From 06810b6ccacefc1188cc86a8339d541b20b737e9 Mon Sep 17 00:00:00 2001 From: Robert MacGregor Date: Sat, 27 Jun 2015 14:01:25 -0400 Subject: [PATCH] Ported Bullet to the mod loader system; needs further work --- Mod Sources/Bullet/BulletDLL.sln | 20 + Mod Sources/Bullet/BulletDLL.suo | Bin 0 -> 8192 bytes Mod Sources/Bullet/BulletDLL.vcxproj | 406 +++ Mod Sources/Bullet/BulletDLL.vcxproj.user | 3 + Mod Sources/Bullet/include/CGameTime.h | 42 + Mod Sources/Bullet/include/CRigidBody.h | 16 + .../Bullet/include/bullet/Bullet-C-Api.h | 176 ++ .../BroadphaseCollision/btAxisSweep3.h | 1051 +++++++ .../btBroadphaseInterface.h | 82 + .../BroadphaseCollision/btBroadphaseProxy.h | 270 ++ .../btCollisionAlgorithm.h | 80 + .../BroadphaseCollision/btDbvt.h | 1256 ++++++++ .../BroadphaseCollision/btDbvtBroadphase.h | 146 + .../BroadphaseCollision/btDispatcher.h | 108 + .../btMultiSapBroadphase.h | 151 + .../btOverlappingPairCache.h | 469 +++ .../btOverlappingPairCallback.h | 40 + .../BroadphaseCollision/btQuantizedBvh.h | 579 ++++ .../BroadphaseCollision/btSimpleBroadphase.h | 171 ++ .../SphereTriangleDetector.h | 51 + .../btActivatingCollisionAlgorithm.h | 36 + .../btBox2dBox2dCollisionAlgorithm.h | 66 + .../btBoxBoxCollisionAlgorithm.h | 66 + .../CollisionDispatch/btBoxBoxDetector.h | 44 + .../btCollisionConfiguration.h | 47 + .../CollisionDispatch/btCollisionCreateFunc.h | 45 + .../CollisionDispatch/btCollisionDispatcher.h | 159 ++ .../CollisionDispatch/btCollisionObject.h | 524 ++++ .../CollisionDispatch/btCollisionWorld.h | 509 ++++ .../btCompoundCollisionAlgorithm.h | 86 + .../btConvex2dConvex2dAlgorithm.h | 95 + .../btConvexConcaveCollisionAlgorithm.h | 116 + .../btConvexConvexAlgorithm.h | 109 + .../btConvexPlaneCollisionAlgorithm.h | 84 + .../btDefaultCollisionConfiguration.h | 135 + .../btEmptyCollisionAlgorithm.h | 54 + .../CollisionDispatch/btGhostObject.h | 175 ++ .../CollisionDispatch/btInternalEdgeUtility.h | 46 + .../CollisionDispatch/btManifoldResult.h | 128 + .../btSimulationIslandManager.h | 81 + .../btSphereBoxCollisionAlgorithm.h | 75 + .../btSphereSphereCollisionAlgorithm.h | 66 + .../btSphereTriangleCollisionAlgorithm.h | 69 + .../CollisionDispatch/btUnionFind.h | 129 + .../CollisionShapes/btBox2dShape.cpp | 42 + .../CollisionShapes/btBox2dShape.h | 363 +++ .../CollisionShapes/btBoxShape.cpp | 41 + .../CollisionShapes/btBoxShape.h | 318 +++ .../btBvhTriangleMeshShape.cpp | 466 +++ .../CollisionShapes/btBvhTriangleMeshShape.h | 139 + .../CollisionShapes/btCapsuleShape.cpp | 171 ++ .../CollisionShapes/btCapsuleShape.h | 173 ++ .../CollisionShapes/btCollisionMargin.h | 26 + .../CollisionShapes/btCollisionShape.cpp | 119 + .../CollisionShapes/btCollisionShape.h | 150 + .../CollisionShapes/btCompoundShape.cpp | 351 +++ .../CollisionShapes/btCompoundShape.h | 208 ++ .../CollisionShapes/btConcaveShape.cpp | 27 + .../CollisionShapes/btConcaveShape.h | 60 + .../CollisionShapes/btConeShape.cpp | 133 + .../CollisionShapes/btConeShape.h | 100 + .../CollisionShapes/btConvex2dShape.cpp | 92 + .../CollisionShapes/btConvex2dShape.h | 80 + .../CollisionShapes/btConvexHullShape.cpp | 211 ++ .../CollisionShapes/btConvexHullShape.h | 120 + .../CollisionShapes/btConvexInternalShape.cpp | 151 + .../CollisionShapes/btConvexInternalShape.h | 202 ++ .../btConvexPointCloudShape.cpp | 157 + .../CollisionShapes/btConvexPointCloudShape.h | 105 + .../CollisionShapes/btConvexShape.cpp | 429 +++ .../CollisionShapes/btConvexShape.h | 82 + .../btConvexTriangleMeshShape.cpp | 315 ++ .../btConvexTriangleMeshShape.h | 75 + .../CollisionShapes/btCylinderShape.cpp | 222 ++ .../CollisionShapes/btCylinderShape.h | 200 ++ .../CollisionShapes/btEmptyShape.cpp | 50 + .../CollisionShapes/btEmptyShape.h | 70 + .../btHeightfieldTerrainShape.cpp | 411 +++ .../btHeightfieldTerrainShape.h | 161 ++ .../CollisionShapes/btMaterial.h | 35 + .../CollisionShapes/btMinkowskiSumShape.cpp | 60 + 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.../Gimpact/btGImpactCollisionAlgorithm.h | 306 ++ .../Gimpact/btGImpactMassUtil.h | 60 + .../Gimpact/btGImpactQuantizedBvh.h | 372 +++ .../BulletCollision/Gimpact/btGImpactShape.h | 1171 ++++++++ .../Gimpact/btGenericPoolAllocator.h | 163 ++ .../Gimpact/btGeometryOperations.h | 212 ++ .../BulletCollision/Gimpact/btQuantization.h | 88 + .../Gimpact/btTriangleShapeEx.h | 180 ++ .../BulletCollision/Gimpact/gim_array.h | 326 +++ .../Gimpact/gim_basic_geometry_operations.h | 543 ++++ .../BulletCollision/Gimpact/gim_bitset.h | 123 + .../Gimpact/gim_box_collision.h | 590 ++++ .../BulletCollision/Gimpact/gim_box_set.h | 674 +++++ .../Gimpact/gim_clip_polygon.h | 210 ++ .../BulletCollision/Gimpact/gim_contact.h | 164 ++ .../BulletCollision/Gimpact/gim_geom_types.h | 97 + .../BulletCollision/Gimpact/gim_geometry.h | 42 + .../BulletCollision/Gimpact/gim_hash_table.h | 902 ++++++ .../BulletCollision/Gimpact/gim_linear_math.h | 1573 ++++++++++ .../bullet/BulletCollision/Gimpact/gim_math.h | 157 + .../BulletCollision/Gimpact/gim_memory.h | 190 ++ .../BulletCollision/Gimpact/gim_radixsort.h | 406 +++ .../Gimpact/gim_tri_collision.h | 379 +++ .../btContinuousConvexCollision.h | 52 + .../NarrowPhaseCollision/btConvexCast.h | 73 + .../btConvexPenetrationDepthSolver.h | 42 + .../btDiscreteCollisionDetectorInterface.h | 89 + .../NarrowPhaseCollision/btGjkConvexCast.h | 50 + .../NarrowPhaseCollision/btGjkEpa2.h | 73 + .../btGjkEpaPenetrationDepthSolver.h | 43 + .../NarrowPhaseCollision/btGjkPairDetector.h | 103 + .../NarrowPhaseCollision/btManifoldPoint.h | 153 + .../btMinkowskiPenetrationDepthSolver.h | 40 + .../btPersistentManifold.h | 227 ++ .../NarrowPhaseCollision/btPointCollector.h | 64 + .../btPolyhedralContactClipping.h | 46 + .../NarrowPhaseCollision/btRaycastCallback.h | 71 + .../btSimplexSolverInterface.h | 63 + .../btSubSimplexConvexCast.h | 50 + .../btVoronoiSimplexSolver.h | 178 ++ .../btCharacterControllerInterface.h | 45 + .../btKinematicCharacterController.h | 162 ++ 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.../Dynamics/btDiscreteDynamicsWorld.h | 198 ++ .../BulletDynamics/Dynamics/btDynamicsWorld.h | 148 + .../BulletDynamics/Dynamics/btRigidBody.h | 690 +++++ .../Dynamics/btSimpleDynamicsWorld.h | 81 + .../BulletDynamics/Vehicle/btRaycastVehicle.h | 236 ++ .../Vehicle/btVehicleRaycaster.h | 35 + .../BulletDynamics/Vehicle/btWheelInfo.h | 119 + .../CPU/btSoftBodySolverData.h | 727 +++++ .../CPU/btSoftBodySolver_CPU.h | 344 +++ .../DX11/HLSL/ApplyForces.hlsl | 95 + .../DX11/HLSL/ComputeBounds.hlsl | 83 + .../DX11/HLSL/Integrate.hlsl | 41 + .../DX11/HLSL/OutputToVertexArray.hlsl | 63 + .../DX11/HLSL/PrepareLinks.hlsl | 44 + .../DX11/HLSL/SolvePositions.hlsl | 55 + .../DX11/HLSL/SolvePositionsSIMDBatched.hlsl | 139 + .../DX11/HLSL/UpdateConstants.hlsl | 48 + .../DX11/HLSL/UpdateNodes.hlsl | 49 + .../DX11/HLSL/UpdateNormals.hlsl | 98 + .../DX11/HLSL/UpdatePositions.hlsl | 44 + .../HLSL/UpdatePositionsFromVelocities.hlsl | 35 + .../DX11/HLSL/VSolveLinks.hlsl | 55 + 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Sources/Bullet/include/config.h | 7 + Mod Sources/Bullet/include/stdafx.h | 34 + Mod Sources/Bullet/include/t2ConCmds.h | 31 + Mod Sources/Bullet/script/bullet.cs | 280 ++ Mod Sources/Bullet/source/CGameTime.cpp | 75 + Mod Sources/Bullet/source/CRigidBody.cpp | 16 + Mod Sources/Bullet/source/dllmain.cpp | 49 + Mod Sources/Bullet/source/t2ConCmds.cpp | 377 +++ 353 files changed, 80265 insertions(+) create mode 100644 Mod Sources/Bullet/BulletDLL.sln create mode 100644 Mod Sources/Bullet/BulletDLL.suo create mode 100644 Mod Sources/Bullet/BulletDLL.vcxproj create mode 100644 Mod Sources/Bullet/BulletDLL.vcxproj.user create mode 100644 Mod Sources/Bullet/include/CGameTime.h create mode 100644 Mod Sources/Bullet/include/CRigidBody.h create mode 100644 Mod Sources/Bullet/include/bullet/Bullet-C-Api.h create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h create mode 100644 Mod 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mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h create mode 100644 Mod 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Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btUnionFind.h create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBox2dShape.h create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBoxShape.h create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h create mode 100644 Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp create mode 100644 Mod 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Sources/Bullet/BulletDLL.sln new file mode 100644 index 0000000..40337f7 --- /dev/null +++ b/Mod Sources/Bullet/BulletDLL.sln @@ -0,0 +1,20 @@ + +Microsoft Visual Studio Solution File, Format Version 11.00 +# Visual C++ Express 2010 +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BulletDLL", "BulletDLL.vcxproj", "{8740E782-7AC2-4A57-85D5-592C914C5285}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Win32 = Debug|Win32 + Release|Win32 = Release|Win32 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {8740E782-7AC2-4A57-85D5-592C914C5285}.Debug|Win32.ActiveCfg = Debug|Win32 + {8740E782-7AC2-4A57-85D5-592C914C5285}.Debug|Win32.Build.0 = Debug|Win32 + {8740E782-7AC2-4A57-85D5-592C914C5285}.Release|Win32.ActiveCfg = Release|Win32 + {8740E782-7AC2-4A57-85D5-592C914C5285}.Release|Win32.Build.0 = Release|Win32 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + 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+ + + + + + + + + + + <_ProjectFileVersion>10.0.30319.1 + $(SolutionDir)\Mods + $(Configuration)\ + true + $(SolutionDir)\Mods + $(Configuration)\ + false + $(VCInstallDir)include;$(VCInstallDir)atlmfc\include;$(WindowsSdkDir)include;$(FrameworkSDKDir)\include;include\;include\bullet\;..\..\CommonAPI\Common\include + $(VCInstallDir)lib;$(VCInstallDir)atlmfc\lib;$(WindowsSdkDir)lib;$(FrameworkSDKDir)\lib;lib\; + $(VCInstallDir)include;$(VCInstallDir)atlmfc\include;$(WindowsSdkDir)include;$(FrameworkSDKDir)\include;include\;include\bullet\;..\..\CommonAPI\Common\include + $(VCInstallDir)lib;$(VCInstallDir)atlmfc\lib;$(WindowsSdkDir)lib;$(FrameworkSDKDir)\lib;lib\; + Bullet + Bullet + + + + Disabled + C:\Documents and Settings\Linker\My Documents\Code\t2dll\lualib\include;%(AdditionalIncludeDirectories) + WIN32;BULLET_WINE;_DEBUG;_WINDOWS;_USRDLL;T2DLL_EXPORTS;%(PreprocessorDefinitions) + true + EnableFastChecks + MultiThreadedDebugDLL + NotUsing + Level3 + ProgramDatabase + + + BulletSoftBody.lib;BulletDynamics.lib;BulletCollision.lib;LinearMath.lib;$(SolutionDir)\Common.lib;%(AdditionalDependencies) + + + %(DelayLoadDLLs) + true + Windows + MachineX86 + + + + + MaxSpeed + OnlyExplicitInline + C:\Documents and Settings\Linker\My Documents\Code\t2dll\lualib\include;%(AdditionalIncludeDirectories) + WIN32;BULLET_WINE;NDEBUG;_WINDOWS;_USRDLL;T2DLL_EXPORTS;%(PreprocessorDefinitions) + MultiThreadedDLL + NotUsing + Level3 + ProgramDatabase + + + BulletSoftBody.lib;BulletDynamics.lib;BulletCollision.lib;LinearMath.lib;$(SolutionDir)\Common.lib;%(AdditionalDependencies) + + + + + %(DelayLoadDLLs) + true + Windows + true + true + MachineX86 + + + + + true + true + + + true + true + + + true + true + + + true + true + + + true + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Mod Sources/Bullet/BulletDLL.vcxproj.user b/Mod Sources/Bullet/BulletDLL.vcxproj.user new file mode 100644 index 0000000..ace9a86 --- /dev/null +++ b/Mod Sources/Bullet/BulletDLL.vcxproj.user @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/Mod Sources/Bullet/include/CGameTime.h b/Mod Sources/Bullet/include/CGameTime.h new file mode 100644 index 0000000..71fc66a --- /dev/null +++ b/Mod Sources/Bullet/include/CGameTime.h @@ -0,0 +1,42 @@ +/* + * CGameTime.h + * Small singleton class that is used for some time-sensitive operations. + * Copyright (c) 2013 Robert MacGregor +*/ + +#ifndef _INCLUDE_CGAMETIME_H_ +#define _INCLUDE_CGAMETIME_H_ + +#include + +//! Root Game Namespace +namespace Game +{ + //! Singleton class for timing functions in FBLA + class CGameTime + { + public: + //! Get the instance + static CGameTime *getPointer(void); + //! Destroys the instance + static void destroy(void); + + //! Update Timer + void update(void); + //! Returns the simtime in seconds + float getSimTime(void); + //! Returns the delta time in seconds + float getDelta(void); + + private: + //! Default Constructor + CGameTime(void); + //! Default Destructor + ~CGameTime(void); + + float time_current_seconds, time_last_seconds, time_delta_seconds; + float time_current_clocks, time_last_clocks, time_delta_clocks; + }; // End Class CGameTime +} // End Namespace Game + +#endif // _INCLUDE_CGAMETIME_H_ diff --git a/Mod Sources/Bullet/include/CRigidBody.h b/Mod Sources/Bullet/include/CRigidBody.h new file mode 100644 index 0000000..93e5f7b --- /dev/null +++ b/Mod Sources/Bullet/include/CRigidBody.h @@ -0,0 +1,16 @@ +/* + * CRigidBody.h + * Rigid Body Nodes for Tribes 2 + * Copyright (c) 2013 Robert MacGregor +*/ + +#include + +class CRigidBody +{ +public: + CRigidBody(btRigidBody *body); + ~CRigidBody(void); +private: + btRigidBody *rigid_body; +}; \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/Bullet-C-Api.h b/Mod Sources/Bullet/include/bullet/Bullet-C-Api.h new file mode 100644 index 0000000..f309aba --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/Bullet-C-Api.h @@ -0,0 +1,176 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +/* + Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's. + Work in progress, functionality will be added on demand. + + If possible, use the richer Bullet C++ API, by including "btBulletDynamicsCommon.h" +*/ + +#ifndef BULLET_C_API_H +#define BULLET_C_API_H + +#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name + +#ifdef BT_USE_DOUBLE_PRECISION +typedef double plReal; +#else +typedef float plReal; +#endif + +typedef plReal plVector3[3]; +typedef plReal plQuaternion[4]; + +#ifdef __cplusplus +extern "C" { +#endif + +/** Particular physics SDK (C-API) */ + PL_DECLARE_HANDLE(plPhysicsSdkHandle); + +/** Dynamics world, belonging to some physics SDK (C-API)*/ + PL_DECLARE_HANDLE(plDynamicsWorldHandle); + +/** Rigid Body that can be part of a Dynamics World (C-API)*/ + PL_DECLARE_HANDLE(plRigidBodyHandle); + +/** Collision Shape/Geometry, property of a Rigid Body (C-API)*/ + PL_DECLARE_HANDLE(plCollisionShapeHandle); + +/** Constraint for Rigid Bodies (C-API)*/ + PL_DECLARE_HANDLE(plConstraintHandle); + +/** Triangle Mesh interface (C-API)*/ + PL_DECLARE_HANDLE(plMeshInterfaceHandle); + +/** Broadphase Scene/Proxy Handles (C-API)*/ + PL_DECLARE_HANDLE(plCollisionBroadphaseHandle); + PL_DECLARE_HANDLE(plBroadphaseProxyHandle); + PL_DECLARE_HANDLE(plCollisionWorldHandle); + +/** + Create and Delete a Physics SDK +*/ + + extern plPhysicsSdkHandle plNewBulletSdk(); //this could be also another sdk, like ODE, PhysX etc. + extern void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk); + +/** Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */ + + typedef void(*btBroadphaseCallback)(void* clientData, void* object1,void* object2); + + extern plCollisionBroadphaseHandle plCreateSapBroadphase(btBroadphaseCallback beginCallback,btBroadphaseCallback endCallback); + + extern void plDestroyBroadphase(plCollisionBroadphaseHandle bp); + + extern plBroadphaseProxyHandle plCreateProxy(plCollisionBroadphaseHandle bp, void* clientData, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ); + + extern void plDestroyProxy(plCollisionBroadphaseHandle bp, plBroadphaseProxyHandle proxyHandle); + + extern void plSetBoundingBox(plBroadphaseProxyHandle proxyHandle, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ); + +/* todo: add pair cache support with queries like add/remove/find pair */ + + extern plCollisionWorldHandle plCreateCollisionWorld(plPhysicsSdkHandle physicsSdk); + +/* todo: add/remove objects */ + + +/* Dynamics World */ + + extern plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk); + + extern void plDeleteDynamicsWorld(plDynamicsWorldHandle world); + + extern void plStepSimulation(plDynamicsWorldHandle, plReal timeStep); + + extern void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object); + + extern void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object); + + +/* Rigid Body */ + + extern plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape ); + + extern void plDeleteRigidBody(plRigidBodyHandle body); + + +/* Collision Shape definition */ + + extern plCollisionShapeHandle plNewSphereShape(plReal radius); + extern plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z); + extern plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height); + extern plCollisionShapeHandle plNewConeShape(plReal radius, plReal height); + extern plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height); + extern plCollisionShapeHandle plNewCompoundShape(); + extern void plAddChildShape(plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn); + + extern void plDeleteShape(plCollisionShapeHandle shape); + + /* Convex Meshes */ + extern plCollisionShapeHandle plNewConvexHullShape(); + extern void plAddVertex(plCollisionShapeHandle convexHull, plReal x,plReal y,plReal z); +/* Concave static triangle meshes */ + extern plMeshInterfaceHandle plNewMeshInterface(); + extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2); + extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle); + + extern void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling); + +/* SOLID has Response Callback/Table/Management */ +/* PhysX has Triggers, User Callbacks and filtering */ +/* ODE has the typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); */ + +/* typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle rbHandle, plVector3 pos); */ +/* typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle rbHandle, plQuaternion orientation); */ + + /* get world transform */ + extern void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix); + extern void plGetPosition(plRigidBodyHandle object,plVector3 position); + extern void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation); + + /* set world transform (position/orientation) */ + extern void plSetPosition(plRigidBodyHandle object, const plVector3 position); + extern void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation); + extern void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient); + extern void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix); + + typedef struct plRayCastResult { + plRigidBodyHandle m_body; + plCollisionShapeHandle m_shape; + plVector3 m_positionWorld; + plVector3 m_normalWorld; + } plRayCastResult; + + extern int plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res); + + /* Sweep API */ + + /* extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); */ + + /* Continuous Collision Detection API */ + + // needed for source/blender/blenkernel/intern/collision.c + double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]); + +#ifdef __cplusplus +} +#endif + + +#endif //BULLET_C_API_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h new file mode 100644 index 0000000..07167af --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h @@ -0,0 +1,1051 @@ +//Bullet Continuous Collision Detection and Physics Library +//Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +// +// btAxisSweep3.h +// +// Copyright (c) 2006 Simon Hobbs +// +// 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. + +#ifndef AXIS_SWEEP_3_H +#define AXIS_SWEEP_3_H + +#include "LinearMath/btVector3.h" +#include "btOverlappingPairCache.h" +#include "btBroadphaseInterface.h" +#include "btBroadphaseProxy.h" +#include "btOverlappingPairCallback.h" +#include "btDbvtBroadphase.h" + +//#define DEBUG_BROADPHASE 1 +#define USE_OVERLAP_TEST_ON_REMOVES 1 + +/// The internal templace class btAxisSweep3Internal implements the sweep and prune broadphase. +/// It uses quantized integers to represent the begin and end points for each of the 3 axis. +/// Dont use this class directly, use btAxisSweep3 or bt32BitAxisSweep3 instead. +template +class btAxisSweep3Internal : public btBroadphaseInterface +{ +protected: + + BP_FP_INT_TYPE m_bpHandleMask; + BP_FP_INT_TYPE m_handleSentinel; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + class Edge + { + public: + BP_FP_INT_TYPE m_pos; // low bit is min/max + BP_FP_INT_TYPE m_handle; + + BP_FP_INT_TYPE IsMax() const {return static_cast(m_pos & 1);} + }; + +public: + class Handle : public btBroadphaseProxy + { + public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + // indexes into the edge arrays + BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12 +// BP_FP_INT_TYPE m_uniqueId; + btBroadphaseProxy* m_dbvtProxy;//for faster raycast + //void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject + + SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;} + SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];} + }; // 24 bytes + 24 for Edge structures = 44 bytes total per entry + + +protected: + btVector3 m_worldAabbMin; // overall system bounds + btVector3 m_worldAabbMax; // overall system bounds + + btVector3 m_quantize; // scaling factor for quantization + + BP_FP_INT_TYPE m_numHandles; // number of active handles + BP_FP_INT_TYPE m_maxHandles; // max number of handles + Handle* m_pHandles; // handles pool + + BP_FP_INT_TYPE m_firstFreeHandle; // free handles list + + Edge* m_pEdges[3]; // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries) + void* m_pEdgesRawPtr[3]; + + btOverlappingPairCache* m_pairCache; + + ///btOverlappingPairCallback is an additional optional user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache. + btOverlappingPairCallback* m_userPairCallback; + + bool m_ownsPairCache; + + int m_invalidPair; + + ///additional dynamic aabb structure, used to accelerate ray cast queries. + ///can be disabled using a optional argument in the constructor + btDbvtBroadphase* m_raycastAccelerator; + btOverlappingPairCache* m_nullPairCache; + + + // allocation/deallocation + BP_FP_INT_TYPE allocHandle(); + void freeHandle(BP_FP_INT_TYPE handle); + + + bool testOverlap2D(const Handle* pHandleA, const Handle* pHandleB,int axis0,int axis1); + +#ifdef DEBUG_BROADPHASE + void debugPrintAxis(int axis,bool checkCardinality=true); +#endif //DEBUG_BROADPHASE + + //Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB); + //void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB); + + + + void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + +public: + + btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false); + + virtual ~btAxisSweep3Internal(); + + BP_FP_INT_TYPE getNumHandles() const + { + return m_numHandles; + } + + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); + + BP_FP_INT_TYPE addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); + void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher); + void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); + SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;} + + virtual void resetPool(btDispatcher* dispatcher); + + void processAllOverlappingPairs(btOverlapCallback* callback); + + //Broadphase Interface + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); + virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)); + virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback); + + + void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const; + ///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result + void unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + + bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + btOverlappingPairCache* getOverlappingPairCache() + { + return m_pairCache; + } + const btOverlappingPairCache* getOverlappingPairCache() const + { + return m_pairCache; + } + + void setOverlappingPairUserCallback(btOverlappingPairCallback* pairCallback) + { + m_userPairCallback = pairCallback; + } + const btOverlappingPairCallback* getOverlappingPairUserCallback() const + { + return m_userPairCallback; + } + + ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame + ///will add some transform later + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const + { + aabbMin = m_worldAabbMin; + aabbMax = m_worldAabbMax; + } + + virtual void printStats() + { +/* printf("btAxisSweep3.h\n"); + printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles); + printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.getX(),m_worldAabbMin.getY(),m_worldAabbMin.getZ(), + m_worldAabbMax.getX(),m_worldAabbMax.getY(),m_worldAabbMax.getZ()); + */ + + } + +}; + +//////////////////////////////////////////////////////////////////// + + + + +#ifdef DEBUG_BROADPHASE +#include + +template +void btAxisSweep3::debugPrintAxis(int axis, bool checkCardinality) +{ + int numEdges = m_pHandles[0].m_maxEdges[axis]; + printf("SAP Axis %d, numEdges=%d\n",axis,numEdges); + + int i; + for (i=0;im_handle); + int handleIndex = pEdge->IsMax()? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis]; + char beginOrEnd; + beginOrEnd=pEdge->IsMax()?'E':'B'; + printf(" [%c,h=%d,p=%x,i=%d]\n",beginOrEnd,pEdge->m_handle,pEdge->m_pos,handleIndex); + } + + if (checkCardinality) + btAssert(numEdges == m_numHandles*2+1); +} +#endif //DEBUG_BROADPHASE + +template +btBroadphaseProxy* btAxisSweep3Internal::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy) +{ + (void)shapeType; + BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,multiSapProxy); + + Handle* handle = getHandle(handleId); + + if (m_raycastAccelerator) + { + btBroadphaseProxy* rayProxy = m_raycastAccelerator->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,0); + handle->m_dbvtProxy = rayProxy; + } + return handle; +} + + + +template +void btAxisSweep3Internal::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + Handle* handle = static_cast(proxy); + if (m_raycastAccelerator) + m_raycastAccelerator->destroyProxy(handle->m_dbvtProxy,dispatcher); + removeHandle(static_cast(handle->m_uniqueId), dispatcher); +} + +template +void btAxisSweep3Internal::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher) +{ + Handle* handle = static_cast(proxy); + handle->m_aabbMin = aabbMin; + handle->m_aabbMax = aabbMax; + updateHandle(static_cast(handle->m_uniqueId), aabbMin, aabbMax,dispatcher); + if (m_raycastAccelerator) + m_raycastAccelerator->setAabb(handle->m_dbvtProxy,aabbMin,aabbMax,dispatcher); + +} + +template +void btAxisSweep3Internal::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax) +{ + if (m_raycastAccelerator) + { + m_raycastAccelerator->rayTest(rayFrom,rayTo,rayCallback,aabbMin,aabbMax); + } else + { + //choose axis? + BP_FP_INT_TYPE axis = 0; + //for each proxy + for (BP_FP_INT_TYPE i=1;i +void btAxisSweep3Internal::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) +{ + if (m_raycastAccelerator) + { + m_raycastAccelerator->aabbTest(aabbMin,aabbMax,callback); + } else + { + //choose axis? + BP_FP_INT_TYPE axis = 0; + //for each proxy + for (BP_FP_INT_TYPE i=1;im_aabbMin,handle->m_aabbMax)) + { + callback.process(handle); + } + } + } + } +} + + + +template +void btAxisSweep3Internal::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const +{ + Handle* pHandle = static_cast(proxy); + aabbMin = pHandle->m_aabbMin; + aabbMax = pHandle->m_aabbMax; +} + + +template +void btAxisSweep3Internal::unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const +{ + Handle* pHandle = static_cast(proxy); + + unsigned short vecInMin[3]; + unsigned short vecInMax[3]; + + vecInMin[0] = m_pEdges[0][pHandle->m_minEdges[0]].m_pos ; + vecInMax[0] = m_pEdges[0][pHandle->m_maxEdges[0]].m_pos +1 ; + vecInMin[1] = m_pEdges[1][pHandle->m_minEdges[1]].m_pos ; + vecInMax[1] = m_pEdges[1][pHandle->m_maxEdges[1]].m_pos +1 ; + vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos ; + vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos +1 ; + + aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.getX()),(btScalar)(vecInMin[1]) / (m_quantize.getY()),(btScalar)(vecInMin[2]) / (m_quantize.getZ())); + aabbMin += m_worldAabbMin; + + aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.getX()),(btScalar)(vecInMax[1]) / (m_quantize.getY()),(btScalar)(vecInMax[2]) / (m_quantize.getZ())); + aabbMax += m_worldAabbMin; +} + + + + +template +btAxisSweep3Internal::btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache , bool disableRaycastAccelerator) +:m_bpHandleMask(handleMask), +m_handleSentinel(handleSentinel), +m_pairCache(pairCache), +m_userPairCallback(0), +m_ownsPairCache(false), +m_invalidPair(0), +m_raycastAccelerator(0) +{ + BP_FP_INT_TYPE maxHandles = static_cast(userMaxHandles+1);//need to add one sentinel handle + + if (!m_pairCache) + { + void* ptr = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16); + m_pairCache = new(ptr) btHashedOverlappingPairCache(); + m_ownsPairCache = true; + } + + if (!disableRaycastAccelerator) + { + m_nullPairCache = new (btAlignedAlloc(sizeof(btNullPairCache),16)) btNullPairCache(); + m_raycastAccelerator = new (btAlignedAlloc(sizeof(btDbvtBroadphase),16)) btDbvtBroadphase(m_nullPairCache);//m_pairCache); + m_raycastAccelerator->m_deferedcollide = true;//don't add/remove pairs + } + + //btAssert(bounds.HasVolume()); + + // init bounds + m_worldAabbMin = worldAabbMin; + m_worldAabbMax = worldAabbMax; + + btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin; + + BP_FP_INT_TYPE maxInt = m_handleSentinel; + + m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize; + + // allocate handles buffer, using btAlignedAlloc, and put all handles on free list + m_pHandles = new Handle[maxHandles]; + + m_maxHandles = maxHandles; + m_numHandles = 0; + + // handle 0 is reserved as the null index, and is also used as the sentinel + m_firstFreeHandle = 1; + { + for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++) + m_pHandles[i].SetNextFree(static_cast(i + 1)); + m_pHandles[maxHandles - 1].SetNextFree(0); + } + + { + // allocate edge buffers + for (int i = 0; i < 3; i++) + { + m_pEdgesRawPtr[i] = btAlignedAlloc(sizeof(Edge)*maxHandles*2,16); + m_pEdges[i] = new(m_pEdgesRawPtr[i]) Edge[maxHandles * 2]; + } + } + //removed overlap management + + // make boundary sentinels + + m_pHandles[0].m_clientObject = 0; + + for (int axis = 0; axis < 3; axis++) + { + m_pHandles[0].m_minEdges[axis] = 0; + m_pHandles[0].m_maxEdges[axis] = 1; + + m_pEdges[axis][0].m_pos = 0; + m_pEdges[axis][0].m_handle = 0; + m_pEdges[axis][1].m_pos = m_handleSentinel; + m_pEdges[axis][1].m_handle = 0; +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + + } + +} + +template +btAxisSweep3Internal::~btAxisSweep3Internal() +{ + if (m_raycastAccelerator) + { + m_nullPairCache->~btOverlappingPairCache(); + btAlignedFree(m_nullPairCache); + m_raycastAccelerator->~btDbvtBroadphase(); + btAlignedFree (m_raycastAccelerator); + } + + for (int i = 2; i >= 0; i--) + { + btAlignedFree(m_pEdgesRawPtr[i]); + } + delete [] m_pHandles; + + if (m_ownsPairCache) + { + m_pairCache->~btOverlappingPairCache(); + btAlignedFree(m_pairCache); + } +} + +template +void btAxisSweep3Internal::quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const +{ +#ifdef OLD_CLAMPING_METHOD + ///problem with this clamping method is that the floating point during quantization might still go outside the range [(0|isMax) .. (m_handleSentinel&m_bpHandleMask]|isMax] + ///see http://code.google.com/p/bullet/issues/detail?id=87 + btVector3 clampedPoint(point); + clampedPoint.setMax(m_worldAabbMin); + clampedPoint.setMin(m_worldAabbMax); + btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize; + out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & m_bpHandleMask) | isMax); + out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & m_bpHandleMask) | isMax); + out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax); +#else + btVector3 v = (point - m_worldAabbMin) * m_quantize; + out[0]=(v[0]<=0)?(BP_FP_INT_TYPE)isMax:(v[0]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[0]&m_bpHandleMask)|isMax); + out[1]=(v[1]<=0)?(BP_FP_INT_TYPE)isMax:(v[1]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[1]&m_bpHandleMask)|isMax); + out[2]=(v[2]<=0)?