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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

12
src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.cpp
View File

@@ -48,7 +48,7 @@ static char* ComputeBoundsHLSLString =
#include "HLSL/ComputeBounds.hlsl"
static char* SolveCollisionsAndUpdateVelocitiesHLSLString =
#include "HLSL/SolveCollisionsAndUpdateVelocities.hlsl"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btSoftBodyLinkDataDX11::btSoftBodyLinkDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ) :
m_dx11Links( d3dDevice, d3dDeviceContext, &m_links, false ),
@@ -2162,14 +2162,14 @@ void btDX11SoftBodySolver::processCollision( btSoftBody*, btSoftBody* )
}
// Add the collision object to the set to deal with for a particular soft body
void btDX11SoftBodySolver::processCollision( btSoftBody *softBody, btCollisionObject* collisionObject )
void btDX11SoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObject )
{
int softBodyIndex = findSoftBodyIndex( softBody );
if( softBodyIndex >= 0 )
{
btCollisionShape *collisionShape = collisionObject->getCollisionShape();
float friction = collisionObject->getFriction();
const btCollisionShape *collisionShape = collisionObject->getCollisionShape();
float friction = collisionObject->getCollisionObject()->getFriction();
int shapeType = collisionShape->getShapeType();
if( shapeType == CAPSULE_SHAPE_PROXYTYPE )
{
@@ -2179,12 +2179,12 @@ void btDX11SoftBodySolver::processCollision( btSoftBody *softBody, btCollisionOb
newCollisionShapeDescription.collisionShapeType = shapeType;
// TODO: May need to transpose this matrix either here or in HLSL
newCollisionShapeDescription.shapeTransform = toTransform3(collisionObject->getWorldTransform());
btCapsuleShape *capsule = static_cast<btCapsuleShape*>( collisionShape );
const btCapsuleShape *capsule = static_cast<const btCapsuleShape*>( collisionShape );
newCollisionShapeDescription.radius = capsule->getRadius();
newCollisionShapeDescription.halfHeight = capsule->getHalfHeight();
newCollisionShapeDescription.margin = capsule->getMargin();
newCollisionShapeDescription.friction = friction;
btRigidBody* body = static_cast< btRigidBody* >( collisionObject );
const btRigidBody* body = static_cast< const btRigidBody* >( collisionObject->getCollisionObject() );
newCollisionShapeDescription.linearVelocity = toVector3(body->getLinearVelocity());
newCollisionShapeDescription.angularVelocity = toVector3(body->getAngularVelocity());
m_collisionObjectDetails.push_back( newCollisionShapeDescription );

2
src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h
View File

@@ -614,7 +614,7 @@ public:
virtual void predictMotion( float solverdt );
virtual void processCollision( btSoftBody *, btCollisionObject* );
virtual void processCollision( btSoftBody *, const btCollisionObjectWrapper* );
virtual void processCollision( btSoftBody*, btSoftBody* );

14
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp
View File

@@ -25,7 +25,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "LinearMath/btQuickprof.h"
#include <limits.h>
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#define BT_SUPPRESS_OPENCL_ASSERTS
@@ -770,7 +770,7 @@ void btOpenCLSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &sof
desc.setInverseMass(vertexInverseMass);
getVertexData().setVertexAt( desc, firstVertex + vertex );
m_anchorIndex.push_back(-1.0);
m_anchorIndex.push_back(-1);
}
// Copy triangles similarly
@@ -1707,14 +1707,14 @@ void btOpenCLSoftBodySolver::processCollision( btSoftBody*, btSoftBody* )
}
// Add the collision object to the set to deal with for a particular soft body
void btOpenCLSoftBodySolver::processCollision( btSoftBody *softBody, btCollisionObject* collisionObject )
void btOpenCLSoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObject )
{
int softBodyIndex = findSoftBodyIndex( softBody );
if( softBodyIndex >= 0 )
{
btCollisionShape *collisionShape = collisionObject->getCollisionShape();
float friction = collisionObject->getFriction();
const btCollisionShape *collisionShape = collisionObject->getCollisionShape();
float friction = collisionObject->getCollisionObject()->getFriction();
int shapeType = collisionShape->getShapeType();
if( shapeType == CAPSULE_SHAPE_PROXYTYPE )
{
@@ -1724,13 +1724,13 @@ void btOpenCLSoftBodySolver::processCollision( btSoftBody *softBody, btCollision
newCollisionShapeDescription.collisionShapeType = shapeType;
// TODO: May need to transpose this matrix either here or in HLSL
newCollisionShapeDescription.shapeTransform = toTransform3(collisionObject->getWorldTransform());
btCapsuleShape *capsule = static_cast<btCapsuleShape*>( collisionShape );
const btCapsuleShape *capsule = static_cast<const btCapsuleShape*>( collisionShape );
newCollisionShapeDescription.radius = capsule->getRadius();
newCollisionShapeDescription.halfHeight = capsule->getHalfHeight();
newCollisionShapeDescription.margin = capsule->getMargin();
newCollisionShapeDescription.upAxis = capsule->getUpAxis();
newCollisionShapeDescription.friction = friction;
btRigidBody* body = static_cast< btRigidBody* >( collisionObject );
const btRigidBody* body = static_cast< const btRigidBody* >( collisionObject->getCollisionObject() );
newCollisionShapeDescription.linearVelocity = toVector3(body->getLinearVelocity());
newCollisionShapeDescription.angularVelocity = toVector3(body->getAngularVelocity());
m_collisionObjectDetails.push_back( newCollisionShapeDescription );

