diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp | 94 |
1 files changed, 72 insertions, 22 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp index 7e67696f4c7..f5f3aa58aa4 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. @@ -21,6 +21,18 @@ subject to the following restrictions: #include "btConvexHullShape.h" #include "btConvexPointCloudShape.h" +///not supported on IBM SDK, until we fix the alignment of btVector3 +#if defined (__CELLOS_LV2__) && defined (__SPU__) +#include <spu_intrinsics.h> +static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 result; + result = spu_mul( vec0, vec1 ); + result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result ); + return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result ); +} +#endif //__SPU__ + btConvexShape::btConvexShape () { } @@ -32,35 +44,71 @@ btConvexShape::~btConvexShape() -static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints, const btVector3& localScaling) -{ - btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); - btScalar newDot,maxDot = btScalar(-1e30); - - btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ()); - btVector3 vec = vec0; - btScalar lenSqr = vec.length2(); - if (lenSqr < btScalar(0.0001)) - { - vec.setValue(1,0,0); - } else { - btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); - vec *= rlen; +static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling) +{ + + btVector3 vec = localDirOrg * localScaling; + +#if defined (__CELLOS_LV2__) && defined (__SPU__) + + btVector3 localDir = vec; + + vec_float4 v_distMax = {-FLT_MAX,0,0,0}; + vec_int4 v_idxMax = {-999,0,0,0}; + int v=0; + int numverts = numPoints; + + for(;v<(int)numverts-4;v+=4) { + vec_float4 p0 = vec_dot3(points[v ].get128(),localDir.get128()); + vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128()); + vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128()); + vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128()); + const vec_int4 i0 = {v ,0,0,0}; + const vec_int4 i1 = {v+1,0,0,0}; + const vec_int4 i2 = {v+2,0,0,0}; + const vec_int4 i3 = {v+3,0,0,0}; + vec_uint4 retGt01 = spu_cmpgt(p0,p1); + vec_float4 pmax01 = spu_sel(p1,p0,retGt01); + vec_int4 imax01 = spu_sel(i1,i0,retGt01); + vec_uint4 retGt23 = spu_cmpgt(p2,p3); + vec_float4 pmax23 = spu_sel(p3,p2,retGt23); + vec_int4 imax23 = spu_sel(i3,i2,retGt23); + vec_uint4 retGt0123 = spu_cmpgt(pmax01,pmax23); + vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123); + vec_int4 imax0123 = spu_sel(imax23,imax01,retGt0123); + vec_uint4 retGtMax = spu_cmpgt(v_distMax,pmax0123); + v_distMax = spu_sel(pmax0123,v_distMax,retGtMax); + v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax); } + for(;v<(int)numverts;v++) { + vec_float4 p = vec_dot3(points[v].get128(),localDir.get128()); + const vec_int4 i = {v,0,0,0}; + vec_uint4 retGtMax = spu_cmpgt(v_distMax,p); + v_distMax = spu_sel(p,v_distMax,retGtMax); + v_idxMax = spu_sel(i,v_idxMax,retGtMax); + } + int ptIndex = spu_extract(v_idxMax,0); + const btVector3& supVec= points[ptIndex] * localScaling; + return supVec; +#else + btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT); + int ptIndex = -1; for (int i=0;i<numPoints;i++) { - btVector3 vtx = points[i] * localScaling; - newDot = vec.dot(vtx); + newDot = vec.dot(points[i]); if (newDot > maxDot) { maxDot = newDot; - supVec = vtx; + ptIndex = i; } } - return btVector3(supVec.getX(),supVec.getY(),supVec.getZ()); + btAssert(ptIndex >= 0); + btVector3 supVec = points[ptIndex] * localScaling; + return supVec; +#endif //__SPU__ } btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const @@ -160,7 +208,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV btScalar radius = capsuleShape->getRadius(); btVector3 supVec(0,0,0); - btScalar maxDot(btScalar(-1e30)); + btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); btVector3 vec = vec0; btScalar lenSqr = vec.length2(); @@ -292,7 +340,7 @@ btScalar btConvexShape::getMarginNonVirtual () const btAssert (0); return btScalar(0.0f); } - +#ifndef __SPU__ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const { switch (m_shapeType) @@ -360,7 +408,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: case CONVEX_HULL_SHAPE_PROXYTYPE: { - btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this; + btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this; btScalar margin = convexHullShape->getMarginNonVirtual(); convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin); } @@ -377,3 +425,5 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, // should never reach here btAssert (0); } + +#endif //__SPU__ |