);
const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
if (sum < c.m_lowerLimit)
{
deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
c.m_appliedImpulse = c.m_lowerLimit;
}
else if (sum > c.m_upperLimit)
{
deltaImpulse = c.m_upperLimit-c.m_appliedImpulse;
c.m_appliedImpulse = c.m_upperLimit;
}
else
{
c.m_appliedImpulse = sum;
}
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
return deltaImpulse;
} }
btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
@@ -259,26 +294,7 @@ btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowe
btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{ {
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm; return gResolveSingleConstraintRowLowerLimit_scalar_reference(body1,body2,c);
const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
if (sum < c.m_lowerLimit)
{
deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
c.m_appliedImpulse = c.m_lowerLimit;
}
else
{
c.m_appliedImpulse = sum;
}
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
return deltaImpulse;
} }
@@ -349,34 +365,61 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver() btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
:m_btSeed2(0), :m_btSeed2(0),
m_resolveSingleConstraintRowGeneric(gResolveSingleConstraintRowGeneric_sse2), m_resolveSingleConstraintRowGeneric(gResolveSingleConstraintRowGeneric_scalar_reference),
m_resolveSingleConstraintRowLowerLimit(gResolveSingleConstraintRowLowerLimit_sse2) m_resolveSingleConstraintRowLowerLimit(gResolveSingleConstraintRowLowerLimit_scalar_reference)
{ {
#ifdef USE_SIMD
m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse2;
m_resolveSingleConstraintRowLowerLimit=gResolveSingleConstraintRowLowerLimit_sse2;
#endif //USE_SIMD
#ifdef BT_ALLOW_SSE4
int cpuFeatures = btCpuFeatureUtility::getCpuFeatures();
if ((cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_FMA3) && (cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_SSE4_1))
{
m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse4_1_fma3;
m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
}
#endif//BT_ALLOW_SSE4
} }
btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver() btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
{ {
} }
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverGeneric()
{
return gResolveSingleConstraintRowGeneric_scalar_reference;
}
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverLowerLimit()
{
return gResolveSingleConstraintRowLowerLimit_scalar_reference;
}
#ifdef USE_SIMD
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric() btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric()
{ {
return gResolveSingleConstraintRowGeneric_sse2; return gResolveSingleConstraintRowGeneric_sse2;
} }
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverGeneric()
{
return gResolveSingleConstraintRowGeneric_sse4_1_fma3;
}
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverLowerLimit() btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverLowerLimit()
{ {
return gResolveSingleConstraintRowLowerLimit_sse2; return gResolveSingleConstraintRowLowerLimit_sse2;
} }
#ifdef BT_ALLOW_SSE4
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverGeneric()
{
return gResolveSingleConstraintRowGeneric_sse4_1_fma3;
}
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverLowerLimit() btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverLowerLimit()
{ {
return gResolveSingleConstraintRowLowerLimit_sse4_1_fma3; return gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
} }
#endif //BT_ALLOW_SSE4
#endif //USE_SIMD
unsigned long btSequentialImpulseConstraintSolver::btRand2() unsigned long btSequentialImpulseConstraintSolver::btRand2()
{ {

11
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -158,16 +158,15 @@ public:
m_resolveSingleConstraintRowLowerLimit = rowSolver; m_resolveSingleConstraintRowLowerLimit = rowSolver;
} }
///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4
// btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4
btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
}; };