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Added SSE4/FMA optimized constraint row solver implementation for btSequentialImpulseConstraintSolver,

Browse Source 
thanks to Vladimir Bondarev (https://github.com/VladimirBondarev/bullet3/tree/c25d)
This commit is contained in:
Erwin Coumans
2014-05-01 17:13:50 -07:00
parent 7151865c16
commit 0e1b90d708
5 changed files with 301 additions and 69 deletions
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2
ObsoleteDemos/CMakeLists.txt
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@@ -10,7 +10,7 @@ IF (USE_GLUT)
# ENDIF()
SET(SharedDemoSubdirs
OpenGL
CcdPhysicsDemo SliderConstraintDemo GenericJointDemo Raytracer
CcdPhysicsDemo ConstraintDemo SliderConstraintDemo GenericJointDemo Raytracer
RagdollDemo ForkLiftDemo BasicDemo FeatherstoneMultiBodyDemo RollingFrictionDemo RaytestDemo VoronoiFractureDemo
GyroscopicDemo FractureDemo Box2dDemo BspDemo MovingConcaveDemo VehicleDemo
UserCollisionAlgorithm CharacterDemo SoftDemo

8
ObsoleteDemos/ConstraintDemo/CMakeLists.txt
View File

@@ -14,14 +14,14 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
${GLUT_INCLUDE_DIR}
)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY}
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConstraintDemo
@@ -31,7 +31,7 @@ IF (USE_GLUT)
)
ELSE (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConstraintDemo

193
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -37,30 +37,53 @@ int gNumSplitImpulseRecoveries = 0;
#include "BulletDynamics/Dynamics/btRigidBody.h"
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
:m_btSeed2(0)
{
}
btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
{
}
#ifdef USE_SIMD
#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))
static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 )
{
__m128 result = _mm_mul_ps( vec0, vec1);
return _mm_add_ps( btVecSplat( result, 0 ), _mm_add_ps( btVecSplat( result, 1 ), btVecSplat( result, 2 ) ) );
}
#endif//USE_SIMD
#define USE_FMA 1
#define USE_FMA3_INSTEAD_FMA4 1
#define USE_SSE4_DOT 0
#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))
#if USE_SSE4_DOT
#define DOT_PRODUCT(a, b) SSE4_DP(a, b)
#else
#define DOT_PRODUCT(a, b) btSimdDot3(a, b)
#endif
#if USE_FMA
#if USE_FMA3_INSTEAD_FMA4
// a*b + c
#define FMADD(a, b, c) _mm_fmadd_ps(a, b, c)
// -(a*b) + c
#define FMNADD(a, b, c) _mm_fnmadd_ps(a, b, c)
#else // USE_FMA3
// a*b + c
#define FMADD(a, b, c) _mm_macc_ps(a, b, c)
// -(a*b) + c
#define FMNADD(a, b, c) _mm_nmacc_ps(a, b, c)
#endif
#else // USE_FMA
// c + a*b
#define FMADD(a, b, c) _mm_add_ps(c, _mm_mul_ps(a, b))
// c - a*b
#define FMNADD(a, b, c) _mm_sub_ps(c, _mm_mul_ps(a, b))
#endif
// Project Gauss Seidel or the equivalent Sequential Impulse
btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
static btSimdScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
{
#ifdef USE_SIMD
__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
@@ -86,8 +109,92 @@ btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGene
body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
return deltaImpulse;
}
// Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3
static btSimdScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
{
__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);
const __m128 upperLimit = _mm_set_ps1(c.m_upperLimit);
const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128));
deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse);
deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse);
tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse); // sum
const __m128 maskLower = _mm_cmpgt_ps(tmp, lowerLimit);
const __m128 maskUpper = _mm_cmpgt_ps(upperLimit, tmp);
deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), _mm_blendv_ps(_mm_sub_ps(upperLimit, c.m_appliedImpulse), deltaImpulse, maskUpper), maskLower);
c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, _mm_blendv_ps(upperLimit, tmp, maskUpper), maskLower);
body1.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128), deltaImpulse, body1.internalGetDeltaLinearVelocity().mVec128);
body1.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, body1.internalGetDeltaAngularVelocity().mVec128);
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;
}
static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
{
__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm)));
__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128));
deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
btSimdScalar resultLowerLess, resultUpperLess;
resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1);
resultUpperLess = _mm_cmplt_ps(sum, upperLimit1);
__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128);
__m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128);
__m128 impulseMagnitude = deltaImpulse;
body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
return deltaImpulse;
}
// Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3
static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
{
__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);
const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128));
deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse);
deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse);
tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse);
const __m128 mask = _mm_cmpgt_ps(tmp, lowerLimit);
deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), deltaImpulse, mask);
c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, tmp, mask);
body1.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128), deltaImpulse, body1.internalGetDeltaLinearVelocity().mVec128);
body1.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, body1.internalGetDeltaAngularVelocity().mVec128);
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;
}
#endif //USE_SIMD
btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
#ifdef USE_SIMD
return m_resolveSingleConstraintRowGeneric(body1, body2, c);
#else
return resolveSingleConstraintRowGeneric(body1,body2,c);
#endif
@@ -129,29 +236,7 @@ btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGene
btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
#ifdef USE_SIMD
__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm)));
__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
btSimdScalar resultLowerLess,resultUpperLess;
resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1);
resultUpperLess = _mm_cmplt_ps(sum,upperLimit1);
__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128);
__m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128);
__m128 impulseMagnitude = deltaImpulse;
body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
return deltaImpulse;
return m_resolveSingleConstraintRowLowerLimit(body1, body2, c);
#else
return resolveSingleConstraintRowLowerLimit(body1,body2,c);
#endif
@@ -248,6 +333,36 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
}
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
:m_btSeed2(0),
m_resolveSingleConstraintRowGeneric(gResolveSingleConstraintRowGeneric_sse2),
m_resolveSingleConstraintRowLowerLimit(gResolveSingleConstraintRowLowerLimit_sse2)
{
}
btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
{
}
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric()
{
return gResolveSingleConstraintRowGeneric_sse2;
}
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverGeneric()
{
return gResolveSingleConstraintRowGeneric_sse4_1_fma3;
}
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverLowerLimit()
{
return gResolveSingleConstraintRowLowerLimit_sse2;
}
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverLowerLimit()
{
return gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
}
unsigned long btSequentialImpulseConstraintSolver::btRand2()
{
@@ -434,8 +549,8 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
// btScalar positionalError = 0.f;
btScalar velocityError = desiredVelocity - rel_vel;
btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
btSimdScalar velocityError = desiredVelocity - rel_vel;
btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_rhsPenetration = 0.f;
solverConstraint.m_cfm = cfmSlip;
@@ -1741,5 +1856,3 @@ void btSequentialImpulseConstraintSolver::reset()
{
m_btSeed2 = 0;
}

