Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Some performance improvements and fixes related to btVector3 being aligned on SPU.

Browse Source 
btQuantizedBvh has a version number, memory layout might be different now (due to aligned btVector3)
reorganized some data members of some classes, to reduce memory footprint
This commit is contained in:
erwin.coumans
2008-10-29 02:45:16 +00:00
parent b18aa2b375
commit aeb48644ee
4 changed files with 174 additions and 135 deletions
Download Patch File Download Diff File Expand all files Collapse all files

38
src/LinearMath/btQuaternion.h
View File

@@ -106,14 +106,14 @@ public:
* @param q The quaternion to add to this one */
btQuaternion& operator+=(const btQuaternion& q)
{
m_x += q.x(); m_y += q.y(); m_z += q.z(); m_unusedW += q.m_unusedW;
m_floats[0] += q.x(); m_floats[1] += q.y(); m_floats[2] += q.z(); m_floats[3] += q.m_floats[3];
return *this;
}
/**@brief Subtract out a quaternion
* @param q The quaternion to subtract from this one */
btQuaternion& operator-=(const btQuaternion& q)
{
m_x -= q.x(); m_y -= q.y(); m_z -= q.z(); m_unusedW -= q.m_unusedW;
m_floats[0] -= q.x(); m_floats[1] -= q.y(); m_floats[2] -= q.z(); m_floats[3] -= q.m_floats[3];
return *this;
}
@@ -121,7 +121,7 @@ public:
* @param s The scalar to scale by */
btQuaternion& operator*=(const btScalar& s)
{
m_x *= s; m_y *= s; m_z *= s; m_unusedW *= s;
m_floats[0] *= s; m_floats[1] *= s; m_floats[2] *= s; m_floats[3] *= s;
return *this;
}
@@ -130,17 +130,17 @@ public:
* Equivilant to this = this * q */
btQuaternion& operator*=(const btQuaternion& q)
{
setValue(m_unusedW * q.x() + m_x * q.m_unusedW + m_y * q.z() - m_z * q.y(),
m_unusedW * q.y() + m_y * q.m_unusedW + m_z * q.x() - m_x * q.z(),
m_unusedW * q.z() + m_z * q.m_unusedW + m_x * q.y() - m_y * q.x(),
m_unusedW * q.m_unusedW - m_x * q.x() - m_y * q.y() - m_z * q.z());
setValue(m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(),
m_floats[3] * q.y() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.x() - m_floats[0] * q.z(),
m_floats[3] * q.z() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.y() - m_floats[1] * q.x(),
m_floats[3] * q.m_floats[3] - m_floats[0] * q.x() - m_floats[1] * q.y() - m_floats[2] * q.z());
return *this;
}
/**@brief Return the dot product between this quaternion and another
* @param q The other quaternion */
btScalar dot(const btQuaternion& q) const
{
return m_x * q.x() + m_y * q.y() + m_z * q.z() + m_unusedW * q.m_unusedW;
return m_floats[0] * q.x() + m_floats[1] * q.y() + m_floats[2] * q.z() + m_floats[3] * q.m_floats[3];
}
/**@brief Return the length squared of the quaternion */
@@ -167,7 +167,7 @@ public:
SIMD_FORCE_INLINE btQuaternion
operator*(const btScalar& s) const
{
return btQuaternion(x() * s, y() * s, z() * s, m_unusedW * s);
return btQuaternion(x() * s, y() * s, z() * s, m_floats[3] * s);
}
@@ -203,7 +203,7 @@ public:
/**@brief Return the angle of rotation represented by this quaternion */
btScalar getAngle() const
{
btScalar s = btScalar(2.) * btAcos(m_unusedW);
btScalar s = btScalar(2.) * btAcos(m_floats[3]);
return s;
}
@@ -211,7 +211,7 @@ public:
/**@brief Return the inverse of this quaternion */
btQuaternion inverse() const
{
return btQuaternion(-m_x, -m_y, -m_z, m_unusedW);
return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]);
}
/**@brief Return the sum of this quaternion and the other
@@ -220,7 +220,7 @@ public:
operator+(const btQuaternion& q2) const
{
const btQuaternion& q1 = *this;
return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_unusedW + q2.m_unusedW);
return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_floats[3] + q2.m_floats[3]);
}
/**@brief Return the difference between this quaternion and the other
@@ -229,7 +229,7 @@ public:
operator-(const btQuaternion& q2) const
{
const btQuaternion& q1 = *this;
return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_unusedW - q2.m_unusedW);
return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_floats[3] - q2.m_floats[3]);
}
/**@brief Return the negative of this quaternion
@@ -237,7 +237,7 @@ public:
SIMD_FORCE_INLINE btQuaternion operator-() const
{
const btQuaternion& q2 = *this;
return btQuaternion( - q2.x(), - q2.y(), - q2.z(), - q2.m_unusedW);
return btQuaternion( - q2.x(), - q2.y(), - q2.z(), - q2.m_floats[3]);
}
/**@todo document this and it's use */
SIMD_FORCE_INLINE btQuaternion farthest( const btQuaternion& qd) const
@@ -262,10 +262,10 @@ public:
btScalar d = btScalar(1.0) / btSin(theta);
btScalar s0 = btSin((btScalar(1.0) - t) * theta);
btScalar s1 = btSin(t * theta);
return btQuaternion((m_x * s0 + q.x() * s1) * d,
(m_y * s0 + q.y() * s1) * d,
(m_z * s0 + q.z() * s1) * d,
(m_unusedW * s0 + q.m_unusedW * s1) * d);
return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d,
(m_floats[1] * s0 + q.y() * s1) * d,
(m_floats[2] * s0 + q.z() * s1) * d,
(m_floats[3] * s0 + q.m_floats[3] * s1) * d);
}
else
{
@@ -273,7 +273,7 @@ public:
}
}
SIMD_FORCE_INLINE const btScalar& getW() const { return m_unusedW; }
SIMD_FORCE_INLINE const btScalar& getW() const { return m_floats[3]; }
};