16 #if defined (_WIN32) || defined (__i386__) 17 #define BT_USE_SSE_IN_API 30 #if defined (__CELLOS_LV2__) && defined (__SPU__) 31 #include <spu_intrinsics.h> 32 static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
35 result = spu_mul( vec0, vec1 );
36 result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
37 return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
76 btVector3 vec = localDirOrg * localScaling;
78 #if defined (__CELLOS_LV2__) && defined (__SPU__) 82 vec_float4 v_distMax = {-FLT_MAX,0,0,0};
83 vec_int4 v_idxMax = {-999,0,0,0};
85 int numverts = numPoints;
87 for(;v<(int)numverts-4;v+=4) {
88 vec_float4 p0 = vec_dot3(points[v ].get128(),localDir.get128());
89 vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128());
90 vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128());
91 vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128());
92 const vec_int4 i0 = {v ,0,0,0};
93 const vec_int4 i1 = {v+1,0,0,0};
94 const vec_int4 i2 = {v+2,0,0,0};
95 const vec_int4 i3 = {v+3,0,0,0};
96 vec_uint4 retGt01 = spu_cmpgt(p0,p1);
97 vec_float4 pmax01 = spu_sel(p1,p0,retGt01);
98 vec_int4 imax01 = spu_sel(i1,i0,retGt01);
99 vec_uint4 retGt23 = spu_cmpgt(p2,p3);
100 vec_float4 pmax23 = spu_sel(p3,p2,retGt23);
101 vec_int4 imax23 = spu_sel(i3,i2,retGt23);
102 vec_uint4 retGt0123 = spu_cmpgt(pmax01,pmax23);
103 vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123);
104 vec_int4 imax0123 = spu_sel(imax23,imax01,retGt0123);
105 vec_uint4 retGtMax = spu_cmpgt(v_distMax,pmax0123);
106 v_distMax = spu_sel(pmax0123,v_distMax,retGtMax);
107 v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax);
109 for(;v<(int)numverts;v++) {
110 vec_float4 p = vec_dot3(points[v].get128(),localDir.get128());
111 const vec_int4 i = {v,0,0,0};
112 vec_uint4 retGtMax = spu_cmpgt(v_distMax,p);
113 v_distMax = spu_sel(p,v_distMax,retGtMax);
114 v_idxMax = spu_sel(i,v_idxMax,retGtMax);
116 int ptIndex = spu_extract(v_idxMax,0);
117 const btVector3& supVec= points[ptIndex] * localScaling;
122 long ptIndex = vec.
maxDot( points, numPoints, maxDot);
124 btVector3 supVec = points[ptIndex] * localScaling;
142 #if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON )) 143 #if defined( BT_USE_SSE ) 144 return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 ));
145 #elif defined( BT_USE_NEON ) 146 return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 ));
148 #error unknown vector arch 152 btFsels(localDir.
y(), halfExtents.
y(), -halfExtents.
y()),
153 btFsels(localDir.
z(), halfExtents.
z(), -halfExtents.
z()));
161 btVector3 dots = dir.
dot3(vertices[0], vertices[1], vertices[2]);
172 int cylinderUpAxis = cylShape->
getUpAxis();
173 int XX(1),YY(0),ZZ(2);
175 switch (cylinderUpAxis)
205 btScalar halfHeight = halfExtents[cylinderUpAxis];
215 tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
220 tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
231 int capsuleUpAxis = capsuleShape->getUpAxis();
251 pos[capsuleUpAxis] = halfHeight;
254 newDot = vec.
dot(vtx);
265 pos[capsuleUpAxis] = -halfHeight;
268 newDot = vec.
dot(vtx);
382 aabbMin = center - extent;
383 aabbMax = center + extent;
393 halfExtents +=
btVector3(margin,margin,margin);
396 btVector3 extent = halfExtents.
dot3(abs_b[0], abs_b[1], abs_b[2]);
398 aabbMin = center - extent;
399 aabbMax = center + extent;
406 for (
int i=0;i<3;i++)
414 aabbMax[i] = tmp[i]+margin;
417 aabbMin[i] = tmp[i]-margin;
425 int m_upAxis = capsuleShape->
getUpAxis();
429 btVector3 extent = halfExtents.
dot3(abs_b[0], abs_b[1], abs_b[2]);
430 aabbMin = center - extent;
431 aabbMax = center + extent;
444 this->
getAabb (t, aabbMin, aabbMax);
btVector3 localGetSupportVertexNonVirtual(const btVector3 &vec) const
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
btScalar getRadius() const
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
static btVector3 convexHullSupport(const btVector3 &localDirOrg, const btVector3 *points, int numPoints, const btVector3 &localScaling)
btScalar length2() const
Return the length of the vector squared.
virtual void project(const btTransform &trans, const btVector3 &dir, btScalar &minProj, btScalar &maxProj, btVector3 &witnesPtMin, btVector3 &witnesPtMax) const
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
btScalar btSqrt(btScalar y)
const btScalar & getY() const
Return the y value.
The btSphereShape implements an implicit sphere, centered around a local origin with radius...
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
const btScalar & getZ() const
Return the z value.
long maxDot(const btVector3 *array, long array_count, btScalar &dotOut) const
returns index of maximum dot product between this and vectors in array[]
btVector3 * getUnscaledPoints()
btScalar getHalfHeight() const
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
btScalar getMarginNV() const
const btScalar & x() const
Return the x value.
void getAabbNonVirtual(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
btScalar dot(const btVector3 &v) const
Return the dot product.
btScalar getRadius() const
const btScalar & y() const
Return the y value.
const btScalar & z() const
Return the z value.
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
virtual btScalar getMargin() const =0
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
btVector3 can be used to represent 3D points and vectors.
btScalar getMarginNonVirtual() const
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
The btCylinderShape class implements a cylinder shape primitive, centered around the origin...
btVector3 * getUnscaledPoints()
int maxAxis() const
Return the axis with the largest value Note return values are 0,1,2 for x, y, or z.
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
The btConvexHullShape implements an implicit convex hull of an array of vertices. ...
const btVector3 & getLocalScalingNV() const
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
const btVector3 & getImplicitShapeDimensions() const
btVector3 localGetSupportVertexWithoutMarginNonVirtual(const btVector3 &vec) const
const btScalar & getX() const
Return the x value.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3