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resolve some naming conflicts between Bullet 3.x and Bullet 2.x

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add BasicGpuDemo that bridges Bullet 2.x and Bullet 3.x (still preliminary/crashing/instable)
This commit is contained in:
erwincoumans
2013-04-30 18:17:44 -07:00
parent bf7a779562
commit e999903c15
27 changed files with 1581 additions and 51 deletions
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30
src/Bullet3Common/b3Matrix3x3.h
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@@ -21,14 +21,14 @@ subject to the following restrictions:
#include <stdio.h>
#ifdef B3_USE_SSE
//const __m128 B3_ATTRIBUTE_ALIGNED16(v2220) = {2.0f, 2.0f, 2.0f, 0.0f};
const __m128 B3_ATTRIBUTE_ALIGNED16(vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f};
//const __m128 B3_ATTRIBUTE_ALIGNED16(b3v2220) = {2.0f, 2.0f, 2.0f, 0.0f};
const __m128 B3_ATTRIBUTE_ALIGNED16(b3vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f};
#endif
#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(v1000) = {1.0f, 0.0f, 0.0f, 0.0f};
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(v0100) = {0.0f, 1.0f, 0.0f, 0.0f};
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(v0010) = {0.0f, 0.0f, 1.0f, 0.0f};
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v1000) = {1.0f, 0.0f, 0.0f, 0.0f};
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v0100) = {0.0f, 1.0f, 0.0f, 0.0f};
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v0010) = {0.0f, 0.0f, 1.0f, 0.0f};
#endif
#ifdef B3_USE_DOUBLE_PRECISION
@@ -219,7 +219,7 @@ public:
V1 = b3CastiTo128f(_mm_shuffle_epi32 (Qi, B3_SHUFFLE(1,0,2,3))); // Y X Z W
V2 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(0,0,1,3)); // -X -X Y W
V3 = b3CastiTo128f(_mm_shuffle_epi32 (Qi, B3_SHUFFLE(2,1,0,3))); // Z Y X W
V1 = _mm_xor_ps(V1, vMPPP); // change the sign of the first element
V1 = _mm_xor_ps(V1, b3vMPPP); // change the sign of the first element
V11 = b3CastiTo128f(_mm_shuffle_epi32 (Qi, B3_SHUFFLE(1,1,0,3))); // Y Y X W
V21 = _mm_unpackhi_ps(Q, Q); // Z Z W W
@@ -231,9 +231,9 @@ public:
V11 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(2,3,1,3)); // -Z -W Y W
V11 = V11 * V21; //
V21 = _mm_xor_ps(V21, vMPPP); // change the sign of the first element
V21 = _mm_xor_ps(V21, b3vMPPP); // change the sign of the first element
V31 = _mm_shuffle_ps(Q, NQ, B3_SHUFFLE(3,3,1,3)); // W W -Y -W
V31 = _mm_xor_ps(V31, vMPPP); // change the sign of the first element
V31 = _mm_xor_ps(V31, b3vMPPP); // change the sign of the first element
Y = b3CastiTo128f(_mm_shuffle_epi32 (NQi, B3_SHUFFLE(3,2,0,3))); // -W -Z -X -W
Z = b3CastiTo128f(_mm_shuffle_epi32 (Qi, B3_SHUFFLE(1,0,1,3))); // Y X Y W
@@ -251,9 +251,9 @@ public:
V2 = V2 * vs;
V3 = V3 * vs;
V1 = V1 + v1000;
V2 = V2 + v0100;
V3 = V3 + v0010;
V1 = V1 + b3v1000;
V2 = V2 + b3v0100;
V3 = V3 + b3v0010;
m_el[0] = V1;
m_el[1] = V2;
@@ -312,9 +312,9 @@ public:
void setIdentity()
{
#if (defined(B3_USE_SSE_IN_API)&& defined (B3_USE_SSE)) || defined(B3_USE_NEON)
m_el[0] = v1000;
m_el[1] = v0100;
m_el[2] = v0010;
m_el[0] = b3v1000;
m_el[1] = b3v0100;
m_el[2] = b3v0010;
#else
setValue(b3Scalar(1.0), b3Scalar(0.0), b3Scalar(0.0),
b3Scalar(0.0), b3Scalar(1.0), b3Scalar(0.0),
@@ -326,7 +326,7 @@ public:
{
#if (defined(B3_USE_SSE_IN_API)&& defined (B3_USE_SSE)) || defined(B3_USE_NEON)
static const b3Matrix3x3
identityMatrix(v1000, v0100, v0010);
identityMatrix(b3v1000, b3v0100, b3v0010);
#else
static const b3Matrix3x3
identityMatrix(