(BP_FP_INT_TYPE)isMax:(v[2]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[2]&m_bpHandleMask)|isMax); +#endif //OLD_CLAMPING_METHOD +} + + +template +BP_FP_INT_TYPE btAxisSweep3Internal::allocHandle() +{ + btAssert(m_firstFreeHandle); + + BP_FP_INT_TYPE handle = m_firstFreeHandle; + m_firstFreeHandle = getHandle(handle)->GetNextFree(); + m_numHandles++; + + return handle; +} + +template +void btAxisSweep3Internal::freeHandle(BP_FP_INT_TYPE handle) +{ + btAssert(handle > 0 && handle < m_maxHandles); + + getHandle(handle)->SetNextFree(m_firstFreeHandle); + m_firstFreeHandle = handle; + + m_numHandles--; +} + + +template +BP_FP_INT_TYPE btAxisSweep3Internal::addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy) +{ + // quantize the bounds + BP_FP_INT_TYPE min[3], max[3]; + quantize(min, aabbMin, 0); + quantize(max, aabbMax, 1); + + // allocate a handle + BP_FP_INT_TYPE handle = allocHandle(); + + + Handle* pHandle = getHandle(handle); + + pHandle->m_uniqueId = static_cast(handle); + //pHandle->m_pOverlaps = 0; + pHandle->m_clientObject = pOwner; + pHandle->m_collisionFilterGroup = collisionFilterGroup; + pHandle->m_collisionFilterMask = collisionFilterMask; + pHandle->m_multiSapParentProxy = multiSapProxy; + + // compute current limit of edge arrays + BP_FP_INT_TYPE limit = static_cast(m_numHandles * 2); + + + // insert new edges just inside the max boundary edge + for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++) + { + + m_pHandles[0].m_maxEdges[axis] += 2; + + m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1]; + + m_pEdges[axis][limit - 1].m_pos = min[axis]; + m_pEdges[axis][limit - 1].m_handle = handle; + + m_pEdges[axis][limit].m_pos = max[axis]; + m_pEdges[axis][limit].m_handle = handle; + + pHandle->m_minEdges[axis] = static_cast(limit - 1); + pHandle->m_maxEdges[axis] = limit; + } + + // now sort the new edges to their correct position + sortMinDown(0, pHandle->m_minEdges[0], dispatcher,false); + sortMaxDown(0, pHandle->m_maxEdges[0], dispatcher,false); + sortMinDown(1, pHandle->m_minEdges[1], dispatcher,false); + sortMaxDown(1, pHandle->m_maxEdges[1], dispatcher,false); + sortMinDown(2, pHandle->m_minEdges[2], dispatcher,true); + sortMaxDown(2, pHandle->m_maxEdges[2], dispatcher,true); + + + return handle; +} + + +template +void btAxisSweep3Internal::removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher) +{ + + Handle* pHandle = getHandle(handle); + + //explicitly remove the pairs containing the proxy + //we could do it also in the sortMinUp (passing true) + ///@todo: compare performance + if (!m_pairCache->hasDeferredRemoval()) + { + m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher); + } + + // compute current limit of edge arrays + int limit = static_cast(m_numHandles * 2); + + int axis; + + for (axis = 0;axis<3;axis++) + { + m_pHandles[0].m_maxEdges[axis] -= 2; + } + + // remove the edges by sorting them up to the end of the list + for ( axis = 0; axis < 3; axis++) + { + Edge* pEdges = m_pEdges[axis]; + BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis]; + pEdges[max].m_pos = m_handleSentinel; + + sortMaxUp(axis,max,dispatcher,false); + + + BP_FP_INT_TYPE i = pHandle->m_minEdges[axis]; + pEdges[i].m_pos = m_handleSentinel; + + + sortMinUp(axis,i,dispatcher,false); + + pEdges[limit-1].m_handle = 0; + pEdges[limit-1].m_pos = m_handleSentinel; + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis,false); +#endif //DEBUG_BROADPHASE + + + } + + + // free the handle + freeHandle(handle); + + +} + +template +void btAxisSweep3Internal::resetPool(btDispatcher* dispatcher) +{ + if (m_numHandles == 0) + { + m_firstFreeHandle = 1; + { + for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < m_maxHandles; i++) + m_pHandles[i].SetNextFree(static_cast(i + 1)); + m_pHandles[m_maxHandles - 1].SetNextFree(0); + } + } +} + + +extern int gOverlappingPairs; +//#include + +template +void btAxisSweep3Internal::calculateOverlappingPairs(btDispatcher* dispatcher) +{ + + if (m_pairCache->hasDeferredRemoval()) + { + + btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray(); + + //perform a sort, to find duplicates and to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; + + + int i; + + btBroadphasePair previousPair; + previousPair.m_pProxy0 = 0; + previousPair.m_pProxy1 = 0; + previousPair.m_algorithm = 0; + + + for (i=0;iprocessOverlap(pair); + } else + { + needsRemoval = true; + } + } else + { + //remove duplicate + needsRemoval = true; + //should have no algorithm + btAssert(!pair.m_algorithm); + } + + if (needsRemoval) + { + m_pairCache->cleanOverlappingPair(pair,dispatcher); + + // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); + // m_overlappingPairArray.pop_back(); + pair.m_pProxy0 = 0; + pair.m_pProxy1 = 0; + m_invalidPair++; + gOverlappingPairs--; + } + + } + + ///if you don't like to skip the invalid pairs in the array, execute following code: + #define CLEAN_INVALID_PAIRS 1 + #ifdef CLEAN_INVALID_PAIRS + + //perform a sort, to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; + #endif//CLEAN_INVALID_PAIRS + + //printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size()); + } + +} + + +template +bool btAxisSweep3Internal::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) +{ + const Handle* pHandleA = static_cast(proxy0); + const Handle* pHandleB = static_cast(proxy1); + + //optimization 1: check the array index (memory address), instead of the m_pos + + for (int axis = 0; axis < 3; axis++) + { + if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || + pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) + { + return false; + } + } + return true; +} + +template +bool btAxisSweep3Internal::testOverlap2D(const Handle* pHandleA, const Handle* pHandleB,int axis0,int axis1) +{ + //optimization 1: check the array index (memory address), instead of the m_pos + + if (pHandleA->m_maxEdges[axis0] < pHandleB->m_minEdges[axis0] || + pHandleB->m_maxEdges[axis0] < pHandleA->m_minEdges[axis0] || + pHandleA->m_maxEdges[axis1] < pHandleB->m_minEdges[axis1] || + pHandleB->m_maxEdges[axis1] < pHandleA->m_minEdges[axis1]) + { + return false; + } + return true; +} + +template +void btAxisSweep3Internal::updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher) +{ +// btAssert(bounds.IsFinite()); + //btAssert(bounds.HasVolume()); + + Handle* pHandle = getHandle(handle); + + // quantize the new bounds + BP_FP_INT_TYPE min[3], max[3]; + quantize(min, aabbMin, 0); + quantize(max, aabbMax, 1); + + // update changed edges + for (int axis = 0; axis < 3; axis++) + { + BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis]; + BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis]; + + int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos; + int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos; + + m_pEdges[axis][emin].m_pos = min[axis]; + m_pEdges[axis][emax].m_pos = max[axis]; + + // expand (only adds overlaps) + if (dmin < 0) + sortMinDown(axis, emin,dispatcher,true); + + if (dmax > 0) + sortMaxUp(axis, emax,dispatcher,true); + + // shrink (only removes overlaps) + if (dmin > 0) + sortMinUp(axis, emin,dispatcher,true); + + if (dmax < 0) + sortMaxDown(axis, emax,dispatcher,true); + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + } + + +} + + + + +// sorting a min edge downwards can only ever *add* overlaps +template +void btAxisSweep3Internal::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps) +{ + + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pPrev = pEdge - 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pEdge->m_pos < pPrev->m_pos) + { + Handle* pHandlePrev = getHandle(pPrev->m_handle); + + if (pPrev->IsMax()) + { + // if previous edge is a maximum check the bounds and add an overlap if necessary + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + if (updateOverlaps && testOverlap2D(pHandleEdge, pHandlePrev,axis1,axis2)) + { + m_pairCache->addOverlappingPair(pHandleEdge,pHandlePrev); + if (m_userPairCallback) + m_userPairCallback->addOverlappingPair(pHandleEdge,pHandlePrev); + + //AddOverlap(pEdge->m_handle, pPrev->m_handle); + + } + + // update edge reference in other handle + pHandlePrev->m_maxEdges[axis]++; + } + else + pHandlePrev->m_minEdges[axis]++; + + pHandleEdge->m_minEdges[axis]--; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pPrev; + *pPrev = swap; + + // decrement + pEdge--; + pPrev--; + } + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + +} + +// sorting a min edge upwards can only ever *remove* overlaps +template +void btAxisSweep3Internal::sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps) +{ + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pNext = pEdge + 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos)) + { + Handle* pHandleNext = getHandle(pNext->m_handle); + + if (pNext->IsMax()) + { + Handle* handle0 = getHandle(pEdge->m_handle); + Handle* handle1 = getHandle(pNext->m_handle); + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + + // if next edge is maximum remove any overlap between the two handles + if (updateOverlaps +#ifdef USE_OVERLAP_TEST_ON_REMOVES + && testOverlap2D(handle0,handle1,axis1,axis2) +#endif //USE_OVERLAP_TEST_ON_REMOVES + ) + { + + + m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher); + if (m_userPairCallback) + m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher); + + } + + + // update edge reference in other handle + pHandleNext->m_maxEdges[axis]--; + } + else + pHandleNext->m_minEdges[axis]--; + + pHandleEdge->m_minEdges[axis]++; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pNext; + *pNext = swap; + + // increment + pEdge++; + pNext++; + } + + +} + +// sorting a max edge downwards can only ever *remove* overlaps +template +void btAxisSweep3Internal::sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps) +{ + + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pPrev = pEdge - 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pEdge->m_pos < pPrev->m_pos) + { + Handle* pHandlePrev = getHandle(pPrev->m_handle); + + if (!pPrev->IsMax()) + { + // if previous edge was a minimum remove any overlap between the two handles + Handle* handle0 = getHandle(pEdge->m_handle); + Handle* handle1 = getHandle(pPrev->m_handle); + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + + if (updateOverlaps +#ifdef USE_OVERLAP_TEST_ON_REMOVES + && testOverlap2D(handle0,handle1,axis1,axis2) +#endif //USE_OVERLAP_TEST_ON_REMOVES + ) + { + //this is done during the overlappingpairarray iteration/narrowphase collision + + + m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher); + if (m_userPairCallback) + m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher); + + + + } + + // update edge reference in other handle + pHandlePrev->m_minEdges[axis]++;; + } + else + pHandlePrev->m_maxEdges[axis]++; + + pHandleEdge->m_maxEdges[axis]--; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pPrev; + *pPrev = swap; + + // decrement + pEdge--; + pPrev--; + } + + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + +} + +// sorting a max edge upwards can only ever *add* overlaps +template +void btAxisSweep3Internal::sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps) +{ + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pNext = pEdge + 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos)) + { + Handle* pHandleNext = getHandle(pNext->m_handle); + + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + + if (!pNext->IsMax()) + { + // if next edge is a minimum check the bounds and add an overlap if necessary + if (updateOverlaps && testOverlap2D(pHandleEdge, pHandleNext,axis1,axis2)) + { + Handle* handle0 = getHandle(pEdge->m_handle); + Handle* handle1 = getHandle(pNext->m_handle); + m_pairCache->addOverlappingPair(handle0,handle1); + if (m_userPairCallback) + m_userPairCallback->addOverlappingPair(handle0,handle1); + } + + // update edge reference in other handle + pHandleNext->m_minEdges[axis]--; + } + else + pHandleNext->m_maxEdges[axis]--; + + pHandleEdge->m_maxEdges[axis]++; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pNext; + *pNext = swap; + + // increment + pEdge++; + pNext++; + } + +} + + + +//////////////////////////////////////////////////////////////////// + + +/// The btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase. +/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using 16 bit integer coordinates instead of floats. +/// For large worlds and many objects, use bt32BitAxisSweep3 or btDbvtBroadphase instead. bt32BitAxisSweep3 has higher precision and allows more then 16384 objects at the cost of more memory and bit of performance. +class btAxisSweep3 : public btAxisSweep3Internal +{ +public: + + btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false); + +}; + +/// The bt32BitAxisSweep3 allows higher precision quantization and more objects compared to the btAxisSweep3 sweep and prune. +/// This comes at the cost of more memory per handle, and a bit slower performance. +/// It uses arrays rather then lists for storage of the 3 axis. +class bt32BitAxisSweep3 : public btAxisSweep3Internal +{ +public: + + bt32BitAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false); + +}; + +#endif + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h new file mode 100644 index 0000000..fe414ef --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h @@ -0,0 +1,82 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BROADPHASE_INTERFACE_H +#define BROADPHASE_INTERFACE_H + + + +struct btDispatcherInfo; +class btDispatcher; +#include "btBroadphaseProxy.h" + +class btOverlappingPairCache; + + + +struct btBroadphaseAabbCallback +{ + virtual ~btBroadphaseAabbCallback() {} + virtual bool process(const btBroadphaseProxy* proxy) = 0; +}; + + +struct btBroadphaseRayCallback : public btBroadphaseAabbCallback +{ + ///added some cached data to accelerate ray-AABB tests + btVector3 m_rayDirectionInverse; + unsigned int m_signs[3]; + btScalar m_lambda_max; + + virtual ~btBroadphaseRayCallback() {} +}; + +#include "LinearMath/btVector3.h" + +///The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs. +///Some implementations for this broadphase interface include btAxisSweep3, bt32BitAxisSweep3 and btDbvtBroadphase. +///The actual overlapping pair management, storage, adding and removing of pairs is dealt by the btOverlappingPairCache class. +class btBroadphaseInterface +{ +public: + virtual ~btBroadphaseInterface() {} + + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0; + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0; + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0; + virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0; + + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0; + + virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0; + + ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb + virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0; + + virtual btOverlappingPairCache* getOverlappingPairCache()=0; + virtual const btOverlappingPairCache* getOverlappingPairCache() const =0; + + ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame + ///will add some transform later + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0; + + ///reset broadphase internal structures, to ensure determinism/reproducability + virtual void resetPool(btDispatcher* dispatcher) { (void) dispatcher; }; + + virtual void printStats() = 0; + +}; + +#endif //BROADPHASE_INTERFACE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h new file mode 100644 index 0000000..62d3497 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @@ -0,0 +1,270 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BROADPHASE_PROXY_H +#define BROADPHASE_PROXY_H + +#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE +#include "LinearMath/btVector3.h" +#include "LinearMath/btAlignedAllocator.h" + + +/// btDispatcher uses these types +/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave +/// to facilitate type checking +/// CUSTOM_POLYHEDRAL_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE and CUSTOM_CONCAVE_SHAPE_TYPE can be used to extend Bullet without modifying source code +enum BroadphaseNativeTypes +{ + // polyhedral convex shapes + BOX_SHAPE_PROXYTYPE, + TRIANGLE_SHAPE_PROXYTYPE, + TETRAHEDRAL_SHAPE_PROXYTYPE, + CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE, + CONVEX_HULL_SHAPE_PROXYTYPE, + CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE, + CUSTOM_POLYHEDRAL_SHAPE_TYPE, +//implicit convex shapes +IMPLICIT_CONVEX_SHAPES_START_HERE, + SPHERE_SHAPE_PROXYTYPE, + MULTI_SPHERE_SHAPE_PROXYTYPE, + CAPSULE_SHAPE_PROXYTYPE, + CONE_SHAPE_PROXYTYPE, + CONVEX_SHAPE_PROXYTYPE, + CYLINDER_SHAPE_PROXYTYPE, + UNIFORM_SCALING_SHAPE_PROXYTYPE, + MINKOWSKI_SUM_SHAPE_PROXYTYPE, + MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE, + BOX_2D_SHAPE_PROXYTYPE, + CONVEX_2D_SHAPE_PROXYTYPE, + CUSTOM_CONVEX_SHAPE_TYPE, +//concave shapes +CONCAVE_SHAPES_START_HERE, + //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy! + TRIANGLE_MESH_SHAPE_PROXYTYPE, + SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE, + ///used for demo integration FAST/Swift collision library and Bullet + FAST_CONCAVE_MESH_PROXYTYPE, + //terrain + TERRAIN_SHAPE_PROXYTYPE, +///Used for GIMPACT Trimesh integration + GIMPACT_SHAPE_PROXYTYPE, +///Multimaterial mesh + MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE, + + EMPTY_SHAPE_PROXYTYPE, + STATIC_PLANE_PROXYTYPE, + CUSTOM_CONCAVE_SHAPE_TYPE, +CONCAVE_SHAPES_END_HERE, + + COMPOUND_SHAPE_PROXYTYPE, + + SOFTBODY_SHAPE_PROXYTYPE, + HFFLUID_SHAPE_PROXYTYPE, + HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE, + INVALID_SHAPE_PROXYTYPE, + + MAX_BROADPHASE_COLLISION_TYPES + +}; + + +///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases. +///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody. +ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy +{ + +BT_DECLARE_ALIGNED_ALLOCATOR(); + + ///optional filtering to cull potential collisions + enum CollisionFilterGroups + { + DefaultFilter = 1, + StaticFilter = 2, + KinematicFilter = 4, + DebrisFilter = 8, + SensorTrigger = 16, + CharacterFilter = 32, + AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger + }; + + //Usually the client btCollisionObject or Rigidbody class + void* m_clientObject; + short int m_collisionFilterGroup; + short int m_collisionFilterMask; + void* m_multiSapParentProxy; + int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc. + + btVector3 m_aabbMin; + btVector3 m_aabbMax; + + SIMD_FORCE_INLINE int getUid() const + { + return m_uniqueId; + } + + //used for memory pools + btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0) + { + } + + btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0) + :m_clientObject(userPtr), + m_collisionFilterGroup(collisionFilterGroup), + m_collisionFilterMask(collisionFilterMask), + m_aabbMin(aabbMin), + m_aabbMax(aabbMax) + { + m_multiSapParentProxy = multiSapParentProxy; + } + + + + static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType) + { + return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE); + } + + static SIMD_FORCE_INLINE bool isConvex(int proxyType) + { + return (proxyType < CONCAVE_SHAPES_START_HERE); + } + + static SIMD_FORCE_INLINE bool isNonMoving(int proxyType) + { + return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE)); + } + + static SIMD_FORCE_INLINE bool isConcave(int proxyType) + { + return ((proxyType > CONCAVE_SHAPES_START_HERE) && + (proxyType < CONCAVE_SHAPES_END_HERE)); + } + static SIMD_FORCE_INLINE bool isCompound(int proxyType) + { + return (proxyType == COMPOUND_SHAPE_PROXYTYPE); + } + + static SIMD_FORCE_INLINE bool isSoftBody(int proxyType) + { + return (proxyType == SOFTBODY_SHAPE_PROXYTYPE); + } + + static SIMD_FORCE_INLINE bool isInfinite(int proxyType) + { + return (proxyType == STATIC_PLANE_PROXYTYPE); + } + + static SIMD_FORCE_INLINE bool isConvex2d(int proxyType) + { + return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE); + } + + +} +; + +class btCollisionAlgorithm; + +struct btBroadphaseProxy; + + + +///The btBroadphasePair class contains a pair of aabb-overlapping objects. +///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes. +ATTRIBUTE_ALIGNED16(struct) btBroadphasePair +{ + btBroadphasePair () + : + m_pProxy0(0), + m_pProxy1(0), + m_algorithm(0), + m_internalInfo1(0) + { + } + +BT_DECLARE_ALIGNED_ALLOCATOR(); + + btBroadphasePair(const btBroadphasePair& other) + : m_pProxy0(other.m_pProxy0), + m_pProxy1(other.m_pProxy1), + m_algorithm(other.m_algorithm), + m_internalInfo1(other.m_internalInfo1) + { + } + btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1) + { + + //keep them sorted, so the std::set operations work + if (proxy0.m_uniqueId < proxy1.m_uniqueId) + { + m_pProxy0 = &proxy0; + m_pProxy1 = &proxy1; + } + else + { + m_pProxy0 = &proxy1; + m_pProxy1 = &proxy0; + } + + m_algorithm = 0; + m_internalInfo1 = 0; + + } + + btBroadphaseProxy* m_pProxy0; + btBroadphaseProxy* m_pProxy1; + + mutable btCollisionAlgorithm* m_algorithm; + union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version. + +}; + +/* +//comparison for set operation, see Solid DT_Encounter +SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b) +{ + return a.m_pProxy0 < b.m_pProxy0 || + (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1); +} +*/ + + + +class btBroadphasePairSortPredicate +{ + public: + + bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) + { + const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1; + const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1; + const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1; + const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1; + + return uidA0 > uidB0 || + (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) || + (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); + } +}; + + +SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b) +{ + return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1); +} + + +#endif //BROADPHASE_PROXY_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h new file mode 100644 index 0000000..1618ad9 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h @@ -0,0 +1,80 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef COLLISION_ALGORITHM_H +#define COLLISION_ALGORITHM_H + +#include "LinearMath/btScalar.h" +#include "LinearMath/btAlignedObjectArray.h" + +struct btBroadphaseProxy; +class btDispatcher; +class btManifoldResult; +class btCollisionObject; +struct btDispatcherInfo; +class btPersistentManifold; + +typedef btAlignedObjectArray btManifoldArray; + +struct btCollisionAlgorithmConstructionInfo +{ + btCollisionAlgorithmConstructionInfo() + :m_dispatcher1(0), + m_manifold(0) + { + } + btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp) + :m_dispatcher1(dispatcher) + { + (void)temp; + } + + btDispatcher* m_dispatcher1; + btPersistentManifold* m_manifold; + + int getDispatcherId(); + +}; + + +///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher. +///It is persistent over frames +class btCollisionAlgorithm +{ + +protected: + + btDispatcher* m_dispatcher; + +protected: + int getDispatcherId(); + +public: + + btCollisionAlgorithm() {}; + + btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci); + + virtual ~btCollisionAlgorithm() {}; + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0; + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0; + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0; +}; + + +#endif //COLLISION_ALGORITHM_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h new file mode 100644 index 0000000..2bb8ef5 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h @@ -0,0 +1,1256 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +///btDbvt implementation by Nathanael Presson + +#ifndef BT_DYNAMIC_BOUNDING_VOLUME_TREE_H +#define BT_DYNAMIC_BOUNDING_VOLUME_TREE_H + +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btAabbUtil2.h" + +// +// Compile time configuration +// + + +// Implementation profiles +#define DBVT_IMPL_GENERIC 0 // Generic implementation +#define DBVT_IMPL_SSE 1 // SSE + +// Template implementation of ICollide +#ifdef _WIN32 +#if (defined (_MSC_VER) && _MSC_VER >= 1400) +#define DBVT_USE_TEMPLATE 1 +#else +#define DBVT_USE_TEMPLATE 0 +#endif +#else +#define DBVT_USE_TEMPLATE 0 +#endif + +// Use only intrinsics instead of inline asm +#define DBVT_USE_INTRINSIC_SSE 1 + +// Using memmov for collideOCL +#define DBVT_USE_MEMMOVE 1 + +// Enable benchmarking code +#define DBVT_ENABLE_BENCHMARK 0 + +// Inlining +#define DBVT_INLINE SIMD_FORCE_INLINE + +// Specific methods implementation + +//SSE gives errors on a MSVC 7.1 +#if defined (BT_USE_SSE) && defined (_WIN32) +#define DBVT_SELECT_IMPL DBVT_IMPL_SSE +#define DBVT_MERGE_IMPL DBVT_IMPL_SSE +#define DBVT_INT0_IMPL DBVT_IMPL_SSE +#else +#define DBVT_SELECT_IMPL DBVT_IMPL_GENERIC +#define DBVT_MERGE_IMPL DBVT_IMPL_GENERIC +#define DBVT_INT0_IMPL DBVT_IMPL_GENERIC +#endif + +#if (DBVT_SELECT_IMPL==DBVT_IMPL_SSE)|| \ + (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)|| \ + (DBVT_INT0_IMPL==DBVT_IMPL_SSE) +#include +#endif + +// +// Auto config and checks +// + +#if DBVT_USE_TEMPLATE +#define DBVT_VIRTUAL +#define DBVT_VIRTUAL_DTOR(a) +#define DBVT_PREFIX template +#define DBVT_IPOLICY T& policy +#define DBVT_CHECKTYPE static const ICollide& typechecker=*(T*)1;(void)typechecker; +#else +#define DBVT_VIRTUAL_DTOR(a) virtual ~a() {} +#define DBVT_VIRTUAL virtual +#define DBVT_PREFIX +#define DBVT_IPOLICY ICollide& policy +#define DBVT_CHECKTYPE +#endif + +#if DBVT_USE_MEMMOVE +#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__) +#include +#endif +#include +#endif + +#ifndef DBVT_USE_TEMPLATE +#error "DBVT_USE_TEMPLATE undefined" +#endif + +#ifndef DBVT_USE_MEMMOVE +#error "DBVT_USE_MEMMOVE undefined" +#endif + +#ifndef DBVT_ENABLE_BENCHMARK +#error "DBVT_ENABLE_BENCHMARK undefined" +#endif + +#ifndef DBVT_SELECT_IMPL +#error "DBVT_SELECT_IMPL undefined" +#endif + +#ifndef DBVT_MERGE_IMPL +#error "DBVT_MERGE_IMPL undefined" +#endif + +#ifndef DBVT_INT0_IMPL +#error "DBVT_INT0_IMPL undefined" +#endif + +// +// Defaults volumes +// + +/* btDbvtAabbMm */ +struct btDbvtAabbMm +{ + DBVT_INLINE btVector3 Center() const { return((mi+mx)/2); } + DBVT_INLINE btVector3 Lengths() const { return(mx-mi); } + DBVT_INLINE btVector3 Extents() const { return((mx-mi)/2); } + DBVT_INLINE const btVector3& Mins() const { return(mi); } + DBVT_INLINE const btVector3& Maxs() const { return(mx); } + static inline btDbvtAabbMm FromCE(const btVector3& c,const btVector3& e); + static inline btDbvtAabbMm FromCR(const btVector3& c,btScalar r); + static inline btDbvtAabbMm FromMM(const btVector3& mi,const btVector3& mx); + static inline btDbvtAabbMm FromPoints(const btVector3* pts,int n); + static inline btDbvtAabbMm FromPoints(const btVector3** ppts,int n); + DBVT_INLINE void Expand(const btVector3& e); + DBVT_INLINE void SignedExpand(const btVector3& e); + DBVT_INLINE bool Contain(const btDbvtAabbMm& a) const; + DBVT_INLINE int Classify(const btVector3& n,btScalar o,int s) const; + DBVT_INLINE btScalar ProjectMinimum(const btVector3& v,unsigned signs) const; + DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a, + const btDbvtAabbMm& b); + + DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a, + const btVector3& b); + + DBVT_INLINE friend btScalar Proximity( const btDbvtAabbMm& a, + const btDbvtAabbMm& b); + DBVT_INLINE friend int Select( const btDbvtAabbMm& o, + const btDbvtAabbMm& a, + const btDbvtAabbMm& b); + DBVT_INLINE friend void Merge( const btDbvtAabbMm& a, + const btDbvtAabbMm& b, + btDbvtAabbMm& r); + DBVT_INLINE friend bool NotEqual( const btDbvtAabbMm& a, + const btDbvtAabbMm& b); +private: + DBVT_INLINE void AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const; +private: + btVector3 mi,mx; +}; + +// Types +typedef btDbvtAabbMm btDbvtVolume; + +/* btDbvtNode */ +struct btDbvtNode +{ + btDbvtVolume volume; + btDbvtNode* parent; + DBVT_INLINE bool isleaf() const { return(childs[1]==0); } + DBVT_INLINE bool isinternal() const { return(!isleaf()); } + union + { + btDbvtNode* childs[2]; + void* data; + int dataAsInt; + }; +}; + +///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree). +///This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes. +///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure. +struct btDbvt +{ + /* Stack element */ + struct sStkNN + { + const btDbvtNode* a; + const btDbvtNode* b; + sStkNN() {} + sStkNN(const btDbvtNode* na,const btDbvtNode* nb) : a(na),b(nb) {} + }; + struct sStkNP + { + const btDbvtNode* node; + int mask; + sStkNP(const btDbvtNode* n,unsigned m) : node(n),mask(m) {} + }; + struct sStkNPS + { + const btDbvtNode* node; + int mask; + btScalar value; + sStkNPS() {} + sStkNPS(const btDbvtNode* n,unsigned m,btScalar v) : node(n),mask(m),value(v) {} + }; + struct sStkCLN + { + const btDbvtNode* node; + btDbvtNode* parent; + sStkCLN(const btDbvtNode* n,btDbvtNode* p) : node(n),parent(p) {} + }; + // Policies/Interfaces + + /* ICollide */ + struct ICollide + { + DBVT_VIRTUAL_DTOR(ICollide) + DBVT_VIRTUAL void Process(const btDbvtNode*,const btDbvtNode*) {} + DBVT_VIRTUAL void Process(const btDbvtNode*) {} + DBVT_VIRTUAL void Process(const btDbvtNode* n,btScalar) { Process(n); } + DBVT_VIRTUAL bool Descent(const btDbvtNode*) { return(true); } + DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*) { return(true); } + }; + /* IWriter */ + struct IWriter + { + virtual ~IWriter() {} + virtual void Prepare(const btDbvtNode* root,int numnodes)=0; + virtual void WriteNode(const btDbvtNode*,int index,int parent,int child0,int child1)=0; + virtual void WriteLeaf(const btDbvtNode*,int index,int parent)=0; + }; + /* IClone */ + struct IClone + { + virtual ~IClone() {} + virtual void CloneLeaf(btDbvtNode*) {} + }; + + // Constants + enum { + SIMPLE_STACKSIZE = 64, + DOUBLE_STACKSIZE = SIMPLE_STACKSIZE*2 + }; + + // Fields + btDbvtNode* m_root; + btDbvtNode* m_free; + int m_lkhd; + int m_leaves; + unsigned m_opath; + + + btAlignedObjectArray m_stkStack; + + + // Methods + btDbvt(); + ~btDbvt(); + void clear(); + bool empty() const { return(0==m_root); } + void optimizeBottomUp(); + void optimizeTopDown(int bu_treshold=128); + void optimizeIncremental(int passes); + btDbvtNode* insert(const btDbvtVolume& box,void* data); + void update(btDbvtNode* leaf,int lookahead=-1); + void update(btDbvtNode* leaf,btDbvtVolume& volume); + bool update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin); + bool update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity); + bool update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin); + void remove(btDbvtNode* leaf); + void write(IWriter* iwriter) const; + void clone(btDbvt& dest,IClone* iclone=0) const; + static int maxdepth(const btDbvtNode* node); + static int countLeaves(const btDbvtNode* node); + static void extractLeaves(const btDbvtNode* node,btAlignedObjectArray& leaves); +#if DBVT_ENABLE_BENCHMARK + static void benchmark(); +#else + static void benchmark(){} +#endif + // DBVT_IPOLICY must support ICollide policy/interface + DBVT_PREFIX + static void enumNodes( const btDbvtNode* root, + DBVT_IPOLICY); + DBVT_PREFIX + static void enumLeaves( const btDbvtNode* root, + DBVT_IPOLICY); + DBVT_PREFIX + void collideTT( const btDbvtNode* root0, + const btDbvtNode* root1, + DBVT_IPOLICY); + + DBVT_PREFIX + void collideTTpersistentStack( const btDbvtNode* root0, + const btDbvtNode* root1, + DBVT_IPOLICY); +#if 0 + DBVT_PREFIX + void collideTT( const btDbvtNode* root0, + const btDbvtNode* root1, + const btTransform& xform, + DBVT_IPOLICY); + DBVT_PREFIX + void collideTT( const btDbvtNode* root0, + const btTransform& xform0, + const btDbvtNode* root1, + const btTransform& xform1, + DBVT_IPOLICY); +#endif + + DBVT_PREFIX + void collideTV( const btDbvtNode* root, + const btDbvtVolume& volume, + DBVT_IPOLICY); + ///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc) + ///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time + DBVT_PREFIX + static void rayTest( const btDbvtNode* root, + const btVector3& rayFrom, + const btVector3& rayTo, + DBVT_IPOLICY); + ///rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections + ///rayTestInternal is used by btDbvtBroadphase to accelerate world ray casts + DBVT_PREFIX + void rayTestInternal( const btDbvtNode* root, + const btVector3& rayFrom, + const btVector3& rayTo, + const btVector3& rayDirectionInverse, + unsigned int signs[3], + btScalar lambda_max, + const btVector3& aabbMin, + const btVector3& aabbMax, + DBVT_IPOLICY) const; + + DBVT_PREFIX + static void collideKDOP(const btDbvtNode* root, + const btVector3* normals, + const btScalar* offsets, + int count, + DBVT_IPOLICY); + DBVT_PREFIX + static void collideOCL( const btDbvtNode* root, + const btVector3* normals, + const btScalar* offsets, + const btVector3& sortaxis, + int count, + DBVT_IPOLICY, + bool fullsort=true); + DBVT_PREFIX + static void collideTU( const btDbvtNode* root, + DBVT_IPOLICY); + // Helpers + static DBVT_INLINE int nearest(const int* i,const btDbvt::sStkNPS* a,btScalar v,int l,int h) + { + int m=0; + while(l>1; + if(a[i[m]].value>=v) l=m+1; else h=m; + } + return(h); + } + static DBVT_INLINE int allocate( btAlignedObjectArray& ifree, + btAlignedObjectArray& stock, + const sStkNPS& value) + { + int i; + if(ifree.size()>0) + { i=ifree[ifree.size()-1];ifree.pop_back();stock[i]=value; } + else + { i=stock.size();stock.push_back(value); } + return(i); + } + // +private: + btDbvt(const btDbvt&) {} +}; + +// +// Inline's +// + +// +inline btDbvtAabbMm btDbvtAabbMm::FromCE(const btVector3& c,const btVector3& e) +{ + btDbvtAabbMm box; + box.mi=c-e;box.mx=c+e; + return(box); +} + +// +inline btDbvtAabbMm btDbvtAabbMm::FromCR(const btVector3& c,btScalar r) +{ + return(FromCE(c,btVector3(r,r,r))); +} + +// +inline btDbvtAabbMm btDbvtAabbMm::FromMM(const btVector3& mi,const btVector3& mx) +{ + btDbvtAabbMm box; + box.mi=mi;box.mx=mx; + return(box); +} + +// +inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3* pts,int n) +{ + btDbvtAabbMm box; + box.mi=box.mx=pts[0]; + for(int i=1;i0) mx.setX(mx.x()+e[0]); else mi.setX(mi.x()+e[0]); + if(e.y()>0) mx.setY(mx.y()+e[1]); else mi.setY(mi.y()+e[1]); + if(e.z()>0) mx.setZ(mx.z()+e[2]); else mi.setZ(mi.z()+e[2]); +} + +// +DBVT_INLINE bool btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const +{ + return( (mi.x()<=a.mi.x())&& + (mi.y()<=a.mi.y())&& + (mi.z()<=a.mi.z())&& + (mx.x()>=a.mx.x())&& + (mx.y()>=a.mx.y())&& + (mx.z()>=a.mx.z())); +} + +// +DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n,btScalar o,int s) const +{ + btVector3 pi,px; + switch(s) + { + case (0+0+0): px=btVector3(mi.x(),mi.y(),mi.z()); + pi=btVector3(mx.x(),mx.y(),mx.z());break; + case (1+0+0): px=btVector3(mx.x(),mi.y(),mi.z()); + pi=btVector3(mi.x(),mx.y(),mx.z());break; + case (0+2+0): px=btVector3(mi.x(),mx.y(),mi.z()); + pi=btVector3(mx.x(),mi.y(),mx.z());break; + case (1+2+0): px=btVector3(mx.x(),mx.y(),mi.z()); + pi=btVector3(mi.x(),mi.y(),mx.z());break; + case (0+0+4): px=btVector3(mi.x(),mi.y(),mx.z()); + pi=btVector3(mx.x(),mx.y(),mi.z());break; + case (1+0+4): px=btVector3(mx.x(),mi.y(),mx.z()); + pi=btVector3(mi.x(),mx.y(),mi.z());break; + case (0+2+4): px=btVector3(mi.x(),mx.y(),mx.z()); + pi=btVector3(mx.x(),mi.y(),mi.z());break; + case (1+2+4): px=btVector3(mx.x(),mx.y(),mx.z()); + pi=btVector3(mi.x(),mi.y(),mi.z());break; + } + if((btDot(n,px)+o)<0) return(-1); + if((btDot(n,pi)+o)>=0) return(+1); + return(0); +} + +// +DBVT_INLINE btScalar btDbvtAabbMm::ProjectMinimum(const btVector3& v,unsigned signs) const +{ + const btVector3* b[]={&mx,&mi}; + const btVector3 p( b[(signs>>0)&1]->x(), + b[(signs>>1)&1]->y(), + b[(signs>>2)&1]->z()); + return(btDot(p,v)); +} + +// +DBVT_INLINE void btDbvtAabbMm::AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const +{ + for(int i=0;i<3;++i) + { + if(d[i]<0) + { smi+=mx[i]*d[i];smx+=mi[i]*d[i]; } + else + { smi+=mi[i]*d[i];smx+=mx[i]*d[i]; } + } +} + +// +DBVT_INLINE bool Intersect( const btDbvtAabbMm& a, + const btDbvtAabbMm& b) +{ +#if DBVT_INT0_IMPL == DBVT_IMPL_SSE + const __m128 rt(_mm_or_ps( _mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)), + _mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi)))); + const __int32* pu((const __int32*)&rt); + return((pu[0]|pu[1]|pu[2])==0); +#else + return( (a.mi.x()<=b.mx.x())&& + (a.mx.x()>=b.mi.x())&& + (a.mi.y()<=b.mx.y())&& + (a.mx.y()>=b.mi.y())&& + (a.mi.z()<=b.mx.z())&& + (a.mx.z()>=b.mi.z())); +#endif +} + + + +// +DBVT_INLINE bool Intersect( const btDbvtAabbMm& a, + const btVector3& b) +{ + return( (b.x()>=a.mi.x())&& + (b.y()>=a.mi.y())&& + (b.z()>=a.mi.z())&& + (b.x()<=a.mx.x())&& + (b.y()<=a.mx.y())&& + (b.z()<=a.mx.z())); +} + + + + + +////////////////////////////////////// + + +// +DBVT_INLINE btScalar Proximity( const btDbvtAabbMm& a, + const btDbvtAabbMm& b) +{ + const btVector3 d=(a.mi+a.mx)-(b.mi+b.mx); + return(btFabs(d.x())+btFabs(d.y())+btFabs(d.z())); +} + + + +// +DBVT_INLINE int Select( const btDbvtAabbMm& o, + const btDbvtAabbMm& a, + const btDbvtAabbMm& b) +{ +#if DBVT_SELECT_IMPL == DBVT_IMPL_SSE + static ATTRIBUTE_ALIGNED16(const unsigned __int32) mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff}; + ///@todo: the intrinsic version is 11% slower +#if DBVT_USE_INTRINSIC_SSE + + union btSSEUnion ///NOTE: if we use more intrinsics, move btSSEUnion into the LinearMath directory + { + __m128 ssereg; + float floats[4]; + int ints[4]; + }; + + __m128 omi(_mm_load_ps(o.mi)); + omi=_mm_add_ps(omi,_mm_load_ps(o.mx)); + __m128 ami(_mm_load_ps(a.mi)); + ami=_mm_add_ps(ami,_mm_load_ps(a.mx)); + ami=_mm_sub_ps(ami,omi); + ami=_mm_and_ps(ami,_mm_load_ps((const float*)mask)); + __m128 bmi(_mm_load_ps(b.mi)); + bmi=_mm_add_ps(bmi,_mm_load_ps(b.mx)); + bmi=_mm_sub_ps(bmi,omi); + bmi=_mm_and_ps(bmi,_mm_load_ps((const float*)mask)); + __m128 t0(_mm_movehl_ps(ami,ami)); + ami=_mm_add_ps(ami,t0); + ami=_mm_add_ss(ami,_mm_shuffle_ps(ami,ami,1)); + __m128 t1(_mm_movehl_ps(bmi,bmi)); + bmi=_mm_add_ps(bmi,t1); + bmi=_mm_add_ss(bmi,_mm_shuffle_ps(bmi,bmi,1)); + + btSSEUnion tmp; + tmp.ssereg = _mm_cmple_ss(bmi,ami); + return tmp.ints[0]&1; + +#else + ATTRIBUTE_ALIGNED16(__int32 r[1]); + __asm + { + mov eax,o + mov ecx,a + mov edx,b + movaps xmm0,[eax] + movaps xmm5,mask + addps xmm0,[eax+16] + movaps xmm1,[ecx] + movaps xmm2,[edx] + addps xmm1,[ecx+16] + addps xmm2,[edx+16] + subps xmm1,xmm0 + subps xmm2,xmm0 + andps xmm1,xmm5 + andps xmm2,xmm5 + movhlps xmm3,xmm1 + movhlps xmm4,xmm2 + addps xmm1,xmm3 + addps xmm2,xmm4 + pshufd xmm3,xmm1,1 + pshufd xmm4,xmm2,1 + addss xmm1,xmm3 + addss xmm2,xmm4 + cmpless xmm2,xmm1 + movss r,xmm2 + } + return(r[0]&1); +#endif +#else + return(Proximity(o,a)b.mx[i]) r.mx[i]=a.mx[i]; else r.mx[i]=b.mx[i]; + } +#endif +} + +// +DBVT_INLINE bool NotEqual( const btDbvtAabbMm& a, + const btDbvtAabbMm& b) +{ + return( (a.mi.x()!