diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp | 37 |
1 files changed, 20 insertions, 17 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp index 8c67d8ebef1..4b16130211f 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -13,6 +13,10 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif + #include "btConvexShape.h" #include "btTriangleShape.h" #include "btSphereShape.h" @@ -109,19 +113,8 @@ static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector return supVec; #else - btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT); - int ptIndex = -1; - - for (int i=0;i<numPoints;i++) - { - - newDot = vec.dot(points[i]); - if (newDot > maxDot) - { - maxDot = newDot; - ptIndex = i; - } - } + btScalar maxDot; + long ptIndex = vec.maxDot( points, numPoints, maxDot); btAssert(ptIndex >= 0); btVector3 supVec = points[ptIndex] * localScaling; return supVec; @@ -141,16 +134,26 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV btBoxShape* convexShape = (btBoxShape*)this; const btVector3& halfExtents = convexShape->getImplicitShapeDimensions(); +#if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON )) + #if defined( BT_USE_SSE ) + return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 )); + #elif defined( BT_USE_NEON ) + return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 )); + #else + #error unknown vector arch + #endif +#else return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()), btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()), btFsels(localDir.z(), halfExtents.z(), -halfExtents.z())); +#endif } case TRIANGLE_SHAPE_PROXYTYPE: { btTriangleShape* triangleShape = (btTriangleShape*)this; btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ()); btVector3* vertices = &triangleShape->m_vertices1[0]; - btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2])); + btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]); btVector3 sup = vertices[dots.maxAxis()]; return btVector3(sup.getX(),sup.getY(),sup.getZ()); } @@ -383,8 +386,8 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, halfExtents += btVector3(margin,margin,margin); btMatrix3x3 abs_b = t.getBasis().absolute(); btVector3 center = t.getOrigin(); - btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents)); - + btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); + aabbMin = center - extent; aabbMax = center + extent; break; @@ -417,7 +420,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual()); btMatrix3x3 abs_b = t.getBasis().absolute(); btVector3 center = t.getOrigin(); - btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents)); + btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); aabbMin = center - extent; aabbMax = center + extent; } |