36
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@@ -27,6 +27,8 @@ class btCollisionObject;
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
typedef btSimdScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
{
@@ -43,6 +45,10 @@ protected:
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
int m_maxOverrideNumSolverIterations;
int m_fixedBodyId;
btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
void 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,
@@ -113,8 +119,6 @@ public:
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
///clear internal cached data and reset random seed
virtual void reset();
@@ -136,6 +140,34 @@ public:
{
return BT_SEQUENTIAL_IMPULSE_SOLVER;
}
btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric()
{
return m_resolveSingleConstraintRowGeneric;
}
void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver)
{
m_resolveSingleConstraintRowGeneric = rowSolver;
}
btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit()
{
return m_resolveSingleConstraintRowLowerLimit;
}
void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver)
{
m_resolveSingleConstraintRowLowerLimit = rowSolver;
}
// btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
};

87
src/LinearMath/btCpuFeatureUtility.h Normal file
View File

@@ -0,0 +1,87 @@
#ifndef BT_CPU_UTILITY_H
#define BT_CPU_UTILITY_H
#include "LinearMath/btScalar.h"
#include <string.h>//memset
#ifdef BT_USE_SSE
#if (_MSC_FULL_VER >= 160040219)
#include <intrin.h>
#endif
#endif
#if defined BT_USE_NEON
#define ARM_NEON_GCC_COMPATIBILITY 1
#include <arm_neon.h>
#include <sys/types.h>
#include <sys/sysctl.h> //for sysctlbyname
#endif //BT_USE_NEON
///Rudimentary btCpuFeatureUtility for CPU features: only report the features that Bullet actually uses (SSE4/FMA3, NEON_HPFP)
///We assume SSE2 in case BT_USE_SSE2 is defined in LinearMath/btScalar.h
class btCpuFeatureUtility
{
public:
enum btCpuFeature
{
CPU_FEATURE_FMA3=1,
CPU_FEATURE_SSE4_1=2,
CPU_FEATURE_NEON_HPFP=4
};
static int getCpuFeatures(btCpuFeature inFeature)
{
static int capabilities = 0;
static bool testedCapabilities = false;
if (0 != testedCapabilities)
{
return capabilities;
}
#ifdef BT_USE_NEON
{
uint32_t hasFeature = 0;
size_t featureSize = sizeof(hasFeature);
int err = sysctlbyname("hw.optional.neon_hpfp", &hasFeature, &featureSize, NULL, 0);
if (0 == err && hasFeature)
capabilities |= CPU_FEATURE_NEON_HPFP;
}
#endif //BT_USE_NEON
#ifdef BT_USE_SSE
#if (_MSC_FULL_VER >= 160040219)
{
int cpuInfo[4];
memset(cpuInfo, 0, sizeof(cpuInfo));
unsigned long long sseExt;
__cpuid(mCpuInfo, 1);
mExt = _xgetbv(0);
const int OSXSAVEFlag = (1UL << 27);
const int AVXFlag = ((1UL << 28) | OSXSAVEFlag);
const int FMAFlag = ((1UL << 12) | AVXFlag | OSXSAVEFlag);
if ((mCpuInfo[2] & FMAFlag) == FMAFlag && (mExt & 6) == 6)
{
capabilities |= btCpuFeatureUtility::CPU_FEATURE_FMA3;
}
const int SSE41Flag = (1 << 19);
if (mCpuInfo[2] & SSE41Flag)
{
capabilities |= btCpuFeatureUtility::CPU_FEATURE_SSE4_1;
}
}
#endif//(_MSC_FULL_VER >= 160040219)
#endif//BT_USE_SSE
testedCapabilities = true;
return capabilities;
}
};
#endif //BT_CPU_UTILITY_H