diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath')
19 files changed, 1807 insertions, 747 deletions
diff --git a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h index 24e59ab65d7..6193ef7f427 100644 --- a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h +++ b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h @@ -39,6 +39,12 @@ subject to the following restrictions: #include <new> //for placement new #endif //BT_USE_PLACEMENT_NEW +// The register keyword is deprecated in C++11 so don't use it. +#if __cplusplus > 199711L +#define BT_REGISTER +#else +#define BT_REGISTER register +#endif ///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods ///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data @@ -202,24 +208,16 @@ protected: ///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations. SIMD_FORCE_INLINE void resizeNoInitialize(int newsize) { - int curSize = size(); - - if (newsize < curSize) + if (newsize > size()) { - } else - { - if (newsize > size()) - { - reserve(newsize); - } - //leave this uninitialized + reserve(newsize); } m_size = newsize; } SIMD_FORCE_INLINE void resize(int newsize, const T& fillData=T()) { - int curSize = size(); + const BT_REGISTER int curSize = size(); if (newsize < curSize) { @@ -229,7 +227,7 @@ protected: } } else { - if (newsize > size()) + if (newsize > curSize) { reserve(newsize); } @@ -246,7 +244,7 @@ protected: } SIMD_FORCE_INLINE T& expandNonInitializing( ) { - int sz = size(); + const BT_REGISTER int sz = size(); if( sz == capacity() ) { reserve( allocSize(size()) ); @@ -259,7 +257,7 @@ protected: SIMD_FORCE_INLINE T& expand( const T& fillValue=T()) { - int sz = size(); + const BT_REGISTER int sz = size(); if( sz == capacity() ) { reserve( allocSize(size()) ); @@ -275,7 +273,7 @@ protected: SIMD_FORCE_INLINE void push_back(const T& _Val) { - int sz = size(); + const BT_REGISTER int sz = size(); if( sz == capacity() ) { reserve( allocSize(size()) ); diff --git a/extern/bullet2/src/LinearMath/btCpuFeatureUtility.h b/extern/bullet2/src/LinearMath/btCpuFeatureUtility.h new file mode 100644 index 00000000000..d2cab52d488 --- /dev/null +++ b/extern/bullet2/src/LinearMath/btCpuFeatureUtility.h @@ -0,0 +1,92 @@ + +#ifndef BT_CPU_UTILITY_H +#define BT_CPU_UTILITY_H + +#include "LinearMath/btScalar.h" + +#include <string.h>//memset +#ifdef USE_SIMD +#include <emmintrin.h> +#ifdef BT_ALLOW_SSE4 +#include <intrin.h> +#endif //BT_ALLOW_SSE4 +#endif //USE_SIMD + +#if defined BT_USE_NEON +#define ARM_NEON_GCC_COMPATIBILITY 1 +#include <arm_neon.h> +#include <sys/types.h> +#include <sys/sysctl.h> //for sysctlbyname +#endif //BT_USE_NEON + +///Rudimentary btCpuFeatureUtility for CPU features: only report the features that Bullet actually uses (SSE4/FMA3, NEON_HPFP) +///We assume SSE2 in case BT_USE_SSE2 is defined in LinearMath/btScalar.h +class btCpuFeatureUtility +{ +public: + enum btCpuFeature + { + CPU_FEATURE_FMA3=1, + CPU_FEATURE_SSE4_1=2, + CPU_FEATURE_NEON_HPFP=4 + }; + + static int getCpuFeatures() + { + + static int capabilities = 0; + static bool testedCapabilities = false; + if (0 != testedCapabilities) + { + return capabilities; + } + +#ifdef BT_USE_NEON + { + 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 |= CPU_FEATURE_NEON_HPFP; + } +#endif //BT_USE_NEON + +#ifdef BT_ALLOW_SSE4 + { + int cpuInfo[4]; + memset(cpuInfo, 0, sizeof(cpuInfo)); + unsigned long long sseExt = 0; + __cpuid(cpuInfo, 1); + + bool osUsesXSAVE_XRSTORE = cpuInfo[2] & (1 << 27) || false; + bool cpuAVXSuport = cpuInfo[2] & (1 << 28) || false; + + if (osUsesXSAVE_XRSTORE && cpuAVXSuport) + { + sseExt = _xgetbv(0); + } + const int OSXSAVEFlag = (1UL << 27); + const int AVXFlag = ((1UL << 28) | OSXSAVEFlag); + const int FMAFlag = ((1UL << 12) | AVXFlag | OSXSAVEFlag); + if ((cpuInfo[2] & FMAFlag) == FMAFlag && (sseExt & 6) == 6) + { + capabilities |= btCpuFeatureUtility::CPU_FEATURE_FMA3; + } + + const int SSE41Flag = (1 << 19); + if (cpuInfo[2] & SSE41Flag) + { + capabilities |= btCpuFeatureUtility::CPU_FEATURE_SSE4_1; + } + } +#endif//BT_ALLOW_SSE4 + + testedCapabilities = true; + return capabilities; + } + + +}; + + +#endif //BT_CPU_UTILITY_H diff --git a/extern/bullet2/src/LinearMath/btDefaultMotionState.h b/extern/bullet2/src/LinearMath/btDefaultMotionState.h index c90b749230c..01c5f8d932d 100644 --- a/extern/bullet2/src/LinearMath/btDefaultMotionState.h +++ b/extern/bullet2/src/LinearMath/btDefaultMotionState.h @@ -25,14 +25,14 @@ ATTRIBUTE_ALIGNED16(struct) btDefaultMotionState : public btMotionState ///synchronizes world transform from user to physics virtual void getWorldTransform(btTransform& centerOfMassWorldTrans ) const { - centerOfMassWorldTrans = m_centerOfMassOffset.inverse() * m_graphicsWorldTrans ; + centerOfMassWorldTrans = m_graphicsWorldTrans * m_centerOfMassOffset.inverse() ; } ///synchronizes world transform from physics to user ///Bullet only calls the update of worldtransform for active objects virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans) { - m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset ; + m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset; } diff --git a/extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h b/extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h index e658c5cf062..13a79aa5856 100644 --- a/extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h +++ b/extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h @@ -85,9 +85,17 @@ inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector3>& original originalPoints[0].m_angle = -1e30f; for (int i=1;i<originalPoints.size();i++) { - btVector3 xvec = axis0; - btVector3 ar = originalPoints[i]-originalPoints[0]; - originalPoints[i].m_angle = btCross(xvec, ar).dot(normalAxis) / ar.length(); + btVector3 ar = originalPoints[i]-originalPoints[0]; + btScalar ar1 = axis1.dot(ar); + btScalar ar0 = axis0.dot(ar); + if( ar1*ar1+ar0*ar0 < FLT_EPSILON ) + { + originalPoints[i].m_angle = 0.0f; + } + else + { + originalPoints[i].m_angle = btAtan2Fast(ar1, ar0); + } } //step 2: sort all points, based on 'angle' with this anchor @@ -111,6 +119,11 @@ inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector3>& original else hull.push_back(originalPoints[i]); } + + if( hull.size() == 1 ) + { + hull.push_back( originalPoints[i] ); + } } } diff --git a/extern/bullet2/src/LinearMath/btHashMap.h b/extern/bullet2/src/LinearMath/btHashMap.h index ce07db3ac6b..af9727b7ada 100644 --- a/extern/bullet2/src/LinearMath/btHashMap.h +++ b/extern/bullet2/src/LinearMath/btHashMap.h @@ -399,6 +399,10 @@ protected: return find(key); } + const Value* operator[](const Key& key) const { + return find(key); + } + const Value* find(const Key& key) const { int index = findIndex(key); diff --git a/extern/bullet2/src/LinearMath/btIDebugDraw.h b/extern/bullet2/src/LinearMath/btIDebugDraw.h index de97c3f87fd..58c9838c490 100644 --- a/extern/bullet2/src/LinearMath/btIDebugDraw.h +++ b/extern/bullet2/src/LinearMath/btIDebugDraw.h @@ -21,6 +21,7 @@ subject to the following restrictions: #include "btTransform.h" + ///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations. ///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld. ///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum. @@ -29,6 +30,29 @@ class btIDebugDraw { public: + ATTRIBUTE_ALIGNED16(struct) DefaultColors + { + btVector3 m_activeObject; + btVector3 m_deactivatedObject; + btVector3 m_wantsDeactivationObject; + btVector3 m_disabledDeactivationObject; + btVector3 m_disabledSimulationObject; + btVector3 m_aabb; + btVector3 m_contactPoint; + + DefaultColors() + : m_activeObject(1,1,1), + m_deactivatedObject(0,1,0), + m_wantsDeactivationObject(0,1,1), + m_disabledDeactivationObject(1,0,0), + m_disabledSimulationObject(1,1,0), + m_aabb(1,0,0), + m_contactPoint(1,1,0) + { + } + }; + + enum DebugDrawModes { DBG_NoDebug=0, @@ -46,12 +70,18 @@ class btIDebugDraw DBG_DrawConstraints = (1 << 11), DBG_DrawConstraintLimits = (1 << 12), DBG_FastWireframe = (1<<13), - DBG_DrawNormals = (1<<14), + DBG_DrawNormals = (1<<14), + DBG_DrawFrames = (1<<15), DBG_MAX_DEBUG_DRAW_MODE }; virtual ~btIDebugDraw() {}; + + virtual DefaultColors getDefaultColors() const { DefaultColors colors; return colors; } + ///the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors. + virtual void setDefaultColors(const DefaultColors& /*colors*/) {} + virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0; virtual void drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor) @@ -147,7 +177,7 @@ class btIDebugDraw const btVector3& vx = axis; btVector3 vy = normal.cross(axis); btScalar