diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btVector3.cpp')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btVector3.cpp | 49 |
1 files changed, 37 insertions, 12 deletions
diff --git a/extern/bullet2/src/LinearMath/btVector3.cpp b/extern/bullet2/src/LinearMath/btVector3.cpp index bcb18704b93..a84f7baee2e 100644 --- a/extern/bullet2/src/LinearMath/btVector3.cpp +++ b/extern/bullet2/src/LinearMath/btVector3.cpp @@ -51,7 +51,7 @@ long _maxdot_large( const float *vv, const float *vec, unsigned long count, floa long _maxdot_large( const float *vv, const float *vec, unsigned long count, float *dotResult ) { const float4 *vertices = (const float4*) vv; - static const unsigned char indexTable[16] = {-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 }; + static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 }; float4 dotMax = btAssign128( -BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY ); float4 vvec = _mm_loadu_ps( vec ); float4 vHi = btCastiTo128f(_mm_shuffle_epi32( btCastfTo128i( vvec), 0xaa )); /// zzzz @@ -436,7 +436,7 @@ long _mindot_large( const float *vv, const float *vec, unsigned long count, floa long _mindot_large( const float *vv, const float *vec, unsigned long count, float *dotResult ) { const float4 *vertices = (const float4*) vv; - static const unsigned char indexTable[16] = {-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 }; + static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 }; float4 dotmin = btAssign128( BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY ); float4 vvec = _mm_loadu_ps( vec ); float4 vHi = btCastiTo128f(_mm_shuffle_epi32( btCastfTo128i( vvec), 0xaa )); /// zzzz @@ -823,7 +823,8 @@ long _mindot_large( const float *vv, const float *vec, unsigned long count, floa #elif defined BT_USE_NEON #define ARM_NEON_GCC_COMPATIBILITY 1 #include <arm_neon.h> - +#include <sys/types.h> +#include <sys/sysctl.h> //for sysctlbyname static long _maxdot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult ); static long _maxdot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult ); @@ -835,11 +836,34 @@ static long _mindot_large_sel( const float *vv, const float *vec, unsigned long long (*_maxdot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _maxdot_large_sel; long (*_mindot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _mindot_large_sel; -extern "C" {int _get_cpu_capabilities( void );} + +static inline uint32_t btGetCpuCapabilities( void ) +{ + static uint32_t capabilities = 0; + static bool testedCapabilities = false; + + if( 0 == testedCapabilities) + { + uint32_t hasFeature = 0; + size_t featureSize = sizeof( hasFeature ); + int err = sysctlbyname( "hw.optional.neon_hpfp", &hasFeature, &featureSize, NULL, 0 ); + + if( 0 == err && hasFeature) + capabilities |= 0x2000; + + testedCapabilities = true; + } + + return capabilities; +} + + + static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult ) { - if( _get_cpu_capabilities() & 0x2000 ) + + if( btGetCpuCapabilities() & 0x2000 ) _maxdot_large = _maxdot_large_v1; else _maxdot_large = _maxdot_large_v0; @@ -849,7 +873,8 @@ static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long static long _mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult ) { - if( _get_cpu_capabilities() & 0x2000 ) + + if( btGetCpuCapabilities() & 0x2000 ) _mindot_large = _mindot_large_v1; else _mindot_large = _mindot_large_v0; @@ -872,8 +897,8 @@ long _maxdot_large_v0( const float *vv, const float *vec, unsigned long count, f float32x2_t dotMaxHi = (float32x2_t) { -BT_INFINITY, -BT_INFINITY }; uint32x2_t indexLo = (uint32x2_t) {0, 1}; uint32x2_t indexHi = (uint32x2_t) {2, 3}; - uint32x2_t iLo = (uint32x2_t) {-1, -1}; - uint32x2_t iHi = (uint32x2_t) {-1, -1}; + uint32x2_t iLo = (uint32x2_t) {static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)}; + uint32x2_t iHi = (uint32x2_t) {static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)}; const uint32x2_t four = (uint32x2_t) {4,4}; for( ; i+8 <= count; i+= 8 ) @@ -1059,7 +1084,7 @@ long _maxdot_large_v1( const float *vv, const float *vec, unsigned long count, f float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0); const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 }; uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3}; - uint32x4_t index = (uint32x4_t) { -1, -1, -1, -1 }; + uint32x4_t index = (uint32x4_t) { static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1) }; float32x4_t maxDot = (float32x4_t) { -BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY }; unsigned long i = 0; @@ -1257,8 +1282,8 @@ long _mindot_large_v0( const float *vv, const float *vec, unsigned long count, f float32x2_t dotMinHi = (float32x2_t) { BT_INFINITY, BT_INFINITY }; uint32x2_t indexLo = (uint32x2_t) {0, 1}; uint32x2_t indexHi = (uint32x2_t) {2, 3}; - uint32x2_t iLo = (uint32x2_t) {-1, -1}; - uint32x2_t iHi = (uint32x2_t) {-1, -1}; + uint32x2_t iLo = (uint32x2_t) {static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)}; + uint32x2_t iHi = (uint32x2_t) {static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)}; const uint32x2_t four = (uint32x2_t) {4,4}; for( ; i+8 <= count; i+= 8 ) @@ -1442,7 +1467,7 @@ long _mindot_large_v1( const float *vv, const float *vec, unsigned long count, f float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0); const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 }; uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3}; - uint32x4_t index = (uint32x4_t) { -1, -1, -1, -1 }; + uint32x4_t index = (uint32x4_t) { static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1) }; float32x4_t minDot = (float32x4_t) { BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY }; unsigned long i = 0; |