2
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h
View File

@@ -481,7 +481,7 @@ public:
virtual void predictMotion( float solverdt );
virtual void processCollision( btSoftBody *, btCollisionObject* );
virtual void processCollision( btSoftBody *, const btCollisionObjectWrapper* );
virtual void processCollision( btSoftBody*, btSoftBody* );

2
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.cpp
View File

@@ -251,7 +251,7 @@ void btOpenCLSoftBodySolverSIMDAware::optimize( btAlignedObjectArray< btSoftBody
desc.setInverseMass(vertexInverseMass);
getVertexData().setVertexAt( desc, firstVertex + vertex );
m_anchorIndex.push_back(-1.0);
m_anchorIndex.push_back(-1);
}
for( int vertex = numVertices; vertex < maxVertices; ++vertex )
{

2
src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp
View File

@@ -22,7 +22,7 @@ subject to the following restrictions:
void SpuContactManifoldCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void SpuContactManifoldCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
}

2
src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h
View File

@@ -45,7 +45,7 @@ ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btColli
public:
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

17
src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp
View File

@@ -24,7 +24,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "LinearMath/btQuickprof.h"
#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
@@ -166,7 +166,10 @@ public:
collisionPair.m_internalTmpValue = 2;
} else
{
collisionPair.m_algorithm = m_dispatcher->findAlgorithm(colObj0,colObj1);
btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform());
btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform());
collisionPair.m_algorithm = m_dispatcher->findAlgorithm(&ob0,&ob1);
collisionPair.m_internalTmpValue = 3;
}
}
@@ -241,12 +244,16 @@ void SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPai
if (dispatcher->needsCollision(colObj0,colObj1))
{
btManifoldResult contactPointResult(colObj0,colObj1);
//discrete collision detection query
btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform());
btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform());
btManifoldResult contactPointResult(&ob0,&ob1);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
collisionPair.m_algorithm->processCollision(&ob0,&ob1,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)

4
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
View File

@@ -44,7 +44,7 @@ void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape*
const btTransform& t = xform;
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;
@@ -67,7 +67,7 @@ void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape*
const btTransform& t = xform;
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;

4
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
View File

@@ -1364,8 +1364,8 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
)
{
handleCollisionPair(collisionPairInput, lsMem, spuContacts,
(ppu_address_t)lsMem.getColObj0()->getRootCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape,
(ppu_address_t)lsMem.getColObj1()->getRootCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
(ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape,
(ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
} else
{
//spu_printf("boxbox dist = %f\n",distance);