step = stepDegrees * SIMD_RADS_PER_DEG; - int nSteps = (int)((maxAngle - minAngle) / step); + int nSteps = (int)btFabs((maxAngle - minAngle) / step); if(!nSteps) nSteps = 1; btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle); if(drawSect) @@ -438,6 +468,10 @@ class btIDebugDraw drawLine(transform*pt0,transform*pt1,color); drawLine(transform*pt2,transform*pt3,color); } + + virtual void flushLines() + { + } }; diff --git a/extern/bullet2/src/LinearMath/btMatrix3x3.h b/extern/bullet2/src/LinearMath/btMatrix3x3.h index 14fe704f81a..41dea694835 100644 --- a/extern/bullet2/src/LinearMath/btMatrix3x3.h +++ b/extern/bullet2/src/LinearMath/btMatrix3x3.h @@ -610,6 +610,27 @@ public: /**@brief Return the inverse of the matrix */ btMatrix3x3 inverse() const; + /// Solve A * x = b, where b is a column vector. This is more efficient + /// than computing the inverse in one-shot cases. + ///Solve33 is from Box2d, thanks to Erin Catto, + btVector3 solve33(const btVector3& b) const + { + btVector3 col1 = getColumn(0); + btVector3 col2 = getColumn(1); + btVector3 col3 = getColumn(2); + + btScalar det = btDot(col1, btCross(col2, col3)); + if (btFabs(det)>SIMD_EPSILON) + { + det = 1.0f / det; + } + btVector3 x; + x[0] = det * btDot(b, btCross(col2, col3)); + x[1] = det * btDot(col1, btCross(b, col3)); + x[2] = det * btDot(col1, btCross(col2, b)); + return x; + } + btMatrix3x3 transposeTimes(const btMatrix3x3& m) const; btMatrix3x3 timesTranspose(const btMatrix3x3& m) const; diff --git a/extern/bullet2/src/LinearMath/btMatrixX.h b/extern/bullet2/src/LinearMath/btMatrixX.h index 865d77967a9..42caed42eff 100644 --- a/extern/bullet2/src/LinearMath/btMatrixX.h +++ b/extern/bullet2/src/LinearMath/btMatrixX.h @@ -19,6 +19,7 @@ subject to the following restrictions: #include "LinearMath/btQuickprof.h" #include "LinearMath/btAlignedObjectArray.h" +#include <stdio.h> //#define BT_DEBUG_OSTREAM #ifdef BT_DEBUG_OSTREAM @@ -94,7 +95,7 @@ struct btVectorX { T temp; temp = scale / absxi; - ssq = ssq * (temp * temp) + 1.0; + ssq = ssq * (temp * temp) + BT_ONE; scale = absxi; } else @@ -354,11 +355,11 @@ struct btMatrixX for (int i=0; i < res.rows(); ++i) { T dotProd=0; - T dotProd2=0; - int waste=0,waste2=0; +// T dotProd2=0; + //int waste=0,waste2=0; { - bool useOtherCol = true; +// bool useOtherCol = true; { for (int v=0;v<rows();v++) { diff --git a/extern/bullet2/src/LinearMath/btQuadWord.h b/extern/bullet2/src/LinearMath/btQuadWord.h index 11067ef47d9..fcfb3be4447 100644 --- a/extern/bullet2/src/LinearMath/btQuadWord.h +++ b/extern/bullet2/src/LinearMath/btQuadWord.h @@ -73,7 +73,7 @@ public: public: -#if defined(BT_USE_SSE) || defined(BT_USE_NEON) +#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON) // Set Vector SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec) diff --git a/extern/bullet2/src/LinearMath/btQuaternion.h b/extern/bullet2/src/LinearMath/btQuaternion.h index 665421de1e4..ede76938404 100644 --- a/extern/bullet2/src/LinearMath/btQuaternion.h +++ b/extern/bullet2/src/LinearMath/btQuaternion.h @@ -22,6 +22,13 @@ subject to the following restrictions: #include "btQuadWord.h" +#ifdef BT_USE_DOUBLE_PRECISION +#define btQuaternionData btQuaternionDoubleData +#define btQuaternionDataName "btQuaternionDoubleData" +#else +#define btQuaternionData btQuaternionFloatData +#define btQuaternionDataName "btQuaternionFloatData" +#endif //BT_USE_DOUBLE_PRECISION @@ -560,7 +567,18 @@ public: SIMD_FORCE_INLINE const btScalar& getW() const { return m_floats[3]; } - + SIMD_FORCE_INLINE void serialize(struct btQuaternionData& dataOut) const; + + SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionData& dataIn); + + SIMD_FORCE_INLINE void serializeFloat(struct btQuaternionFloatData& dataOut) const; + + SIMD_FORCE_INLINE void deSerializeFloat(const struct btQuaternionFloatData& dataIn); + + SIMD_FORCE_INLINE void serializeDouble(struct btQuaternionDoubleData& dataOut) const; + + SIMD_FORCE_INLINE void deSerializeDouble(const struct btQuaternionDoubleData& dataIn); + }; @@ -903,6 +921,62 @@ shortestArcQuatNormalize2(btVector3& v0,btVector3& v1) return shortestArcQuat(v0,v1); } + + + +struct btQuaternionFloatData +{ + float m_floats[4]; +}; + +struct btQuaternionDoubleData +{ + double m_floats[4]; + +}; + +SIMD_FORCE_INLINE void btQuaternion::serializeFloat(struct btQuaternionFloatData& dataOut) const +{ + ///could also do a memcpy, check if it is worth it + for (int i=0;i<4;i++) + dataOut.m_floats[i] = float(m_floats[i]); +} + +SIMD_FORCE_INLINE void btQuaternion::deSerializeFloat(const struct btQuaternionFloatData& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = btScalar(dataIn.m_floats[i]); +} + + +SIMD_FORCE_INLINE void btQuaternion::serializeDouble(struct btQuaternionDoubleData& dataOut) const +{ + ///could also do a memcpy, check if it is worth it + for (int i=0;i<4;i++) + dataOut.m_floats[i] = double(m_floats[i]); +} + +SIMD_FORCE_INLINE void btQuaternion::deSerializeDouble(const struct btQuaternionDoubleData& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = btScalar(dataIn.m_floats[i]); +} + + +SIMD_FORCE_INLINE void btQuaternion::serialize(struct btQuaternionData& dataOut) const +{ + ///could also do a memcpy, check if it is worth it + for (int i=0;i<4;i++) + dataOut.m_floats[i] = m_floats[i]; +} + +SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionData& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = dataIn.m_floats[i]; +} + + #endif //BT_SIMD__QUATERNION_H_ diff --git a/extern/bullet2/src/LinearMath/btQuickprof.cpp b/extern/bullet2/src/LinearMath/btQuickprof.cpp index 544aee89d02..d88d965a4cc 100644 --- a/extern/bullet2/src/LinearMath/btQuickprof.cpp +++ b/extern/bullet2/src/LinearMath/btQuickprof.cpp @@ -10,7 +10,7 @@ ** ***************************************************************************************************/ -// Credits: The Clock class was inspired by the Timer classes in +// Credits: The Clock class was inspired by the Timer classes in // Ogre (www.ogre3d.org). #include "btQuickprof.h" @@ -27,8 +27,8 @@ static btClock gProfileClock; #include <stdio.h> #endif -#if defined (SUNOS) || defined (__SUNOS__) -#include <stdio.h> +#if defined (SUNOS) || defined (__SUNOS__) +#include <stdio.h> #endif #if defined(WIN32) || defined(_WIN32) @@ -37,12 +37,17 @@ static btClock gProfileClock; #define WIN32_LEAN_AND_MEAN #define NOWINRES #define NOMCX -#define NOIME +#define NOIME #ifdef _XBOX #include <Xtl.h> #else //_XBOX #include <windows.h> + +#if WINVER <0x0602 +#define GetTickCount64 GetTickCount +#endif + #endif //_XBOX #include <time.h> @@ -59,7 +64,7 @@ struct btClockData #ifdef BT_USE_WINDOWS_TIMERS LARGE_INTEGER mClockFrequency; - DWORD mStartTick; + LONGLONG mStartTick; LONGLONG mPrevElapsedTime; LARGE_INTEGER mStartTime; #else @@ -105,7 +110,7 @@ void btClock::reset() { #ifdef BT_USE_WINDOWS_TIMERS QueryPerformanceCounter(&m_data->mStartTime); - m_data->mStartTick = GetTickCount(); + m_data->mStartTick = GetTickCount64(); m_data->mPrevElapsedTime = 0; #else #ifdef __CELLOS_LV2__ @@ -121,34 +126,34 @@ void btClock::reset() #endif } -/// Returns the time in ms since the last call to reset or since +/// Returns the time in ms since the last call to reset or since /// the btClock was created. unsigned long int btClock::getTimeMilliseconds() { #ifdef BT_USE_WINDOWS_TIMERS LARGE_INTEGER currentTime; QueryPerformanceCounter(¤tTime); - LONGLONG elapsedTime = currentTime.QuadPart - + LONGLONG elapsedTime = currentTime.QuadPart - m_data->mStartTime.QuadPart; // Compute the number of millisecond ticks elapsed. - unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / + unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / m_data->mClockFrequency.QuadPart); - // Check for unexpected leaps in the Win32 performance counter. - // (This is caused by unexpected data across the PCI to ISA + // Check for unexpected leaps in the Win32 performance counter. + // (This is caused by unexpected data across the PCI to ISA // bridge, aka south bridge. See Microsoft KB274323.) - unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick; + unsigned long elapsedTicks = (unsigned long)(GetTickCount64() - m_data->mStartTick); signed long msecOff = (signed long)(msecTicks - elapsedTicks); if (msecOff < -100 || msecOff > 100) { // Adjust the starting time forwards. - LONGLONG msecAdjustment = mymin(msecOff * - m_data->mClockFrequency.QuadPart / 1000, elapsedTime - + LONGLONG msecAdjustment = mymin(msecOff * + m_data->mClockFrequency.QuadPart / 1000, elapsedTime - m_data->mPrevElapsedTime); m_data->mStartTime.QuadPart += msecAdjustment; elapsedTime -= msecAdjustment; // Recompute the number of millisecond ticks elapsed. - msecTicks = (unsigned long)(1000 * elapsedTime / + msecTicks = (unsigned long)(1000 * elapsedTime / m_data->mClockFrequency.QuadPart); } @@ -171,36 +176,36 @@ unsigned long int btClock::getTimeMilliseconds() struct timeval currentTime; gettimeofday(¤tTime, 0); - return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000 + + return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000 + (currentTime.tv_usec - m_data->mStartTime.tv_usec) / 1000; #endif //__CELLOS_LV2__ #endif } - /// Returns the time in us since the last call to reset or since + /// Returns the time in us since the last call to reset or since /// the Clock was created. unsigned long int btClock::getTimeMicroseconds() { #ifdef BT_USE_WINDOWS_TIMERS LARGE_INTEGER currentTime; QueryPerformanceCounter(¤tTime); - LONGLONG elapsedTime = currentTime.QuadPart - + LONGLONG elapsedTime = currentTime.QuadPart - m_data->mStartTime.QuadPart; // Compute the number of millisecond ticks elapsed. - unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / + unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / m_data->mClockFrequency.QuadPart); - // Check for unexpected leaps in the Win32 performance counter. - // (This is caused by unexpected data across the PCI to ISA + // Check for unexpected leaps in the Win32 performance counter. + // (This is caused by unexpected data across the PCI to ISA // bridge, aka south bridge. See Microsoft KB274323.) - unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick; + unsigned long elapsedTicks = (unsigned long)(GetTickCount64() - m_data->mStartTick); signed long msecOff = (signed long)(msecTicks - elapsedTicks); if (msecOff < -100 || msecOff > 100) { // Adjust the starting time forwards. - LONGLONG msecAdjustment = mymin(msecOff * - m_data->mClockFrequency.QuadPart / 1000, elapsedTime - + LONGLONG msecAdjustment = mymin(msecOff * + m_data->mClockFrequency.QuadPart / 1000, elapsedTime - m_data->mPrevElapsedTime); m_data->mStartTime.QuadPart += msecAdjustment; elapsedTime -= msecAdjustment; @@ -210,7 +215,7 @@ unsigned long int btClock::getTimeMicroseconds() m_data->mPrevElapsedTime = elapsedTime; // Convert to microseconds. - unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime / + unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime / m_data->mClockFrequency.QuadPart); return usecTicks; @@ -229,14 +234,22 @@ unsigned long int btClock::getTimeMicroseconds() struct timeval currentTime; gettimeofday(¤tTime, 0); - return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000000 + + return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000000 + (currentTime.tv_usec - m_data->mStartTime.tv_usec); #endif//__CELLOS_LV2__ -#endif +#endif } +/// Returns the time in s since the last call to reset or since +/// the Clock was created. +btScalar btClock::getTimeSeconds() +{ + static const btScalar microseconds_to_seconds = btScalar(0.000001); + return btScalar(getTimeMicroseconds()) * microseconds_to_seconds; +} + inline void Profile_Get_Ticks(unsigned long int * ticks) @@ -293,8 +306,7 @@ void CProfileNode::CleanupMemory() CProfileNode::~CProfileNode( void ) { - delete ( Child); - delete ( Sibling); + CleanupMemory(); } @@ -318,7 +330,7 @@ CProfileNode * CProfileNode::Get_Sub_Node( const char * name ) } // We didn't find it, so add it - + CProfileNode * node = new CProfileNode( name, this ); node->Sibling = Child; Child = node; @@ -330,7 +342,7 @@ void CProfileNode::Reset( void ) { TotalCalls = 0; TotalTime = 0.0f; - + if ( Child ) { Child->Reset(); @@ -352,7 +364,7 @@ void CProfileNode::Call( void ) bool CProfileNode::Return( void ) { - if ( --RecursionCounter == 0 && TotalCalls != 0 ) { + if ( --RecursionCounter == 0 && TotalCalls != 0 ) { unsigned long int time; Profile_Get_Ticks(&time); time-=StartTime; @@ -445,8 +457,8 @@ void CProfileManager::Start_Profile( const char * name ) { if (name != CurrentNode->Get_Name()) { CurrentNode = CurrentNode->Get_Sub_Node( name ); - } - + } + CurrentNode->Call(); } @@ -470,7 +482,7 @@ void CProfileManager::Stop_Profile( void ) * This resets everything except for the tree structure. All of the timing data is reset. * *=============================================================================================*/ void CProfileManager::Reset( void ) -{ +{ gProfileClock.reset(); Root.Reset(); Root.Call(); @@ -516,9 +528,9 @@ void CProfileManager::dumpRecursive(CProfileIterator* profileIterator, int spaci printf("Profiling: %s (total running time: %.3f ms) ---\n", profileIterator->Get_Current_Parent_Name(), parent_time ); float totalTime = 0.f; - + int numChildren = 0; - + for (i = 0; !profileIterator->Is_Done(); i++,profileIterator->Next()) { numChildren++; @@ -535,11 +547,11 @@ void CProfileManager::dumpRecursive(CProfileIterator* profileIterator, int spaci if (parent_time < accumulated_time) { - printf("what's wrong\n"); + //printf("what's wrong\n"); } for (i=0;i<spacing;i++) printf("."); printf("%s (%.3f %%) :: %.3f ms\n", "Unaccounted:",parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time); - + for (i=0;i<numChildren;i++) { profileIterator->Enter_Child(i); diff --git a/extern/bullet2/src/LinearMath/btQuickprof.h b/extern/bullet2/src/LinearMath/btQuickprof.h index 93f3f4a60fa..362f62d6d40 100644 --- a/extern/bullet2/src/LinearMath/btQuickprof.h +++ b/extern/bullet2/src/LinearMath/btQuickprof.h @@ -52,6 +52,11 @@ public: /// Returns the time in us since the last call to reset or since /// the Clock was created. unsigned long int getTimeMicroseconds(); + + /// Returns the time in s since the last call to reset or since + /// the Clock was created. + btScalar getTimeSeconds(); + private: struct btClockData* m_data; }; diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h index 401e11eaaa8..0bfd255bdb4 100644 --- a/extern/bullet2/src/LinearMath/btScalar.h +++ b/extern/bullet2/src/LinearMath/btScalar.h @@ -28,7 +28,7 @@ subject to the following restrictions: #include <float.h> /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 282 +#define BT_BULLET_VERSION 284 inline int btGetVersion() { @@ -48,6 +48,11 @@ inline int btGetVersion() #define ATTRIBUTE_ALIGNED16(a) a #define ATTRIBUTE_ALIGNED64(a) a #define ATTRIBUTE_ALIGNED128(a) a + #elif (_M_ARM) + #define SIMD_FORCE_INLINE __forceinline + #define ATTRIBUTE_ALIGNED16(a) __declspec() a + #define ATTRIBUTE_ALIGNED64(a) __declspec() a + #define ATTRIBUTE_ALIGNED128(a) __declspec () a #else //#define BT_HAS_ALIGNED_ALLOCATOR #pragma warning(disable : 4324) // disable padding warning @@ -67,13 +72,20 @@ inline int btGetVersion() #define btFsel(a,b,c) __fsel((a),(b),(c)) #else -#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) +#if defined (_M_ARM) + //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however) +#elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) #if _MSC_VER>1400 #define BT_USE_SIMD_VECTOR3 #endif #define BT_USE_SSE #ifdef BT_USE_SSE + +#if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default) + #define BT_ALLOW_SSE4 +#endif //(_MSC_FULL_VER >= 160040219) + //BT_USE_SSE_IN_API is disabled under Windows by default, because //it makes it harder to integrate Bullet into your application under Windows //(structured embedding Bullet structs/classes need to be 16-byte aligned) @@ -338,12 +350,23 @@ inline __m128 operator * (const __m128 A, const __m128 B) #else//BT_USE_NEON #ifndef BT_INFINITY - static int btInfinityMask = 0x7F800000; - #define BT_INFINITY (*(float*)&btInfinityMask) - inline int btGetInfinityMask()//suppress stupid compiler warning - { - return btInfinityMask; - } + struct btInfMaskConverter + { + union { + float mask; + int intmask; + }; + btInfMaskConverter(int mask=0x7F800000) + :intmask(mask) + { + } + }; + static btInfMaskConverter btInfinityMask = 0x7F800000; + #define BT_INFINITY (btInfinityMask.mask) + inline int btGetInfinityMask()//suppress stupid compiler warning + { + return btInfinityMask.intmask; + } #endif #endif//BT_USE_NEON @@ -395,19 +418,30 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmod(x,y); } SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) { #ifdef USE_APPROXIMATION +#ifdef __LP64__ + float xhalf = 0.5f*y; + int i = *(int*)&y; + i = 0x5f375a86 - (i>>1); + y = *(float*)&i; + y = y*(1.5f - xhalf*y*y); + y = y*(1.5f - xhalf*y*y); + y = y*(1.5f - xhalf*y*y); + y=1/y; + return y; +#else double x, z, tempf; unsigned long *tfptr = ((unsigned long *)&tempf) + 1; - - tempf = y; - *tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */ - x = tempf; - z = y*btScalar(0.5); - x = (btScalar(1.5)*x)-(x*x)*(x*z); /* iteration