diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2008-09-13 11:06:43 +0400 |
---|---|---|
committer | Erwin Coumans <blender@erwincoumans.com> | 2008-09-13 11:06:43 +0400 |
commit | 7f293488d12b5d5076b4bbf3d6c9248867c447a0 (patch) | |
tree | 977ac9f1063de48615e8f294bfbcadb2a3b645f6 /extern/bullet2/src/LinearMath | |
parent | 206cfe7955683ac166201e417977e933fd98f7b3 (diff) |
Upgrade to latest Bullet trunk, that is in sync with Blender/extern/bullet2. (except for one define 'WIN32_AVOID_SSE_WHEN_EMBEDDED_INSIDE_BLENDER')
In case someone reads those SVN logs: you can enable some extra broadphase SSE optimizations by replacing WIN32_AVOID_SSE_WHEN_EMBEDDED_INSIDE_BLENDER by WIN32 in extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
Thanks to Benoit Bolsee for the upstream patch/contribution.
Removed some obsolete files, they were just intended for comparison/testing.
Diffstat (limited to 'extern/bullet2/src/LinearMath')
-rw-r--r-- | extern/bullet2/src/LinearMath/CMakeLists.txt | 29 | ||||
-rw-r--r-- | extern/bullet2/src/LinearMath/btAabbUtil2.h | 34 | ||||
-rw-r--r-- | extern/bullet2/src/LinearMath/btMatrix3x3.h | 85 | ||||
-rw-r--r-- | extern/bullet2/src/LinearMath/btScalar.h | 25 |
4 files changed, 166 insertions, 7 deletions
diff --git a/extern/bullet2/src/LinearMath/CMakeLists.txt b/extern/bullet2/src/LinearMath/CMakeLists.txt index 207eed94a3e..02ffaad7228 100644 --- a/extern/bullet2/src/LinearMath/CMakeLists.txt +++ b/extern/bullet2/src/LinearMath/CMakeLists.txt @@ -4,7 +4,32 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src } ) ADD_LIBRARY(LibLinearMath -btQuickprof.cpp -btGeometryUtil.cpp + btAlignedObjectArray.h + btList.h + btPoolAllocator.h + btRandom.h + btVector3.h + btDefaultMotionState.h + btMatrix3x3.h + btQuadWord.h + btHashMap.h + btScalar.h + btAabbUtil2.h + btConvexHull.h + btConvexHull.cpp + btMinMax.h + btQuaternion.h + btStackAlloc.h + btGeometryUtil.h + btMotionState.h + btTransform.h + btAlignedAllocator.h + btIDebugDraw.h + btPoint3.h + btQuickprof.h + btTransformUtil.h + btQuickprof.cpp + btGeometryUtil.cpp + btAlignedAllocator.cpp ) diff --git a/extern/bullet2/src/LinearMath/btAabbUtil2.h b/extern/bullet2/src/LinearMath/btAabbUtil2.h index 8bb6b3af7c3..275c4914628 100644 --- a/extern/bullet2/src/LinearMath/btAabbUtil2.h +++ b/extern/bullet2/src/LinearMath/btAabbUtil2.h @@ -17,6 +17,7 @@ subject to the following restrictions: #ifndef AABB_UTIL2 #define AABB_UTIL2 +#include "btTransform.h" #include "btVector3.h" #include "btMinMax.h" @@ -163,6 +164,39 @@ SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, } + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin,const btTransform& t,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin); + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = btVector3(abs_b[0].dot(halfExtentsWithMargin), + abs_b[1].dot(halfExtentsWithMargin), + abs_b[2].dot(halfExtentsWithMargin)); + aabbMinOut = center - extent; + aabbMaxOut = center + extent; +} + + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin,const btVector3& localAabbMax, btScalar margin,const btTransform& trans,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btAssert(localAabbMin.getX() <= localAabbMax.getX()); + btAssert(localAabbMin.getY() <= localAabbMax.getY()); + btAssert(localAabbMin.getZ() <= localAabbMax.getZ()); + btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin); + localHalfExtents+=btVector3(margin,margin,margin); + + btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin); + btMatrix3x3 abs_b = trans.getBasis().absolute(); + btVector3 center = trans(localCenter); + btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), + abs_b[1].dot(localHalfExtents), + abs_b[2].dot(localHalfExtents)); + aabbMinOut = center-extent; + aabbMaxOut = center+extent; +} + + #endif diff --git a/extern/bullet2/src/LinearMath/btMatrix3x3.h b/extern/bullet2/src/LinearMath/btMatrix3x3.h index ca1a801402f..14aa4ae2348 100644 --- a/extern/bullet2/src/LinearMath/btMatrix3x3.h +++ b/extern/bullet2/src/LinearMath/btMatrix3x3.h @@ -284,6 +284,91 @@ class btMatrix3x3 { } + ///diagonalizes this matrix by the Jacobi method. rot stores