=b.mi.x())|| + (a.mi.y()!=b.mi.y())|| + (a.mi.z()!=b.mi.z())|| + (a.mx.x()!=b.mx.x())|| + (a.mx.y()!=b.mx.y())|| + (a.mx.z()!=b.mx.z())); +} + +// +// Inline's +// + +// +DBVT_PREFIX +inline void btDbvt::enumNodes( const btDbvtNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + policy.Process(root); + if(root->isinternal()) + { + enumNodes(root->childs[0],policy); + enumNodes(root->childs[1],policy); + } +} + +// +DBVT_PREFIX +inline void btDbvt::enumLeaves( const btDbvtNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root->isinternal()) + { + enumLeaves(root->childs[0],policy); + enumLeaves(root->childs[1],policy); + } + else + { + policy.Process(root); + } +} + +// +DBVT_PREFIX +inline void btDbvt::collideTT( const btDbvtNode* root0, + const btDbvtNode* root1, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root0&&root1) + { + int depth=1; + int treshold=DOUBLE_STACKSIZE-4; + btAlignedObjectArray stkStack; + stkStack.resize(DOUBLE_STACKSIZE); + stkStack[0]=sStkNN(root0,root1); + do { + sStkNN p=stkStack[--depth]; + if(depth>treshold) + { + stkStack.resize(stkStack.size()*2); + treshold=stkStack.size()-4; + } + if(p.a==p.b) + { + if(p.a->isinternal()) + { + stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]); + stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]); + stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]); + } + } + else if(Intersect(p.a->volume,p.b->volume)) + { + if(p.a->isinternal()) + { + if(p.b->isinternal()) + { + stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); + stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); + stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); + stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); + } + else + { + stkStack[depth++]=sStkNN(p.a->childs[0],p.b); + stkStack[depth++]=sStkNN(p.a->childs[1],p.b); + } + } + else + { + if(p.b->isinternal()) + { + stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); + stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); + } + else + { + policy.Process(p.a,p.b); + } + } + } + } while(depth); + } +} + + + +DBVT_PREFIX +inline void btDbvt::collideTTpersistentStack( const btDbvtNode* root0, + const btDbvtNode* root1, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root0&&root1) + { + int depth=1; + int treshold=DOUBLE_STACKSIZE-4; + + m_stkStack.resize(DOUBLE_STACKSIZE); + m_stkStack[0]=sStkNN(root0,root1); + do { + sStkNN p=m_stkStack[--depth]; + if(depth>treshold) + { + m_stkStack.resize(m_stkStack.size()*2); + treshold=m_stkStack.size()-4; + } + if(p.a==p.b) + { + if(p.a->isinternal()) + { + m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]); + m_stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]); + m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]); + } + } + else if(Intersect(p.a->volume,p.b->volume)) + { + if(p.a->isinternal()) + { + if(p.b->isinternal()) + { + m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); + m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); + m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); + m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); + } + else + { + m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b); + m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b); + } + } + else + { + if(p.b->isinternal()) + { + m_stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); + m_stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); + } + else + { + policy.Process(p.a,p.b); + } + } + } + } while(depth); + } +} + +#if 0 +// +DBVT_PREFIX +inline void btDbvt::collideTT( const btDbvtNode* root0, + const btDbvtNode* root1, + const btTransform& xform, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root0&&root1) + { + int depth=1; + int treshold=DOUBLE_STACKSIZE-4; + btAlignedObjectArray stkStack; + stkStack.resize(DOUBLE_STACKSIZE); + stkStack[0]=sStkNN(root0,root1); + do { + sStkNN p=stkStack[--depth]; + if(Intersect(p.a->volume,p.b->volume,xform)) + { + if(depth>treshold) + { + stkStack.resize(stkStack.size()*2); + treshold=stkStack.size()-4; + } + if(p.a->isinternal()) + { + if(p.b->isinternal()) + { + stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); + stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); + stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); + stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); + } + else + { + stkStack[depth++]=sStkNN(p.a->childs[0],p.b); + stkStack[depth++]=sStkNN(p.a->childs[1],p.b); + } + } + else + { + if(p.b->isinternal()) + { + stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); + stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); + } + else + { + policy.Process(p.a,p.b); + } + } + } + } while(depth); + } +} +// +DBVT_PREFIX +inline void btDbvt::collideTT( const btDbvtNode* root0, + const btTransform& xform0, + const btDbvtNode* root1, + const btTransform& xform1, + DBVT_IPOLICY) +{ + const btTransform xform=xform0.inverse()*xform1; + collideTT(root0,root1,xform,policy); +} +#endif + +// +DBVT_PREFIX +inline void btDbvt::collideTV( const btDbvtNode* root, + const btDbvtVolume& vol, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root) + { + ATTRIBUTE_ALIGNED16(btDbvtVolume) volume(vol); + btAlignedObjectArray stack; + stack.resize(0); + stack.reserve(SIMPLE_STACKSIZE); + stack.push_back(root); + do { + const btDbvtNode* n=stack[stack.size()-1]; + stack.pop_back(); + if(Intersect(n->volume,volume)) + { + if(n->isinternal()) + { + stack.push_back(n->childs[0]); + stack.push_back(n->childs[1]); + } + else + { + policy.Process(n); + } + } + } while(stack.size()>0); + } +} + +DBVT_PREFIX +inline void btDbvt::rayTestInternal( const btDbvtNode* root, + const btVector3& rayFrom, + const btVector3& rayTo, + const btVector3& rayDirectionInverse, + unsigned int signs[3], + btScalar lambda_max, + const btVector3& aabbMin, + const btVector3& aabbMax, + DBVT_IPOLICY) const +{ + (void) rayTo; + DBVT_CHECKTYPE + if(root) + { + btVector3 resultNormal; + + int depth=1; + int treshold=DOUBLE_STACKSIZE-2; + btAlignedObjectArray stack; + stack.resize(DOUBLE_STACKSIZE); + stack[0]=root; + btVector3 bounds[2]; + do + { + const btDbvtNode* node=stack[--depth]; + bounds[0] = node->volume.Mins()-aabbMax; + bounds[1] = node->volume.Maxs()-aabbMin; + btScalar tmin=1.f,lambda_min=0.f; + unsigned int result1=false; + result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max); + if(result1) + { + if(node->isinternal()) + { + if(depth>treshold) + { + stack.resize(stack.size()*2); + treshold=stack.size()-2; + } + stack[depth++]=node->childs[0]; + stack[depth++]=node->childs[1]; + } + else + { + policy.Process(node); + } + } + } while(depth); + } +} + +// +DBVT_PREFIX +inline void btDbvt::rayTest( const btDbvtNode* root, + const btVector3& rayFrom, + const btVector3& rayTo, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root) + { + btVector3 rayDir = (rayTo-rayFrom); + rayDir.normalize (); + + ///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT + btVector3 rayDirectionInverse; + rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0]; + rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1]; + rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2]; + unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0}; + + btScalar lambda_max = rayDir.dot(rayTo-rayFrom); + + btVector3 resultNormal; + + btAlignedObjectArray stack; + + int depth=1; + int treshold=DOUBLE_STACKSIZE-2; + + stack.resize(DOUBLE_STACKSIZE); + stack[0]=root; + btVector3 bounds[2]; + do { + const btDbvtNode* node=stack[--depth]; + + bounds[0] = node->volume.Mins(); + bounds[1] = node->volume.Maxs(); + + btScalar tmin=1.f,lambda_min=0.f; + unsigned int result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max); + +#ifdef COMPARE_BTRAY_AABB2 + btScalar param=1.f; + bool result2 = btRayAabb(rayFrom,rayTo,node->volume.Mins(),node->volume.Maxs(),param,resultNormal); + btAssert(result1 == result2); +#endif //TEST_BTRAY_AABB2 + + if(result1) + { + if(node->isinternal()) + { + if(depth>treshold) + { + stack.resize(stack.size()*2); + treshold=stack.size()-2; + } + stack[depth++]=node->childs[0]; + stack[depth++]=node->childs[1]; + } + else + { + policy.Process(node); + } + } + } while(depth); + + } +} + +// +DBVT_PREFIX +inline void btDbvt::collideKDOP(const btDbvtNode* root, + const btVector3* normals, + const btScalar* offsets, + int count, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root) + { + const int inside=(1< stack; + int signs[sizeof(unsigned)*8]; + btAssert(count=0)?1:0)+ + ((normals[i].y()>=0)?2:0)+ + ((normals[i].z()>=0)?4:0); + } + stack.reserve(SIMPLE_STACKSIZE); + stack.push_back(sStkNP(root,0)); + do { + sStkNP se=stack[stack.size()-1]; + bool out=false; + stack.pop_back(); + for(int i=0,j=1;(!out)&&(ivolume.Classify(normals[i],offsets[i],signs[i]); + switch(side) + { + case -1: out=true;break; + case +1: se.mask|=j;break; + } + } + } + if(!out) + { + if((se.mask!=inside)&&(se.node->isinternal())) + { + stack.push_back(sStkNP(se.node->childs[0],se.mask)); + stack.push_back(sStkNP(se.node->childs[1],se.mask)); + } + else + { + if(policy.AllLeaves(se.node)) enumLeaves(se.node,policy); + } + } + } while(stack.size()); + } +} + +// +DBVT_PREFIX +inline void btDbvt::collideOCL( const btDbvtNode* root, + const btVector3* normals, + const btScalar* offsets, + const btVector3& sortaxis, + int count, + DBVT_IPOLICY, + bool fsort) +{ + DBVT_CHECKTYPE + if(root) + { + const unsigned srtsgns=(sortaxis[0]>=0?1:0)+ + (sortaxis[1]>=0?2:0)+ + (sortaxis[2]>=0?4:0); + const int inside=(1< stock; + btAlignedObjectArray ifree; + btAlignedObjectArray stack; + int signs[sizeof(unsigned)*8]; + btAssert(count=0)?1:0)+ + ((normals[i].y()>=0)?2:0)+ + ((normals[i].z()>=0)?4:0); + } + stock.reserve(SIMPLE_STACKSIZE); + stack.reserve(SIMPLE_STACKSIZE); + ifree.reserve(SIMPLE_STACKSIZE); + stack.push_back(allocate(ifree,stock,sStkNPS(root,0,root->volume.ProjectMinimum(sortaxis,srtsgns)))); + do { + const int id=stack[stack.size()-1]; + sStkNPS se=stock[id]; + stack.pop_back();ifree.push_back(id); + if(se.mask!=inside) + { + bool out=false; + for(int i=0,j=1;(!out)&&(ivolume.Classify(normals[i],offsets[i],signs[i]); + switch(side) + { + case -1: out=true;break; + case +1: se.mask|=j;break; + } + } + } + if(out) continue; + } + if(policy.Descent(se.node)) + { + if(se.node->isinternal()) + { + const btDbvtNode* pns[]={ se.node->childs[0],se.node->childs[1]}; + sStkNPS nes[]={ sStkNPS(pns[0],se.mask,pns[0]->volume.ProjectMinimum(sortaxis,srtsgns)), + sStkNPS(pns[1],se.mask,pns[1]->volume.ProjectMinimum(sortaxis,srtsgns))}; + const int q=nes[0].value0)) + { + /* Insert 0 */ + j=nearest(&stack[0],&stock[0],nes[q].value,0,stack.size()); + stack.push_back(0); +#if DBVT_USE_MEMMOVE + memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1)); +#else + for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1]; +#endif + stack[j]=allocate(ifree,stock,nes[q]); + /* Insert 1 */ + j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size()); + stack.push_back(0); +#if DBVT_USE_MEMMOVE + memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1)); +#else + for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1]; +#endif + stack[j]=allocate(ifree,stock,nes[1-q]); + } + else + { + stack.push_back(allocate(ifree,stock,nes[q])); + stack.push_back(allocate(ifree,stock,nes[1-q])); + } + } + else + { + policy.Process(se.node,se.value); + } + } + } while(stack.size()); + } +} + +// +DBVT_PREFIX +inline void btDbvt::collideTU( const btDbvtNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root) + { + btAlignedObjectArray stack; + stack.reserve(SIMPLE_STACKSIZE); + stack.push_back(root); + do { + const btDbvtNode* n=stack[stack.size()-1]; + stack.pop_back(); + if(policy.Descent(n)) + { + if(n->isinternal()) + { stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); } + else + { policy.Process(n); } + } + } while(stack.size()>0); + } +} + +// +// PP Cleanup +// + +#undef DBVT_USE_MEMMOVE +#undef DBVT_USE_TEMPLATE +#undef DBVT_VIRTUAL_DTOR +#undef DBVT_VIRTUAL +#undef DBVT_PREFIX +#undef DBVT_IPOLICY +#undef DBVT_CHECKTYPE +#undef DBVT_IMPL_GENERIC +#undef DBVT_IMPL_SSE +#undef DBVT_USE_INTRINSIC_SSE +#undef DBVT_SELECT_IMPL +#undef DBVT_MERGE_IMPL +#undef DBVT_INT0_IMPL + +#endif diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h new file mode 100644 index 0000000..18b64ad --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h @@ -0,0 +1,146 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +///btDbvtBroadphase implementation by Nathanael Presson +#ifndef BT_DBVT_BROADPHASE_H +#define BT_DBVT_BROADPHASE_H + +#include "BulletCollision/BroadphaseCollision/btDbvt.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" + +// +// Compile time config +// + +#define DBVT_BP_PROFILE 0 +//#define DBVT_BP_SORTPAIRS 1 +#define DBVT_BP_PREVENTFALSEUPDATE 0 +#define DBVT_BP_ACCURATESLEEPING 0 +#define DBVT_BP_ENABLE_BENCHMARK 0 +#define DBVT_BP_MARGIN (btScalar)0.05 + +#if DBVT_BP_PROFILE +#define DBVT_BP_PROFILING_RATE 256 +#include "LinearMath/btQuickprof.h" +#endif + +// +// btDbvtProxy +// +struct btDbvtProxy : btBroadphaseProxy +{ + /* Fields */ + //btDbvtAabbMm aabb; + btDbvtNode* leaf; + btDbvtProxy* links[2]; + int stage; + /* ctor */ + btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) : + btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask) + { + links[0]=links[1]=0; + } +}; + +typedef btAlignedObjectArray btDbvtProxyArray; + +///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt). +///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other. +///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3. +struct btDbvtBroadphase : btBroadphaseInterface +{ + /* Config */ + enum { + DYNAMIC_SET = 0, /* Dynamic set index */ + FIXED_SET = 1, /* Fixed set index */ + STAGECOUNT = 2 /* Number of stages */ + }; + /* Fields */ + btDbvt m_sets[2]; // Dbvt sets + btDbvtProxy* m_stageRoots[STAGECOUNT+1]; // Stages list + btOverlappingPairCache* m_paircache; // Pair cache + btScalar m_prediction; // Velocity prediction + int m_stageCurrent; // Current stage + int m_fupdates; // % of fixed updates per frame + int m_dupdates; // % of dynamic updates per frame + int m_cupdates; // % of cleanup updates per frame + int m_newpairs; // Number of pairs created + int m_fixedleft; // Fixed optimization left + unsigned m_updates_call; // Number of updates call + unsigned m_updates_done; // Number of updates done + btScalar m_updates_ratio; // m_updates_done/m_updates_call + int m_pid; // Parse id + int m_cid; // Cleanup index + int m_gid; // Gen id + bool m_releasepaircache; // Release pair cache on delete + bool m_deferedcollide; // Defere dynamic/static collision to collide call + bool m_needcleanup; // Need to run cleanup? +#if DBVT_BP_PROFILE + btClock m_clock; + struct { + unsigned long m_total; + unsigned long m_ddcollide; + unsigned long m_fdcollide; + unsigned long m_cleanup; + unsigned long m_jobcount; + } m_profiling; +#endif + /* Methods */ + btDbvtBroadphase(btOverlappingPairCache* paircache=0); + ~btDbvtBroadphase(); + void collide(btDispatcher* dispatcher); + void optimize(); + + /* btBroadphaseInterface Implementation */ + btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)); + virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback); + + virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); + virtual btOverlappingPairCache* getOverlappingPairCache(); + virtual const btOverlappingPairCache* getOverlappingPairCache() const; + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const; + virtual void printStats(); + + + ///reset broadphase internal structures, to ensure determinism/reproducability + virtual void resetPool(btDispatcher* dispatcher); + + void performDeferredRemoval(btDispatcher* dispatcher); + + void setVelocityPrediction(btScalar prediction) + { + m_prediction = prediction; + } + btScalar getVelocityPrediction() const + { + return m_prediction; + } + + ///this setAabbForceUpdate is similar to setAabb but always forces the aabb update. + ///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase. + ///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see + ///http://code.google.com/p/bullet/issues/detail?id=223 + void setAabbForceUpdate( btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/); + + static void benchmark(btBroadphaseInterface*); + + +}; + +#endif diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h new file mode 100644 index 0000000..8ded000 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h @@ -0,0 +1,108 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef _DISPATCHER_H +#define _DISPATCHER_H + +#include "LinearMath/btScalar.h" + +class btCollisionAlgorithm; +struct btBroadphaseProxy; +class btRigidBody; +class btCollisionObject; +class btOverlappingPairCache; + + +class btPersistentManifold; +class btStackAlloc; + +struct btDispatcherInfo +{ + enum DispatchFunc + { + DISPATCH_DISCRETE = 1, + DISPATCH_CONTINUOUS + }; + btDispatcherInfo() + :m_timeStep(btScalar(0.)), + m_stepCount(0), + m_dispatchFunc(DISPATCH_DISCRETE), + m_timeOfImpact(btScalar(1.)), + m_useContinuous(false), + m_debugDraw(0), + m_enableSatConvex(false), + m_enableSPU(true), + m_useEpa(true), + m_allowedCcdPenetration(btScalar(0.04)), + m_useConvexConservativeDistanceUtil(false), + m_convexConservativeDistanceThreshold(0.0f), + m_convexMaxDistanceUseCPT(false), + m_stackAllocator(0) + { + + } + btScalar m_timeStep; + int m_stepCount; + int m_dispatchFunc; + mutable btScalar m_timeOfImpact; + bool m_useContinuous; + class btIDebugDraw* m_debugDraw; + bool m_enableSatConvex; + bool m_enableSPU; + bool m_useEpa; + btScalar m_allowedCcdPenetration; + bool m_useConvexConservativeDistanceUtil; + btScalar m_convexConservativeDistanceThreshold; + bool m_convexMaxDistanceUseCPT; + btStackAlloc* m_stackAllocator; +}; + +///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs. +///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic). +class btDispatcher +{ + + +public: + virtual ~btDispatcher() ; + + virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0; + + virtual btPersistentManifold* getNewManifold(void* body0,void* body1)=0; + + virtual void releaseManifold(btPersistentManifold* manifold)=0; + + virtual void clearManifold(btPersistentManifold* manifold)=0; + + virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1) = 0; + + virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0; + + virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) =0; + + virtual int getNumManifolds() const = 0; + + virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0; + + virtual btPersistentManifold** getInternalManifoldPointer() = 0; + + virtual void* allocateCollisionAlgorithm(int size) = 0; + + virtual void freeCollisionAlgorithm(void* ptr) = 0; + +}; + + +#endif //_DISPATCHER_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h new file mode 100644 index 0000000..7bcfe6b --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h @@ -0,0 +1,151 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +#ifndef BT_MULTI_SAP_BROADPHASE +#define BT_MULTI_SAP_BROADPHASE + +#include "btBroadphaseInterface.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "btOverlappingPairCache.h" + + +class btBroadphaseInterface; +class btSimpleBroadphase; + + +typedef btAlignedObjectArray btSapBroadphaseArray; + +///The btMultiSapBroadphase is a research project, not recommended to use in production. Use btAxisSweep3 or btDbvtBroadphase instead. +///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases. +///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time. +///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy. +///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328 +///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329 +class btMultiSapBroadphase :public btBroadphaseInterface +{ + btSapBroadphaseArray m_sapBroadphases; + + btSimpleBroadphase* m_simpleBroadphase; + + btOverlappingPairCache* m_overlappingPairs; + + class btQuantizedBvh* m_optimizedAabbTree; + + + bool m_ownsPairCache; + + btOverlapFilterCallback* m_filterCallback; + + int m_invalidPair; + + struct btBridgeProxy + { + btBroadphaseProxy* m_childProxy; + btBroadphaseInterface* m_childBroadphase; + }; + + +public: + + struct btMultiSapProxy : public btBroadphaseProxy + { + + ///array with all the entries that this proxy belongs to + btAlignedObjectArray m_bridgeProxies; + btVector3 m_aabbMin; + btVector3 m_aabbMax; + + int m_shapeType; + +/* void* m_userPtr; + short int m_collisionFilterGroup; + short int m_collisionFilterMask; +*/ + btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask) + :btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask), + m_aabbMin(aabbMin), + m_aabbMax(aabbMax), + m_shapeType(shapeType) + { + m_multiSapParentProxy =this; + } + + + }; + +protected: + + + btAlignedObjectArray m_multiSapProxies; + +public: + + btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0); + + + btSapBroadphaseArray& getBroadphaseArray() + { + return m_sapBroadphases; + } + + const btSapBroadphaseArray& getBroadphaseArray() const + { + return m_sapBroadphases; + } + + virtual ~btMultiSapBroadphase(); + + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy); + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher); + virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0)); + + void addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase); + + ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); + + bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + virtual btOverlappingPairCache* getOverlappingPairCache() + { + return m_overlappingPairs; + } + virtual const btOverlappingPairCache* getOverlappingPairCache() const + { + return m_overlappingPairs; + } + + ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame + ///will add some transform later + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const + { + aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); + aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); + } + + void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax); + + virtual void printStats(); + + void quicksort (btBroadphasePairArray& a, int lo, int hi); + + ///reset broadphase internal structures, to ensure determinism/reproducability + virtual void resetPool(btDispatcher* dispatcher); + +}; + +#endif //BT_MULTI_SAP_BROADPHASE diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h new file mode 100644 index 0000000..3945afb --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -0,0 +1,469 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef OVERLAPPING_PAIR_CACHE_H +#define OVERLAPPING_PAIR_CACHE_H + + +#include "btBroadphaseInterface.h" +#include "btBroadphaseProxy.h" +#include "btOverlappingPairCallback.h" + +#include "LinearMath/btAlignedObjectArray.h" +class btDispatcher; + +typedef btAlignedObjectArray btBroadphasePairArray; + +struct btOverlapCallback +{ + virtual ~btOverlapCallback() + {} + //return true for deletion of the pair + virtual bool processOverlap(btBroadphasePair& pair) = 0; + +}; + +struct btOverlapFilterCallback +{ + virtual ~btOverlapFilterCallback() + {} + // return true when pairs need collision + virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0; +}; + + + + + + + +extern int gRemovePairs; +extern int gAddedPairs; +extern int gFindPairs; + +const int BT_NULL_PAIR=0xffffffff; + +///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases. +///The btHashedOverlappingPairCache and btSortedOverlappingPairCache classes are two implementations. +class btOverlappingPairCache : public btOverlappingPairCallback +{ +public: + virtual ~btOverlappingPairCache() {} // this is needed so we can get to the derived class destructor + + virtual btBroadphasePair* getOverlappingPairArrayPtr() = 0; + + virtual const btBroadphasePair* getOverlappingPairArrayPtr() const = 0; + + virtual btBroadphasePairArray& getOverlappingPairArray() = 0; + + virtual void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0; + + virtual int getNumOverlappingPairs() const = 0; + + virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0; + + virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0; + + virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0; + + virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0; + + virtual bool hasDeferredRemoval() = 0; + + virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)=0; + + virtual void sortOverlappingPairs(btDispatcher* dispatcher) = 0; + + +}; + +/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com +class btHashedOverlappingPairCache : public btOverlappingPairCache +{ + btBroadphasePairArray m_overlappingPairArray; + btOverlapFilterCallback* m_overlapFilterCallback; + bool m_blockedForChanges; + + +public: + btHashedOverlappingPairCache(); + virtual ~btHashedOverlappingPairCache(); + + + void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + + virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher); + + SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const + { + if (m_overlapFilterCallback) + return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1); + + bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0; + collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask); + + return collides; + } + + // Add a pair and return the new pair. If the pair already exists, + // no new pair is created and the old one is returned. + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) + { + gAddedPairs++; + + if (!needsBroadphaseCollision(proxy0,proxy1)) + return 0; + + return internalAddPair(proxy0,proxy1); + } + + + + void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + + + virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher); + + virtual btBroadphasePair* getOverlappingPairArrayPtr() + { + return &m_overlappingPairArray[0]; + } + + const btBroadphasePair* getOverlappingPairArrayPtr() const + { + return &m_overlappingPairArray[0]; + } + + btBroadphasePairArray& getOverlappingPairArray() + { + return m_overlappingPairArray; + } + + const btBroadphasePairArray& getOverlappingPairArray() const + { + return m_overlappingPairArray; + } + + void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher); + + + + btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1); + + int GetCount() const { return m_overlappingPairArray.size(); } +// btBroadphasePair* GetPairs() { return m_pairs; } + + btOverlapFilterCallback* getOverlapFilterCallback() + { + return m_overlapFilterCallback; + } + + void setOverlapFilterCallback(btOverlapFilterCallback* callback) + { + m_overlapFilterCallback = callback; + } + + int getNumOverlappingPairs() const + { + return m_overlappingPairArray.size(); + } +private: + + btBroadphasePair* internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + void growTables(); + + SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2) + { + return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2; + } + + /* + // Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm + // This assumes proxyId1 and proxyId2 are 16-bit. + SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2) + { + int key = (proxyId2 << 16) | proxyId1; + key = ~key + (key << 15); + key = key ^ (key >> 12); + key = key + (key << 2); + key = key ^ (key >> 4); + key = key * 2057; + key = key ^ (key >> 16); + return key; + } + */ + + + + SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2) + { + int key = static_cast(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16)); + // Thomas Wang's hash + + key += ~(key << 15); + key ^= (key >> 10); + key += (key << 3); + key ^= (key >> 6); + key += ~(key << 11); + key ^= (key >> 16); + return static_cast(key); + } + + + + + + SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash) + { + int proxyId1 = proxy0->getUid(); + int proxyId2 = proxy1->getUid(); + #if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat. + if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2); + #endif + + int index = m_hashTable[hash]; + + while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false) + { + index = m_next[index]; + } + + if ( index == BT_NULL_PAIR ) + { + return NULL; + } + + btAssert(index < m_overlappingPairArray.size()); + + return &m_overlappingPairArray[index]; + } + + virtual bool hasDeferredRemoval() + { + return false; + } + + virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback) + { + m_ghostPairCallback = ghostPairCallback; + } + + virtual void sortOverlappingPairs(btDispatcher* dispatcher); + + +protected: + + btAlignedObjectArray m_hashTable; + btAlignedObjectArray m_next; + btOverlappingPairCallback* m_ghostPairCallback; + +}; + + + + +///btSortedOverlappingPairCache maintains the objects with overlapping AABB +///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase +class btSortedOverlappingPairCache : public btOverlappingPairCache +{ + protected: + //avoid brute-force finding all the time + btBroadphasePairArray m_overlappingPairArray; + + //during the dispatch, check that user doesn't destroy/create proxy + bool m_blockedForChanges; + + ///by default, do the removal during the pair traversal + bool m_hasDeferredRemoval; + + //if set, use the callback instead of the built in filter in needBroadphaseCollision + btOverlapFilterCallback* m_overlapFilterCallback; + + btOverlappingPairCallback* m_ghostPairCallback; + + public: + + btSortedOverlappingPairCache(); + virtual ~btSortedOverlappingPairCache(); + + virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher); + + void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher); + + void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher); + + btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + + void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + + void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + + + inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const + { + if (m_overlapFilterCallback) + return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1); + + bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0; + collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask); + + return collides; + } + + btBroadphasePairArray& getOverlappingPairArray() + { + return m_overlappingPairArray; + } + + const btBroadphasePairArray& getOverlappingPairArray() const + { + return m_overlappingPairArray; + } + + + + + btBroadphasePair* getOverlappingPairArrayPtr() + { + return &m_overlappingPairArray[0]; + } + + const btBroadphasePair* getOverlappingPairArrayPtr() const + { + return &m_overlappingPairArray[0]; + } + + int getNumOverlappingPairs() const + { + return m_overlappingPairArray.size(); + } + + btOverlapFilterCallback* getOverlapFilterCallback() + { + return m_overlapFilterCallback; + } + + void setOverlapFilterCallback(btOverlapFilterCallback* callback) + { + m_overlapFilterCallback = callback; + } + + virtual bool hasDeferredRemoval() + { + return m_hasDeferredRemoval; + } + + virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback) + { + m_ghostPairCallback = ghostPairCallback; + } + + virtual void sortOverlappingPairs(btDispatcher* dispatcher); + + +}; + + + +///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing. +class btNullPairCache : public btOverlappingPairCache +{ + + btBroadphasePairArray m_overlappingPairArray; + +public: + + virtual btBroadphasePair* getOverlappingPairArrayPtr() + { + return &m_overlappingPairArray[0]; + } + const btBroadphasePair* getOverlappingPairArrayPtr() const + { + return &m_overlappingPairArray[0]; + } + btBroadphasePairArray& getOverlappingPairArray() + { + return m_overlappingPairArray; + } + + virtual void cleanOverlappingPair(btBroadphasePair& /*pair*/,btDispatcher* /*dispatcher*/) + { + + } + + virtual int getNumOverlappingPairs() const + { + return 0; + } + + virtual void cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/) + { + + } + + virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/) + { + } + + virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* /*dispatcher*/) + { + } + + virtual btBroadphasePair* findPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/) + { + return 0; + } + + virtual bool hasDeferredRemoval() + { + return true; + } + + virtual void setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */) + { + + } + + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/) + { + return 0; + } + + virtual void* removeOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/,btDispatcher* /*dispatcher*/) + { + return 0; + } + + virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/) + { + } + + virtual void sortOverlappingPairs(btDispatcher* dispatcher) + { + (void) dispatcher; + } + + +}; + + +#endif //OVERLAPPING_PAIR_CACHE_H + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h new file mode 100644 index 0000000..9c7b6f8 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h @@ -0,0 +1,40 @@ + +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef OVERLAPPING_PAIR_CALLBACK_H +#define OVERLAPPING_PAIR_CALLBACK_H + +class btDispatcher; +struct btBroadphasePair; + +///The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache. +class btOverlappingPairCallback +{ +public: + virtual ~btOverlappingPairCallback() + { + + } + + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) = 0; + + virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher) = 0; + + virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher) = 0; + +}; + +#endif //OVERLAPPING_PAIR_CALLBACK_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h new file mode 100644 index 0000000..aa30d43 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h @@ -0,0 +1,579 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef QUANTIZED_BVH_H +#define QUANTIZED_BVH_H + +class btSerializer; + +//#define DEBUG_CHECK_DEQUANTIZATION 1 +#ifdef DEBUG_CHECK_DEQUANTIZATION +#ifdef __SPU__ +#define printf spu_printf +#endif //__SPU__ + +#include +#include +#endif //DEBUG_CHECK_DEQUANTIZATION + +#include "LinearMath/btVector3.h" +#include "LinearMath/btAlignedAllocator.