formula */ - x = (btScalar(1.5)*x)-(x*x)*(x*z); - x = (btScalar(1.5)*x)-(x*x)*(x*z); - x = (btScalar(1.5)*x)-(x*x)*(x*z); - x = (btScalar(1.5)*x)-(x*x)*(x*z); - return x*y; + tempf = y; + *tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */ + x = tempf; + z = y*btScalar(0.5); + x = (btScalar(1.5)*x)-(x*x)*(x*z); /* iteration formula */ + x = (btScalar(1.5)*x)-(x*x)*(x*z); + x = (btScalar(1.5)*x)-(x*x)*(x*z); + x = (btScalar(1.5)*x)-(x*x)*(x*z); + x = (btScalar(1.5)*x)-(x*x)*(x*z); + return x*y; +#endif #else return sqrtf(y); #endif @@ -452,9 +486,17 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); } #ifdef BT_USE_DOUBLE_PRECISION #define SIMD_EPSILON DBL_EPSILON #define SIMD_INFINITY DBL_MAX +#define BT_ONE 1.0 +#define BT_ZERO 0.0 +#define BT_TWO 2.0 +#define BT_HALF 0.5 #else #define SIMD_EPSILON FLT_EPSILON #define SIMD_INFINITY FLT_MAX +#define BT_ONE 1.0f +#define BT_ZERO 0.0f +#define BT_TWO 2.0f +#define BT_HALF 0.5f #endif SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) diff --git a/extern/bullet2/src/LinearMath/btSerializer.cpp b/extern/bullet2/src/LinearMath/btSerializer.cpp index ba344939530..8fdcfb14211 100644 --- a/extern/bullet2/src/LinearMath/btSerializer.cpp +++ b/extern/bullet2/src/LinearMath/btSerializer.cpp @@ -1,5 +1,5 @@ char sBulletDNAstr[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(69),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(123),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), 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+char(4),char(0),char(53),char(0),char(85),char(0),char(6),char(0),char(17),char(0),char(11),char(1),char(13),char(0),char(9),char(1),char(13),char(0),char(12),char(1), +char(60),char(0),char(13),char(1),char(4),char(0),char(14),char(1),char(7),char(0),char(10),char(1),char(86),char(0),char(26),char(0),char(4),char(0),char(15),char(1), +char(7),char(0),char(16),char(1),char(7),char(0),char(-76),char(0),char(7),char(0),char(17),char(1),char(7),char(0),char(18),char(1),char(7),char(0),char(19),char(1), +char(7),char(0),char(20),char(1),char(7),char(0),char(21),char(1),char(7),char(0),char(22),char(1),char(7),char(0),char(23),char(1),char(7),char(0),char(24),char(1), +char(7),char(0),char(25),char(1),char(7),char(0),char(26),char(1),char(7),char(0),char(27),char(1),char(7),char(0),char(28),char(1),char(7),char(0),char(29),char(1), +char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1),char(7),char(0),char(32),char(1),char(7),char(0),char(33),char(1),char(7),char(0),char(34),char(1), +char(4),char(0),char(35),char(1),char(4),char(0),char(36),char(1),char(4),char(0),char(37),char(1),char(4),char(0),char(38),char(1),char(4),char(0),char(118),char(0), +char(87),char(0),char(12),char(0),char(17),char(0),char(39),char(1),char(17),char(0),char(40),char(1),char(17),char(0),char(41),char(1),char(13),char(0),char(42),char(1), +char(13),char(0),char(43),char(1),char(7),char(0),char(44),char(1),char(4),char(0),char(45),char(1),char(4),char(0),char(46),char(1),char(4),char(0),char(47),char(1), +char(4),char(0),char(48),char(1),char(7),char(0),char(8),char(1),char(4),char(0),char(53),char(0),char(88),char(0),char(27),char(0),char(19),char(0),char(49),char(1), +char(17),char(0),char(50),char(1),char(17),char(0),char(51),char(1),char(13),char(0),char(42),char(1),char(13),char(0),char(52),char(1),char(13),char(0),char(53),char(1), +char(13),char(0),char(54),char(1),char(13),char(0),char(55),char(1),char(13),char(0),char(56),char(1),char(4),char(0),char(57),char(1),char(7),char(0),char(58),char(1), +char(4),char(0),char(59),char(1),char(4),char(0),char(60),char(1),char(4),char(0),char(61),char(1),char(7),char(0),char(62),char(1),char(7),char(0),char(63),char(1), +char(4),char(0),char(64),char(1),char(4),char(0),char(65),char(1),char(7),char(0),char(66),char(1),char(7),char(0),char(67),char(1),char(7),char(0),char(68),char(1), +char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1),char(7),char(0),char(71),char(1),char(4),char(0),char(72),char(1),char(4),char(0),char(73),char(1), +char(4),char(0),char(74),char(1),char(89),char(0),char(12),char(0),char(9),char(0),char(75),char(1),char(9),char(0),char(76),char(1),char(13),char(0),char(77),char(1), +char(7),char(0),char(78),char(1),char(7),char(0),char(-24),char(0),char(7),char(0),char(79),char(1),char(4),char(0),char(80),char(1),char(13),char(0),char(81),char(1), +char(4),char(0),char(82),char(1),char(4),char(0),char(83),char(1),char(4),char(0),char(84),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(19),char(0), +char(50),char(0),char(126),char(0),char(87),char(0),char(85),char(1),char(80),char(0),char(86),char(1),char(81),char(0),char(87),char(1),char(82),char(0),char(88),char(1), +char(83),char(0),char(89),char(1),char(84),char(0),char(90),char(1),char(85),char(0),char(91),char(1),char(88),char(0),char(92),char(1),char(89),char(0),char(93),char(1), +char(4),char(0),char(94),char(1),char(4),char(0),char(60),char(1),char(4),char(0),char(95),char(1),char(4),char(0),char(96),char(1),char(4),char(0),char(97),char(1), +char(4),char(0),char(98),char(1),char(4),char(0),char(99),char(1),char(4),char(0),char(100),char(1),char(86),char(0),char(101),char(1),char(91),char(0),char(17),char(0), +char(16),char(0),char(102),char(1),char(14),char(0),char(103),char(1),char(14),char(0),char(104),char(1),char(14),char(0),char(105),char(1),char(14),char(0),char(106),char(1), +char(0),char(0),char(107),char(1),char(0),char(0),char(108),char(1),char(49),char(0),char(109),char(1),char(14),char(0),char(110),char(1),char(8),char(0),char(111),char(1), +char(4),char(0),char(112),char(1),char(4),char(0),char(84),char(1),char(4),char(0),char(113),char(1),char(4),char(0),char(114),char(1),char(8),char(0),char(115),char(1), +char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1),char(92),char(0),char(17),char(0),char(15),char(0),char(102),char(1),char(13),char(0),char(103),char(1), +char(13),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1),char(0),char(0),char(107),char(1),char(0),char(0),char(108),char(1), +char(50),char(0),char(109),char(1),char(13),char(0),char(110),char(1),char(4),char(0),char(113),char(1),char(7),char(0),char(111),char(1),char(4),char(0),char(112),char(1), +char(4),char(0),char(84),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1),char(7),char(0),char(117),char(1),char(4),char(0),char(114),char(1), +char(93),char(0),char(8),char(0),char(0),char(0),char(118),char(1),char(91),char(0),char(88),char(1),char(49),char(0),char(119),char(1),char(20),char(0),char(120),char(1), +char(14),char(0),char(121),char(1),char(4),char(0),char(95),char(1),char(8),char(0),char(122),char(1),char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0), +char(0),char(0),char(118),char(1),char(92),char(0),char(88),char(1),char(50),char(0),char(119),char(1),char(19),char(0),char(120),char(1),char(13),char(0),char(121),char(1), +char(7),char(0),char(122),char(1),char(4),char(0),char(95),char(1),}; int sBulletDNAlen= sizeof(sBulletDNAstr); char sBulletDNAstr64[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(69),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(123),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), @@ -658,334 +751,427 @@ char(95),char(54),char(100),char(111),char(102),char(68),char(97),char(116),char char(97),char(98),char(108),char(101),char(100),char(91),char(54),char(93),char(0),char(109),char(95),char(101),char(113),char(117),char(105),char(108),char(105),char(98),char(114),char(105), char(117),char(109),char(80),char(111),char(105),char(110),char(116),char(91),char(54),char(93),char(0),char(109),char(95),char(115),char(112),char(114),char(105),char(110),char(103),char(83), char(116),char(105),char(102),char(102),char(110),char(101),char(115),char(115),char(91),char(54),char(93),char(0),char(109),char(95),char(115),char(112),char(114),char(105),char(110),char(103), -char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(91),char(54),char(93),char(0),char(109),char(95),char(97),char(120),char(105),char(115),char(73),char(110),char(65), -char(0),char(109),char(95),char(97),char(120),char(105),char(115),char(73),char(110),char(66),char(0),char(109),char(95),char(114),char(97),char(116),char(105),char(111),char(0),char(109), -char(95),char(116),char(97),char(117),char(0),char(109),char(95),char(116),char(105),char(109),char(101),char(83),char(116),char(101),char(112),char(0),char(109),char(95),char(109),char(97), -char(120),char(69),char(114),char(114),char(111),char(114),char(82),char(101),char(100),char(117),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(115),char(111), -char