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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

56
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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@@ -45,7 +45,7 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
m_polyhedron = new (mem) btConvexPolyhedron;
btAlignedObjectArray<btVector3> orgVertices;
btAlignedObjectArray<btVector3> orgVertices;
for (int i=0;i<getNumVertices();i++)
{
@@ -107,9 +107,6 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
int numEdges = 0;
//compute face normals
btScalar maxCross2 = 0.f;
int chosenEdge = -1;
do
{
@@ -299,6 +296,9 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
return true;
}
#ifndef MIN
#define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b))
#endif
btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
@@ -323,17 +323,19 @@ btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b
btVector3 vtx;
btScalar newDot;
for (i=0;i<getNumVertices();i++)
{
getVertex(i,vtx);
newDot = vec.dot(vtx);
for( int k = 0; k < getNumVertices(); k += 128 )
{
btVector3 temp[128];
int inner_count = MIN(getNumVertices() - k, 128);
for( i = 0; i < inner_count; i++ )
getVertex(i,temp[i]);
i = (int) vec.maxDot( temp, inner_count, newDot);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
supVec = temp[i];
}
}
#endif //__SPU__
return supVec;
@@ -356,21 +358,23 @@ void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
for (int j=0;j<numVectors;j++)
{
const btVector3& vec = vectors[j];
for (i=0;i<getNumVertices();i++)
{
getVertex(i,vtx);
newDot = vec.dot(vtx);
if (newDot > supportVerticesOut[j][3])
{
//WARNING: don't swap next lines, the w component would get overwritten!
supportVerticesOut[j] = vtx;
const btVector3& vec = vectors[j];
for( int k = 0; k < getNumVertices(); k += 128 )
{
btVector3 temp[128];
int inner_count = MIN(getNumVertices() - k, 128);
for( i = 0; i < inner_count; i++ )
getVertex(i,temp[i]);
i = (int) vec.maxDot( temp, inner_count, newDot);
if (newDot > supportVerticesOut[j][3])
{
supportVerticesOut[j] = temp[i];
supportVerticesOut[j][3] = newDot;
}
}
}
}
}
}
#endif //__SPU__
}