158
src/BulletMultiThreaded/TrbDynBody.h
View File

@@ -1,79 +1,79 @@
/*
Copyright (C) 2009 Sony Computer Entertainment Inc.
All rights reserved.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_RB_DYN_BODY_H__
#define BT_RB_DYN_BODY_H__
#include "vectormath/vmInclude.h"
using namespace Vectormath::Aos;
#include "TrbStateVec.h"
class CollObject;
class TrbDynBody
{
public:
TrbDynBody()
{
fMass = 0.0f;
fCollObject = NULL;
fElasticity = 0.2f;
fFriction = 0.8f;
}
// Get methods
float getMass() const {return fMass;};
float getElasticity() const {return fElasticity;}
float getFriction() const {return fFriction;}
CollObject* getCollObject() const {return fCollObject;}
const Matrix3 &getBodyInertia() const {return fIBody;}
const Matrix3 &getBodyInertiaInv() const {return fIBodyInv;}
float getMassInv() const {return fMassInv;}
// Set methods
void setMass(float mass) {fMass=mass;fMassInv=mass>0.0f?1.0f/mass:0.0f;}
void setBodyInertia(const Matrix3 bodyInertia) {fIBody = bodyInertia;fIBodyInv = inverse(bodyInertia);}
void setElasticity(float elasticity) {fElasticity = elasticity;}
void setFriction(float friction) {fFriction = friction;}
void setCollObject(CollObject *collObj) {fCollObject = collObj;}
void setBodyInertiaInv(const Matrix3 bodyInertiaInv)
{
fIBody = inverse(bodyInertiaInv);
fIBodyInv = bodyInertiaInv;
}
void setMassInv(float invMass) {
fMass= invMass>0.0f ? 1.0f/invMass :0.0f;
fMassInv=invMass;
}
private:
// Rigid Body constants
float fMass; // Rigid Body mass
float fMassInv; // Inverse of mass
Matrix3 fIBody; // Inertia matrix in body's coords
Matrix3 fIBodyInv; // Inertia matrix inverse in body's coords
float fElasticity; // Coefficient of restitution
float fFriction; // Coefficient of friction
public:
CollObject* fCollObject; // Collision object corresponding the RB
} __attribute__ ((aligned(16)));
#endif //BT_RB_DYN_BODY_H__
/*
Copyright (C) 2009 Sony Computer Entertainment Inc.
All rights reserved.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_RB_DYN_BODY_H__
#define BT_RB_DYN_BODY_H__
#include "vectormath/vmInclude.h"
using namespace Vectormath::Aos;
#include "TrbStateVec.h"
class CollObject;
class TrbDynBody
{
public:
TrbDynBody()
{
fMass = 0.0f;
fCollObject = NULL;
fElasticity = 0.2f;
fFriction = 0.8f;
}
// Get methods
float getMass() const {return fMass;};
float getElasticity() const {return fElasticity;}
float getFriction() const {return fFriction;}
CollObject* getCollObject() const {return fCollObject;}
const Matrix3 &getBodyInertia() const {return fIBody;}
const Matrix3 &getBodyInertiaInv() const {return fIBodyInv;}
float getMassInv() const {return fMassInv;}
// Set methods
void setMass(float mass) {fMass=mass;fMassInv=mass>0.0f?1.0f/mass:0.0f;}
void setBodyInertia(const Matrix3 bodyInertia) {fIBody = bodyInertia;fIBodyInv = inverse(bodyInertia);}
void setElasticity(float elasticity) {fElasticity = elasticity;}
void setFriction(float friction) {fFriction = friction;}
void setCollObject(CollObject *collObj) {fCollObject = collObj;}
void setBodyInertiaInv(const Matrix3 bodyInertiaInv)
{
fIBody = inverse(bodyInertiaInv);
fIBodyInv = bodyInertiaInv;
}
void setMassInv(float invMass) {
fMass= invMass>0.0f ? 1.0f/invMass :0.0f;
fMassInv=invMass;
}
private:
// Rigid Body constants
float fMass; // Rigid Body mass
float fMassInv; // Inverse of mass
Matrix3 fIBody; // Inertia matrix in body's coords
Matrix3 fIBodyInv; // Inertia matrix inverse in body's coords
float fElasticity; // Coefficient of restitution
float fFriction; // Coefficient of friction
public:
CollObject* fCollObject; // Collision object corresponding the RB
} __attribute__ ((aligned(16)));
#endif //BT_RB_DYN_BODY_H__