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btQuantizedBvhData btQuantizedBvhDoubleData +#define btOptimizedBvhNodeData btOptimizedBvhNodeDoubleData +#define btQuantizedBvhDataName "btQuantizedBvhDoubleData" +#else +#define btQuantizedBvhData btQuantizedBvhFloatData +#define btOptimizedBvhNodeData btOptimizedBvhNodeFloatData +#define btQuantizedBvhDataName "btQuantizedBvhFloatData" +#endif + + + +//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp + + +//Note: currently we have 16 bytes per quantized node +#define MAX_SUBTREE_SIZE_IN_BYTES 2048 + +// 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one +// actually) triangles each (since the sign bit is reserved +#define MAX_NUM_PARTS_IN_BITS 10 + +///btQuantizedBvhNode is a compressed aabb node, 16 bytes. +///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range). +ATTRIBUTE_ALIGNED16 (struct) btQuantizedBvhNode +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + //12 bytes + unsigned short int m_quantizedAabbMin[3]; + unsigned short int m_quantizedAabbMax[3]; + //4 bytes + int m_escapeIndexOrTriangleIndex; + + bool isLeafNode() const + { + //skipindex is negative (internal node), triangleindex >=0 (leafnode) + return (m_escapeIndexOrTriangleIndex >= 0); + } + int getEscapeIndex() const + { + btAssert(!isLeafNode()); + return -m_escapeIndexOrTriangleIndex; + } + int getTriangleIndex() const + { + btAssert(isLeafNode()); + // Get only the lower bits where the triangle index is stored + return (m_escapeIndexOrTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS))); + } + int getPartId() const + { + btAssert(isLeafNode()); + // Get only the highest bits where the part index is stored + return (m_escapeIndexOrTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS)); + } +} +; + +/// btOptimizedBvhNode contains both internal and leaf node information. +/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes. +ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + //32 bytes + btVector3 m_aabbMinOrg; + btVector3 m_aabbMaxOrg; + + //4 + int m_escapeIndex; + + //8 + //for child nodes + int m_subPart; + int m_triangleIndex; + int m_padding[5];//bad, due to alignment + + +}; + + +///btBvhSubtreeInfo provides info to gather a subtree of limited size +ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo +{ +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + //12 bytes + unsigned short int m_quantizedAabbMin[3]; + unsigned short int m_quantizedAabbMax[3]; + //4 bytes, points to the root of the subtree + int m_rootNodeIndex; + //4 bytes + int m_subtreeSize; + int m_padding[3]; + + btBvhSubtreeInfo() + { + //memset(&m_padding[0], 0, sizeof(m_padding)); + } + + + void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode) + { + m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0]; + m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1]; + m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2]; + m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0]; + m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1]; + m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2]; + } +} +; + + +class btNodeOverlapCallback +{ +public: + virtual ~btNodeOverlapCallback() {}; + + virtual void processNode(int subPart, int triangleIndex) = 0; +}; + +#include "LinearMath/btAlignedAllocator.h" +#include "LinearMath/btAlignedObjectArray.h" + + + +///for code readability: +typedef btAlignedObjectArray NodeArray; +typedef btAlignedObjectArray QuantizedNodeArray; +typedef btAlignedObjectArray BvhSubtreeInfoArray; + + +///The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU. +///It is used by the btBvhTriangleMeshShape as midphase, and by the btMultiSapBroadphase. +///It is recommended to use quantization for better performance and lower memory requirements. +ATTRIBUTE_ALIGNED16(class) btQuantizedBvh +{ +public: + enum btTraversalMode + { + TRAVERSAL_STACKLESS = 0, + TRAVERSAL_STACKLESS_CACHE_FRIENDLY, + TRAVERSAL_RECURSIVE + }; + +protected: + + + btVector3 m_bvhAabbMin; + btVector3 m_bvhAabbMax; + btVector3 m_bvhQuantization; + + int m_bulletVersion; //for serialization versioning. It could also be used to detect endianess. + + int m_curNodeIndex; + //quantization data + bool m_useQuantization; + + + + NodeArray m_leafNodes; + NodeArray m_contiguousNodes; + QuantizedNodeArray m_quantizedLeafNodes; + QuantizedNodeArray m_quantizedContiguousNodes; + + btTraversalMode m_traversalMode; + BvhSubtreeInfoArray m_SubtreeHeaders; + + //This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray + mutable int m_subtreeHeaderCount; + + + + + + ///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!) + ///this might be refactored into a virtual, it is usually not calculated at run-time + void setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin) + { + if (m_useQuantization) + { + quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0); + } else + { + m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin; + + } + } + void setInternalNodeAabbMax(int nodeIndex,const btVector3& aabbMax) + { + if (m_useQuantization) + { + quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1); + } else + { + m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax; + } + } + + btVector3 getAabbMin(int nodeIndex) const + { + if (m_useQuantization) + { + return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMin[0]); + } + //non-quantized + return m_leafNodes[nodeIndex].m_aabbMinOrg; + + } + btVector3 getAabbMax(int nodeIndex) const + { + if (m_useQuantization) + { + return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]); + } + //non-quantized + return m_leafNodes[nodeIndex].m_aabbMaxOrg; + + } + + + void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex) + { + if (m_useQuantization) + { + m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex; + } + else + { + m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex; + } + + } + + void mergeInternalNodeAabb(int nodeIndex,const btVector3& newAabbMin,const btVector3& newAabbMax) + { + if (m_useQuantization) + { + unsigned short int quantizedAabbMin[3]; + unsigned short int quantizedAabbMax[3]; + quantize(quantizedAabbMin,newAabbMin,0); + quantize(quantizedAabbMax,newAabbMax,1); + for (int i=0;i<3;i++) + { + if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i]) + m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i]; + + if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i]) + m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i]; + + } + } else + { + //non-quantized + m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin); + m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax); + } + } + + void swapLeafNodes(int firstIndex,int secondIndex); + + void assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex); + +protected: + + + + void buildTree (int startIndex,int endIndex); + + int calcSplittingAxis(int startIndex,int endIndex); + + int sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis); + + void walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + void walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const; + void walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const; + void walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const; + + ///tree traversal designed for small-memory processors like PS3 SPU + void walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const; + + ///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal + void walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const; + + ///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal + void walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA,const btQuantizedBvhNode* treeNodeB,btNodeOverlapCallback* nodeCallback) const; + + + + + void updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex); + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btQuantizedBvh(); + + virtual ~btQuantizedBvh(); + + + ///***************************************** expert/internal use only ************************* + void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0)); + QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; } + ///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized + void buildInternal(); + ///***************************************** expert/internal use only ************************* + + void reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const; + void reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const; + void reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const; + + SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point,int isMax) const + { + + btAssert(m_useQuantization); + + btAssert(point.getX() <= m_bvhAabbMax.getX()); + btAssert(point.getY() <= m_bvhAabbMax.getY()); + btAssert(point.getZ() <= m_bvhAabbMax.getZ()); + + btAssert(point.getX() >= m_bvhAabbMin.getX()); + btAssert(point.getY() >= m_bvhAabbMin.getY()); + btAssert(point.getZ() >= m_bvhAabbMin.getZ()); + + btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization; + ///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative + ///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly) + ///@todo: double-check this + if (isMax) + { + out[0] = (unsigned short) (((unsigned short)(v.getX()+btScalar(1.)) | 1)); + out[1] = (unsigned short) (((unsigned short)(v.getY()+btScalar(1.)) | 1)); + out[2] = (unsigned short) (((unsigned short)(v.getZ()+btScalar(1.)) | 1)); + } else + { + out[0] = (unsigned short) (((unsigned short)(v.getX()) & 0xfffe)); + out[1] = (unsigned short) (((unsigned short)(v.getY()) & 0xfffe)); + out[2] = (unsigned short) (((unsigned short)(v.getZ()) & 0xfffe)); + } + + +#ifdef DEBUG_CHECK_DEQUANTIZATION + btVector3 newPoint = unQuantize(out); + if (isMax) + { + if (newPoint.getX() < point.getX()) + { + printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX()); + } + if (newPoint.getY() < point.getY()) + { + printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY()); + } + if (newPoint.getZ() < point.getZ()) + { + + printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ()); + } + } else + { + if (newPoint.getX() > point.getX()) + { + printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX()); + } + if (newPoint.getY() > point.getY()) + { + printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY()); + } + if (newPoint.getZ() > point.getZ()) + { + printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ()); + } + } +#endif //DEBUG_CHECK_DEQUANTIZATION + + } + + + SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2,int isMax) const + { + + btAssert(m_useQuantization); + + btVector3 clampedPoint(point2); + clampedPoint.setMax(m_bvhAabbMin); + clampedPoint.setMin(m_bvhAabbMax); + + quantize(out,clampedPoint,isMax); + + } + + SIMD_FORCE_INLINE btVector3 unQuantize(const unsigned short* vecIn) const + { + btVector3 vecOut; + vecOut.setValue( + (btScalar)(vecIn[0]) / (m_bvhQuantization.getX()), + (btScalar)(vecIn[1]) / (m_bvhQuantization.getY()), + (btScalar)(vecIn[2]) / (m_bvhQuantization.getZ())); + vecOut += m_bvhAabbMin; + return vecOut; + } + + ///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees. + void setTraversalMode(btTraversalMode traversalMode) + { + m_traversalMode = traversalMode; + } + + + SIMD_FORCE_INLINE QuantizedNodeArray& getQuantizedNodeArray() + { + return m_quantizedContiguousNodes; + } + + + SIMD_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray() + { + return m_SubtreeHeaders; + } + +//////////////////////////////////////////////////////////////////// + + /////Calculate space needed to store BVH for serialization + unsigned calculateSerializeBufferSize() const; + + /// Data buffer MUST be 16 byte aligned + virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const; + + ///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place' + static btQuantizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian); + + static unsigned int getAlignmentSerializationPadding(); +////////////////////////////////////////////////////////////////////// + + + virtual int calculateSerializeBufferSizeNew() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + virtual void deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData); + + virtual void deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData); + + +//////////////////////////////////////////////////////////////////// + + SIMD_FORCE_INLINE bool isQuantized() + { + return m_useQuantization; + } + +private: + // Special "copy" constructor that allows for in-place deserialization + // Prevents btVector3's default constructor from being called, but doesn't inialize much else + // ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need) + btQuantizedBvh(btQuantizedBvh &other, bool ownsMemory); + +} +; + + +struct btBvhSubtreeInfoData +{ + int m_rootNodeIndex; + int m_subtreeSize; + unsigned short m_quantizedAabbMin[3]; + unsigned short m_quantizedAabbMax[3]; +}; + +struct btOptimizedBvhNodeFloatData +{ + btVector3FloatData m_aabbMinOrg; + btVector3FloatData m_aabbMaxOrg; + int m_escapeIndex; + int m_subPart; + int m_triangleIndex; + char m_pad[4]; +}; + +struct btOptimizedBvhNodeDoubleData +{ + btVector3DoubleData m_aabbMinOrg; + btVector3DoubleData m_aabbMaxOrg; + int m_escapeIndex; + int m_subPart; + int m_triangleIndex; + char m_pad[4]; +}; + + +struct btQuantizedBvhNodeData +{ + unsigned short m_quantizedAabbMin[3]; + unsigned short m_quantizedAabbMax[3]; + int m_escapeIndexOrTriangleIndex; +}; + +struct btQuantizedBvhFloatData +{ + btVector3FloatData m_bvhAabbMin; + btVector3FloatData m_bvhAabbMax; + btVector3FloatData m_bvhQuantization; + int m_curNodeIndex; + int m_useQuantization; + int m_numContiguousLeafNodes; + int m_numQuantizedContiguousNodes; + btOptimizedBvhNodeFloatData *m_contiguousNodesPtr; + btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr; + btBvhSubtreeInfoData *m_subTreeInfoPtr; + int m_traversalMode; + int m_numSubtreeHeaders; + +}; + +struct btQuantizedBvhDoubleData +{ + btVector3DoubleData m_bvhAabbMin; + btVector3DoubleData m_bvhAabbMax; + btVector3DoubleData m_bvhQuantization; + int m_curNodeIndex; + int m_useQuantization; + int m_numContiguousLeafNodes; + int m_numQuantizedContiguousNodes; + btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr; + btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr; + + int m_traversalMode; + int m_numSubtreeHeaders; + btBvhSubtreeInfoData *m_subTreeInfoPtr; +}; + + +SIMD_FORCE_INLINE int btQuantizedBvh::calculateSerializeBufferSizeNew() const +{ + return sizeof(btQuantizedBvhData); +} + + + +#endif //QUANTIZED_BVH_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h new file mode 100644 index 0000000..3e7c7ee --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h @@ -0,0 +1,171 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SIMPLE_BROADPHASE_H +#define SIMPLE_BROADPHASE_H + + +#include "btOverlappingPairCache.h" + + +struct btSimpleBroadphaseProxy : public btBroadphaseProxy +{ + int m_nextFree; + +// int m_handleId; + + + btSimpleBroadphaseProxy() {}; + + btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy) + :btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy) + { + (void)shapeType; + } + + + SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;} + SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;} + + + + +}; + +///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead. +///It is a brute force aabb culling broadphase based on O(n^2) aabb checks +class btSimpleBroadphase : public btBroadphaseInterface +{ + +protected: + + int m_numHandles; // number of active handles + int m_maxHandles; // max number of handles + int m_LastHandleIndex; + + btSimpleBroadphaseProxy* m_pHandles; // handles pool + + void* m_pHandlesRawPtr; + int m_firstFreeHandle; // free handles list + + int allocHandle() + { + btAssert(m_numHandles < m_maxHandles); + int freeHandle = m_firstFreeHandle; + m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree(); + m_numHandles++; + if(freeHandle > m_LastHandleIndex) + { + m_LastHandleIndex = freeHandle; + } + return freeHandle; + } + + void freeHandle(btSimpleBroadphaseProxy* proxy) + { + int handle = int(proxy-m_pHandles); + btAssert(handle >= 0 && handle < m_maxHandles); + if(handle == m_LastHandleIndex) + { + m_LastHandleIndex--; + } + proxy->SetNextFree(m_firstFreeHandle); + m_firstFreeHandle = handle; + + proxy->m_clientObject = 0; + + m_numHandles--; + } + + btOverlappingPairCache* m_pairCache; + bool m_ownsPairCache; + + int m_invalidPair; + + + + inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) + { + btSimpleBroadphaseProxy* proxy0 = static_cast(proxy); + return proxy0; + } + + inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const + { + const btSimpleBroadphaseProxy* proxy0 = static_cast(proxy); + return proxy0; + } + + ///reset broadphase internal structures, to ensure determinism/reproducability + virtual void resetPool(btDispatcher* dispatcher); + + + void validate(); + +protected: + + + + +public: + btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0); + virtual ~btSimpleBroadphase(); + + + static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1); + + + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy); + + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); + + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher); + virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0)); + virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback); + + btOverlappingPairCache* getOverlappingPairCache() + { + return m_pairCache; + } + const btOverlappingPairCache* getOverlappingPairCache() const + { + return m_pairCache; + } + + bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + + ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame + ///will add some transform later + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const + { + aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); + aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); + } + + virtual void printStats() + { +// printf("btSimpleBroadphase.h\n"); +// printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles); + } +}; + + + +#endif //SIMPLE_BROADPHASE_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h new file mode 100644 index 0000000..f656e5c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h @@ -0,0 +1,51 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SPHERE_TRIANGLE_DETECTOR_H +#define SPHERE_TRIANGLE_DETECTOR_H + +#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" + + + +class btSphereShape; +class btTriangleShape; + + + +/// sphere-triangle to match the btDiscreteCollisionDetectorInterface +struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface +{ + virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false); + + SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle, btScalar contactBreakingThreshold); + + virtual ~SphereTriangleDetector() {}; + + bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold); + +private: + + + bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p ); + bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal); + + btSphereShape* m_sphere; + btTriangleShape* m_triangle; + btScalar m_contactBreakingThreshold; + +}; +#endif //SPHERE_TRIANGLE_DETECTOR_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h new file mode 100644 index 0000000..25fe088 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h @@ -0,0 +1,36 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#ifndef __BT_ACTIVATING_COLLISION_ALGORITHM_H +#define __BT_ACTIVATING_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" + +///This class is not enabled yet (work-in-progress) to more aggressively activate objects. +class btActivatingCollisionAlgorithm : public btCollisionAlgorithm +{ +// btCollisionObject* m_colObj0; +// btCollisionObject* m_colObj1; + +public: + + btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci); + + btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1); + + virtual ~btActivatingCollisionAlgorithm(); + +}; +#endif //__BT_ACTIVATING_COLLISION_ALGORITHM_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h new file mode 100644 index 0000000..2134217 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h @@ -0,0 +1,66 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BOX_2D_BOX_2D__COLLISION_ALGORITHM_H +#define BOX_2D_BOX_2D__COLLISION_ALGORITHM_H + +#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" + +class btPersistentManifold; + +///box-box collision detection +class btBox2dBox2dCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + +public: + btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) + : btActivatingCollisionAlgorithm(ci) {} + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); + + virtual ~btBox2dBox2dCollisionAlgorithm(); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } + + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm); + void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize); + return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0,body1); + } + }; + +}; + +#endif //BOX_2D_BOX_2D__COLLISION_ALGORITHM_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h new file mode 100644 index 0000000..e7d2cc2 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h @@ -0,0 +1,66 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BOX_BOX__COLLISION_ALGORITHM_H +#define BOX_BOX__COLLISION_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" + +class btPersistentManifold; + +///box-box collision detection +class btBoxBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + +public: + btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) + : btActivatingCollisionAlgorithm(ci) {} + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); + + virtual ~btBoxBoxCollisionAlgorithm(); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } + + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + int bbsize = sizeof(btBoxBoxCollisionAlgorithm); + void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize); + return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0,body1); + } + }; + +}; + +#endif //BOX_BOX__COLLISION_ALGORITHM_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h new file mode 100644 index 0000000..605294d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h @@ -0,0 +1,44 @@ +/* + * Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith + * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. + * All rights reserved. Email: russ@q12.org Web: www.q12.org + +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +#ifndef BOX_BOX_DETECTOR_H +#define BOX_BOX_DETECTOR_H + + +class btBoxShape; +#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" + + +/// btBoxBoxDetector wraps the ODE box-box collision detector +/// re-distributed under the Zlib license with permission from Russell L. Smith +struct btBoxBoxDetector : public btDiscreteCollisionDetectorInterface +{ + btBoxShape* m_box1; + btBoxShape* m_box2; + +public: + + btBoxBoxDetector(btBoxShape* box1,btBoxShape* box2); + + virtual ~btBoxBoxDetector() {}; + + virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false); + +}; + +#endif //BT_BOX_BOX_DETECTOR_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h new file mode 100644 index 0000000..1db51a3 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h @@ -0,0 +1,47 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_COLLISION_CONFIGURATION +#define BT_COLLISION_CONFIGURATION +struct btCollisionAlgorithmCreateFunc; + +class btStackAlloc; +class btPoolAllocator; + +///btCollisionConfiguration allows to configure Bullet collision detection +///stack allocator size, default collision algorithms and persistent manifold pool size +///@todo: describe the meaning +class btCollisionConfiguration +{ + +public: + + virtual ~btCollisionConfiguration() + { + } + + ///memory pools + virtual btPoolAllocator* getPersistentManifoldPool() = 0; + + virtual btPoolAllocator* getCollisionAlgorithmPool() = 0; + + virtual btStackAlloc* getStackAllocator() = 0; + + virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0; + +}; + +#endif //BT_COLLISION_CONFIGURATION + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h new file mode 100644 index 0000000..a6da5f6 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h @@ -0,0 +1,45 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef COLLISION_CREATE_FUNC +#define COLLISION_CREATE_FUNC + +#include "LinearMath/btAlignedObjectArray.h" +class btCollisionAlgorithm; +class btCollisionObject; + +struct btCollisionAlgorithmConstructionInfo; + +///Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm +struct btCollisionAlgorithmCreateFunc +{ + bool m_swapped; + + btCollisionAlgorithmCreateFunc() + :m_swapped(false) + { + } + virtual ~btCollisionAlgorithmCreateFunc(){}; + + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , btCollisionObject* body0,btCollisionObject* body1) + { + + (void)body0; + (void)body1; + return 0; + } +}; +#endif //COLLISION_CREATE_FUNC + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h new file mode 100644 index 0000000..51b8ee5 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h @@ -0,0 +1,159 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef COLLISION__DISPATCHER_H +#define COLLISION__DISPATCHER_H + +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" + +#include "BulletCollision/CollisionDispatch/btManifoldResult.h" + +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "LinearMath/btAlignedObjectArray.h" + +class btIDebugDraw; +class btOverlappingPairCache; +class btPoolAllocator; +class btCollisionConfiguration; + +#include "btCollisionCreateFunc.h" + +#define USE_DISPATCH_REGISTRY_ARRAY 1 + +class btCollisionDispatcher; +///user can override this nearcallback for collision filtering and more finegrained control over collision detection +typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo); + + +///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs. +///Time of Impact, Closest Points and Penetration Depth. +class btCollisionDispatcher : public btDispatcher +{ + int m_dispatcherFlags; + + btAlignedObjectArray m_manifoldsPtr; + + btManifoldResult m_defaultManifoldResult; + + btNearCallback m_nearCallback; + + btPoolAllocator* m_collisionAlgorithmPoolAllocator; + + btPoolAllocator* m_persistentManifoldPoolAllocator; + + btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]; + + btCollisionConfiguration* m_collisionConfiguration; + + +public: + + enum DispatcherFlags + { + CD_STATIC_STATIC_REPORTED = 1, + CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2 + }; + + int getDispatcherFlags() const + { + return m_dispatcherFlags; + } + + void setDispatcherFlags(int flags) + { + (void) flags; + m_dispatcherFlags = 0; + } + + ///registerCollisionCreateFunc allows registration of custom/alternative collision create functions + void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc); + + int getNumManifolds() const + { + return int( m_manifoldsPtr.size()); + } + + btPersistentManifold** getInternalManifoldPointer() + { + return &m_manifoldsPtr[0]; + } + + btPersistentManifold* getManifoldByIndexInternal(int index) + { + return m_manifoldsPtr[index]; + } + + const btPersistentManifold* getManifoldByIndexInternal(int index) const + { + return m_manifoldsPtr[index]; + } + + btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration); + + virtual ~btCollisionDispatcher(); + + virtual btPersistentManifold* getNewManifold(void* b0,void* b1); + + virtual void releaseManifold(btPersistentManifold* manifold); + + + virtual void clearManifold(btPersistentManifold* manifold); + + + btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0); + + virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1); + + virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1); + + virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ; + + void setNearCallback(btNearCallback nearCallback) + { + m_nearCallback = nearCallback; + } + + btNearCallback getNearCallback() const + { + return m_nearCallback; + } + + //by default, Bullet will use this near callback + static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo); + + virtual void* allocateCollisionAlgorithm(int size); + + virtual void freeCollisionAlgorithm(void* ptr); + + btCollisionConfiguration* getCollisionConfiguration() + { + return m_collisionConfiguration; + } + + const btCollisionConfiguration* getCollisionConfiguration() const + { + return m_collisionConfiguration; + } + + void setCollisionConfiguration(btCollisionConfiguration* config) + { + m_collisionConfiguration = config; + } + +}; + +#endif //COLLISION__DISPATCHER_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h new file mode 100644 index 0000000..5de8298 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -0,0 +1,524 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef COLLISION_OBJECT_H +#define COLLISION_OBJECT_H + +#include "LinearMath/btTransform.h" + +//island management, m_activationState1 +#define ACTIVE_TAG 1 +#define ISLAND_SLEEPING 2 +#define WANTS_DEACTIVATION 3 +#define DISABLE_DEACTIVATION 4 +#define DISABLE_SIMULATION 5 + +struct btBroadphaseProxy; +class btCollisionShape; +struct btCollisionShapeData; +#include "LinearMath/btMotionState.h" +#include "LinearMath/btAlignedAllocator.h" +#include "LinearMath/btAlignedObjectArray.h" + +typedef btAlignedObjectArray btCollisionObjectArray; + +#ifdef BT_USE_DOUBLE_PRECISION +#define btCollisionObjectData btCollisionObjectDoubleData +#define btCollisionObjectDataName "btCollisionObjectDoubleData" +#else +#define btCollisionObjectData btCollisionObjectFloatData +#define btCollisionObjectDataName "btCollisionObjectFloatData" +#endif + + +/// btCollisionObject can be used to manage collision detection objects. +/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy. +/// They can be added to the btCollisionWorld. +ATTRIBUTE_ALIGNED16(class) btCollisionObject +{ + +protected: + + btTransform m_worldTransform; + + ///m_interpolationWorldTransform is used for CCD and interpolation + ///it can be either previous or future (predicted) transform + btTransform m_interpolationWorldTransform; + //those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities) + //without destroying the continuous interpolated motion (which uses this interpolation velocities) + btVector3 m_interpolationLinearVelocity; + btVector3 m_interpolationAngularVelocity; + + btVector3 m_anisotropicFriction; + int m_hasAnisotropicFriction; + btScalar m_contactProcessingThreshold; + + btBroadphaseProxy* m_broadphaseHandle; + btCollisionShape* m_collisionShape; + ///m_extensionPointer is used by some internal low-level Bullet extensions. + void* m_extensionPointer; + + ///m_rootCollisionShape is temporarily used to store the original collision shape + ///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes + ///If it is NULL, the m_collisionShape is not temporarily replaced. + btCollisionShape* m_rootCollisionShape; + + int m_collisionFlags; + + int m_islandTag1; + int m_companionId; + + int m_activationState1; + btScalar m_deactivationTime; + + btScalar m_friction; + btScalar m_restitution; + + ///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc. + ///do not assign your own m_internalType unless you write a new dynamics object class. + int m_internalType; + + ///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer + void* m_userObjectPointer; + + ///time of impact calculation + btScalar m_hitFraction; + + ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: + btScalar m_ccdSweptSphereRadius; + + /// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold + btScalar m_ccdMotionThreshold; + + /// If some object should have elaborate collision filtering by sub-classes + int m_checkCollideWith; + + virtual bool checkCollideWithOverride(btCollisionObject* /* co */) + { + return true; + } + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + enum CollisionFlags + { + CF_STATIC_OBJECT= 1, + CF_KINEMATIC_OBJECT= 2, + CF_NO_CONTACT_RESPONSE = 4, + CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution) + CF_CHARACTER_OBJECT = 16, + CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing + CF_DISABLE_SPU_COLLISION_PROCESSING = 64//disable parallel/SPU processing + }; + + enum CollisionObjectTypes + { + CO_COLLISION_OBJECT =1, + CO_RIGID_BODY=2, + ///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter + ///It is useful for collision sensors, explosion objects, character controller etc. + CO_GHOST_OBJECT=4, + CO_SOFT_BODY=8, + CO_HF_FLUID=16, + CO_USER_TYPE=32 + }; + + SIMD_FORCE_INLINE bool mergesSimulationIslands() const + { + ///static objects, kinematic and object without contact response don't merge islands + return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0); + } + + const btVector3& getAnisotropicFriction() const + { + return m_anisotropicFriction; + } + void setAnisotropicFriction(const btVector3& anisotropicFriction) + { + m_anisotropicFriction = anisotropicFriction; + m_hasAnisotropicFriction = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f); + } + bool hasAnisotropicFriction() const + { + return m_hasAnisotropicFriction!