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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
Download Patch File Download Diff File Expand all files Collapse all files

59
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
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@@ -39,10 +39,11 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
}
#ifndef MIN
#define MIN( _a, _b) ((_a) < (_b) ? (_a) : (_b))
#endif
btVector3 btMultiSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
int i;
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
@@ -66,18 +67,23 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
const btScalar* rad = &m_radiArray[0];
int numSpheres = m_localPositionArray.size();
for (i=0;i<numSpheres;i++)
{
vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
rad++;
newDot = vec.dot(vtx);
if (newDot > maxDot)
for( int k = 0; k < numSpheres; k+= 128 )
{
btVector3 temp[128];
int inner_count = MIN( numSpheres - k, 128 );
for( long i = 0; i < inner_count; i++ )
{
temp[i] = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
rad++;
}
long i = vec.maxDot( temp, inner_count, newDot);
if( newDot > maxDot )
{
maxDot = newDot;
supVec = vtx;
supVec = temp[i];
}
}
}
return supVec;
@@ -98,18 +104,25 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
const btVector3* pos = &m_localPositionArray[0];
const btScalar* rad = &m_radiArray[0];
int numSpheres = m_localPositionArray.size();
for (int i=0;i<numSpheres;i++)
{
vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
rad++;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supportVerticesOut[j] = vtx;
}
}
for( int k = 0; k < numSpheres; k+= 128 )
{
btVector3 temp[128];
int inner_count = MIN( numSpheres - k, 128 );
for( long i = 0; i < inner_count; i++ )
{
temp[i] = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
rad++;
}
long i = vec.maxDot( temp, inner_count, newDot);
if( newDot > maxDot )
{
maxDot = newDot;
supportVerticesOut[j] = temp[i];
}
}
}
}