the rotation + ///from the coordinate system in which the matrix is diagonal to the original + ///coordinate system, i.e., old_this = rot * new_this * rot^T. The iteration + ///stops when all off-diagonal elements are less than the threshold multiplied + ///by the sum of the absolute values of the diagonal, or when maxSteps have + ///been executed. Note that this matrix is assumed to be symmetric. + void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps) + { + rot.setIdentity(); + for (int step = maxSteps; step > 0; step--) + { + // find off-diagonal element [p][q] with largest magnitude + int p = 0; + int q = 1; + int r = 2; + btScalar max = btFabs(m_el[0][1]); + btScalar v = btFabs(m_el[0][2]); + if (v > max) + { + q = 2; + r = 1; + max = v; + } + v = btFabs(m_el[1][2]); + if (v > max) + { + p = 1; + q = 2; + r = 0; + max = v; + } + + btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2])); + if (max <= t) + { + if (max <= SIMD_EPSILON * t) + { + return; + } + step = 1; + } + + // compute Jacobi rotation J which leads to a zero for element [p][q] + btScalar mpq = m_el[p][q]; + btScalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq); + btScalar theta2 = theta * theta; + btScalar cos; + btScalar sin; + if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON)) + { + t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2)) + : 1 / (theta - btSqrt(1 + theta2)); + cos = 1 / btSqrt(1 + t * t); + sin = cos * t; + } + else + { + // approximation for large theta-value, i.e., a nearly diagonal matrix + t = 1 / (theta * (2 + btScalar(0.5) / theta2)); + cos = 1 - btScalar(0.5) * t * t; + sin = cos * t; + } + + // apply rotation to matrix (this = J^T * this * J) + m_el[p][q] = m_el[q][p] = 0; + m_el[p][p] -= t * mpq; + m_el[q][q] += t * mpq; + btScalar mrp = m_el[r][p]; + btScalar mrq = m_el[r][q]; + m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq; + m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp; + + // apply rotation to rot (rot = rot * J) + for (int i = 0; i < 3; i++) + { + btVector3& row = rot[i]; + mrp = row[p]; + mrq = row[q]; + row[p] = cos * mrp - sin * mrq; + row[q] = cos * mrq + sin * mrp; + } + } + } + + protected: btScalar cofac(int r1, int c1, int r2, int c2) const diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h index 1fee626d0c0..3c96857d4eb 100644 --- a/extern/bullet2/src/LinearMath/btScalar.h +++ b/extern/bullet2/src/LinearMath/btScalar.h @@ -24,7 +24,7 @@ subject to the following restrictions: #include <cfloat> #include <float.h> -#define BT_BULLET_VERSION 271 +#define BT_BULLET_VERSION 272 inline int btGetVersion() { @@ -65,7 +65,11 @@ inline int btGetVersion() #endif //__MINGW32__ #include <assert.h> +#if defined(DEBUG) || defined (_DEBUG) #define btAssert assert +#else + #define btAssert(x) +#endif //btFullAssert is optional, slows down a lot #define btFullAssert(x) @@ -116,7 +120,13 @@ inline int btGetVersion() #ifndef assert #include <assert.h> #endif + +#if defined(DEBUG) || defined (_DEBUG) #define btAssert assert +#else + #define btAssert(x) +#endif + //btFullAssert is optional, slows down a lot #define btFullAssert(x) #define btLikely(_c) _c @@ -145,11 +155,16 @@ typedef float btScalar; #endif + #define BT_DECLARE_ALIGNED_ALLOCATOR() \ - SIMD_FORCE_INLINE void* operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \ - SIMD_FORCE_INLINE void operator delete(void* ptr) { btAlignedFree(ptr); } \ - SIMD_FORCE_INLINE void* operator new(size_t, void* ptr) { return ptr; } \ - SIMD_FORCE_INLINE void operator delete(void*, void*) { } \ + SIMD_FORCE_INLINE void* operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \ + SIMD_FORCE_INLINE void operator delete(void* ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void* operator new(size_t, void* ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete(void*, void*) { } \ + SIMD_FORCE_INLINE void* operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \ + SIMD_FORCE_INLINE void operator delete[](void* ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void* operator new[](size_t, void* ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete[](void*, void*) { } \ |