678
src/BulletMultiThreaded/TrbStateVec.h
View File

@@ -1,339 +1,339 @@
/*
Copyright (C) 2009 Sony Computer Entertainment Inc.
All rights reserved.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_TRBSTATEVEC_H__
#define BT_TRBSTATEVEC_H__
#include <stdlib.h>
#ifdef PFX_USE_FREE_VECTORMATH
#include "vecmath/vmInclude.h"
#else
#include "vectormath/vmInclude.h"
#endif //PFX_USE_FREE_VECTORMATH
#include "PlatformDefinitions.h"
static inline vmVector3 read_Vector3(const float* p)
{
vmVector3 v;
loadXYZ(v, p);
return v;
}
static inline vmQuat read_Quat(const float* p)
{
vmQuat vq;
loadXYZW(vq, p);
return vq;
}
static inline void store_Vector3(const vmVector3 &src, float* p)
{
vmVector3 v = src;
storeXYZ(v, p);
}
static inline void store_Quat(const vmQuat &src, float* p)
{
vmQuat vq = src;
storeXYZW(vq, p);
}
// Motion Type
enum {
PfxMotionTypeFixed = 0,
PfxMotionTypeActive,
PfxMotionTypeKeyframe,
PfxMotionTypeOneWay,
PfxMotionTypeTrigger,
PfxMotionTypeCount
};
#define PFX_MOTION_MASK_DYNAMIC 0x0a // Active,OneWay
#define PFX_MOTION_MASK_STATIC 0x95 // Fixed,Keyframe,Trigger,Sleeping
#define PFX_MOTION_MASK_SLEEP 0x0e // Can sleep
#define PFX_MOTION_MASK_TYPE 0x7f
//
// Rigid Body state
//
#ifdef __CELLOS_LV2__
ATTRIBUTE_ALIGNED128(class) TrbState
#else
ATTRIBUTE_ALIGNED16(class) TrbState
#endif
{
public:
TrbState()
{
setMotionType(PfxMotionTypeActive);
contactFilterSelf=contactFilterTarget=0xffffffff;
deleted = 0;
mSleeping = 0;
useSleep = 1;
trbBodyIdx=0;
mSleepCount=0;
useCcd = 0;
useContactCallback = 0;
useSleepCallback = 0;
linearDamping = 1.0f;
angularDamping = 0.99f;
}
TrbState(const uint8_t m, const vmVector3& x, const vmQuat& q, const vmVector3& v, const vmVector3& omega );
uint16_t mSleepCount;
uint8_t mMotionType;
uint8_t deleted : 1;
uint8_t mSleeping : 1;
uint8_t useSleep : 1;
uint8_t useCcd : 1;
uint8_t useContactCallback : 1;
uint8_t useSleepCallback : 1;
uint16_t trbBodyIdx;
uint32_t contactFilterSelf;
uint32_t contactFilterTarget;
float center[3]; // AABB center(World)
float half[3]; // AABB half(World)
float linearDamping;
float angularDamping;
float deltaLinearVelocity[3];
float deltaAngularVelocity[3];
float fX[3]; // position
float fQ[4]; // orientation
float fV[3]; // velocity
float fOmega[3]; // angular velocity
inline void setZero(); // Zeroes out the elements
inline void setIdentity(); // Sets the rotation to identity and zeroes out the other elements
bool isDeleted() const {return deleted==1;}
uint16_t getRigidBodyId() const {return trbBodyIdx;}
void setRigidBodyId(uint16_t i) {trbBodyIdx = i;}
uint32_t getContactFilterSelf() const {return contactFilterSelf;}
void setContactFilterSelf(uint32_t filter) {contactFilterSelf = filter;}
uint32_t getContactFilterTarget() const {return contactFilterTarget;}
void setContactFilterTarget(uint32_t filter) {contactFilterTarget = filter;}
float getLinearDamping() const {return linearDamping;}
float getAngularDamping() const {return angularDamping;}
void setLinearDamping(float damping) {linearDamping=damping;}
void setAngularDamping(float damping) {angularDamping=damping;}
uint8_t getMotionType() const {return mMotionType;}