=0; + } + + ///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default. + ///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges + void setContactProcessingThreshold( btScalar contactProcessingThreshold) + { + m_contactProcessingThreshold = contactProcessingThreshold; + } + btScalar getContactProcessingThreshold() const + { + return m_contactProcessingThreshold; + } + + SIMD_FORCE_INLINE bool isStaticObject() const { + return (m_collisionFlags & CF_STATIC_OBJECT) != 0; + } + + SIMD_FORCE_INLINE bool isKinematicObject() const + { + return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0; + } + + SIMD_FORCE_INLINE bool isStaticOrKinematicObject() const + { + return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ; + } + + SIMD_FORCE_INLINE bool hasContactResponse() const { + return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0; + } + + + btCollisionObject(); + + virtual ~btCollisionObject(); + + virtual void setCollisionShape(btCollisionShape* collisionShape) + { + m_collisionShape = collisionShape; + m_rootCollisionShape = collisionShape; + } + + SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const + { + return m_collisionShape; + } + + SIMD_FORCE_INLINE btCollisionShape* getCollisionShape() + { + return m_collisionShape; + } + + SIMD_FORCE_INLINE const btCollisionShape* getRootCollisionShape() const + { + return m_rootCollisionShape; + } + + SIMD_FORCE_INLINE btCollisionShape* getRootCollisionShape() + { + return m_rootCollisionShape; + } + + ///Avoid using this internal API call + ///internalSetTemporaryCollisionShape is used to temporary replace the actual collision shape by a child collision shape. + void internalSetTemporaryCollisionShape(btCollisionShape* collisionShape) + { + m_collisionShape = collisionShape; + } + + ///Avoid using this internal API call, the extension pointer is used by some Bullet extensions. + ///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead. + void* internalGetExtensionPointer() const + { + return m_extensionPointer; + } + ///Avoid using this internal API call, the extension pointer is used by some Bullet extensions + ///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead. + void internalSetExtensionPointer(void* pointer) + { + m_extensionPointer = pointer; + } + + SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1;} + + void setActivationState(int newState); + + void setDeactivationTime(btScalar time) + { + m_deactivationTime = time; + } + btScalar getDeactivationTime() const + { + return m_deactivationTime; + } + + void forceActivationState(int newState); + + void activate(bool forceActivation = false); + + SIMD_FORCE_INLINE bool isActive() const + { + return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION)); + } + + void setRestitution(btScalar rest) + { + m_restitution = rest; + } + btScalar getRestitution() const + { + return m_restitution; + } + void setFriction(btScalar frict) + { + m_friction = frict; + } + btScalar getFriction() const + { + return m_friction; + } + + ///reserved for Bullet internal usage + int getInternalType() const + { + return m_internalType; + } + + btTransform& getWorldTransform() + { + return m_worldTransform; + } + + const btTransform& getWorldTransform() const + { + return m_worldTransform; + } + + void setWorldTransform(const btTransform& worldTrans) + { + m_worldTransform = worldTrans; + } + + + SIMD_FORCE_INLINE btBroadphaseProxy* getBroadphaseHandle() + { + return m_broadphaseHandle; + } + + SIMD_FORCE_INLINE const btBroadphaseProxy* getBroadphaseHandle() const + { + return m_broadphaseHandle; + } + + void setBroadphaseHandle(btBroadphaseProxy* handle) + { + m_broadphaseHandle = handle; + } + + + const btTransform& getInterpolationWorldTransform() const + { + return m_interpolationWorldTransform; + } + + btTransform& getInterpolationWorldTransform() + { + return m_interpolationWorldTransform; + } + + void setInterpolationWorldTransform(const btTransform& trans) + { + m_interpolationWorldTransform = trans; + } + + void setInterpolationLinearVelocity(const btVector3& linvel) + { + m_interpolationLinearVelocity = linvel; + } + + void setInterpolationAngularVelocity(const btVector3& angvel) + { + m_interpolationAngularVelocity = angvel; + } + + const btVector3& getInterpolationLinearVelocity() const + { + return m_interpolationLinearVelocity; + } + + const btVector3& getInterpolationAngularVelocity() const + { + return m_interpolationAngularVelocity; + } + + SIMD_FORCE_INLINE int getIslandTag() const + { + return m_islandTag1; + } + + void setIslandTag(int tag) + { + m_islandTag1 = tag; + } + + SIMD_FORCE_INLINE int getCompanionId() const + { + return m_companionId; + } + + void setCompanionId(int id) + { + m_companionId = id; + } + + SIMD_FORCE_INLINE btScalar getHitFraction() const + { + return m_hitFraction; + } + + void setHitFraction(btScalar hitFraction) + { + m_hitFraction = hitFraction; + } + + + SIMD_FORCE_INLINE int getCollisionFlags() const + { + return m_collisionFlags; + } + + void setCollisionFlags(int flags) + { + m_collisionFlags = flags; + } + + ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: + btScalar getCcdSweptSphereRadius() const + { + return m_ccdSweptSphereRadius; + } + + ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: + void setCcdSweptSphereRadius(btScalar radius) + { + m_ccdSweptSphereRadius = radius; + } + + btScalar getCcdMotionThreshold() const + { + return m_ccdMotionThreshold; + } + + btScalar getCcdSquareMotionThreshold() const + { + return m_ccdMotionThreshold*m_ccdMotionThreshold; + } + + + + /// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold + void setCcdMotionThreshold(btScalar ccdMotionThreshold) + { + m_ccdMotionThreshold = ccdMotionThreshold; + } + + ///users can point to their objects, userPointer is not used by Bullet + void* getUserPointer() const + { + return m_userObjectPointer; + } + + ///users can point to their objects, userPointer is not used by Bullet + void setUserPointer(void* userPointer) + { + m_userObjectPointer = userPointer; + } + + + inline bool checkCollideWith(btCollisionObject* co) + { + if (m_checkCollideWith) + return checkCollideWithOverride(co); + + return true; + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; + + virtual void serializeSingleObject(class btSerializer* serializer) const; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCollisionObjectDoubleData +{ + void *m_broadphaseHandle; + void *m_collisionShape; + btCollisionShapeData *m_rootCollisionShape; + char *m_name; + + btTransformDoubleData m_worldTransform; + btTransformDoubleData m_interpolationWorldTransform; + btVector3DoubleData m_interpolationLinearVelocity; + btVector3DoubleData m_interpolationAngularVelocity; + btVector3DoubleData m_anisotropicFriction; + double m_contactProcessingThreshold; + double m_deactivationTime; + double m_friction; + double m_restitution; + double m_hitFraction; + double m_ccdSweptSphereRadius; + double m_ccdMotionThreshold; + + int m_hasAnisotropicFriction; + int m_collisionFlags; + int m_islandTag1; + int m_companionId; + int m_activationState1; + int m_internalType; + int m_checkCollideWith; + + char m_padding[4]; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCollisionObjectFloatData +{ + void *m_broadphaseHandle; + void *m_collisionShape; + btCollisionShapeData *m_rootCollisionShape; + char *m_name; + + btTransformFloatData m_worldTransform; + btTransformFloatData m_interpolationWorldTransform; + btVector3FloatData m_interpolationLinearVelocity; + btVector3FloatData m_interpolationAngularVelocity; + btVector3FloatData m_anisotropicFriction; + float m_contactProcessingThreshold; + float m_deactivationTime; + float m_friction; + float m_restitution; + float m_hitFraction; + float m_ccdSweptSphereRadius; + float m_ccdMotionThreshold; + + int m_hasAnisotropicFriction; + int m_collisionFlags; + int m_islandTag1; + int m_companionId; + int m_activationState1; + int m_internalType; + int m_checkCollideWith; +}; + + + +SIMD_FORCE_INLINE int btCollisionObject::calculateSerializeBufferSize() const +{ + return sizeof(btCollisionObjectData); +} + + + +#endif //COLLISION_OBJECT_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h new file mode 100644 index 0000000..b42e2c4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h @@ -0,0 +1,509 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://bulletphysics.com/Bullet/ + +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. +*/ + + +/** + * @mainpage Bullet Documentation + * + * @section intro_sec Introduction + * Bullet Collision Detection & Physics SDK + * + * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ). + * + * The main documentation is Bullet_User_Manual.pdf, included in the source code distribution. + * There is the Physics Forum for feedback and general Collision Detection and Physics discussions. + * Please visit http://www.bulletphysics.com + * + * @section install_sec Installation + * + * @subsection step1 Step 1: Download + * You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list + * + * @subsection step2 Step 2: Building + * Bullet main build system for all platforms is cmake, you can download http://www.cmake.org + * cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles. + * The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles. + * You can also use cmake in the command-line. Here are some examples for various platforms: + * cmake . -G "Visual Studio 9 2008" + * cmake . -G Xcode + * cmake . -G "Unix Makefiles" + * Although cmake is recommended, you can also use autotools for UNIX: ./autogen.sh ./configure to create a Makefile and then run make. + * + * @subsection step3 Step 3: Testing demos + * Try to run and experiment with BasicDemo executable as a starting point. + * Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation. + * The Dependencies can be seen in this documentation under Directories + * + * @subsection step4 Step 4: Integrating in your application, full Rigid Body and Soft Body simulation + * Check out BasicDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform. + * Check out SoftDemo how to use soft body dynamics, using btSoftRigidDynamicsWorld. + * @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras) + * Bullet Collision Detection can also be used without the Dynamics/Extras. + * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo. + * @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation. + * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector. + * + * @section copyright Copyright + * For up-to-data information and copyright and contributors list check out the Bullet_User_Manual.pdf + * + */ + + + +#ifndef COLLISION_WORLD_H +#define COLLISION_WORLD_H + +class btStackAlloc; +class btCollisionShape; +class btConvexShape; +class btBroadphaseInterface; +class btSerializer; + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "btCollisionObject.h" +#include "btCollisionDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "LinearMath/btAlignedObjectArray.h" + +///CollisionWorld is interface and container for the collision detection +class btCollisionWorld +{ + + +protected: + + btAlignedObjectArray m_collisionObjects; + + btDispatcher* m_dispatcher1; + + btDispatcherInfo m_dispatchInfo; + + btStackAlloc* m_stackAlloc; + + btBroadphaseInterface* m_broadphasePairCache; + + btIDebugDraw* m_debugDrawer; + + ///m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs + ///it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB) + bool m_forceUpdateAllAabbs; + + void serializeCollisionObjects(btSerializer* serializer); + +public: + + //this constructor doesn't own the dispatcher and paircache/broadphase + btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration); + + virtual ~btCollisionWorld(); + + void setBroadphase(btBroadphaseInterface* pairCache) + { + m_broadphasePairCache = pairCache; + } + + const btBroadphaseInterface* getBroadphase() const + { + return m_broadphasePairCache; + } + + btBroadphaseInterface* getBroadphase() + { + return m_broadphasePairCache; + } + + btOverlappingPairCache* getPairCache() + { + return m_broadphasePairCache->getOverlappingPairCache(); + } + + + btDispatcher* getDispatcher() + { + return m_dispatcher1; + } + + const btDispatcher* getDispatcher() const + { + return m_dispatcher1; + } + + void updateSingleAabb(btCollisionObject* colObj); + + virtual void updateAabbs(); + + virtual void setDebugDrawer(btIDebugDraw* debugDrawer) + { + m_debugDrawer = debugDrawer; + } + + virtual btIDebugDraw* getDebugDrawer() + { + return m_debugDrawer; + } + + virtual void debugDrawWorld(); + + virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color); + + + ///LocalShapeInfo gives extra information for complex shapes + ///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart + struct LocalShapeInfo + { + int m_shapePart; + int m_triangleIndex; + + //const btCollisionShape* m_shapeTemp; + //const btTransform* m_shapeLocalTransform; + }; + + struct LocalRayResult + { + LocalRayResult(btCollisionObject* collisionObject, + LocalShapeInfo* localShapeInfo, + const btVector3& hitNormalLocal, + btScalar hitFraction) + :m_collisionObject(collisionObject), + m_localShapeInfo(localShapeInfo), + m_hitNormalLocal(hitNormalLocal), + m_hitFraction(hitFraction) + { + } + + btCollisionObject* m_collisionObject; + LocalShapeInfo* m_localShapeInfo; + btVector3 m_hitNormalLocal; + btScalar m_hitFraction; + + }; + + ///RayResultCallback is used to report new raycast results + struct RayResultCallback + { + btScalar m_closestHitFraction; + btCollisionObject* m_collisionObject; + short int m_collisionFilterGroup; + short int m_collisionFilterMask; + //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback + unsigned int m_flags; + + virtual ~RayResultCallback() + { + } + bool hasHit() const + { + return (m_collisionObject != 0); + } + + RayResultCallback() + :m_closestHitFraction(btScalar(1.)), + m_collisionObject(0), + m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter), + //@BP Mod + m_flags(0) + { + } + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; + collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask); + return collides; + } + + + virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0; + }; + + struct ClosestRayResultCallback : public RayResultCallback + { + ClosestRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld) + :m_rayFromWorld(rayFromWorld), + m_rayToWorld(rayToWorld) + { + } + + btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction + btVector3 m_rayToWorld; + + btVector3 m_hitNormalWorld; + btVector3 m_hitPointWorld; + + virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) + { + //caller already does the filter on the m_closestHitFraction + btAssert(rayResult.m_hitFraction <= m_closestHitFraction); + + m_closestHitFraction = rayResult.m_hitFraction; + m_collisionObject = rayResult.m_collisionObject; + if (normalInWorldSpace) + { + m_hitNormalWorld = rayResult.m_hitNormalLocal; + } else + { + ///need to transform normal into worldspace + m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal; + } + m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction); + return rayResult.m_hitFraction; + } + }; + + struct AllHitsRayResultCallback : public RayResultCallback + { + AllHitsRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld) + :m_rayFromWorld(rayFromWorld), + m_rayToWorld(rayToWorld) + { + } + + btAlignedObjectArray m_collisionObjects; + + btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction + btVector3 m_rayToWorld; + + btAlignedObjectArray m_hitNormalWorld; + btAlignedObjectArray m_hitPointWorld; + btAlignedObjectArray m_hitFractions; + + virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) + { + m_collisionObject = rayResult.m_collisionObject; + m_collisionObjects.push_back(rayResult.m_collisionObject); + btVector3 hitNormalWorld; + if (normalInWorldSpace) + { + hitNormalWorld = rayResult.m_hitNormalLocal; + } else + { + ///need to transform normal into worldspace + hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal; + } + m_hitNormalWorld.push_back(hitNormalWorld); + btVector3 hitPointWorld; + hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction); + m_hitPointWorld.push_back(hitPointWorld); + m_hitFractions.push_back(rayResult.m_hitFraction); + return m_closestHitFraction; + } + }; + + + struct LocalConvexResult + { + LocalConvexResult(btCollisionObject* hitCollisionObject, + LocalShapeInfo* localShapeInfo, + const btVector3& hitNormalLocal, + const btVector3& hitPointLocal, + btScalar hitFraction + ) + :m_hitCollisionObject(hitCollisionObject), + m_localShapeInfo(localShapeInfo), + m_hitNormalLocal(hitNormalLocal), + m_hitPointLocal(hitPointLocal), + m_hitFraction(hitFraction) + { + } + + btCollisionObject* m_hitCollisionObject; + LocalShapeInfo* m_localShapeInfo; + btVector3 m_hitNormalLocal; + btVector3 m_hitPointLocal; + btScalar m_hitFraction; + }; + + ///RayResultCallback is used to report new raycast results + struct ConvexResultCallback + { + btScalar m_closestHitFraction; + short int m_collisionFilterGroup; + short int m_collisionFilterMask; + + ConvexResultCallback() + :m_closestHitFraction(btScalar(1.)), + m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter) + { + } + + virtual ~ConvexResultCallback() + { + } + + bool hasHit() const + { + return (m_closestHitFraction < btScalar(1.)); + } + + + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; + collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask); + return collides; + } + + virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0; + }; + + struct ClosestConvexResultCallback : public ConvexResultCallback + { + ClosestConvexResultCallback(const btVector3& convexFromWorld,const btVector3& convexToWorld) + :m_convexFromWorld(convexFromWorld), + m_convexToWorld(convexToWorld), + m_hitCollisionObject(0) + { + } + + btVector3 m_convexFromWorld;//used to calculate hitPointWorld from hitFraction + btVector3 m_convexToWorld; + + btVector3 m_hitNormalWorld; + btVector3 m_hitPointWorld; + btCollisionObject* m_hitCollisionObject; + + virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) + { +//caller already does the filter on the m_closestHitFraction + btAssert(convexResult.m_hitFraction <= m_closestHitFraction); + + m_closestHitFraction = convexResult.m_hitFraction; + m_hitCollisionObject = convexResult.m_hitCollisionObject; + if (normalInWorldSpace) + { + m_hitNormalWorld = convexResult.m_hitNormalLocal; + } else + { + ///need to transform normal into worldspace + m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal; + } + m_hitPointWorld = convexResult.m_hitPointLocal; + return convexResult.m_hitFraction; + } + }; + + ///ContactResultCallback is used to report contact points + struct ContactResultCallback + { + short int m_collisionFilterGroup; + short int m_collisionFilterMask; + + ContactResultCallback() + :m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter) + { + } + + virtual ~ContactResultCallback() + { + } + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; + collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask); + return collides; + } + + virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0; + }; + + + + int getNumCollisionObjects() const + { + return int(m_collisionObjects.size()); + } + + /// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback + /// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback. + virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; + + /// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback + /// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback. + void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const; + + ///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback. + ///it reports one or more contact points for every overlapping object (including the one with deepest penetration) + void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback); + + ///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected. + ///it reports one or more contact points (including the one with deepest penetration) + void contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback); + + + /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. + /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. + /// This allows more customization. + static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + RayResultCallback& resultCallback); + + /// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest. + static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + ConvexResultCallback& resultCallback, btScalar allowedPenetration); + + virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter); + + btCollisionObjectArray& getCollisionObjectArray() + { + return m_collisionObjects; + } + + const btCollisionObjectArray& getCollisionObjectArray() const + { + return m_collisionObjects; + } + + + virtual void removeCollisionObject(btCollisionObject* collisionObject); + + virtual void performDiscreteCollisionDetection(); + + btDispatcherInfo& getDispatchInfo() + { + return m_dispatchInfo; + } + + const btDispatcherInfo& getDispatchInfo() const + { + return m_dispatchInfo; + } + + bool getForceUpdateAllAabbs() const + { + return m_forceUpdateAllAabbs; + } + void setForceUpdateAllAabbs( bool forceUpdateAllAabbs) + { + m_forceUpdateAllAabbs = forceUpdateAllAabbs; + } + + ///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo) + virtual void serialize(btSerializer* serializer); + +}; + + +#endif //COLLISION_WORLD_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h new file mode 100644 index 0000000..255e0af --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h @@ -0,0 +1,86 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef COMPOUND_COLLISION_ALGORITHM_H +#define COMPOUND_COLLISION_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" + +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btDispatcher; +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "btCollisionCreateFunc.h" +#include "LinearMath/btAlignedObjectArray.h" +class btDispatcher; +class btCollisionObject; + +/// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes +class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + btAlignedObjectArray m_childCollisionAlgorithms; + bool m_isSwapped; + + class btPersistentManifold* m_sharedManifold; + bool m_ownsManifold; + + int m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated + + void removeChildAlgorithms(); + + void preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1); + +public: + + btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped); + + virtual ~btCompoundCollisionAlgorithm(); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + int i; + for (i=0;igetAllContactManifolds(manifoldArray); + } + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm)); + return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,false); + } + }; + + struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm)); + return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,true); + } + }; + +}; + +#endif //COMPOUND_COLLISION_ALGORITHM_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h new file mode 100644 index 0000000..5738401 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h @@ -0,0 +1,95 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef CONVEX_2D_CONVEX_2D_ALGORITHM_H +#define CONVEX_2D_CONVEX_2D_ALGORITHM_H + +#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil + +class btConvexPenetrationDepthSolver; + + +///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape +///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation +class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm +{ + btSimplexSolverInterface* m_simplexSolver; + btConvexPenetrationDepthSolver* m_pdSolver; + + + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + bool m_lowLevelOfDetail; + + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + +public: + + btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); + + + virtual ~btConvex2dConvex2dAlgorithm(); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + ///should we use m_ownManifold to avoid adding duplicates? + if (m_manifoldPtr && m_ownManifold) + manifoldArray.push_back(m_manifoldPtr); + } + + + void setLowLevelOfDetail(bool useLowLevel); + + + const btPersistentManifold* getManifold() + { + return m_manifoldPtr; + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + + btConvexPenetrationDepthSolver* m_pdSolver; + btSimplexSolverInterface* m_simplexSolver; + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + + CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); + + virtual ~CreateFunc(); + + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm)); + return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); + } + }; + + +}; + +#endif //CONVEX_2D_CONVEX_2D_ALGORITHM_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h new file mode 100644 index 0000000..984a4c3 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h @@ -0,0 +1,116 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H +#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/CollisionShapes/btTriangleCallback.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btDispatcher; +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "btCollisionCreateFunc.h" + +///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called. +class btConvexTriangleCallback : public btTriangleCallback +{ + btCollisionObject* m_convexBody; + btCollisionObject* m_triBody; + + btVector3 m_aabbMin; + btVector3 m_aabbMax ; + + + btManifoldResult* m_resultOut; + btDispatcher* m_dispatcher; + const btDispatcherInfo* m_dispatchInfoPtr; + btScalar m_collisionMarginTriangle; + +public: +int m_triangleCount; + + btPersistentManifold* m_manifoldPtr; + + btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped); + + void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual ~btConvexTriangleCallback(); + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex); + + void clearCache(); + + SIMD_FORCE_INLINE const btVector3& getAabbMin() const + { + return m_aabbMin; + } + SIMD_FORCE_INLINE const btVector3& getAabbMax() const + { + return m_aabbMax; + } + +}; + + + + +/// btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes. +class btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + + bool m_isSwapped; + + btConvexTriangleCallback m_btConvexTriangleCallback; + + + +public: + + btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped); + + virtual ~btConvexConcaveCollisionAlgorithm(); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray); + + void clearCache(); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm)); + return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,false); + } + }; + + struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm)); + return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,true); + } + }; + +}; + +#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h new file mode 100644 index 0000000..d38aff6 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h @@ -0,0 +1,109 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef CONVEX_CONVEX_ALGORITHM_H +#define CONVEX_CONVEX_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" +#include "btCollisionCreateFunc.h" +#include "btCollisionDispatcher.h" +#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil + +class btConvexPenetrationDepthSolver; + +///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise +///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions. +///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util +///for certain pairs that have a small size ratio + +//#define USE_SEPDISTANCE_UTIL2 1 + +///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects. +///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal. +///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888 +class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm +{ +#ifdef USE_SEPDISTANCE_UTIL2 + btConvexSeparatingDistanceUtil m_sepDistance; +#endif + btSimplexSolverInterface* m_simplexSolver; + btConvexPenetrationDepthSolver* m_pdSolver; + + + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + bool m_lowLevelOfDetail; + + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + + + ///cache separating vector to speedup collision detection + + +public: + + btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); + + + virtual ~btConvexConvexAlgorithm(); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + ///should we use m_ownManifold to avoid adding duplicates? + if (m_manifoldPtr && m_ownManifold) + manifoldArray.push_back(m_manifoldPtr); + } + + + void setLowLevelOfDetail(bool useLowLevel); + + + const btPersistentManifold* getManifold() + { + return m_manifoldPtr; + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + + btConvexPenetrationDepthSolver* m_pdSolver; + btSimplexSolverInterface* m_simplexSolver; + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + + CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); + + virtual ~CreateFunc(); + + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm)); + return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); + } + }; + + +}; + +#endif //CONVEX_CONVEX_ALGORITHM_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h new file mode 100644 index 0000000..f49ac45 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h @@ -0,0 +1,84 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef CONVEX_PLANE_COLLISION_ALGORITHM_H +#define CONVEX_PLANE_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +class btPersistentManifold; +#include "btCollisionDispatcher.h" + +#include "LinearMath/btVector3.h" + +/// btSphereBoxCollisionAlgorithm provides sphere-box collision detection. +/// Other features are frame-coherency (persistent data) and collision response. +class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + bool m_isSwapped; + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + +public: + + btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold); + + virtual ~btConvexPlaneCollisionAlgorithm(); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + void collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + + CreateFunc() + : m_numPerturbationIterations(1), + m_minimumPointsPerturbationThreshold(1) + { + } + + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm)); + if (!m_swapped) + { + return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); + } else + { + return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); + } + } + }; + +}; + +#endif //CONVEX_PLANE_COLLISION_ALGORITHM_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h new file mode 100644 index 0000000..6aa0d8c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h @@ -0,0 +1,135 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_DEFAULT_COLLISION_CONFIGURATION +#define BT_DEFAULT_COLLISION_CONFIGURATION + +#include "btCollisionConfiguration.h" +class btVoronoiSimplexSolver; +class btConvexPenetrationDepthSolver; + +struct btDefaultCollisionConstructionInfo +{ + btStackAlloc* m_stackAlloc; + btPoolAllocator* m_persistentManifoldPool; + btPoolAllocator* m_collisionAlgorithmPool; + int m_defaultMaxPersistentManifoldPoolSize; + int m_defaultMaxCollisionAlgorithmPoolSize; + int m_customCollisionAlgorithmMaxElementSize; + int m_defaultStackAllocatorSize; + int m_useEpaPenetrationAlgorithm; + + btDefaultCollisionConstructionInfo() + :m_stackAlloc(0), + m_persistentManifoldPool(0), + m_collisionAlgorithmPool(0), + m_defaultMaxPersistentManifoldPoolSize(4096), + m_defaultMaxCollisionAlgorithmPoolSize(4096), + m_customCollisionAlgorithmMaxElementSize(0), + m_defaultStackAllocatorSize(0), + m_useEpaPenetrationAlgorithm(true) + { + } +}; + + + +///btCollisionConfiguration allows to configure Bullet collision detection +///stack allocator, pool memory allocators +///@todo: describe the meaning +class btDefaultCollisionConfiguration : public btCollisionConfiguration +{ + +protected: + + int m_persistentManifoldPoolSize; + + btStackAlloc* m_stackAlloc; + bool m_ownsStackAllocator; + + btPoolAllocator* m_persistentManifoldPool; + bool m_ownsPersistentManifoldPool; + + + btPoolAllocator* m_collisionAlgorithmPool; + bool m_ownsCollisionAlgorithmPool; + + //default simplex/penetration depth solvers + btVoronoiSimplexSolver* m_simplexSolver; + btConvexPenetrationDepthSolver* m_pdSolver; + + //default CreationFunctions, filling the m_doubleDispatch table + btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc; + btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc; + btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc; + btCollisionAlgorithmCreateFunc* m_compoundCreateFunc; + btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc; + btCollisionAlgorithmCreateFunc* m_emptyCreateFunc; + btCollisionAlgorithmCreateFunc* m_sphereSphereCF; +#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM + btCollisionAlgorithmCreateFunc* m_sphereBoxCF; + btCollisionAlgorithmCreateFunc* m_boxSphereCF; +#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM + + btCollisionAlgorithmCreateFunc* m_boxBoxCF; + btCollisionAlgorithmCreateFunc* m_sphereTriangleCF; + btCollisionAlgorithmCreateFunc* m_triangleSphereCF; + btCollisionAlgorithmCreateFunc* m_planeConvexCF; + btCollisionAlgorithmCreateFunc* m_convexPlaneCF; + +public: + + + btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo()); + + virtual ~btDefaultCollisionConfiguration(); + + ///memory pools + virtual btPoolAllocator* getPersistentManifoldPool() + { + return m_persistentManifoldPool; + } + + virtual btPoolAllocator* getCollisionAlgorithmPool() + { + return m_collisionAlgorithmPool; + } + + virtual btStackAlloc* getStackAllocator() + { + return m_stackAlloc; + } + + virtual btVoronoiSimplexSolver* getSimplexSolver() + { + return m_simplexSolver; + } + + + virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1); + + ///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm. + ///By default, this feature is disabled for best performance. + ///@param numPerturbationIterations controls the number of collision queries. Set it to zero to disable the feature. + ///@param minimumPointsPerturbationThreshold is the minimum number of points in the contact cache, above which the feature is disabled + ///3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first. + ///See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points. + ///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection. + void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3); + +}; + +#endif //BT_DEFAULT_COLLISION_CONFIGURATION + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h new file mode 100644 index 0000000..e54721d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h @@ -0,0 +1,54 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef EMPTY_ALGORITH +#define EMPTY_ALGORITH +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "btCollisionCreateFunc.h" +#include "btCollisionDispatcher.h" + +#define ATTRIBUTE_ALIGNED(a) + +///EmptyAlgorithm is a stub for unsupported collision pairs. +///The dispatcher can dispatch a persistent btEmptyAlgorithm to avoid a search every frame. +class btEmptyAlgorithm : public btCollisionAlgorithm +{ + +public: + + btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + (void)body0; + (void)body1; + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btEmptyAlgorithm)); + return new(mem) btEmptyAlgorithm(ci); + } + }; + +} ATTRIBUTE_ALIGNED(16); + +#endif //EMPTY_ALGORITH diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btGhostObject.