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