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Fix Issue 712, related to NVIDIA CUDA check in CMakeLists.txt

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Enable btGImpact raycast optimization, thanks to C0DEFACE, see Issue 664
Cull triangle/AABB for concave/heightfield shapes, thanks to Danny Chapman
fix btGetCpuCapabilities, thanks to Ian Ollman! See https://code.google.com/p/bullet/issues/detail?id=738
This commit is contained in:
erwin.coumans
2013-09-10 23:09:24 +00:00
parent 7633dc8b13
commit 7195b54d13
5 changed files with 70 additions and 40 deletions
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43
src/LinearMath/btVector3.cpp
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@@ -835,39 +835,48 @@ static long _mindot_large_sel( const float *vv, const float *vec, unsigned long
long (*_maxdot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _maxdot_large_sel;
long (*_mindot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _mindot_large_sel;
//Apple doesn't allow to use this internal API and rejects Apps.
//thanks Apple for rejecting your own contribution :-)
//Let's always use version 'v1'
//See https://code.google.com/p/bullet/issues/detail?id=738
#ifdef USE_DEVICE_CAPABILITIES
extern "C" {int _get_cpu_capabilities( void );}
#endif //USE_DEVICE_CAPABILITIES
static inline uint32_t btGetCpuCapabilities( void )
{
static uint32_t capabilities = 0;
static bool testedCapabilities = false;
if( 0 == testedCapabilities)
{
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 |= 0x2000;
testedCapabilities = true;
}
return capabilities;
}
static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult )
{
#ifdef USE_DEVICE_CAPABILITIES
if( _get_cpu_capabilities() & 0x2000 )
if( btGetCpuCapabilities() & 0x2000 )
_maxdot_large = _maxdot_large_v1;
else
_maxdot_large = _maxdot_large_v0;
#else
_maxdot_large = _maxdot_large_v1;
#endif
return _maxdot_large(vv, vec, count, dotResult);
}
static long _mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult )
{
#ifdef USE_DEVICE_CAPABILITIES
if( _get_cpu_capabilities() & 0x2000 )
if( btGetCpuCapabilities() & 0x2000 )
_mindot_large = _mindot_large_v1;
else
_mindot_large = _mindot_large_v0;
#else
_mindot_large = _mindot_large_v1;
#endif
return _mindot_large(vv, vec, count, dotResult);
}