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btGhostObject.h new file mode 100644 index 0000000..8ec8613 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btGhostObject.h @@ -0,0 +1,175 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#ifndef BT_GHOST_OBJECT_H +#define BT_GHOST_OBJECT_H + + +#include "btCollisionObject.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h" +#include "LinearMath/btAlignedAllocator.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "btCollisionWorld.h" + +class btConvexShape; + +class btDispatcher; + +///The btGhostObject can keep track of all objects that are overlapping +///By default, this overlap is based on the AABB +///This is useful for creating a character controller, collision sensors/triggers, explosions etc. +///We plan on adding rayTest and other queries for the btGhostObject +ATTRIBUTE_ALIGNED16(class) btGhostObject : public btCollisionObject +{ +protected: + + btAlignedObjectArray m_overlappingObjects; + +public: + + btGhostObject(); + + virtual ~btGhostObject(); + + void convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = 0.f) const; + + void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const; + + ///this method is mainly for expert/internal use only. + virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0); + ///this method is mainly for expert/internal use only. + virtual void removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0); + + int getNumOverlappingObjects() const + { + return m_overlappingObjects.size(); + } + + btCollisionObject* getOverlappingObject(int index) + { + return m_overlappingObjects[index]; + } + + const btCollisionObject* getOverlappingObject(int index) const + { + return m_overlappingObjects[index]; + } + + btAlignedObjectArray& getOverlappingPairs() + { + return m_overlappingObjects; + } + + const btAlignedObjectArray getOverlappingPairs() const + { + return m_overlappingObjects; + } + + // + // internal cast + // + + static const btGhostObject* upcast(const btCollisionObject* colObj) + { + if (colObj->getInternalType()==CO_GHOST_OBJECT) + return (const btGhostObject*)colObj; + return 0; + } + static btGhostObject* upcast(btCollisionObject* colObj) + { + if (colObj->getInternalType()==CO_GHOST_OBJECT) + return (btGhostObject*)colObj; + return 0; + } + +}; + +class btPairCachingGhostObject : public btGhostObject +{ + btHashedOverlappingPairCache* m_hashPairCache; + +public: + + btPairCachingGhostObject(); + + virtual ~btPairCachingGhostObject(); + + ///this method is mainly for expert/internal use only. + virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0); + + virtual void removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0); + + btHashedOverlappingPairCache* getOverlappingPairCache() + { + return m_hashPairCache; + } + +}; + + + +///The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBroadphaseInterface to btGhostObject. +class btGhostPairCallback : public btOverlappingPairCallback +{ + +public: + btGhostPairCallback() + { + } + + virtual ~btGhostPairCallback() + { + + } + + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) + { + btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject; + btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject; + btGhostObject* ghost0 = btGhostObject::upcast(colObj0); + btGhostObject* ghost1 = btGhostObject::upcast(colObj1); + if (ghost0) + ghost0->addOverlappingObjectInternal(proxy1, proxy0); + if (ghost1) + ghost1->addOverlappingObjectInternal(proxy0, proxy1); + return 0; + } + + virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher) + { + btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject; + btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject; + btGhostObject* ghost0 = btGhostObject::upcast(colObj0); + btGhostObject* ghost1 = btGhostObject::upcast(colObj1); + if (ghost0) + ghost0->removeOverlappingObjectInternal(proxy1,dispatcher,proxy0); + if (ghost1) + ghost1->removeOverlappingObjectInternal(proxy0,dispatcher,proxy1); + return 0; + } + + virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/) + { + btAssert(0); + //need to keep track of all ghost objects and call them here + //m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher); + } + + + +}; + +#endif + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h new file mode 100644 index 0000000..9efb012 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h @@ -0,0 +1,46 @@ + +#ifndef BT_INTERNAL_EDGE_UTILITY_H +#define BT_INTERNAL_EDGE_UTILITY_H + +#include "LinearMath/btHashMap.h" +#include "LinearMath/btVector3.h" + +#include "BulletCollision/CollisionShapes/btTriangleInfoMap.h" + +///The btInternalEdgeUtility helps to avoid or reduce artifacts due to wrong collision normals caused by internal edges. +///See also http://code.google.com/p/bullet/issues/detail?id=27 + +class btBvhTriangleMeshShape; +class btCollisionObject; +class btManifoldPoint; +class btIDebugDraw; + + + +enum btInternalEdgeAdjustFlags +{ + BT_TRIANGLE_CONVEX_BACKFACE_MODE = 1, + BT_TRIANGLE_CONCAVE_DOUBLE_SIDED = 2, //double sided options are experimental, single sided is recommended + BT_TRIANGLE_CONVEX_DOUBLE_SIDED = 4 +}; + + +///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo' +void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap); + + +///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo) +///If this info map is missing, or the triangle is not store in this map, nothing will be done +void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* trimeshColObj0,const btCollisionObject* otherColObj1, int partId0, int index0, int normalAdjustFlags = 0); + +///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly. +///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap +//#define BT_INTERNAL_EDGE_DEBUG_DRAW + +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW +void btSetDebugDrawer(btIDebugDraw* debugDrawer); +#endif //BT_INTERNAL_EDGE_DEBUG_DRAW + + +#endif //BT_INTERNAL_EDGE_UTILITY_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h new file mode 100644 index 0000000..927e2bc --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h @@ -0,0 +1,128 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#ifndef MANIFOLD_RESULT_H +#define MANIFOLD_RESULT_H + +class btCollisionObject; +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btManifoldPoint; + +#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" + +#include "LinearMath/btTransform.h" + +typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1); +extern ContactAddedCallback gContactAddedCallback; + +//#define DEBUG_PART_INDEX 1 + + +///btManifoldResult is a helper class to manage contact results. +class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result +{ +protected: + + btPersistentManifold* m_manifoldPtr; + + //we need this for compounds + btTransform m_rootTransA; + btTransform m_rootTransB; + + btCollisionObject* m_body0; + btCollisionObject* m_body1; + int m_partId0; + int m_partId1; + int m_index0; + int m_index1; + + +public: + + btManifoldResult() +#ifdef DEBUG_PART_INDEX + : + m_partId0(-1), + m_partId1(-1), + m_index0(-1), + m_index1(-1) +#endif //DEBUG_PART_INDEX + { + } + + btManifoldResult(btCollisionObject* body0,btCollisionObject* body1); + + virtual ~btManifoldResult() {}; + + void setPersistentManifold(btPersistentManifold* manifoldPtr) + { + m_manifoldPtr = manifoldPtr; + } + + const btPersistentManifold* getPersistentManifold() const + { + return m_manifoldPtr; + } + btPersistentManifold* getPersistentManifold() + { + return m_manifoldPtr; + } + + virtual void setShapeIdentifiersA(int partId0,int index0) + { + m_partId0=partId0; + m_index0=index0; + } + + virtual void setShapeIdentifiersB( int partId1,int index1) + { + m_partId1=partId1; + m_index1=index1; + } + + + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth); + + SIMD_FORCE_INLINE void refreshContactPoints() + { + btAssert(m_manifoldPtr); + if (!m_manifoldPtr->getNumContacts()) + return; + + bool isSwapped = m_manifoldPtr->getBody0() != m_body0; + + if (isSwapped) + { + m_manifoldPtr->refreshContactPoints(m_rootTransB,m_rootTransA); + } else + { + m_manifoldPtr->refreshContactPoints(m_rootTransA,m_rootTransB); + } + } + + const btCollisionObject* getBody0Internal() const + { + return m_body0; + } + + const btCollisionObject* getBody1Internal() const + { + return m_body1; + } + +}; + +#endif //MANIFOLD_RESULT_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h new file mode 100644 index 0000000..d059f5d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h @@ -0,0 +1,81 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SIMULATION_ISLAND_MANAGER_H +#define SIMULATION_ISLAND_MANAGER_H + +#include "BulletCollision/CollisionDispatch/btUnionFind.h" +#include "btCollisionCreateFunc.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "btCollisionObject.h" + +class btCollisionObject; +class btCollisionWorld; +class btDispatcher; +class btPersistentManifold; + + +///SimulationIslandManager creates and handles simulation islands, using btUnionFind +class btSimulationIslandManager +{ + btUnionFind m_unionFind; + + btAlignedObjectArray m_islandmanifold; + btAlignedObjectArray m_islandBodies; + + bool m_splitIslands; + +public: + btSimulationIslandManager(); + virtual ~btSimulationIslandManager(); + + + void initUnionFind(int n); + + + btUnionFind& getUnionFind() { return m_unionFind;} + + virtual void updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher); + virtual void storeIslandActivationState(btCollisionWorld* world); + + + void findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld); + + + + struct IslandCallback + { + virtual ~IslandCallback() {}; + + virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0; + }; + + void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback); + + void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld); + + bool getSplitIslands() + { + return m_splitIslands; + } + void setSplitIslands(bool doSplitIslands) + { + m_splitIslands = doSplitIslands; + } + +}; + +#endif //SIMULATION_ISLAND_MANAGER_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h new file mode 100644 index 0000000..47111d1 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h @@ -0,0 +1,75 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SPHERE_BOX_COLLISION_ALGORITHM_H +#define SPHERE_BOX_COLLISION_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +class btPersistentManifold; +#include "btCollisionDispatcher.h" + +#include "LinearMath/btVector3.h" + +/// btSphereBoxCollisionAlgorithm provides sphere-box collision detection. +/// Other features are frame-coherency (persistent data) and collision response. +class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + bool m_isSwapped; + +public: + + btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped); + + virtual ~btSphereBoxCollisionAlgorithm(); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } + + btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius ); + + btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm)); + if (!m_swapped) + { + return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false); + } else + { + return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true); + } + } + }; + +}; + +#endif //SPHERE_BOX_COLLISION_ALGORITHM_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h new file mode 100644 index 0000000..7d07512 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h @@ -0,0 +1,66 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SPHERE_SPHERE_COLLISION_ALGORITHM_H +#define SPHERE_SPHERE_COLLISION_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "btCollisionDispatcher.h" + +class btPersistentManifold; + +/// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection. +/// Other features are frame-coherency (persistent data) and collision response. +/// Also provides the most basic sample for custom/user btCollisionAlgorithm +class btSphereSphereCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + +public: + btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); + + btSphereSphereCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) + : btActivatingCollisionAlgorithm(ci) {} + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } + + virtual ~btSphereSphereCollisionAlgorithm(); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereSphereCollisionAlgorithm)); + return new(mem) btSphereSphereCollisionAlgorithm(0,ci,body0,body1); + } + }; + +}; + +#endif //SPHERE_SPHERE_COLLISION_ALGORITHM_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h new file mode 100644 index 0000000..606c363 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h @@ -0,0 +1,69 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SPHERE_TRIANGLE_COLLISION_ALGORITHM_H +#define SPHERE_TRIANGLE_COLLISION_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +class btPersistentManifold; +#include "btCollisionDispatcher.h" + +/// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection. +/// Other features are frame-coherency (persistent data) and collision response. +/// Also provides the most basic sample for custom/user btCollisionAlgorithm +class btSphereTriangleCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + bool m_swapped; + +public: + btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool swapped); + + btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) + : btActivatingCollisionAlgorithm(ci) {} + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } + + virtual ~btSphereTriangleCollisionAlgorithm(); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereTriangleCollisionAlgorithm)); + + return new(mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0,body1,m_swapped); + } + }; + +}; + +#endif //SPHERE_TRIANGLE_COLLISION_ALGORITHM_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btUnionFind.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btUnionFind.h new file mode 100644 index 0000000..2cce335 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionDispatch/btUnionFind.h @@ -0,0 +1,129 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef UNION_FIND_H +#define UNION_FIND_H + +#include "LinearMath/btAlignedObjectArray.h" + +#define USE_PATH_COMPRESSION 1 + +///see for discussion of static island optimizations by Vroonsh here: http://code.google.com/p/bullet/issues/detail?id=406 +#define STATIC_SIMULATION_ISLAND_OPTIMIZATION 1 + +struct btElement +{ + int m_id; + int m_sz; +}; + +///UnionFind calculates connected subsets +// Implements weighted Quick Union with path compression +// optimization: could use short ints instead of ints (halving memory, would limit the number of rigid bodies to 64k, sounds reasonable) +class btUnionFind + { + private: + btAlignedObjectArray m_elements; + + public: + + btUnionFind(); + ~btUnionFind(); + + + //this is a special operation, destroying the content of btUnionFind. + //it sorts the elements, based on island id, in order to make it easy to iterate over islands + void sortIslands(); + + void reset(int N); + + SIMD_FORCE_INLINE int getNumElements() const + { + return int(m_elements.size()); + } + SIMD_FORCE_INLINE bool isRoot(int x) const + { + return (x == m_elements[x].m_id); + } + + btElement& getElement(int index) + { + return m_elements[index]; + } + const btElement& getElement(int index) const + { + return m_elements[index]; + } + + void allocate(int N); + void Free(); + + + + + int find(int p, int q) + { + return (find(p) == find(q)); + } + + void unite(int p, int q) + { + int i = find(p), j = find(q); + if (i == j) + return; + +#ifndef USE_PATH_COMPRESSION + //weighted quick union, this keeps the 'trees' balanced, and keeps performance of unite O( log(n) ) + if (m_elements[i].m_sz < m_elements[j].m_sz) + { + m_elements[i].m_id = j; m_elements[j].m_sz += m_elements[i].m_sz; + } + else + { + m_elements[j].m_id = i; m_elements[i].m_sz += m_elements[j].m_sz; + } +#else + m_elements[i].m_id = j; m_elements[j].m_sz += m_elements[i].m_sz; +#endif //USE_PATH_COMPRESSION + } + + int find(int x) + { + //btAssert(x < m_N); + //btAssert(x >= 0); + + while (x != m_elements[x].m_id) + { + //not really a reason not to use path compression, and it flattens the trees/improves find performance dramatically + + #ifdef USE_PATH_COMPRESSION + const btElement* elementPtr = &m_elements[m_elements[x].m_id]; + m_elements[x].m_id = elementPtr->m_id; + x = elementPtr->m_id; + #else// + x = m_elements[x].m_id; + #endif + //btAssert(x < m_N); + //btAssert(x >= 0); + + } + return x; + } + + + }; + + +#endif //UNION_FIND_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp new file mode 100644 index 0000000..ecce028 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp @@ -0,0 +1,42 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btBox2dShape.h" + + +//{ + + +void btBox2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); +} + + +void btBox2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + //btScalar margin = btScalar(0.); + btVector3 halfExtents = getHalfExtentsWithMargin(); + + btScalar lx=btScalar(2.)*(halfExtents.x()); + btScalar ly=btScalar(2.)*(halfExtents.y()); + btScalar lz=btScalar(2.)*(halfExtents.z()); + + inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + ly*ly)); + +} + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBox2dShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBox2dShape.h new file mode 100644 index 0000000..fc03206 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBox2dShape.h @@ -0,0 +1,363 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef OBB_BOX_2D_SHAPE_H +#define OBB_BOX_2D_SHAPE_H + +#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btMinMax.h" + +///The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space. +class btBox2dShape: public btPolyhedralConvexShape +{ + + //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead + + btVector3 m_centroid; + btVector3 m_vertices[4]; + btVector3 m_normals[4]; + +public: + + btVector3 getHalfExtentsWithMargin() const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + btVector3 margin(getMargin(),getMargin(),getMargin()); + halfExtents += margin; + return halfExtents; + } + + const btVector3& getHalfExtentsWithoutMargin() const + { + return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included + } + + + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + btVector3 margin(getMargin(),getMargin(),getMargin()); + halfExtents += margin; + + return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), + btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), + btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); + } + + SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const + { + const btVector3& halfExtents = getHalfExtentsWithoutMargin(); + + return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), + btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), + btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); + } + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const + { + const btVector3& halfExtents = getHalfExtentsWithoutMargin(); + + for (int i=0;i>1)) - halfExtents.y() * ((i&2)>>1), + halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2)); + } + + + virtual void getPlaneEquation(btVector4& plane,int i) const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + + switch (i) + { + case 0: + plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x()); + break; + case 1: + plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x()); + break; + case 2: + plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y()); + break; + case 3: + plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y()); + break; + case 4: + plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z()); + break; + case 5: + plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z()); + break; + default: + btAssert(0); + } + } + + + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const + //virtual void getEdge(int i,Edge& edge) const + { + int edgeVert0 = 0; + int edgeVert1 = 0; + + switch (i) + { + case 0: + edgeVert0 = 0; + edgeVert1 = 1; + break; + case 1: + edgeVert0 = 0; + edgeVert1 = 2; + break; + case 2: + edgeVert0 = 1; + edgeVert1 = 3; + + break; + case 3: + edgeVert0 = 2; + edgeVert1 = 3; + break; + case 4: + edgeVert0 = 0; + edgeVert1 = 4; + break; + case 5: + edgeVert0 = 1; + edgeVert1 = 5; + + break; + case 6: + edgeVert0 = 2; + edgeVert1 = 6; + break; + case 7: + edgeVert0 = 3; + edgeVert1 = 7; + break; + case 8: + edgeVert0 = 4; + edgeVert1 = 5; + break; + case 9: + edgeVert0 = 4; + edgeVert1 = 6; + break; + case 10: + edgeVert0 = 5; + edgeVert1 = 7; + break; + case 11: + edgeVert0 = 6; + edgeVert1 = 7; + break; + default: + btAssert(0); + + } + + getVertex(edgeVert0,pa ); + getVertex(edgeVert1,pb ); + } + + + + + + virtual bool isInside(const btVector3& pt,btScalar tolerance) const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + + //btScalar minDist = 2*tolerance; + + bool result = (pt.x() <= (halfExtents.x()+tolerance)) && + (pt.x() >= (-halfExtents.x()-tolerance)) && + (pt.y() <= (halfExtents.y()+tolerance)) && + (pt.y() >= (-halfExtents.y()-tolerance)) && + (pt.z() <= (halfExtents.z()+tolerance)) && + (pt.z() >= (-halfExtents.z()-tolerance)); + + return result; + } + + + //debugging + virtual const char* getName()const + { + return "Box2d"; + } + + virtual int getNumPreferredPenetrationDirections() const + { + return 6; + } + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const + { + switch (index) + { + case 0: + penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.)); + break; + case 1: + penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.)); + break; + case 2: + penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.)); + break; + case 3: + penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.)); + break; + case 4: + penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.)); + break; + case 5: + penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.)); + break; + default: + btAssert(0); + } + } + +}; + +#endif //OBB_BOX_2D_SHAPE_H + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp new file mode 100644 index 0000000..c6644ef --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp @@ -0,0 +1,41 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ +#include "btBoxShape.h" + + +//{ + + +void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); +} + + +void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + //btScalar margin = btScalar(0.); + btVector3 halfExtents = getHalfExtentsWithMargin(); + + btScalar lx=btScalar(2.)*(halfExtents.x()); + btScalar ly=btScalar(2.)*(halfExtents.y()); + btScalar lz=btScalar(2.)*(halfExtents.z()); + + inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + ly*ly)); + +} + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBoxShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBoxShape.h new file mode 100644 index 0000000..b405efc --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBoxShape.h @@ -0,0 +1,318 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef OBB_BOX_MINKOWSKI_H +#define OBB_BOX_MINKOWSKI_H + +#include "btPolyhedralConvexShape.h" +#include "btCollisionMargin.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btMinMax.h" + +///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space. +class btBoxShape: public btPolyhedralConvexShape +{ + + //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead + + +public: + + btVector3 getHalfExtentsWithMargin() const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + btVector3 margin(getMargin(),getMargin(),getMargin()); + halfExtents += margin; + return halfExtents; + } + + const btVector3& getHalfExtentsWithoutMargin() const + { + return m_implicitShapeDimensions;//scaling is included, margin is not + } + + + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + btVector3 margin(getMargin(),getMargin(),getMargin()); + halfExtents += margin; + + return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), + btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), + btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); + } + + SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const + { + const btVector3& halfExtents = getHalfExtentsWithoutMargin(); + + return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), + btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), + btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); + } + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const + { + const btVector3& halfExtents = getHalfExtentsWithoutMargin(); + + for (int i=0;i>1)) - halfExtents.y() * ((i&2)>>1), + halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2)); + } + + + virtual void getPlaneEquation(btVector4& plane,int i) const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + + switch (i) + { + case 0: + plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x()); + break; + case 1: + plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x()); + break; + case 2: + plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y()); + break; + case 3: + plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y()); + break; + case 4: + plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z()); + break; + case 5: + plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z()); + break; + default: + btAssert(0); + } + } + + + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const + //virtual void getEdge(int i,Edge& edge) const + { + int edgeVert0 = 0; + int edgeVert1 = 0; + + switch (i) + { + case 0: + edgeVert0 = 0; + edgeVert1 = 1; + break; + case 1: + edgeVert0 = 0; + edgeVert1 = 2; + break; + case 2: + edgeVert0 = 1; + edgeVert1 = 3; + + break; + case 3: + edgeVert0 = 2; + edgeVert1 = 3; + break; + case 4: + edgeVert0 = 0; + edgeVert1 = 4; + break; + case 5: + edgeVert0 = 1; + edgeVert1 = 5; + + break; + case 6: + edgeVert0 = 2; + edgeVert1 = 6; + break; + case 7: + edgeVert0 = 3; + edgeVert1 = 7; + break; + case 8: + edgeVert0 = 4; + edgeVert1 = 5; + break; + case 9: + edgeVert0 = 4; + edgeVert1 = 6; + break; + case 10: + edgeVert0 = 5; + edgeVert1 = 7; + break; + case 11: + edgeVert0 = 6; + edgeVert1 = 7; + break; + default: + btAssert(0); + + } + + getVertex(edgeVert0,pa ); + getVertex(edgeVert1,pb ); + } + + + + + + virtual bool isInside(const btVector3& pt,btScalar tolerance) const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + + //btScalar minDist = 2*tolerance; + + bool result = (pt.x() <= (halfExtents.x()+tolerance)) && + (pt.x() >= (-halfExtents.x()-tolerance)) && + (pt.y() <= (halfExtents.y()+tolerance)) && + (pt.y() >= (-halfExtents.y()-tolerance)) && + (pt.z() <= (halfExtents.z()+tolerance)) && + (pt.z() >= (-halfExtents.z()-tolerance)); + + return result; + } + + + //debugging + virtual const char* getName()const + { + return "Box"; + } + + virtual int getNumPreferredPenetrationDirections() const + { + return 6; + } + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const + { + switch (index) + { + case 0: + penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.)); + break; + case 1: + penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.)); + break; + case 2: + penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.)); + break; + case 3: + penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.)); + break; + case 4: + penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.)); + break; + case 5: + penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.)); + break; + default: + btAssert(0); + } + } + +}; + + +#endif //OBB_BOX_MINKOWSKI_H + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp new file mode 100644 index 0000000..b71ee03 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp @@ -0,0 +1,466 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +//#define DISABLE_BVH + +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btOptimizedBvh.h" +#include "LinearMath/btSerializer.h" + +///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization. +///Uses an interface to access the triangles to allow for sharing graphics/physics triangles. +btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh) +:btTriangleMeshShape(meshInterface), +m_bvh(0), +m_triangleInfoMap(0), +m_useQuantizedAabbCompression(useQuantizedAabbCompression), +m_ownsBvh(false) +{ + m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE; + //construct bvh from meshInterface +#ifndef DISABLE_BVH + + if (buildBvh) + { + buildOptimizedBvh(); + } + +#endif //DISABLE_BVH + +} + +btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh) +:btTriangleMeshShape(meshInterface), +m_bvh(0), +m_triangleInfoMap(0), +m_useQuantizedAabbCompression(useQuantizedAabbCompression), +m_ownsBvh(false) +{ + m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE; + //construct bvh from meshInterface +#ifndef DISABLE_BVH + + if (buildBvh) + { + void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16); + m_bvh = new (mem) btOptimizedBvh(); + + m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax); + m_ownsBvh = true; + } + +#endif //DISABLE_BVH + +} + +void btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax) +{ + m_bvh->refitPartial( m_meshInterface,aabbMin,aabbMax ); + + m_localAabbMin.setMin(aabbMin); + m_localAabbMax.setMax(aabbMax); +} + + +void btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin,const btVector3& aabbMax) +{ + m_bvh->refit( m_meshInterface, aabbMin,aabbMax ); + + recalcLocalAabb(); +} + +btBvhTriangleMeshShape::~btBvhTriangleMeshShape() +{ + if (m_ownsBvh) + { + m_bvh->~btOptimizedBvh(); + btAlignedFree(m_bvh); + } +} + +void btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget) +{ + struct MyNodeOverlapCallback : public btNodeOverlapCallback + { + btStridingMeshInterface* m_meshInterface; + btTriangleCallback* m_callback; + + MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface) + :m_meshInterface(meshInterface), + m_callback(callback) + { + } + + virtual void processNode(int nodeSubPart, int nodeTriangleIndex) + { + btVector3 m_triangle[3]; + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase, + numverts, + type, + stride, + &indexbase, + indexstride, + numfaces, + indicestype, + nodeSubPart); + + unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride); + btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT); + + const btVector3& meshScaling = m_meshInterface->getScaling(); + for (int j=2;j>=0;j--) + { + int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; + + if (type == PHY_FLOAT) + { + float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ()); + } + else + { + double* graphicsbase = (double*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ()); + } + } + + /* Perform ray vs. triangle collision here */ + m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex); + m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart); + } + }; + + MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface); + + m_bvh->reportRayOverlappingNodex(&myNodeCallback,raySource,rayTarget); +} + +void btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax) +{ + struct MyNodeOverlapCallback : public btNodeOverlapCallback + { + btStridingMeshInterface* m_meshInterface; + btTriangleCallback* m_callback; + + MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface) + :m_meshInterface(meshInterface), + m_callback(callback) + { + } + + virtual void processNode(int nodeSubPart, int nodeTriangleIndex) + { + btVector3 m_triangle[3]; + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase, + numverts, + type, + stride, + &indexbase, + indexstride, + numfaces, + indicestype, + nodeSubPart); + + unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride); + btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT); + + const btVector3& meshScaling = m_meshInterface->getScaling(); + for (int j=2;j>=0;j--) + { + int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; + + if (type == PHY_FLOAT) + { + float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ()); + } + else + { + double* graphicsbase = (double*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ()); + } + } + + /* Perform ray vs. triangle collision here */ + m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex); + m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart); + } + }; + + MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface); + + m_bvh->reportBoxCastOverlappingNodex (&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax); +} + +//perform bvh tree traversal and report overlapping triangles to 'callback' +void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + +#ifdef DISABLE_BVH + //brute force traverse all triangles + btTriangleMeshShape::processAllTriangles(callback,aabbMin,aabbMax); +#else + + //first get all the nodes + + + struct MyNodeOverlapCallback : public btNodeOverlapCallback + { + btStridingMeshInterface* m_meshInterface; + btTriangleCallback* m_callback; + btVector3 m_triangle[3]; + + + MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface) + :m_meshInterface(meshInterface), + m_callback(callback) + { + } + + virtual void processNode(int nodeSubPart, int nodeTriangleIndex) + { + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase, + numverts, + type, + stride, + &indexbase, + indexstride, + numfaces, + indicestype, + nodeSubPart); + + unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride); + btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT); + + const btVector3& meshScaling = m_meshInterface->getScaling(); + for (int j=2;j>=0;j--) + { + + int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; + + +#ifdef DEBUG_TRIANGLE_MESH + printf("%d ,",graphicsindex); +#endif //DEBUG_TRIANGLE_MESH + if (type == PHY_FLOAT) + { + float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3( + graphicsbase[0]*meshScaling.getX(), + graphicsbase[1]*meshScaling.getY(), + graphicsbase[2]*meshScaling.getZ()); + } + else + { + double* graphicsbase = (double*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3( + btScalar(graphicsbase[0])*meshScaling.getX(), + btScalar(graphicsbase[1])*meshScaling.getY(), + btScalar(graphicsbase[2])*meshScaling.getZ()); + } +#ifdef DEBUG_TRIANGLE_MESH + printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z()); +#endif //DEBUG_TRIANGLE_MESH + } + + m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex); + m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart); + } + + }; + + MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface); + + m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax); + + +#endif//DISABLE_BVH + + +} + +void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling) +{ + if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON) + { + btTriangleMeshShape::setLocalScaling(scaling); + buildOptimizedBvh(); + } +} + +void