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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

108
src/LinearMath/btQuadWord.h
View File

@@ -20,6 +20,9 @@ subject to the following restrictions:
#include "btMinMax.h"
#if defined (__CELLOS_LV2) && defined (__SPU__)
#include <altivec.h>
#endif
@@ -47,11 +50,53 @@ public:
}
protected:
#else //__CELLOS_LV2__ __SPU__
#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
union {
btSimdFloat4 mVec128;
btScalar m_floats[4];
};
public:
SIMD_FORCE_INLINE btSimdFloat4 get128() const
{
return mVec128;
}
SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
{
mVec128 = v128;
}
#else
btScalar m_floats[4];
#endif // BT_USE_SSE
#endif //__CELLOS_LV2__ __SPU__
public:
#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
// Set Vector
SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec)
{
mVec128 = vec;
}
// Copy constructor
SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs)
{
mVec128 = rhs.mVec128;
}
// Assignment Operator
SIMD_FORCE_INLINE btQuadWord&
operator=(const btQuadWord& v)
{
mVec128 = v.mVec128;
return *this;
}
#endif
/**@brief Return the x value */
SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
@@ -60,13 +105,13 @@ protected:
/**@brief Return the z value */
SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
/**@brief Set the x value */
SIMD_FORCE_INLINE void setX(btScalar x) { m_floats[0] = x;};
SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x;};
/**@brief Set the y value */
SIMD_FORCE_INLINE void setY(btScalar y) { m_floats[1] = y;};
SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y;};
/**@brief Set the z value */
SIMD_FORCE_INLINE void setZ(btScalar z) { m_floats[2] = z;};
SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z;};
/**@brief Set the w value */
SIMD_FORCE_INLINE void setW(btScalar w) { m_floats[3] = w;};
SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w;};
/**@brief Return the x value */
SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
/**@brief Return the y value */
@@ -84,7 +129,14 @@ protected:
SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const
{
return ((m_floats[3]==other.m_floats[3]) && (m_floats[2]==other.m_floats[2]) && (m_floats[1]==other.m_floats[1]) && (m_floats[0]==other.m_floats[0]));
#ifdef BT_USE_SSE
return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
#else
return ((m_floats[3]==other.m_floats[3]) &&
(m_floats[2]==other.m_floats[2]) &&
(m_floats[1]==other.m_floats[1]) &&
(m_floats[0]==other.m_floats[0]));
#endif
}
SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const
@@ -97,11 +149,11 @@ protected:
* @param y Value of y
* @param z Value of z
*/
SIMD_FORCE_INLINE void setValue(const btScalar& x, const btScalar& y, const btScalar& z)
SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
{
m_floats[0]=x;
m_floats[1]=y;
m_floats[2]=z;
m_floats[0]=_x;
m_floats[1]=_y;
m_floats[2]=_z;
m_floats[3] = 0.f;
}
@@ -118,12 +170,12 @@ protected:
* @param z Value of z
* @param w Value of w
*/
SIMD_FORCE_INLINE void setValue(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w)
SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w)
{
m_floats[0]=x;
m_floats[1]=y;
m_floats[2]=z;
m_floats[3]=w;
m_floats[0]=_x;
m_floats[1]=_y;
m_floats[2]=_z;
m_floats[3]=_w;
}
/**@brief No initialization constructor */
SIMD_FORCE_INLINE btQuadWord()
@@ -136,9 +188,9 @@ protected:
* @param y Value of y
* @param z Value of z
*/
SIMD_FORCE_INLINE btQuadWord(const btScalar& x, const btScalar& y, const btScalar& z)
SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z)
{
m_floats[0] = x, m_floats[1] = y, m_floats[2] = z, m_floats[3] = 0.0f;
m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
}
/**@brief Initializing constructor
@@ -147,9 +199,9 @@ protected:
* @param z Value of z
* @param w Value of w
*/
SIMD_FORCE_INLINE btQuadWord(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w)
SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w)
{
m_floats[0] = x, m_floats[1] = y, m_floats[2] = z, m_floats[3] = w;
m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
}
/**@brief Set each element to the max of the current values and the values of another btQuadWord
@@ -157,21 +209,33 @@ protected:
*/
SIMD_FORCE_INLINE void setMax(const btQuadWord& other)
{
btSetMax(m_floats[0], other.m_floats[0]);
#ifdef BT_USE_SSE
mVec128 = _mm_max_ps(mVec128, other.mVec128);
#elif defined(BT_USE_NEON)
mVec128 = vmaxq_f32(mVec128, other.mVec128);
#else
btSetMax(m_floats[0], other.m_floats[0]);
btSetMax(m_floats[1], other.m_floats[1]);
btSetMax(m_floats[2], other.m_floats[2]);
btSetMax(m_floats[3], other.m_floats[3]);
}
#endif
}
/**@brief Set each element to the min of the current values and the values of another btQuadWord
* @param other The other btQuadWord to compare with
*/
SIMD_FORCE_INLINE void setMin(const btQuadWord& other)
{
btSetMin(m_floats[0], other.m_floats[0]);
#ifdef BT_USE_SSE
mVec128 = _mm_min_ps(mVec128, other.mVec128);
#elif defined(BT_USE_NEON)
mVec128 = vminq_f32(mVec128, other.mVec128);
#else
btSetMin(m_floats[0], other.m_floats[0]);
btSetMin(m_floats[1], other.m_floats[1]);
btSetMin(m_floats[2], other.m_floats[2]);
btSetMin(m_floats[3], other.m_floats[3]);
}
#endif
}