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Apple contribution for OSX SSE and iOS NEON optimizations unit tests, thanks to Jordan Hubbard, Ian Ollmann and Hristo Hristov.

Browse Source 
For OSX:
cd build
./premake_osx xcode4
for iOS:
cd build
./ios_build.sh
./ios_run.sh

Also integrated the branches/StackAllocation to make it easier to multi-thread collision detection in the near future. It avoids changing the btCollisionObject while performing collision detection.

As this is a large patch, some stuff might be temporarily broken, I'll keep an eye out on issues.
This commit is contained in:
erwin.coumans
2012-06-07 00:56:30 +00:00
parent 777b92a2ad
commit 73b217fb07
323 changed files with 30730 additions and 13635 deletions
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33
src/BulletCollision/CollisionShapes/btConvexShape.cpp
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@@ -109,19 +109,8 @@ static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector
return supVec;
#else
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
int ptIndex = -1;
for (int i=0;i<numPoints;i++)
{
newDot = vec.dot(points[i]);
if (newDot > maxDot)
{
maxDot = newDot;
ptIndex = i;
}
}
btScalar maxDot;
long ptIndex = vec.maxDot( points, numPoints, maxDot);
btAssert(ptIndex >= 0);
btVector3 supVec = points[ptIndex] * localScaling;
return supVec;
@@ -141,16 +130,26 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btBoxShape* convexShape = (btBoxShape*)this;
const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
#if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON ))
#if defined( BT_USE_SSE )
return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 ));
#elif defined( BT_USE_NEON )
return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 ));
#else
#error unknown vector arch
#endif
#else
return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
#endif
}
case TRIANGLE_SHAPE_PROXYTYPE:
{
btTriangleShape* triangleShape = (btTriangleShape*)this;
btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
btVector3* vertices = &triangleShape->m_vertices1[0];
btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
btVector3 sup = vertices[dots.maxAxis()];
return btVector3(sup.getX(),sup.getY(),sup.getZ());
}
@@ -383,8 +382,8 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
halfExtents += btVector3(margin,margin,margin);
btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMin = center - extent;
aabbMax = center + extent;
break;
@@ -417,7 +416,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual());
btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMin = center - extent;
aabbMax = center + extent;
}