(114),char(0),char(109),char(95),char(101),char(114),char(112),char(0),char(109),char(95),char(101),char(114),char(112),char(50),char(0),char(109),char(95),char(103),char(108),char(111), -char(98),char(97),char(108),char(67),char(102),char(109),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108),char(115), -char(101),char(80),char(101),char(110),char(101),char(116),char(114),char(97),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108), -char(100),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(84),char(117),char(114),char(110), -char(69),char(114),char(112),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(83),char(108),char(111),char(112),char(0),char(109),char(95),char(119), -char(97),char(114),char(109),char(115),char(116),char(97),char(114),char(116),char(105),char(110),char(103),char(70),char(97),char(99),char(116),char(111),char(114),char(0),char(109),char(95), -char(109),char(97),char(120),char(71),char(121),char(114),char(111),char(115),char(99),char(111),char(112),char(105),char(99),char(70),char(111),char(114),char(99),char(101),char(0),char(109), -char(95),char(115),char(105),char(110),char(103),char(108),char(101),char(65),char(120),char(105),char(115),char(82),char(111),char(108),char(108),char(105),char(110),char(103),char(70),char(114), -char(105),char(99),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(110),char(117), -char(109),char(73),char(116),char(101),char(114),char(97),char(116),char(105),char(111),char(110),char(115),char(0),char(109),char(95),char(115),char(111),char(108),char(118),char(101),char(114), -char(77),char(111),char(100),char(101),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(105),char(110),char(103),char(67),char(111),char(110),char(116),char(97),char(99), -char(116),char(82),char(101),char(115),char(116),char(105),char(116),char(117),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108), -char(100),char(0),char(109),char(95),char(109),char(105),char(110),char(105),char(109),char(117),char(109),char(83),char(111),char(108),char(118),char(101),char(114),char(66),char(97),char(116), -char(99),char(104),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108),char(115), -char(101),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(83),char(116),char(105),char(102),char(102),char(110),char(101),char(115),char(115),char(0), -char(109),char(95),char(97),char(110),char(103),char(117),char(108),char(97),char(114),char(83),char(116),char(105),char(102),char(102),char(110),char(101),char(115),char(115),char(0),char(109), -char(95),char(118),char(111),char(108),char(117),char(109),char(101),char(83),char(116),char(105),char(102),char(102),char(110),char(101),char(115),char(115),char(0),char(42),char(109),char(95), -char(109),char(97),char(116),char(101),char(114),char(105),char(97),char(108),char(0),char(109),char(95),char(112),char(111),char(115),char(105),char(116),char(105),char(111),char(110),char(0), -char(109),char(95),char(112),char(114),char(101),char(118),char(105),char(111),char(117),char(115),char(80),char(111),char(115),char(105),char(116),char(105),char(111),char(110),char(0),char(109), -char(95),char(118),char(101),char(108),char(111),char(99),char(105),char(116),char(121),char(0),char(109),char(95),char(97),char(99),char(99),char(117),char(109),char(117),char(108),char(97), -char(116),char(101),char(100),char(70),char(111),char(114),char(99),char(101),char(0),char(109),char(95),char(110),char(111),char(114),char(109),char(97),char(108),char(0),char(109),char(95), -char(97),char(114),char(101),char(97),char(0),char(109),char(95),char(97),char(116),char(116),char(97),char(99),char(104),char(0),char(109),char(95),char(110),char(111),char(100),char(101), -char(73),char(110),char(100),char(105),char(99),char(101),char(115),char(91),char(50),char(93),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(76),char(101),char(110), -char(103),char(116),char(104),char(0),char(109),char(95),char(98),char(98),char(101),char(110),char(100),char(105),char(110),char(103),char(0),char(109),char(95),char(110),char(111),char(100), -char(101),char(73),char(110),char(100),char(105),char(99),char(101),char(115),char(91),char(51),char(93),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(65),char(114), -char(101),char(97),char(0),char(109),char(95),char(99),char(48),char(91),char(52),char(93),char(0),char(109),char(95),char(110),char(111),char(100),char(101),char(73),char(110),char(100), -char(105),char(99),char(101),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(86),char(111),char(108),char(117),char(109),char(101), -char(0),char(109),char(95),char(99),char(49),char(0),char(109),char(95),char(99),char(50),char(0),char(109),char(95),char(99),char(48),char(0),char(109),char(95),char(108),char(111), -char(99),char(97),char(108),char(70),char(114),char(97),char(109),char(101),char(0),char(42),char(109),char(95),char(114),char(105),char(103),char(105),char(100),char(66),char(111),char(100), -char(121),char(0),char(109),char(95),char(110),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(97),char(101),char(114),char(111), -char(77),char(111),char(100),char(101),char(108),char(0),char(109),char(95),char(98),char(97),char(117),char(109),char(103),char(97),char(114),char(116),char(101),char(0),char(109),char(95), -char(100),char(114),char(97),char(103),char(0),char(109),char(95),char(108),char(105),char(102),char(116),char(0),char(109),char(95),char(112),char(114),char(101),char(115),char(115),char(117), -char(114),char(101),char(0),char(109),char(95),char(118),char(111),char(108),char(117),char(109),char(101),char(0),char(109),char(95),char(100),char(121),char(110),char(97),char(109),char(105), -char(99),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(112),char(111),char(115),char(101),char(77),char(97),char(116),char(99), 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+char(0),char(0),char(107),char(1),char(0),char(0),char(108),char(1),char(49),char(0),char(109),char(1),char(14),char(0),char(110),char(1),char(8),char(0),char(111),char(1), +char(4),char(0),char(112),char(1),char(4),char(0),char(84),char(1),char(4),char(0),char(113),char(1),char(4),char(0),char(114),char(1),char(8),char(0),char(115),char(1), +char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1),char(92),char(0),char(17),char(0),char(15),char(0),char(102),char(1),char(13),char(0),char(103),char(1), +char(13),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1),char(0),char(0),char(107),char(1),char(0),char(0),char(108),char(1), +char(50),char(0),char(109),char(1),char(13),char(0),char(110),char(1),char(4),char(0),char(113),char(1),char(7),char(0),char(111),char(1),char(4),char(0),char(112),char(1), +char(4),char(0),char(84),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1),char(7),char(0),char(117),char(1),char(4),char(0),char(114),char(1), +char(93),char(0),char(8),char(0),char(0),char(0),char(118),char(1),char(91),char(0),char(88),char(1),char(49),char(0),char(119),char(1),char(20),char(0),char(120),char(1), +char(14),char(0),char(121),char(1),char(4),char(0),char(95),char(1),char(8),char(0),char(122),char(1),char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0), +char(0),char(0),char(118),char(1),char(92),char(0),char(88),char(1),char(50),char(0),char(119),char(1),char(19),char(0),char(120),char(1),char(13),char(0),char(121),char(1), +char(7),char(0),char(122),char(1),char(4),char(0),char(95),char(1),}; int sBulletDNAlen64= sizeof(sBulletDNAstr64); diff --git a/extern/bullet2/src/LinearMath/btSerializer.h b/extern/bullet2/src/LinearMath/btSerializer.h index ff1dc574c5d..033895b1e5e 100644 --- a/extern/bullet2/src/LinearMath/btSerializer.h +++ b/extern/bullet2/src/LinearMath/btSerializer.h @@ -4,8 +4,8 @@ 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. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. @@ -32,12 +32,12 @@ extern int sBulletDNAlen; extern char sBulletDNAstr64[]; extern int sBulletDNAlen64; -SIMD_FORCE_INLINE int btStrLen(const char* str) +SIMD_FORCE_INLINE int btStrLen(const char* str) { - if (!str) + if (!str) return(0); int len = 0; - + while (*str != 0) { str++; @@ -85,7 +85,7 @@ public: virtual void* getUniquePointer(void*oldPtr) = 0; virtual void startSerialization() = 0; - + virtual void finishSerialization() = 0; virtual const char* findNameForPointer(const void* ptr) const = 0; @@ -98,6 +98,9 @@ public: virtual void setSerializationFlags(int flags) = 0; + virtual int getNumChunks() const = 0; + + virtual const btChunk* getChunk(int chunkIndex) const = 0; }; @@ -110,6 +113,8 @@ public: # define BT_MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) ) #endif + +#define BT_MULTIBODY_CODE BT_MAKE_ID('M','B','D','Y') #define BT_SOFTBODY_CODE BT_MAKE_ID('S','B','D','Y') #define BT_COLLISIONOBJECT_CODE BT_MAKE_ID('C','O','B','J') #define BT_RIGIDBODY_CODE BT_MAKE_ID('R','B','D','Y') @@ -134,21 +139,46 @@ struct btPointerUid }; }; +struct btBulletSerializedArrays +{ + btBulletSerializedArrays() + { + } + btAlignedObjectArray<struct btQuantizedBvhDoubleData*> m_bvhsDouble; + btAlignedObjectArray<struct btQuantizedBvhFloatData*> m_bvhsFloat; + btAlignedObjectArray<struct btCollisionShapeData*> m_colShapeData; + btAlignedObjectArray<struct btDynamicsWorldDoubleData*> m_dynamicWorldInfoDataDouble; + btAlignedObjectArray<struct btDynamicsWorldFloatData*> m_dynamicWorldInfoDataFloat; + btAlignedObjectArray<struct btRigidBodyDoubleData*> m_rigidBodyDataDouble; + btAlignedObjectArray<struct btRigidBodyFloatData*> m_rigidBodyDataFloat; + btAlignedObjectArray<struct btCollisionObjectDoubleData*> m_collisionObjectDataDouble; + btAlignedObjectArray<struct btCollisionObjectFloatData*> m_collisionObjectDataFloat; + btAlignedObjectArray<struct btTypedConstraintFloatData*> m_constraintDataFloat; + btAlignedObjectArray<struct btTypedConstraintDoubleData*> m_constraintDataDouble; + btAlignedObjectArray<struct btTypedConstraintData*> m_constraintData;//for backwards compatibility + btAlignedObjectArray<struct btSoftBodyFloatData*> m_softBodyFloatData; + btAlignedObjectArray<struct btSoftBodyDoubleData*> m_softBodyDoubleData; + +}; + + ///The btDefaultSerializer is the main Bullet serialization class. ///The constructor takes an optional argument for backwards compatibility, it is recommended to leave this empty/zero. class btDefaultSerializer : public btSerializer { +protected: btAlignedObjectArray<char*> mTypes; btAlignedObjectArray<short*> mStructs; btAlignedObjectArray<short> mTlens; btHashMap<btHashInt, int> mStructReverse; btHashMap<btHashString,int> mTypeLookup; - + + btHashMap<btHashPtr,void*> m_chunkP; - + btHashMap<btHashPtr,const char*> m_nameMap; btHashMap<btHashPtr,btPointerUid> m_uniquePointers; @@ -156,6 +186,7 @@ class btDefaultSerializer : public btSerializer int m_totalSize; unsigned char* m_buffer; + bool m_ownsBuffer; int m_currentSize; void* m_dna; int m_dnaLength; @@ -164,10 +195,11 @@ class btDefaultSerializer : public btSerializer btAlignedObjectArray<btChunk*> m_chunkPtrs; - + protected: - virtual void* findPointer(void* oldPtr) + + virtual void* findPointer(void* oldPtr) { void** ptr = m_chunkP.find(oldPtr); if (ptr && *ptr) @@ -175,11 +207,11 @@ protected: return 0; } - - void writeDNA() + + virtual void writeDNA() { btChunk* dnaChunk = allocate(m_dnaLength,1); memcpy(dnaChunk->m_oldPtr,m_dna,m_dnaLength); @@ -193,7 +225,7 @@ protected: const int* valuePtr = mTypeLookup.find(key); if (valuePtr) return *valuePtr; - + return -1; } @@ -205,7 +237,7 @@ protected: int littleEndian= 1; littleEndian= ((char*)&littleEndian)[0]; - + m_dna = btAlignedAlloc(dnalen,16); memcpy(m_dna,bdnaOrg,dnalen); @@ -233,16 +265,16 @@ protected: // Parse names if (!littleEndian) *intPtr = btSwapEndian(*intPtr); - + dataLen = *intPtr; - + intPtr++; cp = (char*)intPtr; int i; for ( i=0; i<dataLen; i++) { - + while (*cp)cp++; cp++; } @@ -260,11 +292,11 @@ protected: if (!littleEndian) *intPtr = btSwapEndian(*intPtr); - + dataLen = *intPtr; intPtr++; - + cp = (char*)intPtr; for (i=0; i<dataLen; i++) { @@ -315,7 +347,7 @@ protected: if (!littleEndian) *intPtr = btSwapEndian(*intPtr); - dataLen = *intPtr ; + dataLen = *intPtr ; intPtr++; @@ -323,7 +355,7 @@ protected: for (i=0; i<dataLen; i++) { mStructs.push_back (shtPtr); - + if (!littleEndian) { shtPtr[0]= btSwapEndian(shtPtr[0]); @@ -353,20 +385,28 @@ protected: } } -public: - +public: + + btHashMap<btHashPtr,void*> m_skipPointers; - - btDefaultSerializer(int totalSize=0) + btDefaultSerializer(int totalSize=0, unsigned char* buffer=0) :m_totalSize(totalSize), m_currentSize(0), m_dna(0), m_dnaLength(0), m_serializationFlags(0) { - m_buffer = m_totalSize?(unsigned char*)btAlignedAlloc(totalSize,16):0; - + if (buffer==0) + { + m_buffer = m_totalSize?(unsigned char*)btAlignedAlloc(totalSize,16):0; + m_ownsBuffer = true; + } else + { + m_buffer = buffer; + m_ownsBuffer = false; + } + const bool VOID_IS_8 = ((sizeof(void*)==8)); #ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES @@ -385,7 +425,7 @@ public: btAssert(0); #endif } - + #else //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES if (VOID_IS_8) { @@ -395,27 +435,33 @@ public: initDNA((const char*)sBulletDNAstr,sBulletDNAlen); } #endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES - + } - virtual ~btDefaultSerializer() + virtual ~btDefaultSerializer() { - if (m_buffer) + if (m_buffer && m_ownsBuffer) btAlignedFree(m_buffer); if (m_dna) btAlignedFree(m_dna); } + void insertHeader() + { + writeHeader(m_buffer); + m_currentSize += BT_HEADER_LENGTH; + } + void writeHeader(unsigned char* buffer) const { - + #ifdef BT_USE_DOUBLE_PRECISION memcpy(buffer, "BULLETd", 7); #else memcpy(buffer, "BULLETf", 7); #endif //BT_USE_DOUBLE_PRECISION - + int littleEndian= 1; littleEndian= ((char*)&littleEndian)[0]; @@ -429,7 +475,7 @@ public: if (littleEndian) { - buffer[8]='v'; + buffer[8]='v'; } else { buffer[8]='V'; @@ -438,7 +484,7 @@ public: buffer[9] = '2'; buffer[10] = '8'; - buffer[11] = '2'; + buffer[11] = '4'; } @@ -450,7 +496,7 @@ public: unsigned char* buffer = internalAlloc(BT_HEADER_LENGTH); writeHeader(buffer); } - + } virtual void finishSerialization() @@ -486,6 +532,7 @@ public: mTlens.clear(); mStructReverse.clear(); mTypeLookup.clear(); + m_skipPointers.clear(); m_chunkP.clear(); m_nameMap.clear(); m_uniquePointers.clear(); @@ -502,8 +549,15 @@ public: { return uptr->m_ptr; } + + void** ptr2 = m_skipPointers[oldPtr]; + if (ptr2) + { + return 0; + } + m_uniqueIdGenerator++; - + btPointerUid uid; uid.m_uniqueIds[0] = m_uniqueIdGenerator; uid.m_uniqueIds[1] = m_uniqueIdGenerator; @@ -530,17 +584,17 @@ public: } chunk->m_dna_nr = getReverseType(structType); - + chunk->m_chunkCode = chunkCode; - + void* uniquePtr = getUniquePointer(oldPtr); - + m_chunkP.insert(oldPtr,uniquePtr);//chunk->m_oldPtr); chunk->m_oldPtr = uniquePtr;//oldPtr; - + } - + virtual unsigned char* internalAlloc(size_t size) { unsigned char* ptr = 0; @@ -558,7 +612,7 @@ public: return ptr; } - + virtual btChunk* allocate(size_t size, int numElements) { @@ -566,15 +620,15 @@ public: unsigned char* ptr = internalAlloc(int(size)*numElements+sizeof(btChunk)); unsigned char* data = ptr + sizeof(btChunk); - + btChunk* chunk = (btChunk*)ptr; chunk->m_chunkCode = 0; chunk->m_oldPtr = data; chunk->m_length = int(size)*numElements; chunk->m_number = numElements; - + m_chunkPtrs.push_back(chunk); - + return chunk; } @@ -631,9 +685,202 @@ public: { m_serializationFlags = flags; } + int getNumChunks() const + { + return m_chunkPtrs.size(); + } + const btChunk* getChunk(int chunkIndex) const + { + return m_chunkPtrs[chunkIndex]; + } }; +///In general it is best to use btDefaultSerializer, +///in particular when writing the data to disk or sending it over the network. +///The btInMemorySerializer is experimental and only suitable in a few cases. +///The btInMemorySerializer takes a shortcut and can be useful to create a deep-copy +///of objects. There will be a demo on how to use the btInMemorySerializer. +#ifdef ENABLE_INMEMORY_SERIALIZER + +struct btInMemorySerializer : public btDefaultSerializer +{ + btHashMap<btHashPtr,btChunk*> m_uid2ChunkPtr; + btHashMap<btHashPtr,void*> m_orgPtr2UniqueDataPtr; + btHashMap<btHashString,const void*> m_names2Ptr; + + + btBulletSerializedArrays m_arrays; + + btInMemorySerializer(int totalSize=0, unsigned char* buffer=0) + :btDefaultSerializer(totalSize,buffer) + { + + } + + virtual void startSerialization() + { + m_uid2ChunkPtr.clear(); + //todo: m_arrays.clear(); + btDefaultSerializer::startSerialization(); + } + + + + btChunk* findChunkFromUniquePointer(void* uniquePointer) + { + btChunk** chkPtr = m_uid2ChunkPtr[uniquePointer]; + if (chkPtr) + { + return *chkPtr; + } + return 0; + } + + virtual void registerNameForPointer(const void* ptr, const char* name) + { + btDefaultSerializer::registerNameForPointer(ptr,name); + m_names2Ptr.insert(name,ptr); + } + + virtual void finishSerialization() + { + } + + virtual void* getUniquePointer(void*oldPtr) + { + if (oldPtr==0) + return 0; + + // void* uniquePtr = getUniquePointer(oldPtr); + btChunk* chunk = findChunkFromUniquePointer(oldPtr); + if (chunk) + { + return chunk->m_oldPtr; + } else + { + const char* n = (const char*) oldPtr; + const void** ptr = m_names2Ptr[n]; + if (ptr) + { + return oldPtr; + } else + { + void** ptr2 = m_skipPointers[oldPtr]; + if (ptr2) + { + return 0; + } else + { + //If this assert hit, serialization happened in the wrong order + // 'getUniquePointer' + btAssert(0); + } + + } + return 0; + } + return oldPtr; + } + + virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr) + { + if (!