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add gjk/epa (host only), possibly improve convex-convex with many edge-edge tests

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more preparation towards persistent/incremental contact cache
This commit is contained in:
erwincoumans
2013-07-31 23:22:43 -07:00
parent 7992ff816b
commit 34de49d8a4
24 changed files with 3020 additions and 118 deletions
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10
src/Bullet3Common/b3Vector3.h
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@@ -992,7 +992,7 @@ B3_FORCE_INLINE long b3Vector3::maxDot( const b3Vector3 *array, long array_
#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
#if defined _WIN32 || defined (B3_USE_SSE)
const long scalar_cutoff = 10;
long _maxdot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
long b3_maxdot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
#elif defined B3_USE_NEON
const long scalar_cutoff = 4;
extern long (*_maxdot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut );
@@ -1020,7 +1020,7 @@ B3_FORCE_INLINE long b3Vector3::maxDot( const b3Vector3 *array, long array_
return ptIndex;
}
#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
return _maxdot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
return b3_maxdot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
#endif
}
@@ -1029,10 +1029,10 @@ B3_FORCE_INLINE long b3Vector3::minDot( const b3Vector3 *array, long array_
#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
#if defined B3_USE_SSE
const long scalar_cutoff = 10;
long _mindot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
long b3_mindot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
#elif defined B3_USE_NEON
const long scalar_cutoff = 4;
extern long (*_mindot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut );
extern long (*b3_mindot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut );
#else
#error unhandled arch!
#endif
@@ -1060,7 +1060,7 @@ B3_FORCE_INLINE long b3Vector3::minDot( const b3Vector3 *array, long array_
return ptIndex;
}
#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
return _mindot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
return b3_mindot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
#endif
}