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fix issue in the recent SSE implementation of setInterpolate3

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align class
This commit is contained in:
erwin.coumans
2012-09-17 16:03:47 +00:00
parent 90643bec75
commit 8be5172df5
2 changed files with 12 additions and 5 deletions
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5
src/BulletDynamics/Character/btKinematicCharacterController.h
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@@ -34,7 +34,7 @@ class btPairCachingGhostObject;
///btKinematicCharacterController is an object that supports a sliding motion in a world.
///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
class btKinematicCharacterController : public btCharacterControllerInterface
ATTRIBUTE_ALIGNED16(class) btKinematicCharacterController : public btCharacterControllerInterface
{
protected:
@@ -92,6 +92,9 @@ protected:
void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1);
~btKinematicCharacterController ();

12
src/LinearMath/btVector3.h
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@@ -472,15 +472,19 @@ public:
return absolute().maxAxis();
}
SIMD_FORCE_INLINE void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt)
{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
__m128 vrt = _mm_load_ss(&rt); // (rt 0 0 0)
btScalar s = btScalar(1.0) - rt;
__m128 vs = _mm_load_ss(&s); // (S 0 0 0)
vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0)
__m128 r0 = _mm_mul_ps(v0.mVec128, vs);
vrt = bt_pshufd_ps(vrt, 0x80); // (rt rt rt 0.0)
mVec128 = _mm_sub_ps(v1.mVec128, v0.mVec128);
mVec128 = _mm_mul_ps(mVec128, vrt);
mVec128 = _mm_add_ps(mVec128, v0.mVec128);
__m128 r1 = _mm_mul_ps(v1.mVec128, vrt);
__m128 tmp3 = _mm_add_ps(r0,r1);
mVec128 = tmp3;
#elif defined(BT_USE_NEON)
mVec128 = vsubq_f32(v1.mVec128, v0.mVec128);
mVec128 = vmulq_n_f32(mVec128, rt);