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more work on hashed pairmanager. growing doesn't work yet, so need to allocate enough room for the overlapping pairs in advance.

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boxbox reports contact point in B, rather then average point
box, cylinder use halfextents corrected for scaling and margin. made the margin in this halfextents explicit in the 'getHalfExtentsWithMargin' and 'getHalfExtentsWithoutMargin'
integrated changed for ODE quickstep solver
replaced inline with SIMD_FORCE_INLINE
some minor optimizations in the btSequentialImpulseConstraintSolver

added cone drawing (for X,Y,Z cones)
This commit is contained in:
ejcoumans
2007-10-12 02:52:28 +00:00
parent 1baa61bc8d
commit eff4fe8ec8
39 changed files with 1882 additions and 1336 deletions
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133
Extras/quickstep/OdeMacros.h
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@@ -93,6 +93,7 @@ do { \
(A)[8] op dDOT1((B+8),(C)); \
(A)[9] op dDOT1((B+8),(C+4)); \
(A)[10] op dDOT1((B+8),(C+8));
#define dMULTIPLYOP0_333(A,op,B,C) \
(A)[0] op dDOT14((B),(C)); \
(A)[1] op dDOT14((B),(C+1)); \
@@ -119,52 +120,30 @@ do { \
#define dALLOCA16(n) \
((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
/////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////
#ifdef DEBUG
#define ANSI_FTOL 1
extern "C" {
__declspec(naked) void _ftol2() {
__asm {
#if ANSI_FTOL
fnstcw WORD PTR [esp-2]
mov ax, WORD PTR [esp-2]
OR AX, 0C00h
mov WORD PTR [esp-4], ax
fldcw WORD PTR [esp-4]
fistp QWORD PTR [esp-12]
fldcw WORD PTR [esp-2]
mov eax, DWORD PTR [esp-12]
mov edx, DWORD PTR [esp-8]
#else
fistp DWORD PTR [esp-12]
mov eax, DWORD PTR [esp-12]
mov ecx, DWORD PTR [esp-8]
#endif
ret
}
}
}
#endif //DEBUG
#define ALLOCA dALLOCA16
//#define ALLOCA dALLOCA16
typedef const btScalar *dRealPtr;
typedef btScalar *dRealMutablePtr;
#define dRealArray(name,n) btScalar name[n];
#define dRealAllocaArray(name,n) btScalar *name = (btScalar*) ALLOCA ((n)*sizeof(btScalar));
//#define dRealArray(name,n) btScalar name[n];
//#define dRealAllocaArray(name,n) btScalar *name = (btScalar*) ALLOCA ((n)*sizeof(btScalar));
///////////////////////////////////////////////////////////////////////////////
//Remotion: 10.10.2007
#define ALLOCA(size) stackAlloc->allocate( dEFFICIENT_SIZE(size) );
//#define dRealAllocaArray(name,size) btScalar *name = (btScalar*) stackAlloc->allocate(dEFFICIENT_SIZE(size)*sizeof(btScalar));
#define dRealAllocaArray(name,size) btScalar *name = NULL; \
int memNeeded_##name = dEFFICIENT_SIZE(size)*sizeof(btScalar); \
if (memNeeded_##name < stackAlloc->getAvailableMemory()) name = (btScalar*) stackAlloc->allocate(memNeeded_##name); \
else{ btAssert(memNeeded_##name < stackAlloc->getAvailableMemory()); name = (btScalar*) alloca(memNeeded_##name); }
///////////////////////////////////////////////////////////////////////////////
#if 0
inline void dSetZero1 (btScalar *a, int n)
{
dAASSERT (a && n >= 0);
@@ -182,6 +161,76 @@ inline void dSetValue1 (btScalar *a, int n, btScalar value)
n--;
}
}
#else
/// This macros are for MSVC and XCode compilers. Remotion.
#if _MSC_VER //Visual Studio Win32, Win64
#include <xmmintrin.h> // SSE
#include <emmintrin.h> // SSE2
#include <intrin.h> // SSE3
#define __USE_SSE__
/*
#ifdef _WIN64
typedef unsigned __int64 size_t;
#else
typedef unsigned int size_t;
#endif
*/
#elif __GNUC__ // XCode GCC
#if defined(__ppc__) || defined(__ppc64__) // Mac PPC
///PPC or PPC64 Mac no SSE support
#elif defined(__i386__) // Intel Mac with SSE support
#include <xmmintrin.h> // SSE
#include <emmintrin.h> // SSE2
#include <pmmintrin.h> // SSE3
#define __USE_SSE__
#endif
#include <string.h>
#endif
//Remotion: 10.10.2007
//------------------------------------------------------------------------------
#define IS_ALIGNED_16(x) ((size_t(x)&15)==0)
//------------------------------------------------------------------------------
inline void dSetZero1 (btScalar *dest, int size)
{
dAASSERT (dest && size >= 0);
memset(dest, 0, size * sizeof(btScalar));
}
//------------------------------------------------------------------------------
inline void dSetValue1 (btScalar *dest, int size, btScalar val)
{
dAASSERT (dest && size >= 0);
int n_mod4 = size & 3;
int n4 = size - n_mod4;
#ifdef __USE_SSE__
if(IS_ALIGNED_16(dest)){
__m128 xmm0 = _mm_set_ps1(val);
for (int i=0; i<n4; i+=4)
{
_mm_store_ps(&dest[i],xmm0);
}
}else
#endif
{
for (int i=0; i<n4; i+=4) // Unrolled Loop
{
dest[i ] = val;
dest[i+1] = val;
dest[i+2] = val;
dest[i+3] = val;
}
}
for (int i=n4; i<size; i++){
dest[i] = val;
}
}
#endif
/////////////////////////////////////////////////////////////////////
#endif //USE_SOR_SOLVER