void setMotionType(uint8_t t) {mMotionType = t;mSleeping=0;mSleepCount=0;}
uint8_t getMotionMask() const {return (1<<mMotionType)|(mSleeping<<7);}
bool isAsleep() const {return mSleeping==1;}
bool isAwake() const {return mSleeping==0;}
void wakeup() {mSleeping=0;mSleepCount=0;}
void sleep() {if(useSleep) {mSleeping=1;mSleepCount=0;}}
uint8_t getUseSleep() const {return useSleep;}
void setUseSleep(uint8_t b) {useSleep=b;}
uint8_t getUseCcd() const {return useCcd;}
void setUseCcd(uint8_t b) {useCcd=b;}
uint8_t getUseContactCallback() const {return useContactCallback;}
void setUseContactCallback(uint8_t b) {useContactCallback=b;}
uint8_t getUseSleepCallback() const {return useSleepCallback;}
void setUseSleepCallback(uint8_t b) {useSleepCallback=b;}
void incrementSleepCount() {mSleepCount++;}
void resetSleepCount() {mSleepCount=0;}
uint16_t getSleepCount() const {return mSleepCount;}
vmVector3 getPosition() const {return read_Vector3(fX);}
vmQuat getOrientation() const {return read_Quat(fQ);}
vmVector3 getLinearVelocity() const {return read_Vector3(fV);}
vmVector3 getAngularVelocity() const {return read_Vector3(fOmega);}
vmVector3 getDeltaLinearVelocity() const {return read_Vector3(deltaLinearVelocity);}
vmVector3 getDeltaAngularVelocity() const {return read_Vector3(deltaAngularVelocity);}
void setPosition(const vmVector3 &pos) {store_Vector3(pos, fX);}
void setLinearVelocity(const vmVector3 &vel) {store_Vector3(vel, fV);}
void setAngularVelocity(const vmVector3 &vel) {store_Vector3(vel, fOmega);}
void setDeltaLinearVelocity(const vmVector3 &vel) {store_Vector3(vel, deltaLinearVelocity);}
void setDeltaAngularVelocity(const vmVector3 &vel) {store_Vector3(vel, deltaAngularVelocity);}
void setOrientation(const vmQuat &rot) {store_Quat(rot, fQ);}
inline void setAuxils(const vmVector3 &centerLocal,const vmVector3 &halfLocal);
inline void setAuxilsCcd(const vmVector3 &centerLocal,const vmVector3 &halfLocal,float timeStep);
inline void reset();
};
inline
TrbState::TrbState(const uint8_t m, const vmVector3& x, const vmQuat& q, const vmVector3& v, const vmVector3& omega)
{
setMotionType(m);
fX[0] = x[0];
fX[1] = x[1];
fX[2] = x[2];
fQ[0] = q[0];
fQ[1] = q[1];
fQ[2] = q[2];
fQ[3] = q[3];
fV[0] = v[0];
fV[1] = v[1];
fV[2] = v[2];
fOmega[0] = omega[0];
fOmega[1] = omega[1];
fOmega[2] = omega[2];
contactFilterSelf=contactFilterTarget=0xffff;
trbBodyIdx=0;
mSleeping = 0;
deleted = 0;
useSleep = 1;
useCcd = 0;
useContactCallback = 0;
useSleepCallback = 0;
mSleepCount=0;
linearDamping = 1.0f;
angularDamping = 0.99f;
}
inline void
TrbState::setIdentity()
{
fX[0] = 0.0f;
fX[1] = 0.0f;
fX[2] = 0.0f;
fQ[0] = 0.0f;
fQ[1] = 0.0f;
fQ[2] = 0.0f;
fQ[3] = 1.0f;
fV[0] = 0.0f;
fV[1] = 0.0f;
fV[2] = 0.0f;
fOmega[0] = 0.0f;
fOmega[1] = 0.0f;
fOmega[2] = 0.0f;
}
inline void
TrbState::setZero()
{
fX[0] = 0.0f;
fX[1] = 0.0f;
fX[2] = 0.0f;
fQ[0] = 0.0f;
fQ[1] = 0.0f;
fQ[2] = 0.0f;
fQ[3] = 0.0f;
fV[0] = 0.0f;
fV[1] = 0.0f;
fV[2] = 0.0f;
fOmega[0] = 0.0f;
fOmega[1] = 0.0f;
fOmega[2] = 0.0f;
}
inline void
TrbState::setAuxils(const vmVector3 &centerLocal,const vmVector3 &halfLocal)
{
vmVector3 centerW = getPosition() + rotate(getOrientation(),centerLocal);
