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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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28
src/Bullet3Common/b3Quaternion.h
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@@ -27,14 +27,14 @@ subject to the following restrictions:
#ifdef B3_USE_SSE
const __m128 B3_ATTRIBUTE_ALIGNED16(vOnes) = {1.0f, 1.0f, 1.0f, 1.0f};
const __m128 B3_ATTRIBUTE_ALIGNED16(b3vOnes) = {1.0f, 1.0f, 1.0f, 1.0f};
#endif
#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f};
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f};
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f};
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f};
#endif
@@ -227,7 +227,7 @@ public:
A1 = A1 + A2; // AB12
mVec128 = mVec128 - B1; // AB03 = AB0 - AB3
A1 = _mm_xor_ps(A1, vPPPM); // change sign of the last element
A1 = _mm_xor_ps(A1, b3vPPPM); // change sign of the last element
mVec128 = mVec128+ A1; // AB03 + AB12
#elif defined(B3_USE_NEON)
@@ -270,7 +270,7 @@ public:
A0 = vsubq_f32(A0, A3); // AB03 = AB0 - AB3
// change the sign of the last element
A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);
A0 = vaddq_f32(A0, A1); // AB03 + AB12
mVec128 = A0;
@@ -338,7 +338,7 @@ public:
vd = _mm_add_ss(vd, t);
vd = _mm_sqrt_ss(vd);
vd = _mm_div_ss(vOnes, vd);
vd = _mm_div_ss(b3vOnes, vd);
vd = b3_pshufd_ps(vd, 0); // splat
mVec128 = _mm_mul_ps(mVec128, vd);
@@ -416,9 +416,9 @@ public:
b3Quaternion inverse() const
{
#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
return b3Quaternion(_mm_xor_ps(mVec128, vQInv));
return b3Quaternion(_mm_xor_ps(mVec128, b3vQInv));
#elif defined(B3_USE_NEON)
return b3Quaternion((b3SimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)vQInv));
return b3Quaternion((b3SimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)b3vQInv));
#else
return b3Quaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]);
#endif
@@ -567,7 +567,7 @@ operator*(const b3Quaternion& q1, const b3Quaternion& q2)
A1 = A1 + A2; // AB12
A0 = A0 - B1; // AB03 = AB0 - AB3
A1 = _mm_xor_ps(A1, vPPPM); // change sign of the last element
A1 = _mm_xor_ps(A1, b3vPPPM); // change sign of the last element
A0 = A0 + A1; // AB03 + AB12
return b3Quaternion(A0);
@@ -612,7 +612,7 @@ operator*(const b3Quaternion& q1, const b3Quaternion& q2)
A0 = vsubq_f32(A0, A3); // AB03 = AB0 - AB3
// change the sign of the last element
A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);
A0 = vaddq_f32(A0, A1); // AB03 + AB12
return b3Quaternion(A0);
@@ -650,7 +650,7 @@ operator*(const b3Quaternion& q, const b3Vector3& w)
A3 = A3 * B3; // A3 *= B3
A1 = A1 + A2; // AB12
A1 = _mm_xor_ps(A1, vPPPM); // change sign of the last element
A1 = _mm_xor_ps(A1, b3vPPPM); // change sign of the last element
A1 = A1 - A3; // AB123 = AB12 - AB3
return b3Quaternion(A1);
@@ -694,7 +694,7 @@ operator*(const b3Quaternion& q, const b3Vector3& w)
A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2
// change the sign of the last element
A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);
A1 = vsubq_f32(A1, A3); // AB123 = AB12 - AB3
@@ -733,7 +733,7 @@ operator*(const b3Vector3& w, const b3Quaternion& q)
A3 = A3 * B3; // A3 *= B3
A1 = A1 + A2; // AB12
A1 = _mm_xor_ps(A1, vPPPM); // change sign of the last element
A1 = _mm_xor_ps(A1, b3vPPPM); // change sign of the last element
A1 = A1 - A3; // AB123 = AB12 - AB3
return b3Quaternion(A1);
@@ -777,7 +777,7 @@ operator*(const b3Vector3& w, const b3Quaternion& q)
A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2
// change the sign of the last element
A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);
A1 = vsubq_f32(A1, A3); // AB123 = AB12 - AB3