(m_serializationFlags&BT_SERIALIZE_NO_DUPLICATE_ASSERT)) + { + btAssert(!findPointer(oldPtr)); + } + + chunk->m_dna_nr = getReverseType(structType); + chunk->m_chunkCode = chunkCode; + //void* uniquePtr = getUniquePointer(oldPtr); + m_chunkP.insert(oldPtr,oldPtr);//chunk->m_oldPtr); + // chunk->m_oldPtr = uniquePtr;//oldPtr; + + void* uid = findPointer(oldPtr); + m_uid2ChunkPtr.insert(uid,chunk); + + switch (chunk->m_chunkCode) + { + case BT_SOFTBODY_CODE: + { + #ifdef BT_USE_DOUBLE_PRECISION + m_arrays.m_softBodyDoubleData.push_back((btSoftBodyDoubleData*) chunk->m_oldPtr); + #else + m_arrays.m_softBodyFloatData.push_back((btSoftBodyFloatData*) chunk->m_oldPtr); + #endif + break; + } + case BT_COLLISIONOBJECT_CODE: + { + #ifdef BT_USE_DOUBLE_PRECISION + m_arrays.m_collisionObjectDataDouble.push_back((btCollisionObjectDoubleData*)chunk->m_oldPtr); + #else//BT_USE_DOUBLE_PRECISION + m_arrays.m_collisionObjectDataFloat.push_back((btCollisionObjectFloatData*)chunk->m_oldPtr); + #endif //BT_USE_DOUBLE_PRECISION + break; + } + case BT_RIGIDBODY_CODE: + { + #ifdef BT_USE_DOUBLE_PRECISION + m_arrays.m_rigidBodyDataDouble.push_back((btRigidBodyDoubleData*)chunk->m_oldPtr); + #else + m_arrays.m_rigidBodyDataFloat.push_back((btRigidBodyFloatData*)chunk->m_oldPtr); + #endif//BT_USE_DOUBLE_PRECISION + break; + }; + case BT_CONSTRAINT_CODE: + { + #ifdef BT_USE_DOUBLE_PRECISION + m_arrays.m_constraintDataDouble.push_back((btTypedConstraintDoubleData*)chunk->m_oldPtr); + #else + m_arrays.m_constraintDataFloat.push_back((btTypedConstraintFloatData*)chunk->m_oldPtr); + #endif + break; + } + case BT_QUANTIZED_BVH_CODE: + { + #ifdef BT_USE_DOUBLE_PRECISION + m_arrays.m_bvhsDouble.push_back((btQuantizedBvhDoubleData*) chunk->m_oldPtr); + #else + m_arrays.m_bvhsFloat.push_back((btQuantizedBvhFloatData*) chunk->m_oldPtr); + #endif + break; + } + + case BT_SHAPE_CODE: + { + btCollisionShapeData* shapeData = (btCollisionShapeData*) chunk->m_oldPtr; + m_arrays.m_colShapeData.push_back(shapeData); + break; + } + case BT_TRIANLGE_INFO_MAP: + case BT_ARRAY_CODE: + case BT_SBMATERIAL_CODE: + case BT_SBNODE_CODE: + case BT_DYNAMICSWORLD_CODE: + case BT_DNA_CODE: + { + break; + } + default: + { + } + }; + } + + int getNumChunks() const + { + return m_uid2ChunkPtr.size(); + } + + const btChunk* getChunk(int chunkIndex) const + { + return *m_uid2ChunkPtr.getAtIndex(chunkIndex); + } + +}; +#endif //ENABLE_INMEMORY_SERIALIZER + #endif //BT_SERIALIZER_H diff --git a/extern/bullet2/src/LinearMath/btSpatialAlgebra.h b/extern/bullet2/src/LinearMath/btSpatialAlgebra.h new file mode 100644 index 00000000000..8e59658bca7 --- /dev/null +++ b/extern/bullet2/src/LinearMath/btSpatialAlgebra.h @@ -0,0 +1,331 @@ +/* +Copyright (c) 2003-2015 Erwin Coumans, Jakub Stepien + +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. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +///These spatial algebra classes are used for btMultiBody, +///see BulletDynamics/Featherstone + +#ifndef BT_SPATIAL_ALGEBRA_H +#define BT_SPATIAL_ALGEBRA_H + + +#include "btMatrix3x3.h" + +struct btSpatialForceVector +{ + btVector3 m_topVec, m_bottomVec; + // + btSpatialForceVector() { setZero(); } + btSpatialForceVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(linear), m_bottomVec(angular) {} + btSpatialForceVector(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + setValue(ax, ay, az, lx, ly, lz); + } + // + void setVector(const btVector3 &angular, const btVector3 &linear) { m_topVec = linear; m_bottomVec = angular; } + void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + m_bottomVec.setValue(ax, ay, az); m_topVec.setValue(lx, ly, lz); + } + // + void addVector(const btVector3 &angular, const btVector3 &linear) { m_topVec += linear; m_bottomVec += angular; } + void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + m_bottomVec[0] += ax; m_bottomVec[1] += ay; m_bottomVec[2] += az; + m_topVec[0] += lx; m_topVec[1] += ly; m_topVec[2] += lz; + } + // + const btVector3 & getLinear() const { return m_topVec; } + const btVector3 & getAngular() const { return m_bottomVec; } + // + void setLinear(const btVector3 &linear) { m_topVec = linear; } + void setAngular(const btVector3 &angular) { m_bottomVec = angular; } + // + void addAngular(const btVector3 &angular) { m_bottomVec += angular; } + void addLinear(const btVector3 &linear) { m_topVec += linear; } + // + void setZero() { m_topVec.setZero(); m_bottomVec.setZero(); } + // + btSpatialForceVector & operator += (const btSpatialForceVector &vec) { m_topVec += vec.m_topVec; m_bottomVec += vec.m_bottomVec; return *this; } + btSpatialForceVector & operator -= (const btSpatialForceVector &vec) { m_topVec -= vec.m_topVec; m_bottomVec -= vec.m_bottomVec; return *this; } + btSpatialForceVector operator - (const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec - vec.m_bottomVec, m_topVec - vec.m_topVec); } + btSpatialForceVector operator + (const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec + vec.m_bottomVec, m_topVec + vec.m_topVec); } + btSpatialForceVector operator - () const { return btSpatialForceVector(-m_bottomVec, -m_topVec); } + btSpatialForceVector operator * (const btScalar &s) const { return btSpatialForceVector(s * m_bottomVec, s * m_topVec); } + //btSpatialForceVector & operator = (const btSpatialForceVector &vec) { m_topVec = vec.m_topVec; m_bottomVec = vec.m_bottomVec; return *this; } +}; + +struct btSpatialMotionVector +{ + btVector3 m_topVec, m_bottomVec; + // + btSpatialMotionVector() { setZero(); } + btSpatialMotionVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(angular), m_bottomVec(linear) {} + // + void setVector(const btVector3 &angular, const btVector3 &linear) { m_topVec = angular; m_bottomVec = linear; } + void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + m_topVec.setValue(ax, ay, az); m_bottomVec.setValue(lx, ly, lz); + } + // + void addVector(const btVector3 &angular, const btVector3 &linear) { m_topVec += linear; m_bottomVec += angular; } + void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz) + { + m_topVec[0] += ax; m_topVec[1] += ay; m_topVec[2] += az; + m_bottomVec[0] += lx; m_bottomVec[1] += ly; m_bottomVec[2] += lz; + } + // + const btVector3 & getAngular() const { return m_topVec; } + const btVector3 & getLinear() const { return m_bottomVec; } + // + void setAngular(const btVector3 &angular) { m_topVec = angular; } + void setLinear(const btVector3 &linear) { m_bottomVec = linear; } + // + void addAngular(const btVector3 &angular) { m_topVec += angular; } + void addLinear(const btVector3 &linear) { m_bottomVec += linear; } + // + void setZero() { m_topVec.setZero(); m_bottomVec.setZero(); } + // + btScalar dot(const btSpatialForceVector &b) const + { + return m_bottomVec.dot(b.m_topVec) + m_topVec.dot(b.m_bottomVec); + } + // + template<typename SpatialVectorType> + void cross(const SpatialVectorType &b, SpatialVectorType &out) const + { + out.m_topVec = m_topVec.cross(b.m_topVec); + out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec); + } + template<typename SpatialVectorType> + SpatialVectorType cross(const SpatialVectorType &b) const + { + SpatialVectorType out; + out.m_topVec = m_topVec.cross(b.m_topVec); + out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec); + return out; + } + // + btSpatialMotionVector & operator += (const btSpatialMotionVector &vec) { m_topVec += vec.m_topVec; m_bottomVec += vec.m_bottomVec; return *this; } + btSpatialMotionVector & operator -= (const btSpatialMotionVector &vec) { m_topVec -= vec.m_topVec; m_bottomVec -= vec.m_bottomVec; return *this; } + btSpatialMotionVector & operator *= (const btScalar &s) { m_topVec *= s; m_bottomVec *= s; return *this; } + btSpatialMotionVector operator - (const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec - vec.m_topVec, m_bottomVec - vec.m_bottomVec); } + btSpatialMotionVector operator + (const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec + vec.m_topVec, m_bottomVec + vec.m_bottomVec); } + btSpatialMotionVector operator - () const { return btSpatialMotionVector(-m_topVec, -m_bottomVec); } + btSpatialMotionVector operator * (const btScalar &s) const { return btSpatialMotionVector(s * m_topVec, s * m_bottomVec); } +}; + +struct btSymmetricSpatialDyad +{ + btMatrix3x3 m_topLeftMat, m_topRightMat, m_bottomLeftMat; + // + btSymmetricSpatialDyad() { setIdentity(); } + btSymmetricSpatialDyad(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) { setMatrix(topLeftMat, topRightMat, bottomLeftMat); } + // + void setMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) + { + m_topLeftMat = topLeftMat; + m_topRightMat = topRightMat; + m_bottomLeftMat = bottomLeftMat; + } + // + void addMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) + { + m_topLeftMat += topLeftMat; + m_topRightMat += topRightMat; + m_bottomLeftMat += bottomLeftMat; + } + // + void setIdentity() { m_topLeftMat.setIdentity(); m_topRightMat.setIdentity(); m_bottomLeftMat.setIdentity(); } + // + btSymmetricSpatialDyad & operator -= (const btSymmetricSpatialDyad &mat) + { + m_topLeftMat -= mat.m_topLeftMat; + m_topRightMat -= mat.m_topRightMat; + m_bottomLeftMat -= mat.m_bottomLeftMat; + return *this; + } + // + btSpatialForceVector operator * (const btSpatialMotionVector &vec) + { + return btSpatialForceVector(m_bottomLeftMat * vec.m_topVec + m_topLeftMat.transpose() * vec.m_bottomVec, m_topLeftMat * vec.m_topVec + m_topRightMat * vec.m_bottomVec); + } +}; + +struct btSpatialTransformationMatrix +{ + btMatrix3x3 m_rotMat; //btMatrix3x3 m_trnCrossMat; + btVector3 m_trnVec; + // + enum eOutputOperation + { + None = 0, + Add = 1, + Subtract = 2 + }; + // + template<typename SpatialVectorType> + void transform( const SpatialVectorType &inVec, + SpatialVectorType &outVec, + eOutputOperation outOp = None) + { + if(outOp == None) + { + outVec.m_topVec = m_rotMat * inVec.m_topVec; + outVec.m_bottomVec = -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec; + } + else if(outOp == Add) + { + outVec.m_topVec += m_rotMat * inVec.m_topVec; + outVec.m_bottomVec += -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec; + } + else if(outOp == Subtract) + { + outVec.m_topVec -= m_rotMat * inVec.m_topVec; + outVec.m_bottomVec -= -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec; + } + + } + + template<typename SpatialVectorType> + void transformRotationOnly( const SpatialVectorType &inVec, + SpatialVectorType &outVec, + eOutputOperation outOp = None) + { + if(outOp == None) + { + outVec.m_topVec = m_rotMat * inVec.m_topVec; + outVec.m_bottomVec = m_rotMat * inVec.m_bottomVec; + } + else if(outOp == Add) + { + outVec.m_topVec += m_rotMat * inVec.m_topVec; + outVec.m_bottomVec += m_rotMat * inVec.m_bottomVec; + } + else if(outOp == Subtract) + { + outVec.m_topVec -= m_rotMat * inVec.m_topVec; + outVec.m_bottomVec -= m_rotMat * inVec.m_bottomVec; + } + + } + + template<typename SpatialVectorType> + void transformInverse( const SpatialVectorType &inVec, + SpatialVectorType &outVec, + eOutputOperation outOp = None) + { + if(outOp == None) + { + outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec = m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec)); + } + else if(outOp == Add) + { + outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec += m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec)); + } + else if(outOp == Subtract) + { + outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec -= m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec)); + } + } + + template<typename SpatialVectorType> + void transformInverseRotationOnly( const SpatialVectorType &inVec, + SpatialVectorType &outVec, + eOutputOperation outOp = None) + { + if(outOp == None) + { + outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec = m_rotMat.transpose() * inVec.m_bottomVec; + } + else if(outOp == Add) + { + outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec += m_rotMat.transpose() * inVec.m_bottomVec; + } + else if(outOp == Subtract) + { + outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec; + outVec.m_bottomVec -= m_rotMat.transpose() * inVec.m_bottomVec; + } + + } + + void transformInverse( const btSymmetricSpatialDyad &inMat, + btSymmetricSpatialDyad &outMat, + eOutputOperation outOp = None) + { + const btMatrix3x3 r_cross( 0, -m_trnVec[2], m_trnVec[1], + m_trnVec[2], 0, -m_trnVec[0], + -m_trnVec[1], m_trnVec[0], 0); + + + if(outOp == None) + { + outMat.m_topLeftMat = m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat; + outMat.m_topRightMat = m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat; + outMat.m_bottomLeftMat = m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat; + } + else if(outOp == Add) + { + outMat.m_topLeftMat += m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat; + outMat.m_topRightMat += m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat; + outMat.m_bottomLeftMat += m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat; + } + else if(outOp == Subtract) + { + outMat.m_topLeftMat -= m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat; + outMat.m_topRightMat -= m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat; + outMat.m_bottomLeftMat -= m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat; + } + } + + template<typename SpatialVectorType> + SpatialVectorType operator * (const SpatialVectorType &vec) + { + SpatialVectorType out; + transform(vec, out); + return out; + } +}; + +template<typename SpatialVectorType> +void symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b, btSymmetricSpatialDyad &out) +{ + //output op maybe? + + out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec); + out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec); + out.m_topLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec); + //maybe simple a*spatTranspose(a) would be nicer? +} + +template<typename SpatialVectorType> +btSymmetricSpatialDyad symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b) +{ + btSymmetricSpatialDyad out; + + out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec); + out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec); + out.m_bottomLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec); + + return out; + //maybe simple a*spatTranspose(a) would be nicer? +} + +#endif //BT_SPATIAL_ALGEBRA_H + diff --git a/extern/bullet2/src/LinearMath/btTransform.h b/extern/bullet2/src/LinearMath/btTransform.h index 907627379bf..d4f939a5d99 100644 --- a/extern/bullet2/src/LinearMath/btTransform.h +++ b/extern/bullet2/src/LinearMath/btTransform.h @@ -127,7 +127,7 @@ public: /**@brief Set from an array - * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */ + * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */ void setFromOpenGLMatrix(const btScalar *m) { m_basis.setFromOpenGLSubMatrix(m); @@ -135,7 +135,7 @@ public: } /**@brief Fill an array representation - * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */ + * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */ void getOpenGLMatrix(btScalar *m) const { m_basis.getOpenGLSubMatrix(m); diff --git a/extern/bullet2/src/LinearMath/btVector3.cpp b/extern/bullet2/src/LinearMath/btVector3.cpp index 2ba7029c9be..e05bdccd67e 100644 --- a/extern/bullet2/src/LinearMath/btVector3.cpp +++ b/extern/bullet2/src/LinearMath/btVector3.cpp @@ -15,9 +15,9 @@ This source version has been altered. */ -//#if defined (_WIN32) || defined (__i386__) -//#define BT_USE_SSE_IN_API -//#endif +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif #include "btVector3.h" @@ -63,7 +63,7 @@ long _maxdot_large( const float *vv, const float *vec, unsigned long count, floa float4 stack_array[ STACK_ARRAY_COUNT ]; #if DEBUG - memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) ); + //memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) ); #endif size_t index; @@ -448,7 +448,7 @@ long _mindot_large( const float *vv, const float *vec, unsigned long count, floa float4 stack_array[ STACK_ARRAY_COUNT ]; #if DEBUG - memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) ); + //memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) ); #endif size_t index; diff --git a/extern/bullet2/src/LinearMath/btVector3.h b/extern/bullet2/src/LinearMath/btVector3.h index 112b70dd66b..839b19c1449 100644 --- a/extern/bullet2/src/LinearMath/btVector3.h +++ b/extern/bullet2/src/LinearMath/btVector3.h @@ -501,10 +501,10 @@ public: __m128 tmp3 = _mm_add_ps(r0,r1); mVec128 = tmp3; #elif defined(BT_USE_NEON) - mVec128 = vsubq_f32(v1.mVec128, v0.mVec128); - mVec128 = vmulq_n_f32(mVec128, rt); - mVec128 = vaddq_f32(mVec128, v0.mVec128); -#else + float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128); + vl = vmulq_n_f32(vl, rt); + mVec128 = vaddq_f32(vl, v0.mVec128); +#else btScalar s = btScalar(1.0) - rt; m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0]; m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1]; |