vmVector3 halfW = absPerElem(vmMatrix3(getOrientation())) * halfLocal;
center[0] = centerW[0];
center[1] = centerW[1];
center[2] = centerW[2];
half[0] = halfW[0];
half[1] = halfW[1];
half[2] = halfW[2];
}
inline void
TrbState::setAuxilsCcd(const vmVector3 &centerLocal,const vmVector3 &halfLocal,float timeStep)
{
vmVector3 centerW = getPosition() + rotate(getOrientation(),centerLocal);
vmVector3 halfW = absPerElem(vmMatrix3(getOrientation())) * halfLocal;
vmVector3 diffvec = getLinearVelocity()*timeStep;
vmVector3 newCenter = centerW + diffvec;
vmVector3 aabbMin = minPerElem(newCenter - halfW,centerW - halfW);
vmVector3 aabbMax = maxPerElem(newCenter + halfW,centerW + halfW);
centerW = 0.5f * (aabbMin + aabbMax);
halfW =0.5f * (aabbMax - aabbMin);
center[0] = centerW[0];
center[1] = centerW[1];
center[2] = centerW[2];
half[0] = halfW[0];
half[1] = halfW[1];
half[2] = halfW[2];
}
inline
void TrbState::reset()
{
#if 0
mSleepCount = 0;
mMotionType = PfxMotionTypeActive;
mDeleted = 0;
mSleeping = 0;
mUseSleep = 1;
mUseCcd = 0;
mUseContactCallback = 0;
mUseSleepCallback = 0;
mRigidBodyId = 0;
mContactFilterSelf = 0xffffffff;
mContactFilterTarget = 0xffffffff;
mLinearDamping = 1.0f;
mAngularDamping = 0.99f;
mPosition = vmVector3(0.0f);
mOrientation = vmQuat::identity();
mLinearVelocity = vmVector3(0.0f);
mAngularVelocity = vmVector3(0.0f);
#endif
setMotionType(PfxMotionTypeActive);
contactFilterSelf=contactFilterTarget=0xffffffff;
deleted = 0;
mSleeping = 0;
useSleep = 1;
trbBodyIdx=0;
mSleepCount=0;
useCcd = 0;
useContactCallback = 0;
useSleepCallback = 0;
linearDamping = 1.0f;
angularDamping = 0.99f;
}
#endif //BT_TRBSTATEVEC_H__
/*
Copyright (C) 2009 Sony Computer Entertainment Inc.
All rights reserved.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_TRBSTATEVEC_H__
#define BT_TRBSTATEVEC_H__
#include <stdlib.h>
#ifdef PFX_USE_FREE_VECTORMATH
#include "vecmath/vmInclude.h"
#else
#include "vectormath/vmInclude.h"
#endif //PFX_USE_FREE_VECTORMATH
#include "PlatformDefinitions.h"
static inline vmVector3 read_Vector3(const float* p)
{
vmVector3 v;
loadXYZ(v, p);
return v;
}
static inline vmQuat read_Quat(const float* p)
{
vmQuat vq;
loadXYZW(vq, p);
return vq;
}
static inline void store_Vector3(const vmVector3 &src, float* p)
{
vmVector3 v = src;
storeXYZ(v, p);
}
static inline void store_Quat(const vmQuat &src, float* p)
{
vmQuat vq = src;
storeXYZW(vq, p);
}
// Motion Type
enum {
PfxMotionTypeFixed = 0,
PfxMotionTypeActive,
PfxMotionTypeKeyframe,
PfxMotionTypeOneWay,
PfxMotionTypeTrigger,
PfxMotionTypeCount
};
#define PFX_MOTION_MASK_DYNAMIC 0x0a // Active,OneWay
#define PFX_MOTION_MASK_STATIC 0x95 // Fixed,Keyframe,Trigger,Sleeping
#define PFX_MOTION_MASK_SLEEP 0x0e // Can sleep
#define PFX_MOTION_MASK_TYPE 0x7f
//
// Rigid Body state
//
#ifdef __CELLOS_LV2__
ATTRIBUTE_ALIGNED128(class) TrbState
#else
ATTRIBUTE_ALIGNED16(class) TrbState
#endif
{
public:
TrbState()
{
setMotionType(PfxMotionTypeActive);
contactFilterSelf=contactFilterTarget=0xffffffff;
deleted = 0;
mSleeping = 0;
useSleep = 1;
trbBodyIdx=0;
mSleepCount=0;
useCcd = 0;
useContactCallback = 0;
useSleepCallback = 0;
linearDamping = 1.0f;
angularDamping = 0.99f;
}
