minor tweaks to demos: enable constraint debug drawing in AllBulletDemos, default constraint debugging size set to 0.3,
set svn:eol-style native for folder files http://code.google.com/p/bullet/issues/detail?id=191
This commit is contained in:
erwin.coumans
@@ -1,179 +1,179 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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_SOLVER_BODY_H
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#define BT_SOLVER_BODY_H
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class btRigidBody;
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btMatrix3x3.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "LinearMath/btAlignedAllocator.h"
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#include "LinearMath/btTransformUtil.h"
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///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
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#ifdef BT_USE_SSE
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#define USE_SIMD 1
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#endif //
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#ifdef USE_SIMD
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struct btSimdScalar
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{
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SIMD_FORCE_INLINE btSimdScalar()
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{
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}
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SIMD_FORCE_INLINE btSimdScalar(float fl)
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:m_vec128 (_mm_set1_ps(fl))
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{
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}
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SIMD_FORCE_INLINE btSimdScalar(__m128 v128)
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:m_vec128(v128)
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{
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}
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union
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{
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__m128 m_vec128;
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float m_floats[4];
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int m_ints[4];
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btScalar m_unusedPadding;
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};
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SIMD_FORCE_INLINE __m128 get128()
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{
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return m_vec128;
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}
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SIMD_FORCE_INLINE const __m128 get128() const
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{
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return m_vec128;
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}
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SIMD_FORCE_INLINE void set128(__m128 v128)
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{
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m_vec128 = v128;
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}
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SIMD_FORCE_INLINE operator __m128()
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{
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return m_vec128;
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}
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SIMD_FORCE_INLINE operator const __m128() const
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{
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return m_vec128;
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}
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SIMD_FORCE_INLINE operator float() const
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{
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return m_floats[0];
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}
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};
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///@brief Return the elementwise product of two btSimdScalar
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SIMD_FORCE_INLINE btSimdScalar
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operator*(const btSimdScalar& v1, const btSimdScalar& v2)
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{
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return btSimdScalar(_mm_mul_ps(v1.get128(),v2.get128()));
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}
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///@brief Return the elementwise product of two btSimdScalar
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SIMD_FORCE_INLINE btSimdScalar
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operator+(const btSimdScalar& v1, const btSimdScalar& v2)
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{
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return btSimdScalar(_mm_add_ps(v1.get128(),v2.get128()));
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}
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#else
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#define btSimdScalar btScalar
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#endif
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///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
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ATTRIBUTE_ALIGNED16 (struct) btSolverBody
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btVector3 m_deltaLinearVelocity;
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btVector3 m_deltaAngularVelocity;
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btScalar m_angularFactor;
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btScalar m_invMass;
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btScalar m_friction;
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btRigidBody* m_originalBody;
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btVector3 m_pushVelocity;
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//btVector3 m_turnVelocity;
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SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
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{
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if (m_originalBody)
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velocity = m_originalBody->getLinearVelocity()+m_deltaLinearVelocity + (m_originalBody->getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
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else
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velocity.setValue(0,0,0);
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}
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SIMD_FORCE_INLINE void getAngularVelocity(btVector3& angVel) const
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{
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if (m_originalBody)
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angVel = m_originalBody->getAngularVelocity()+m_deltaAngularVelocity;
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else
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angVel.setValue(0,0,0);
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}
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//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
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SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
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{
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//if (m_invMass)
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{
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m_deltaLinearVelocity += linearComponent*impulseMagnitude;
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m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
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}
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}
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/*
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void writebackVelocity()
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{
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if (m_invMass)
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{
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m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
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m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
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//m_originalBody->setCompanionId(-1);
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}
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}
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*/
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void writebackVelocity(btScalar timeStep=0)
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{
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if (m_invMass)
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{
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m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+m_deltaLinearVelocity);
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m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
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//m_originalBody->setCompanionId(-1);
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}
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}
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};
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#endif //BT_SOLVER_BODY_H
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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||||
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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.
|
||||
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.
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*/
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#ifndef BT_SOLVER_BODY_H
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#define BT_SOLVER_BODY_H
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class btRigidBody;
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btMatrix3x3.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "LinearMath/btAlignedAllocator.h"
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#include "LinearMath/btTransformUtil.h"
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///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
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#ifdef BT_USE_SSE
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#define USE_SIMD 1
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#endif //
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#ifdef USE_SIMD
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struct btSimdScalar
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{
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SIMD_FORCE_INLINE btSimdScalar()
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{
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}
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SIMD_FORCE_INLINE btSimdScalar(float fl)
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:m_vec128 (_mm_set1_ps(fl))
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{
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}
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SIMD_FORCE_INLINE btSimdScalar(__m128 v128)
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:m_vec128(v128)
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{
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}
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union
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{
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__m128 m_vec128;
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float m_floats[4];
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int m_ints[4];
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btScalar m_unusedPadding;
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};
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SIMD_FORCE_INLINE __m128 get128()
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{
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return m_vec128;
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}
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SIMD_FORCE_INLINE const __m128 get128() const
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{
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return m_vec128;
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}
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SIMD_FORCE_INLINE void set128(__m128 v128)
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{
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m_vec128 = v128;
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}
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SIMD_FORCE_INLINE operator __m128()
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{
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return m_vec128;
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}
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SIMD_FORCE_INLINE operator const __m128() const
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{
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return m_vec128;
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}
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SIMD_FORCE_INLINE operator float() const
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{
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return m_floats[0];
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}
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};
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///@brief Return the elementwise product of two btSimdScalar
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SIMD_FORCE_INLINE btSimdScalar
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operator*(const btSimdScalar& v1, const btSimdScalar& v2)
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{
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return btSimdScalar(_mm_mul_ps(v1.get128(),v2.get128()));
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}
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///@brief Return the elementwise product of two btSimdScalar
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SIMD_FORCE_INLINE btSimdScalar
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operator+(const btSimdScalar& v1, const btSimdScalar& v2)
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{
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return btSimdScalar(_mm_add_ps(v1.get128(),v2.get128()));
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}
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#else
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#define btSimdScalar btScalar
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#endif
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///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
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ATTRIBUTE_ALIGNED16 (struct) btSolverBody
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btVector3 m_deltaLinearVelocity;
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btVector3 m_deltaAngularVelocity;
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btScalar m_angularFactor;
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btScalar m_invMass;
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btScalar m_friction;
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btRigidBody* m_originalBody;
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btVector3 m_pushVelocity;
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//btVector3 m_turnVelocity;
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SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
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{
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if (m_originalBody)
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velocity = m_originalBody->getLinearVelocity()+m_deltaLinearVelocity + (m_originalBody->getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
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else
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velocity.setValue(0,0,0);
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}
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SIMD_FORCE_INLINE void getAngularVelocity(btVector3& angVel) const
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{
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if (m_originalBody)
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angVel = m_originalBody->getAngularVelocity()+m_deltaAngularVelocity;
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else
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angVel.setValue(0,0,0);
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}
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//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
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SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
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{
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//if (m_invMass)
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{
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m_deltaLinearVelocity += linearComponent*impulseMagnitude;
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m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
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}
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}
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/*
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void writebackVelocity()
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{
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if (m_invMass)
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{
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m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
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m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
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//m_originalBody->setCompanionId(-1);
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}
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}
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*/
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void writebackVelocity(btScalar timeStep=0)
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{
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if (m_invMass)
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{
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m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+m_deltaLinearVelocity);
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m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
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//m_originalBody->setCompanionId(-1);
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}
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}
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};
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#endif //BT_SOLVER_BODY_H
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