TrbState(const uint8_t m, const vmVector3& x, const vmQuat& q, const vmVector3& v, const vmVector3& omega );
uint16_t mSleepCount;
uint8_t mMotionType;
uint8_t deleted : 1;
uint8_t mSleeping : 1;
uint8_t useSleep : 1;
uint8_t useCcd : 1;
uint8_t useContactCallback : 1;
uint8_t useSleepCallback : 1;
uint16_t trbBodyIdx;
uint32_t contactFilterSelf;
uint32_t contactFilterTarget;
float center[3]; // AABB center(World)
float half[3]; // AABB half(World)
float linearDamping;
float angularDamping;
float deltaLinearVelocity[3];
float deltaAngularVelocity[3];
float fX[3]; // position
float fQ[4]; // orientation
float fV[3]; // velocity
float fOmega[3]; // angular velocity
inline void setZero(); // Zeroes out the elements
inline void setIdentity(); // Sets the rotation to identity and zeroes out the other elements
bool isDeleted() const {return deleted==1;}
uint16_t getRigidBodyId() const {return trbBodyIdx;}
void setRigidBodyId(uint16_t i) {trbBodyIdx = i;}
uint32_t getContactFilterSelf() const {return contactFilterSelf;}
void setContactFilterSelf(uint32_t filter) {contactFilterSelf = filter;}
uint32_t getContactFilterTarget() const {return contactFilterTarget;}
void setContactFilterTarget(uint32_t filter) {contactFilterTarget = filter;}
float getLinearDamping() const {return linearDamping;}
float getAngularDamping() const {return angularDamping;}
void setLinearDamping(float damping) {linearDamping=damping;}
void setAngularDamping(float damping) {angularDamping=damping;}
uint8_t getMotionType() const {return mMotionType;}
void setMotionType(uint8_t t) {mMotionType = t;mSleeping=0;mSleepCount=0;}
uint8_t getMotionMask() const {return (1<<mMotionType)|(mSleeping<<7);}
bool isAsleep() const {return mSleeping==1;}
bool isAwake() const {return mSleeping==0;}
void wakeup() {mSleeping=0;mSleepCount=0;}
void sleep() {if(useSleep) {mSleeping=1;mSleepCount=0;}}
uint8_t getUseSleep() const {return useSleep;}
void setUseSleep(uint8_t b) {useSleep=b;}
uint8_t getUseCcd() const {return useCcd;}
void setUseCcd(uint8_t b) {useCcd=b;}
uint8_t getUseContactCallback() const {return useContactCallback;}
void setUseContactCallback(uint8_t b) {useContactCallback=b;}
uint8_t getUseSleepCallback() const {return useSleepCallback;}
void setUseSleepCallback(uint8_t b) {useSleepCallback=b;}
void incrementSleepCount() {mSleepCount++;}
void resetSleepCount() {mSleepCount=0;}
uint16_t getSleepCount() const {return mSleepCount;}
vmVector3 getPosition() const {return read_Vector3(fX);}
vmQuat getOrientation() const {return read_Quat(fQ);}
vmVector3 getLinearVelocity() const {return read_Vector3(fV);}
vmVector3 getAngularVelocity() const {return read_Vector3(fOmega);}
vmVector3 getDeltaLinearVelocity() const {return read_Vector3(deltaLinearVelocity);}
vmVector3 getDeltaAngularVelocity() const {return read_Vector3(deltaAngularVelocity);}
void setPosition(const vmVector3 &pos) {store_Vector3(pos, fX);}
void setLinearVelocity(const vmVector3 &vel) {store_Vector3(vel, fV);}
void setAngularVelocity(const vmVector3 &vel) {store_Vector3(vel, fOmega);}
void setDeltaLinearVelocity(const vmVector3 &vel) {store_Vector3(vel, deltaLinearVelocity);}
void setDeltaAngularVelocity(const vmVector3 &vel) {store_Vector3(vel, deltaAngularVelocity);}
void setOrientation(const vmQuat &rot) {store_Quat(rot, fQ);}
inline void setAuxils(const vmVector3 &centerLocal,const vmVector3 &halfLocal);
inline void setAuxilsCcd(const vmVector3 &centerLocal,const vmVector3 &halfLocal,float timeStep);
inline void reset();
};
inline
TrbState::TrbState(const uint8_t m, const vmVector3& x, const vmQuat& q, const vmVector3& v, const vmVector3& omega)
{
setMotionType(m);
fX[0] = x[0];
fX[1] = x[1];
fX[2] = x[2];
fQ[0] = q[0];
fQ[1] = q[1];
fQ[2] = q[2];
fQ[3] = q[3];
fV[0] = v[0];
fV[1] = v[1];
fV[2] = v[2];
fOmega[0] = omega[0];
fOmega[1] = omega[1];
fOmega[2] = omega[2];
contactFilterSelf=contactFilterTarget=0xffff;
trbBodyIdx=0;
mSleeping = 0;
deleted = 0;
useSleep = 1;
useCcd = 0;
useContactCallback = 0;
useSleepCallback = 0;
mSleepCount=0;
linearDamping = 1.0f;
angularDamping = 0.99f;
}
inline void
TrbState::setIdentity()
{
fX[0] = 0.0f;
fX[1] = 0.0f;
fX[2] = 0.0f;
fQ[0] = 0.0f;
fQ[1] = 0.0f;
fQ[2] = 0.0f;
fQ[3] = 1.0f;
fV[0] = 0.0f;
fV[1] = 0.0f;
fV[2] = 0.0f;
fOmega[0] = 0.0f;
fOmega[1] = 0.0f;
fOmega[2] = 0.0f;
}
inline void
TrbState::setZero()
{
fX[0] = 0.0f;
fX[1] = 0.0f;
fX[2] = 0.0f;
fQ[0] = 0.0f;
fQ[1] = 0.0f;
fQ[2] = 0.0f;
fQ[3] = 0.0f;
fV[0] = 0.0f;
fV[1] = 0.0f;
fV[2] = 0.0f;
fOmega[0] = 0.0f;
fOmega[1] = 0.0f;
fOmega[2] = 0.0f;
}
inline void
TrbState::setAuxils(const vmVector3 &centerLocal,const vmVector3 &halfLocal)
{
vmVector3 centerW = getPosition() + rotate(getOrientation(),centerLocal);
vmVector3 halfW = absPerElem(vmMatrix3(getOrientation())) * halfLocal;
center[0] = centerW[0];
center[1] = centerW[1];
center[2] = centerW[2];
half[0] = halfW[0];
half[1] = halfW[1];
half[2] = halfW[2];
}
inline void
TrbState::setAuxilsCcd(const vmVector3 &centerLocal,const vmVector3 &halfLocal,float timeStep)
{
vmVector3 centerW = getPosition() + rotate(getOrientation(),centerLocal);
vmVector3 halfW = absPerElem(vmMatrix3(getOrientation())) * halfLocal;
vmVector3 diffvec = getLinearVelocity()*timeStep;
vmVector3 newCenter = centerW + diffvec;
vmVector3 aabbMin = minPerElem(newCenter - halfW,centerW - halfW);
vmVector3 aabbMax = maxPerElem(newCenter + halfW,centerW + halfW);
centerW = 0.5f * (aabbMin + aabbMax);
halfW =0.5f * (aabbMax - aabbMin);
center[0] = centerW[0];
center[1] = centerW[1];
center[2] = centerW[2];
half[0] = halfW[0];
half[1] = halfW[1];
half[2] = halfW[2];
}
inline
void TrbState::reset()
{
#if 0
mSleepCount = 0;
mMotionType = PfxMotionTypeActive;
mDeleted = 0;
mSleeping = 0;
mUseSleep = 1;
mUseCcd = 0;
mUseContactCallback = 0;
mUseSleepCallback = 0;
mRigidBodyId = 0;
mContactFilterSelf = 0xffffffff;
mContactFilterTarget = 0xffffffff;
mLinearDamping = 1.0f;
mAngularDamping = 0.99f;
mPosition = vmVector3(0.0f);
mOrientation = vmQuat::identity();
mLinearVelocity = vmVector3(0.0f);
mAngularVelocity = vmVector3(0.0f);
#endif
setMotionType(PfxMotionTypeActive);
contactFilterSelf=contactFilterTarget=0xffffffff;
deleted = 0;
mSleeping = 0;
useSleep = 1;
trbBodyIdx=0;
mSleepCount=0;
useCcd = 0;
useContactCallback = 0;
useSleepCallback = 0;
linearDamping = 1.0f;
angularDamping = 0.99f;
}
#endif //BT_TRBSTATEVEC_H__