btBvhTriangleMeshShape::buildOptimizedBvh() +{ + if (m_ownsBvh) + { + m_bvh->~btOptimizedBvh(); + btAlignedFree(m_bvh); + } + ///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work + void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16); + m_bvh = new(mem) btOptimizedBvh(); + //rebuild the bvh... + m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax); + m_ownsBvh = true; +} + +void btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& scaling) +{ + btAssert(!m_bvh); + btAssert(!m_ownsBvh); + + m_bvh = bvh; + m_ownsBvh = false; + // update the scaling without rebuilding the bvh + if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON) + { + btTriangleMeshShape::setLocalScaling(scaling); + } +} + + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btTriangleMeshShapeData* trimeshData = (btTriangleMeshShapeData*) dataBuffer; + + btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer); + + m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer); + + trimeshData->m_collisionMargin = float(m_collisionMargin); + + + + if (m_bvh && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_BVH)) + { + void* chunk = serializer->findPointer(m_bvh); + if (chunk) + { +#ifdef BT_USE_DOUBLE_PRECISION + trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)chunk; + trimeshData->m_quantizedFloatBvh = 0; +#else + trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)chunk; + trimeshData->m_quantizedDoubleBvh= 0; +#endif //BT_USE_DOUBLE_PRECISION + } else + { + +#ifdef BT_USE_DOUBLE_PRECISION + trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh); + trimeshData->m_quantizedFloatBvh = 0; +#else + trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh); + trimeshData->m_quantizedDoubleBvh= 0; +#endif //BT_USE_DOUBLE_PRECISION + + int sz = m_bvh->calculateSerializeBufferSizeNew(); + btChunk* chunk = serializer->allocate(sz,1); + const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,m_bvh); + } + } else + { + trimeshData->m_quantizedFloatBvh = 0; + trimeshData->m_quantizedDoubleBvh = 0; + } + + + + if (m_triangleInfoMap && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_TRIANGLEINFOMAP)) + { + void* chunk = serializer->findPointer(m_triangleInfoMap); + if (chunk) + { + trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)chunk; + } else + { + trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)serializer->getUniquePointer(m_triangleInfoMap); + int sz = m_triangleInfoMap->calculateSerializeBufferSize(); + btChunk* chunk = serializer->allocate(sz,1); + const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,m_triangleInfoMap); + } + } else + { + trimeshData->m_triangleInfoMap = 0; + } + + return "btTriangleMeshShapeData"; +} + +void btBvhTriangleMeshShape::serializeSingleBvh(btSerializer* serializer) const +{ + if (m_bvh) + { + int len = m_bvh->calculateSerializeBufferSizeNew(); //make sure not to use calculateSerializeBufferSize because it is used for in-place + btChunk* chunk = serializer->allocate(len,1); + const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,(void*)m_bvh); + } +} + +void btBvhTriangleMeshShape::serializeSingleTriangleInfoMap(btSerializer* serializer) const +{ + if (m_triangleInfoMap) + { + int len = m_triangleInfoMap->calculateSerializeBufferSize(); + btChunk* chunk = serializer->allocate(len,1); + const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,(void*)m_triangleInfoMap); + } +} + + + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h new file mode 100644 index 0000000..e4d4386 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h @@ -0,0 +1,139 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef BVH_TRIANGLE_MESH_SHAPE_H +#define BVH_TRIANGLE_MESH_SHAPE_H + +#include "btTriangleMeshShape.h" +#include "btOptimizedBvh.h" +#include "LinearMath/btAlignedAllocator.h" +#include "btTriangleInfoMap.h" + +///The btBvhTriangleMeshShape is a static-triangle mesh shape with several optimizations, such as bounding volume hierarchy and cache friendly traversal for PlayStation 3 Cell SPU. It is recommended to enable useQuantizedAabbCompression for better memory usage. +///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method. +///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk. +///See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example. +ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape +{ + + btOptimizedBvh* m_bvh; + btTriangleInfoMap* m_triangleInfoMap; + + bool m_useQuantizedAabbCompression; + bool m_ownsBvh; + bool m_pad[11];////need padding due to alignment + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btBvhTriangleMeshShape() : btTriangleMeshShape(0),m_bvh(0),m_triangleInfoMap(0),m_ownsBvh(false) {m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;}; + btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true); + + ///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb + btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true); + + virtual ~btBvhTriangleMeshShape(); + + bool getOwnsBvh () const + { + return m_ownsBvh; + } + + + + void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget); + void performConvexcast (btTriangleCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax); + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + void refitTree(const btVector3& aabbMin,const btVector3& aabbMax); + + ///for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks + void partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax); + + //debugging + virtual const char* getName()const {return "BVHTRIANGLEMESH";} + + + virtual void setLocalScaling(const btVector3& scaling); + + btOptimizedBvh* getOptimizedBvh() + { + return m_bvh; + } + + void setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& localScaling=btVector3(1,1,1)); + + void buildOptimizedBvh(); + + bool usesQuantizedAabbCompression() const + { + return m_useQuantizedAabbCompression; + } + + void setTriangleInfoMap(btTriangleInfoMap* triangleInfoMap) + { + m_triangleInfoMap = triangleInfoMap; + } + + const btTriangleInfoMap* getTriangleInfoMap() const + { + return m_triangleInfoMap; + } + + btTriangleInfoMap* getTriangleInfoMap() + { + return m_triangleInfoMap; + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + virtual void serializeSingleBvh(btSerializer* serializer) const; + + virtual void serializeSingleTriangleInfoMap(btSerializer* serializer) const; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btTriangleMeshShapeData +{ + btCollisionShapeData m_collisionShapeData; + + btStridingMeshInterfaceData m_meshInterface; + + btQuantizedBvhFloatData *m_quantizedFloatBvh; + btQuantizedBvhDoubleData *m_quantizedDoubleBvh; + + btTriangleInfoMapData *m_triangleInfoMap; + + float m_collisionMargin; + + char m_pad3[4]; + +}; + + +SIMD_FORCE_INLINE int btBvhTriangleMeshShape::calculateSerializeBufferSize() const +{ + return sizeof(btTriangleMeshShapeData); +} + + + +#endif //BVH_TRIANGLE_MESH_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp new file mode 100644 index 0000000..2faa11d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp @@ -0,0 +1,171 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + + +#include "btCapsuleShape.h" + +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" +#include "LinearMath/btQuaternion.h" + +btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape () +{ + m_shapeType = CAPSULE_SHAPE_PROXYTYPE; + m_upAxis = 1; + m_implicitShapeDimensions.setValue(radius,0.5f*height,radius); +} + + + btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const +{ + + btVector3 supVec(0,0,0); + + btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); + + btVector3 vec = vec0; + btScalar lenSqr = vec.length2(); + if (lenSqr < btScalar(0.0001)) + { + vec.setValue(1,0,0); + } else + { + btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); + vec *= rlen; + } + + btVector3 vtx; + btScalar newDot; + + btScalar radius = getRadius(); + + + { + btVector3 pos(0,0,0); + pos[getUpAxis()] = getHalfHeight(); + + vtx = pos +vec*m_localScaling*(radius) - vec * getMargin(); + newDot = vec.dot(vtx); + if (newDot > maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + { + btVector3 pos(0,0,0); + pos[getUpAxis()] = -getHalfHeight(); + + vtx = pos +vec*m_localScaling*(radius) - vec * getMargin(); + newDot = vec.dot(vtx); + if (newDot > maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + + return supVec; + +} + + void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + + + btScalar radius = getRadius(); + + for (int j=0;j maxDot) + { + maxDot = newDot; + supportVerticesOut[j] = vtx; + } + } + { + btVector3 pos(0,0,0); + pos[getUpAxis()] = -getHalfHeight(); + vtx = pos +vec*m_localScaling*(radius) - vec * getMargin(); + newDot = vec.dot(vtx); + if (newDot > maxDot) + { + maxDot = newDot; + supportVerticesOut[j] = vtx; + } + } + + } +} + + +void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + //as an approximation, take the inertia of the box that bounds the spheres + + btTransform ident; + ident.setIdentity(); + + + btScalar radius = getRadius(); + + btVector3 halfExtents(radius,radius,radius); + halfExtents[getUpAxis()]+=getHalfHeight(); + + btScalar margin = CONVEX_DISTANCE_MARGIN; + + btScalar lx=btScalar(2.)*(halfExtents[0]+margin); + btScalar ly=btScalar(2.)*(halfExtents[1]+margin); + btScalar lz=btScalar(2.)*(halfExtents[2]+margin); + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(.08333333); + + inertia[0] = scaledmass * (y2+z2); + inertia[1] = scaledmass * (x2+z2); + inertia[2] = scaledmass * (x2+y2); + +} + +btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height) +{ + m_upAxis = 0; + m_implicitShapeDimensions.setValue(0.5f*height, radius,radius); +} + + + + + + +btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height) +{ + m_upAxis = 2; + m_implicitShapeDimensions.setValue(radius,radius,0.5f*height); +} + + + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h new file mode 100644 index 0000000..ab763ab --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h @@ -0,0 +1,173 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef BT_CAPSULE_SHAPE_H +#define BT_CAPSULE_SHAPE_H + +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + + +///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis. +///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. +///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres. +class btCapsuleShape : public btConvexInternalShape +{ +protected: + int m_upAxis; + +protected: + ///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses. + btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;}; + +public: + btCapsuleShape(btScalar radius,btScalar height); + + ///CollisionShape Interface + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + /// btConvexShape Interface + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + virtual void setMargin(btScalar collisionMargin) + { + //correct the m_implicitShapeDimensions for the margin + btVector3 oldMargin(getMargin(),getMargin(),getMargin()); + btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; + + btConvexInternalShape::setMargin(collisionMargin); + btVector3 newMargin(getMargin(),getMargin(),getMargin()); + m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; + + } + + virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const + { + btVector3 halfExtents(getRadius(),getRadius(),getRadius()); + halfExtents[m_upAxis] = getRadius() + getHalfHeight(); + halfExtents += btVector3(getMargin(),getMargin(),getMargin()); + 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)); + + aabbMin = center - extent; + aabbMax = center + extent; + } + + virtual const char* getName()const + { + return "CapsuleShape"; + } + + int getUpAxis() const + { + return m_upAxis; + } + + btScalar getRadius() const + { + int radiusAxis = (m_upAxis+2)%3; + return m_implicitShapeDimensions[radiusAxis]; + } + + btScalar getHalfHeight() const + { + return m_implicitShapeDimensions[m_upAxis]; + } + + virtual void setLocalScaling(const btVector3& scaling) + { + btVector3 oldMargin(getMargin(),getMargin(),getMargin()); + btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; + btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; + + btConvexInternalShape::setLocalScaling(scaling); + + m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; + + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///btCapsuleShapeX represents a capsule around the Z axis +///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. +class btCapsuleShapeX : public btCapsuleShape +{ +public: + + btCapsuleShapeX(btScalar radius,btScalar height); + + //debugging + virtual const char* getName()const + { + return "CapsuleX"; + } + + + +}; + +///btCapsuleShapeZ represents a capsule around the Z axis +///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. +class btCapsuleShapeZ : public btCapsuleShape +{ +public: + btCapsuleShapeZ(btScalar radius,btScalar height); + + //debugging + virtual const char* getName()const + { + return "CapsuleZ"; + } + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCapsuleShapeData +{ + btConvexInternalShapeData m_convexInternalShapeData; + + int m_upAxis; + + char m_padding[4]; +}; + +SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const +{ + return sizeof(btCapsuleShapeData); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer; + + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); + + shapeData->m_upAxis = m_upAxis; + + return "btCapsuleShapeData"; +} + +#endif //BT_CAPSULE_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h new file mode 100644 index 0000000..18fd026 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h @@ -0,0 +1,26 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef COLLISION_MARGIN_H +#define COLLISION_MARGIN_H + +//used by Gjk and some other algorithms + +#define CONVEX_DISTANCE_MARGIN btScalar(0.04)// btScalar(0.1)//;//btScalar(0.01) + + + +#endif //COLLISION_MARGIN_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp new file mode 100644 index 0000000..39ee21c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp @@ -0,0 +1,119 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "LinearMath/btSerializer.h" + +/* + Make sure this dummy function never changes so that it + can be used by probes that are checking whether the + library is actually installed. +*/ +extern "C" +{ +void btBulletCollisionProbe (); + +void btBulletCollisionProbe () {} +} + + + +void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const +{ + btTransform tr; + tr.setIdentity(); + btVector3 aabbMin,aabbMax; + + getAabb(tr,aabbMin,aabbMax); + + radius = (aabbMax-aabbMin).length()*btScalar(0.5); + center = (aabbMin+aabbMax)*btScalar(0.5); +} + + +btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const +{ + return getAngularMotionDisc() * defaultContactThreshold; +} + +btScalar btCollisionShape::getAngularMotionDisc() const +{ + ///@todo cache this value, to improve performance + btVector3 center; + btScalar disc; + getBoundingSphere(center,disc); + disc += (center).length(); + return disc; +} + +void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const +{ + //start with static aabb + getAabb(curTrans,temporalAabbMin,temporalAabbMax); + + btScalar temporalAabbMaxx = temporalAabbMax.getX(); + btScalar temporalAabbMaxy = temporalAabbMax.getY(); + btScalar temporalAabbMaxz = temporalAabbMax.getZ(); + btScalar temporalAabbMinx = temporalAabbMin.getX(); + btScalar temporalAabbMiny = temporalAabbMin.getY(); + btScalar temporalAabbMinz = temporalAabbMin.getZ(); + + // add linear motion + btVector3 linMotion = linvel*timeStep; + ///@todo: simd would have a vector max/min operation, instead of per-element access + if (linMotion.x() > btScalar(0.)) + temporalAabbMaxx += linMotion.x(); + else + temporalAabbMinx += linMotion.x(); + if (linMotion.y() > btScalar(0.)) + temporalAabbMaxy += linMotion.y(); + else + temporalAabbMiny += linMotion.y(); + if (linMotion.z() > btScalar(0.)) + temporalAabbMaxz += linMotion.z(); + else + temporalAabbMinz += linMotion.z(); + + //add conservative angular motion + btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep; + btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion); + temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz); + temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz); + + temporalAabbMin -= angularMotion3d; + temporalAabbMax += angularMotion3d; +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btCollisionShapeData* shapeData = (btCollisionShapeData*) dataBuffer; + char* name = (char*) serializer->findNameForPointer(this); + shapeData->m_name = (char*)serializer->getUniquePointer(name); + if (shapeData->m_name) + { + serializer->serializeName(name); + } + shapeData->m_shapeType = m_shapeType; + //shapeData->m_padding//?? + return "btCollisionShapeData"; +} + +void btCollisionShape::serializeSingleShape(btSerializer* serializer) const +{ + int len = calculateSerializeBufferSize(); + btChunk* chunk = serializer->allocate(len,1); + const char* structType = serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this); +} \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCollisionShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCollisionShape.h new file mode 100644 index 0000000..f32bd73 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCollisionShape.h @@ -0,0 +1,150 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef COLLISION_SHAPE_H +#define COLLISION_SHAPE_H + +#include "LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btMatrix3x3.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types +class btSerializer; + + +///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects. +class btCollisionShape +{ +protected: + int m_shapeType; + void* m_userPointer; + +public: + + btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0) + { + } + + virtual ~btCollisionShape() + { + } + + ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0; + + virtual void getBoundingSphere(btVector3& center,btScalar& radius) const; + + ///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations. + virtual btScalar getAngularMotionDisc() const; + + virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const; + + + ///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep) + ///result is conservative + void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const; + + + + SIMD_FORCE_INLINE bool isPolyhedral() const + { + return btBroadphaseProxy::isPolyhedral(getShapeType()); + } + + SIMD_FORCE_INLINE bool isConvex2d() const + { + return btBroadphaseProxy::isConvex2d(getShapeType()); + } + + SIMD_FORCE_INLINE bool isConvex() const + { + return btBroadphaseProxy::isConvex(getShapeType()); + } + SIMD_FORCE_INLINE bool isNonMoving() const + { + return btBroadphaseProxy::isNonMoving(getShapeType()); + } + SIMD_FORCE_INLINE bool isConcave() const + { + return btBroadphaseProxy::isConcave(getShapeType()); + } + SIMD_FORCE_INLINE bool isCompound() const + { + return btBroadphaseProxy::isCompound(getShapeType()); + } + + SIMD_FORCE_INLINE bool isSoftBody() const + { + return btBroadphaseProxy::isSoftBody(getShapeType()); + } + + ///isInfinite is used to catch simulation error (aabb check) + SIMD_FORCE_INLINE bool isInfinite() const + { + return btBroadphaseProxy::isInfinite(getShapeType()); + } + +#ifndef __SPU__ + virtual void setLocalScaling(const btVector3& scaling) =0; + virtual const btVector3& getLocalScaling() const =0; + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0; + + +//debugging support + virtual const char* getName()const =0 ; +#endif //__SPU__ + + + int getShapeType() const { return m_shapeType; } + virtual void setMargin(btScalar margin) = 0; + virtual btScalar getMargin() const = 0; + + + ///optional user data pointer + void setUserPointer(void* userPtr) + { + m_userPointer = userPtr; + } + + void* getUserPointer() const + { + return m_userPointer; + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + virtual void serializeSingleShape(btSerializer* serializer) const; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCollisionShapeData +{ + char *m_name; + int m_shapeType; + char m_padding[4]; +}; + +SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const +{ + return sizeof(btCollisionShapeData); +} + + + +#endif //COLLISION_SHAPE_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp new file mode 100644 index 0000000..c4f3dff --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp @@ -0,0 +1,351 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btCompoundShape.h" +#include "btCollisionShape.h" +#include "BulletCollision/BroadphaseCollision/btDbvt.h" +#include "LinearMath/btSerializer.h" + +btCompoundShape::btCompoundShape(bool enableDynamicAabbTree) +: m_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)), +m_localAabbMax(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)), +m_dynamicAabbTree(0), +m_updateRevision(1), +m_collisionMargin(btScalar(0.)), +m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)) +{ + m_shapeType = COMPOUND_SHAPE_PROXYTYPE; + + if (enableDynamicAabbTree) + { + void* mem = btAlignedAlloc(sizeof(btDbvt),16); + m_dynamicAabbTree = new(mem) btDbvt(); + btAssert(mem==m_dynamicAabbTree); + } +} + + +btCompoundShape::~btCompoundShape() +{ + if (m_dynamicAabbTree) + { + m_dynamicAabbTree->~btDbvt(); + btAlignedFree(m_dynamicAabbTree); + } +} + +void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape) +{ + m_updateRevision++; + //m_childTransforms.push_back(localTransform); + //m_childShapes.push_back(shape); + btCompoundShapeChild child; + child.m_node = 0; + child.m_transform = localTransform; + child.m_childShape = shape; + child.m_childShapeType = shape->getShapeType(); + child.m_childMargin = shape->getMargin(); + + + //extend the local aabbMin/aabbMax + btVector3 localAabbMin,localAabbMax; + shape->getAabb(localTransform,localAabbMin,localAabbMax); + for (int i=0;i<3;i++) + { + if (m_localAabbMin[i] > localAabbMin[i]) + { + m_localAabbMin[i] = localAabbMin[i]; + } + if (m_localAabbMax[i] < localAabbMax[i]) + { + m_localAabbMax[i] = localAabbMax[i]; + } + + } + if (m_dynamicAabbTree) + { + const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); + int index = m_children.size(); + child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index); + } + + m_children.push_back(child); + +} + +void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform) +{ + m_children[childIndex].m_transform = newChildTransform; + + if (m_dynamicAabbTree) + { + ///update the dynamic aabb tree + btVector3 localAabbMin,localAabbMax; + m_children[childIndex].m_childShape->getAabb(newChildTransform,localAabbMin,localAabbMax); + ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); + //int index = m_children.size()-1; + m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds); + } + + recalculateLocalAabb(); +} + +void btCompoundShape::removeChildShapeByIndex(int childShapeIndex) +{ + m_updateRevision++; + btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size()); + if (m_dynamicAabbTree) + { + m_dynamicAabbTree->remove(m_children[childShapeIndex].m_node); + } + m_children.swap(childShapeIndex,m_children.size()-1); + if (m_dynamicAabbTree) + m_children[childShapeIndex].m_node->dataAsInt = childShapeIndex; + m_children.pop_back(); + +} + + + +void btCompoundShape::removeChildShape(btCollisionShape* shape) +{ + m_updateRevision++; + // Find the children containing the shape specified, and remove those children. + //note: there might be multiple children using the same shape! + for(int i = m_children.size()-1; i >= 0 ; i--) + { + if(m_children[i].m_childShape == shape) + { + removeChildShapeByIndex(i); + } + } + + + + recalculateLocalAabb(); +} + +void btCompoundShape::recalculateLocalAabb() +{ + // Recalculate the local aabb + // Brute force, it iterates over all the shapes left. + + m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + + //extend the local aabbMin/aabbMax + for (int j = 0; j < m_children.size(); j++) + { + btVector3 localAabbMin,localAabbMax; + m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax); + for (int i=0;i<3;i++) + { + if (m_localAabbMin[i] > localAabbMin[i]) + m_localAabbMin[i] = localAabbMin[i]; + if (m_localAabbMax[i] < localAabbMax[i]) + m_localAabbMax[i] = localAabbMax[i]; + } + } +} + +///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version +void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +{ + btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin); + btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin); + + //avoid an illegal AABB when there are no children + if (!m_children.size()) + { + localHalfExtents.setValue(0,0,0); + localCenter.setValue(0,0,0); + } + localHalfExtents += btVector3(getMargin(),getMargin(),getMargin()); + + + btMatrix3x3 abs_b = trans.getBasis().absolute(); + + btVector3 center = trans(localCenter); + + btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), + abs_b[1].dot(localHalfExtents), + abs_b[2].dot(localHalfExtents)); + aabbMin = center-extent; + aabbMax = center+extent; + +} + +void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + //approximation: take the inertia from the aabb for now + btTransform ident; + ident.setIdentity(); + btVector3 aabbMin,aabbMax; + getAabb(ident,aabbMin,aabbMax); + + btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5); + + btScalar lx=btScalar(2.)*(halfExtents.x()); + btScalar ly=btScalar(2.)*(halfExtents.y()); + btScalar lz=btScalar(2.)*(halfExtents.z()); + + inertia[0] = mass/(btScalar(12.0)) * (ly*ly + lz*lz); + inertia[1] = mass/(btScalar(12.0)) * (lx*lx + lz*lz); + inertia[2] = mass/(btScalar(12.0)) * (lx*lx + ly*ly); + +} + + + + +void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const +{ + int n = m_children.size(); + + btScalar totalMass = 0; + btVector3 center(0, 0, 0); + int k; + + for (k = 0; k < n; k++) + { + btAssert(masses[k]>0); + center += m_children[k].m_transform.getOrigin() * masses[k]; + totalMass += masses[k]; + } + + btAssert(totalMass>0); + + center /= totalMass; + principal.setOrigin(center); + + btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0); + for ( k = 0; k < n; k++) + { + btVector3 i; + m_children[k].m_childShape->calculateLocalInertia(masses[k], i); + + const btTransform& t = m_children[k].m_transform; + btVector3 o = t.getOrigin() - center; + + //compute inertia tensor in coordinate system of compound shape + btMatrix3x3 j = t.getBasis().transpose(); + j[0] *= i[0]; + j[1] *= i[1]; + j[2] *= i[2]; + j = t.getBasis() * j; + + //add inertia tensor + tensor[0] += j[0]; + tensor[1] += j[1]; + tensor[2] += j[2]; + + //compute inertia tensor of pointmass at o + btScalar o2 = o.length2(); + j[0].setValue(o2, 0, 0); + j[1].setValue(0, o2, 0); + j[2].setValue(0, 0, o2); + j[0] += o * -o.x(); + j[1] += o * -o.y(); + j[2] += o * -o.z(); + + //add inertia tensor of pointmass + tensor[0] += masses[k] * j[0]; + tensor[1] += masses[k] * j[1]; + tensor[2] += masses[k] * j[2]; + } + + tensor.diagonalize(principal.getBasis(), btScalar(0.00001), 20); + inertia.setValue(tensor[0][0], tensor[1][1], tensor[2][2]); +} + + + +void btCompoundShape::setLocalScaling(const btVector3& scaling) +{ + + for(int i = 0; i < m_children.size(); i++) + { + btTransform childTrans = getChildTransform(i); + btVector3 childScale = m_children[i].m_childShape->getLocalScaling(); +// childScale = childScale * (childTrans.getBasis() * scaling); + childScale = childScale * scaling / m_localScaling; + m_children[i].m_childShape->setLocalScaling(childScale); + childTrans.setOrigin((childTrans.getOrigin())*scaling); + updateChildTransform(i, childTrans); + recalculateLocalAabb(); + } + m_localScaling = scaling; +} + + +void btCompoundShape::createAabbTreeFromChildren() +{ + if ( !m_dynamicAabbTree ) + { + void* mem = btAlignedAlloc(sizeof(btDbvt),16); + m_dynamicAabbTree = new(mem) btDbvt(); + btAssert(mem==m_dynamicAabbTree); + + for ( int index = 0; index < m_children.size(); index++ ) + { + btCompoundShapeChild &child = m_children[index]; + + //extend the local aabbMin/aabbMax + btVector3 localAabbMin,localAabbMax; + child.m_childShape->getAabb(child.m_transform,localAabbMin,localAabbMax); + + const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); + child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index); + } + } +} + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + + btCompoundShapeData* shapeData = (btCompoundShapeData*) dataBuffer; + btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer); + + shapeData->m_collisionMargin = float(m_collisionMargin); + shapeData->m_numChildShapes = m_children.size(); + shapeData->m_childShapePtr = 0; + if (shapeData->m_numChildShapes) + { + btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData),shapeData->m_numChildShapes); + btCompoundShapeChildData* memPtr = (btCompoundShapeChildData*)chunk->m_oldPtr; + shapeData->m_childShapePtr = (btCompoundShapeChildData*)serializer->getUniquePointer(memPtr); + + for (int i=0;im_numChildShapes;i++,memPtr++) + { + memPtr->m_childMargin = float(m_children[i].m_childMargin); + memPtr->m_childShape = (btCollisionShapeData*)serializer->getUniquePointer(m_children[i].m_childShape); + //don't serialize shapes that already have been serialized + if (!serializer->findPointer(m_children[i].m_childShape)) + { + btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(),1); + const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr,serializer); + serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,m_children[i].m_childShape); + } + + memPtr->m_childShapeType = m_children[i].m_childShapeType; + m_children[i].m_transform.serializeFloat(memPtr->m_transform); + } + serializer->finalizeChunk(chunk,"btCompoundShapeChildData",BT_ARRAY_CODE,chunk->m_oldPtr); + } + return "btCompoundShapeData"; +} + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCompoundShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCompoundShape.h new file mode 100644 index 0000000..95fc5a0 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCompoundShape.h @@ -0,0 +1,208 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef COMPOUND_SHAPE_H +#define COMPOUND_SHAPE_H + +#include "btCollisionShape.h" + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" +#include "btCollisionMargin.h" +#include "LinearMath/btAlignedObjectArray.h" + +//class btOptimizedBvh; +struct btDbvt; + +ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btTransform m_transform; + btCollisionShape* m_childShape; + int m_childShapeType; + btScalar m_childMargin; + struct btDbvtNode* m_node; +}; + +SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2) +{ + return ( c1.m_transform == c2.m_transform && + c1.m_childShape == c2.m_childShape && + c1.m_childShapeType == c2.m_childShapeType && + c1.m_childMargin == c2.m_childMargin ); +} + +/// The btCompoundShape allows to store multiple other btCollisionShapes +/// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape. +/// It has an (optional) dynamic aabb tree to accelerate early rejection tests. +/// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25 +/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape) +ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape +{ + btAlignedObjectArray m_children; + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + + btDbvt* m_dynamicAabbTree; + + ///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated + int m_updateRevision; + + btScalar m_collisionMargin; + +protected: + btVector3 m_localScaling; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btCompoundShape(bool enableDynamicAabbTree = true); + + virtual ~btCompoundShape(); + + void addChildShape(const btTransform& localTransform,btCollisionShape* shape); + + /// Remove all children shapes that contain the specified shape + virtual void removeChildShape(btCollisionShape* shape); + + void removeChildShapeByIndex(int childShapeindex); + + + int getNumChildShapes() const + { + return int (m_children.size()); + } + + btCollisionShape* getChildShape(int index) + { + return m_children[index].m_childShape; + } + const btCollisionShape* getChildShape(int index) const + { + return m_children[index].m_childShape; + } + + btTransform& getChildTransform(int index) + { + return m_children[index].m_transform; + } + const btTransform& getChildTransform(int index) const + { + return m_children[index].m_transform; + } + + ///set a new transform for a child, and update internal data structures (local aabb and dynamic tree) + void updateChildTransform(int childIndex, const btTransform& newChildTransform); + + + btCompoundShapeChild* getChildList() + { + return &m_children[0]; + } + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + /** Re-calculate the local Aabb. Is called at the end of removeChildShapes. + Use this yourself if you modify the children or their transforms. */ + virtual void recalculateLocalAabb(); + + virtual void setLocalScaling(const btVector3& scaling); + + virtual const btVector3& getLocalScaling() const + { + return m_localScaling; + } + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual void setMargin(btScalar margin) + { + m_collisionMargin = margin; + } + virtual btScalar getMargin() const + { + return m_collisionMargin; + } + virtual const char* getName()const + { + return "Compound"; + } + + + btDbvt* getDynamicAabbTree() + { + return m_dynamicAabbTree; + } + + void createAabbTreeFromChildren(); + + ///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia + ///and the center of mass to the current coordinate system. "masses" points to an array of masses of the children. The resulting transform + ///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound + ///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform + ///of the collision object by the principal transform. + void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const; + + int getUpdateRevision() const + { + return m_updateRevision; + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCompoundShapeChildData +{ + btTransformFloatData m_transform; + btCollisionShapeData *m_childShape; + int m_childShapeType; + float m_childMargin; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCompoundShapeData +{ + btCollisionShapeData m_collisionShapeData; + + btCompoundShapeChildData *m_childShapePtr; + + int m_numChildShapes; + + float m_collisionMargin; + +}; + + +SIMD_FORCE_INLINE int btCompoundShape::calculateSerializeBufferSize() const +{ + return sizeof(btCompoundShapeData); +} + + + + + + + +#endif //COMPOUND_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp new file mode 100644 index 0000000..58ff84a --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp @@ -0,0 +1,27 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + + +#include "btConcaveShape.h" + +btConcaveShape::btConcaveShape() : m_collisionMargin(btScalar(0.)) +{ + +} + +btConcaveShape::~btConcaveShape() +{ + +} diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConcaveShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConcaveShape.h new file mode 100644 index 0000000..2a370a4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConcaveShape.h @@ -0,0 +1,60 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef CONCAVE_SHAPE_H +#define CONCAVE_SHAPE_H + +#include "btCollisionShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "btTriangleCallback.h" + +/// PHY_ScalarType enumerates possible scalar types. +/// See the btStridingMeshInterface or btHeightfieldTerrainShape for its use +typedef enum PHY_ScalarType { + PHY_FLOAT, + PHY_DOUBLE, + PHY_INTEGER, + PHY_SHORT, + PHY_FIXEDPOINT88, + PHY_UCHAR +} PHY_ScalarType; + +///The btConcaveShape class provides an interface for non-moving (static) concave shapes. +///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape. +class btConcaveShape : public btCollisionShape +{ +protected: + btScalar m_collisionMargin; + +public: + btConcaveShape(); + + virtual ~btConcaveShape(); + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const = 0; + + virtual btScalar getMargin() const { + return m_collisionMargin; + } + virtual void setMargin(btScalar collisionMargin) + { + m_collisionMargin = collisionMargin; + } + + + +}; + +#endif //CONCAVE_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConeShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConeShape.cpp new file mode 100644 index 0000000..dfa3f94 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConeShape.cpp @@ -0,0 +1,133 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btConeShape.h" + + + +btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (), +m_radius (radius), +m_height(height) +{ + m_shapeType = CONE_SHAPE_PROXYTYPE; + setConeUpIndex(1); + btVector3 halfExtents; + m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height)); +} + +btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height): +btConeShape(radius,height) +{ + setConeUpIndex(2); +} + +btConeShapeX::btConeShapeX (btScalar radius,btScalar height): +btConeShape(radius,height) +{ + setConeUpIndex(0); +} + +///choose upAxis index +void btConeShape::setConeUpIndex(int upIndex) +{ + switch (upIndex) + { + case 0: + m_coneIndices[0] = 1; + m_coneIndices[1] = 0; + m_coneIndices[2] = 2; + break; + case 1: + m_coneIndices[0] = 0; + m_coneIndices[1] = 1; + m_coneIndices[2] = 2; + break; + case 2: + m_coneIndices[0] = 0; + m_coneIndices[1] = 2; + m_coneIndices[2] = 1; + break; + default: + btAssert(0); + }; +} + +btVector3 btConeShape::coneLocalSupport(const btVector3& v) const +{ + + btScalar halfHeight = m_height * btScalar(0.5); + + if (v[m_coneIndices[1]] > v.length() * m_sinAngle) + { + btVector3 tmp; + + tmp[m_coneIndices[0]] = btScalar(0.); + tmp[m_coneIndices[1]] = halfHeight; + tmp[m_coneIndices[2]] = btScalar(0.); + return tmp; + } + else { + btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]); + if (s > SIMD_EPSILON) { + btScalar d = m_radius / s; + btVector3 tmp; + tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d; + tmp[m_coneIndices[1]] = -halfHeight; + tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d; + return tmp; + } + else { + btVector3 tmp; + tmp[m_coneIndices[0]] = btScalar(0.); + tmp[m_coneIndices[1]] = -halfHeight; + tmp[m_coneIndices[2]] = btScalar(0.); + return tmp; + } + } + +} + +btVector3 btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const +{ + return coneLocalSupport(vec); +} + +void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + for (int i=0;ilocalGetSupportingVertexWithoutMargin(vec); +} + +void btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors); +} + + +btVector3 btConvex2dShape::localGetSupportingVertex(const btVector3& vec)const +{ + return m_childConvexShape->localGetSupportingVertex(vec); +} + + +void btConvex2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + ///this linear upscaling is not realistic, but we don't deal with large mass ratios... + m_childConvexShape->calculateLocalInertia(mass,inertia); +} + + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version +void btConvex2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + m_childConvexShape->getAabb(t,aabbMin,aabbMax); +} + +void btConvex2dShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax); +} + +void btConvex2dShape::setLocalScaling(const btVector3& scaling) +{ + m_childConvexShape->setLocalScaling(scaling); +} + +const btVector3& btConvex2dShape::getLocalScaling() const +{ + return m_childConvexShape->getLocalScaling(); +} + +void btConvex2dShape::setMargin(btScalar margin) +{ + m_childConvexShape->setMargin(margin); +} +btScalar btConvex2dShape::getMargin() const +{ + return m_childConvexShape->getMargin(); +} + +int btConvex2dShape::getNumPreferredPenetrationDirections() const +{ + return m_childConvexShape->getNumPreferredPenetrationDirections(); +} + +void btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const +{ + m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector); +} diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h new file mode 100644 index 0000000..58166c8 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h @@ -0,0 +1,80 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef BT_CONVEX_2D_SHAPE_H +#define BT_CONVEX_2D_SHAPE_H + +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + +///The btConvex2dShape allows to use arbitrary convex shapes are 2d convex shapes, with the Z component assumed to be 0. +///For 2d boxes, the btBox2dShape is recommended. +class btConvex2dShape : public btConvexShape +{ + btConvexShape* m_childConvexShape; + + public: + + btConvex2dShape( btConvexShape* convexChildShape); + + virtual ~btConvex2dShape(); + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + btConvexShape* getChildShape() + { + return m_childConvexShape; + } + + const btConvexShape* getChildShape() const + { + return m_childConvexShape; + } + + virtual const char* getName()const + { + return "Convex2dShape"; + } + + + + /////////////////////////// + + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void setLocalScaling(const btVector3& scaling) ; + virtual const btVector3& getLocalScaling() const ; + + virtual void setMargin(btScalar margin); + virtual btScalar getMargin() const; + + virtual int getNumPreferredPenetrationDirections() const; + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const; + + +}; + +#endif //BT_CONVEX_2D_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp new file mode 100644 index 0000000..69bc67c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp @@ -0,0 +1,211 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btConvexHullShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btQuaternion.h" +#include "LinearMath/btSerializer.h" + +btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape () +{ + m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE; + m_unscaledPoints.resize(numPoints); + + unsigned char* pointsAddress = (unsigned char*)points; + + for (int i=0;i maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + return supVec; +} + +void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + btScalar newDot; + //use 'w' component of supportVerticesOut? + { + for (int i=0;i supportVerticesOut[j][3]) + { + //WARNING: don't swap next lines, the w component would get overwritten! + supportVerticesOut[j] = vtx; + supportVerticesOut[j][3] = newDot; + } + } + } + + + +} + + + +btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const +{ + btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); + + if ( getMargin()!=btScalar(0.) ) + { + btVector3 vecnorm = vec; + if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + vecnorm.normalize(); + supVertex+= getMargin() * vecnorm; + } + return supVertex; +} + + + + + + + + + +//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection +//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo +int btConvexHullShape::getNumVertices() const +{ + return m_unscaledPoints.size(); +} + +int btConvexHullShape::getNumEdges() const +{ + return m_unscaledPoints.size(); +} + +void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const +{ + + int index0 = i%m_unscaledPoints.size(); + int index1 = (i+1)%m_unscaledPoints.size(); + pa = getScaledPoint(index0); + pb = getScaledPoint(index1); +} + +void btConvexHullShape::getVertex(int i,btVector3& vtx) const +{ + vtx = getScaledPoint(i); +} + +int btConvexHullShape::getNumPlanes() const +{ + return 0; +} + +void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const +{ + + btAssert(0); +} + +//not yet +bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const +{ + btAssert(0); + return false; +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + //int szc = sizeof(btConvexHullShapeData); + btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer; + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer); + + int numElem = m_unscaledPoints.size(); + shapeData->m_numUnscaledPoints = numElem; +#ifdef BT_USE_DOUBLE_PRECISION + shapeData->m_unscaledPointsFloatPtr = 0; + shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0; +#else + shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0; + shapeData->m_unscaledPointsDoublePtr = 0; +#endif + + if (numElem) + { + int sz = sizeof(btVector3Data); + // int sz2 = sizeof(btVector3DoubleData); + // int sz3 = sizeof(btVector3FloatData); + btChunk* chunk = serializer->allocate(sz,numElem); + btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr; + for (int i=0;ifinalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]); + } + + return "btConvexHullShapeData"; +} + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h new file mode 100644 index 0000000..bf960f4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h @@ -0,0 +1,120 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef CONVEX_HULL_SHAPE_H +#define CONVEX_HULL_SHAPE_H + +#include "btPolyhedralConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "LinearMath/btAlignedObjectArray.h" + + +///The btConvexHullShape implements an implicit convex hull of an array of vertices. +///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex. +ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexAabbCachingShape +{ + btAlignedObjectArray m_unscaledPoints; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + + ///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory. + ///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint. + ///btConvexHullShape make an internal copy of the points. + btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3)); + + void addPoint(const btVector3& point); + + + btVector3* getUnscaledPoints() + { + return &m_unscaledPoints[0]; + } + + const btVector3* getUnscaledPoints() const + { + return &m_unscaledPoints[0]; + } + + ///getPoints is obsolete, please use getUnscaledPoints + const btVector3* getPoints() const + { + return getUnscaledPoints(); + } + + + + + SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const + { + return m_unscaledPoints[i] * m_localScaling; + } + + SIMD_FORCE_INLINE int getNumPoints() const + { + return m_unscaledPoints.size(); + } + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + + + //debugging + virtual const char* getName()const {return "Convex";} + + + virtual int getNumVertices() const; + virtual int getNumEdges() const; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; + virtual void getVertex(int i,btVector3& vtx) const; + virtual int getNumPlanes() const; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const; + virtual bool isInside(const btVector3& pt,btScalar tolerance) const; + + ///in case we receive negative scaling + virtual void setLocalScaling(const btVector3& scaling); + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btConvexHullShapeData +{ + btConvexInternalShapeData m_convexInternalShapeData; + + btVector3FloatData *m_unscaledPointsFloatPtr; + btVector3DoubleData *m_unscaledPointsDoublePtr; + + int m_numUnscaledPoints; + char m_padding3[4]; + +}; + + +SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const +{ + return sizeof(btConvexHullShapeData); +} + + +#endif //CONVEX_HULL_SHAPE_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp new file mode 100644 index 0000000..083d60b --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp @@ -0,0 +1,151 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + + +#include "btConvexInternalShape.h" + + + +btConvexInternalShape::btConvexInternalShape() +: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)), +m_collisionMargin(CONVEX_DISTANCE_MARGIN) +{ +} + + +void btConvexInternalShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling.absolute(); +} + + + +void btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const +{ +#ifndef __SPU__ + //use localGetSupportingVertexWithoutMargin? + btScalar margin = getMargin(); + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + + btVector3 sv = localGetSupportingVertex(vec*trans.getBasis()); + + btVector3 tmp = trans(sv); + maxAabb[i] = tmp[i]+margin; + vec[i] = btScalar(-1.); + tmp = trans(localGetSupportingVertex(vec*trans.getBasis())); + minAabb[i] = tmp[i]-margin; + } +#endif +} + + + +btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const +{ +#ifndef __SPU__ + + btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); + + if ( getMargin()!=btScalar(0.) ) + { + btVector3 vecnorm = vec; + if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + vecnorm.normalize(); + supVertex+= getMargin() * vecnorm; + } + return supVertex; + +#else + btAssert(0); + return btVector3(0,0,0); +#endif //__SPU__ + + } + + +btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape() + : btConvexInternalShape(), +m_localAabbMin(1,1,1), +m_localAabbMax(-1,-1,-1), +m_isLocalAabbValid(false) +{ +} + + +void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +{ + getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin()); +} + +void btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling) +{ + btConvexInternalShape::setLocalScaling(scaling); + recalcLocalAabb(); +} + + +void btConvexInternalAabbCachingShape::recalcLocalAabb() +{ + m_isLocalAabbValid = true; + + #if 1 + static const btVector3 _directions[] = + { + btVector3( 1., 0., 0.), + btVector3( 0., 1., 0.), + btVector3( 0., 0., 1.), + btVector3( -1., 0., 0.), + btVector3( 0., -1., 0.), + btVector3( 0., 0., -1.) + }; + + btVector3 _supporting[] = + { + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.) + }; + + batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6); + + for ( int i = 0; i < 3; ++i ) + { + m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin; + m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin; + } + + #else + + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + btVector3 tmp = localGetSupportingVertex(vec); + m_localAabbMax[i] = tmp[i]+m_collisionMargin; + vec[i] = btScalar(-1.); + tmp = localGetSupportingVertex(vec); + m_localAabbMin[i] = tmp[i]-m_collisionMargin; + } + #endif +} diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h new file mode 100644 index 0000000..1252773 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h @@ -0,0 +1,202 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef BT_CONVEX_INTERNAL_SHAPE_H +#define BT_CONVEX_INTERNAL_SHAPE_H + +#include "btConvexShape.h" +#include "LinearMath/btAabbUtil2.h" + + +///The btConvexInternalShape is an internal base class, shared by most convex shape implementations. +class btConvexInternalShape : public btConvexShape +{ + + protected: + + //local scaling. collisionMargin is not scaled ! + btVector3 m_localScaling; + + btVector3 m_implicitShapeDimensions; + + btScalar m_collisionMargin; + + btScalar m_padding; + + btConvexInternalShape(); + +public: + + + + virtual ~btConvexInternalShape() + { + + } + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + + const btVector3& getImplicitShapeDimensions() const + { + return m_implicitShapeDimensions; + } + + ///warning: use setImplicitShapeDimensions with care + ///changing a collision shape while the body is in the world is not recommended, + ///it is best to remove the body from the world, then make the change, and re-add it + ///alternatively flush the contact points, see documentation for 'cleanProxyFromPairs' + void setImplicitShapeDimensions(const btVector3& dimensions) + { + m_implicitShapeDimensions = dimensions; + } + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + getAabbSlow(t,aabbMin,aabbMax); + } + + + + virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const + { + return m_localScaling; + } + + const btVector3& getLocalScalingNV() const + { + return m_localScaling; + } + + virtual void setMargin(btScalar margin) + { + m_collisionMargin = margin; + } + virtual btScalar getMargin() const + { + return m_collisionMargin; + } + + btScalar getMarginNV() const + { + return m_collisionMargin; + } + + virtual int getNumPreferredPenetrationDirections() const + { + return 0; + } + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const + { + (void)penetrationVector; + (void)index; + btAssert(0); + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btConvexInternalShapeData +{ + btCollisionShapeData m_collisionShapeData; + + btVector3FloatData m_localScaling; + + btVector3FloatData m_implicitShapeDimensions; + + float m_collisionMargin; + + int m_padding; + +}; + + + +SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const +{ + return sizeof(btConvexInternalShapeData); +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer; + btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer); + + m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions); + m_localScaling.serializeFloat(shapeData->m_localScaling); + shapeData->m_collisionMargin = float(m_collisionMargin); + + return "btConvexInternalShapeData"; +} + + + + +///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations +class btConvexInternalAabbCachingShape : public btConvexInternalShape +{ + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + bool m_isLocalAabbValid; + +protected: + + btConvexInternalAabbCachingShape(); + + void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax) + { + m_isLocalAabbValid = true; + m_localAabbMin = aabbMin; + m_localAabbMax = aabbMax; + } + + inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const + { + btAssert(m_isLocalAabbValid); + aabbMin = m_localAabbMin; + aabbMax = m_localAabbMax; + } + + inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const + { + + //lazy evaluation of local aabb + btAssert(m_isLocalAabbValid); + btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax); + } + +public: + + virtual void setLocalScaling(const btVector3& scaling); + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + void recalcLocalAabb(); + +}; + +#endif //BT_CONVEX_INTERNAL_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp new file mode 100644 index 0000000..c1b155a --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp @@ -0,0 +1,157 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btConvexPointCloudShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btQuaternion.h" + +void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; + recalcLocalAabb(); +} + +#ifndef __SPU__ +btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const +{ + btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); + btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT); + + btVector3 vec = vec0; + btScalar lenSqr = vec.length2(); + if (lenSqr < btScalar(0.0001)) + { + vec.setValue(1,0,0); + } else + { + btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); + vec *= rlen; + } + + + for (int i=0;i maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + return supVec; +} + +void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + btScalar newDot; + //use 'w' component of supportVerticesOut? + { + for (int i=0;i supportVerticesOut[j][3]) + { + //WARNING: don't swap next lines, the w component would get overwritten! + supportVerticesOut[j] = vtx; + supportVerticesOut[j][3] = newDot; + } + } + } + + + +} + + + +btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const +{ + btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); + + if ( getMargin()!=btScalar(0.) ) + { + btVector3 vecnorm = vec; + if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + vecnorm.normalize(); + supVertex+= getMargin() * vecnorm; + } + return supVertex; +} + + +#endif + + + + + + +//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection +//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo +int btConvexPointCloudShape::getNumVertices() const +{ + return m_numPoints; +} + +int btConvexPointCloudShape::getNumEdges() const +{ + return 0; +} + +void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const +{ + btAssert (0); +} + +void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const +{ + vtx = m_unscaledPoints[i]*m_localScaling; +} + +int btConvexPointCloudShape::getNumPlanes() const +{ + return 0; +} + +void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const +{ + + btAssert(0); +} + +//not yet +bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const +{ + btAssert(0); + return false; +} + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h new file mode 100644 index 0000000..54b5afa --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h @@ -0,0 +1,105 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef BT_CONVEX_POINT_CLOUD_SHAPE_H +#define BT_CONVEX_POINT_CLOUD_SHAPE_H + +#include "btPolyhedralConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "LinearMath/btAlignedObjectArray.h" + +///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices. +ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape +{ + btVector3* m_unscaledPoints; + int m_numPoints; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btConvexPointCloudShape() + { + m_localScaling.setValue(1.f,1.f,1.f); + m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE; + m_unscaledPoints = 0; + m_numPoints = 0; + } + + btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true) + { + m_localScaling = localScaling; + m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE; + m_unscaledPoints = points; + m_numPoints = numPoints; + + if (computeAabb) + recalcLocalAabb(); + } + + void setPoints (btVector3* points, int numPoints, bool computeAabb = true,const btVector3& localScaling=btVector3(1.f,1.f,1.f)) + { + m_unscaledPoints = points; + m_numPoints = numPoints; + m_localScaling = localScaling; + + if (computeAabb) + recalcLocalAabb(); + } + + SIMD_FORCE_INLINE btVector3* getUnscaledPoints() + { + return m_unscaledPoints; + } + + SIMD_FORCE_INLINE const btVector3* getUnscaledPoints() const + { + return m_unscaledPoints; + } + + SIMD_FORCE_INLINE int getNumPoints() const + { + return m_numPoints; + } + + SIMD_FORCE_INLINE btVector3 getScaledPoint( int index) const + { + return m_unscaledPoints[index] * m_localScaling; + } + +#ifndef __SPU__ + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; +#endif + + + //debugging + virtual const char* getName()const {return "ConvexPointCloud";} + + virtual int getNumVertices() const; + virtual int getNumEdges() const; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; + virtual void getVertex(int i,btVector3& vtx) const; + virtual int getNumPlanes() const; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const; + virtual bool isInside(const btVector3& pt,btScalar tolerance) const; + + ///in case we receive negative scaling + virtual void setLocalScaling(const btVector3& scaling); +}; + + +#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp new file mode 100644 index 0000000..f5f3aa5 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -0,0 +1,429 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btConvexShape.h" +#include "btTriangleShape.h" +#include "btSphereShape.h" +#include "btCylinderShape.h" +#include "btCapsuleShape.h" +#include "btConvexHullShape.h" +#include "btConvexPointCloudShape.h" + +///not supported on IBM SDK, until we fix the alignment of btVector3 +#if defined (__CELLOS_LV2__) && defined (__SPU__) +#include +static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 result; + result = spu_mul( vec0, vec1 ); + result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result ); + return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result ); +} +#endif //__SPU__ + +btConvexShape::btConvexShape () +{ +} + +btConvexShape::~btConvexShape() +{ + +} + + + +static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling) +{ + + btVector3 vec = localDirOrg * localScaling; + +#if defined (__CELLOS_LV2__) && defined (__SPU__) + + btVector3 localDir = vec; + + vec_float4 v_distMax = {-FLT_MAX,0,0,0}; + vec_int4 v_idxMax = {-999,0,0,0}; + int v=0; + int numverts = numPoints; + + for(;v<(int)numverts-4;v+=4) { + vec_float4 p0 = vec_dot3(points[v ].get128(),localDir.get128()); + vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128()); + vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128()); + vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128()); + const vec_int4 i0 = {v ,0,0,0}; + const vec_int4 i1 = {v+1,0,0,0}; + const vec_int4 i2 = {v+2,0,0,0}; + const vec_int4 i3 = {v+3,0,0,0}; + vec_uint4 retGt01 = spu_cmpgt(p0,p1); + vec_float4 pmax01 = spu_sel(p1,p0,retGt01); + vec_int4 imax01 = spu_sel(i1,i0,retGt01); + vec_uint4 retGt23 = spu_cmpgt(p2,p3); + vec_float4 pmax23 = spu_sel(p3,p2,retGt23); + vec_int4 imax23 = spu_sel(i3,i2,retGt23); + vec_uint4 retGt0123 = spu_cmpgt(pmax01,pmax23); + vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123); + vec_int4 imax0123 = spu_sel(imax23,imax01,retGt0123); + vec_uint4 retGtMax = spu_cmpgt(v_distMax,pmax0123); + v_distMax = spu_sel(pmax0123,v_distMax,retGtMax); + v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax); + } + for(;v<(int)numverts;v++) { + vec_float4 p = vec_dot3(points[v].get128(),localDir.get128()); + const vec_int4 i = {v,0,0,0}; + vec_uint4 retGtMax = spu_cmpgt(v_distMax,p); + v_distMax = spu_sel(p,v_distMax,retGtMax); + v_idxMax = spu_sel(i,v_idxMax,retGtMax); + } + int ptIndex = spu_extract(v_idxMax,0); + const btVector3& supVec= points[ptIndex] * localScaling; + return supVec; +#else + + btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT); + int ptIndex = -1; + + for (int i=0;i maxDot) + { + maxDot = newDot; + ptIndex = i; + } + } + btAssert(ptIndex >= 0); + btVector3 supVec = points[ptIndex] * localScaling; + return supVec; +#endif //__SPU__ +} + +btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const +{ + switch (m_shapeType) + { + case SPHERE_SHAPE_PROXYTYPE: + { + return btVector3(0,0,0); + } + case BOX_SHAPE_PROXYTYPE: + { + btBoxShape* convexShape = (btBoxShape*)this; + const btVector3& halfExtents = convexShape->getImplicitShapeDimensions(); + + return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()), + btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()), + btFsels(localDir.z(), halfExtents.z(), -halfExtents.z())); + } + 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 sup = vertices[dots.maxAxis()]; + return btVector3(sup.getX(),sup.getY(),sup.getZ()); + } + case CYLINDER_SHAPE_PROXYTYPE: + { + btCylinderShape* cylShape = (btCylinderShape*)this; + //mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis) + + btVector3 halfExtents = cylShape->getImplicitShapeDimensions(); + btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ()); + int cylinderUpAxis = cylShape->getUpAxis(); + int XX(1),YY(0),ZZ(2); + + switch (cylinderUpAxis) + { + case 0: + { + XX = 1; + YY = 0; + ZZ = 2; + } + break; + case 1: + { + XX = 0; + YY = 1; + ZZ = 2; + } + break; + case 2: + { + XX = 0; + YY = 2; + ZZ = 1; + + } + break; + default: + btAssert(0); + break; + }; + + btScalar radius = halfExtents[XX]; + btScalar halfHeight = halfExtents[cylinderUpAxis]; + + btVector3 tmp; + btScalar d ; + + btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]); + if (s != btScalar(0.0)) + { + d = radius / s; + tmp[XX] = v[XX] * d; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = v[ZZ] * d; + return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()); + } else { + tmp[XX] = radius; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = btScalar(0.0); + return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()); + } + } + case CAPSULE_SHAPE_PROXYTYPE: + { + btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ()); + + btCapsuleShape* capsuleShape = (btCapsuleShape*)this; + btScalar halfHeight = capsuleShape->getHalfHeight(); + int capsuleUpAxis = capsuleShape->getUpAxis(); + + btScalar radius = capsuleShape->getRadius(); + btVector3 supVec(0,0,0); + + btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); + + btVector3 vec = vec0; + btScalar lenSqr = vec.length2(); + if (lenSqr < btScalar(0.0001)) + { + vec.setValue(1,0,0); + } else + { + btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); + vec *= rlen; + } + btVector3 vtx; + btScalar newDot; + { + btVector3 pos(0,0,0); + pos[capsuleUpAxis] = halfHeight; + + //vtx = pos +vec*(radius); + vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV(); + newDot = vec.dot(vtx); + + + if (newDot > maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + { + btVector3 pos(0,0,0); + pos[capsuleUpAxis] = -halfHeight; + + //vtx = pos +vec*(radius); + vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV(); + newDot = vec.dot(vtx); + if (newDot > maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + return btVector3(supVec.getX(),supVec.getY(),supVec.getZ()); + } + case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: + { + btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this; + btVector3* points = convexPointCloudShape->getUnscaledPoints (); + int numPoints = convexPointCloudShape->getNumPoints (); + return convexHullSupport (localDir, points, numPoints,convexPointCloudShape->getLocalScalingNV()); + } + case CONVEX_HULL_SHAPE_PROXYTYPE: + { + btConvexHullShape* convexHullShape = (btConvexHullShape*)this; + btVector3* points = convexHullShape->getUnscaledPoints(); + int numPoints = convexHullShape->getNumPoints (); + return convexHullSupport (localDir, points, numPoints,convexHullShape->getLocalScalingNV()); + } + default: +#ifndef __SPU__ + return this->localGetSupportingVertexWithoutMargin (localDir); +#else + btAssert (0); +#endif + } + + // should never reach here + btAssert (0); + return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f)); +} + +btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& localDir) const +{ + btVector3 localDirNorm = localDir; + if (localDirNorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + localDirNorm.normalize (); + + return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm)+ getMarginNonVirtual() * localDirNorm; +} + +/* TODO: This should be bumped up to btCollisionShape () */ +btScalar btConvexShape::getMarginNonVirtual () const +{ + switch (m_shapeType) + { + case SPHERE_SHAPE_PROXYTYPE: + { + btSphereShape* sphereShape = (btSphereShape*)this; + return sphereShape->getRadius (); + } + case BOX_SHAPE_PROXYTYPE: + { + btBoxShape* convexShape = (btBoxShape*)this; + return convexShape->getMarginNV (); + } + case TRIANGLE_SHAPE_PROXYTYPE: + { + btTriangleShape* triangleShape = (btTriangleShape*)this; + return triangleShape->getMarginNV (); + } + case CYLINDER_SHAPE_PROXYTYPE: + { + btCylinderShape* cylShape = (btCylinderShape*)this; + return cylShape->getMarginNV(); + } + case CAPSULE_SHAPE_PROXYTYPE: + { + btCapsuleShape* capsuleShape = (btCapsuleShape*)this; + return capsuleShape->getMarginNV(); + } + case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: + /* fall through */ + case CONVEX_HULL_SHAPE_PROXYTYPE: + { + btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this; + return convexHullShape->getMarginNV(); + } + default: +#ifndef __SPU__ + return this->getMargin (); +#else + btAssert (0); +#endif + } + + // should never reach here + btAssert (0); + return btScalar(0.0f); +} +#ifndef __SPU__ +void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const +{ + switch (m_shapeType) + { + case SPHERE_SHAPE_PROXYTYPE: + { + btSphereShape* sphereShape = (btSphereShape*)this; + btScalar radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX(); + btScalar margin = radius + sphereShape->getMarginNonVirtual(); + const btVector3& center = t.getOrigin(); + btVector3 extent(margin,margin,margin); + aabbMin = center - extent; + aabbMax = center + extent; + } + break; + case CYLINDER_SHAPE_PROXYTYPE: + /* fall through */ + case BOX_SHAPE_PROXYTYPE: + { + btBoxShape* convexShape = (btBoxShape*)this; + btScalar margin=convexShape->getMarginNonVirtual(); + btVector3 halfExtents = convexShape->getImplicitShapeDimensions(); + 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)); + + aabbMin = center - extent; + aabbMax = center + extent; + break; + } + case TRIANGLE_SHAPE_PROXYTYPE: + { + btTriangleShape* triangleShape = (btTriangleShape*)this; + btScalar margin = triangleShape->getMarginNonVirtual(); + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + + btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis()); + + btVector3 tmp = t(sv); + aabbMax[i] = tmp[i]+margin; + vec[i] = btScalar(-1.); + tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis())); + aabbMin[i] = tmp[i]-margin; + } + } + break; + case CAPSULE_SHAPE_PROXYTYPE: + { + btCapsuleShape* capsuleShape = (btCapsuleShape*)this; + btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius()); + int m_upAxis = capsuleShape->getUpAxis(); + halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight(); + 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)); + aabbMin = center - extent; + aabbMax = center + extent; + } + break; + case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: + case CONVEX_HULL_SHAPE_PROXYTYPE: + { + btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this; + btScalar margin = convexHullShape->getMarginNonVirtual(); + convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin); + } + break; + default: +#ifndef __SPU__ + this->getAabb (t, aabbMin, aabbMax); +#else + btAssert (0); +#endif + break; + } + + // should never reach here + btAssert (0); +} + +#endif //__SPU__ diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexShape.h new file mode 100644 index 0000000..9c15825 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexShape.h @@ -0,0 +1,82 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef CONVEX_SHAPE_INTERFACE1 +#define CONVEX_SHAPE_INTERFACE1 + +#include "btCollisionShape.h" + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" +#include "btCollisionMargin.h" +#include "LinearMath/btAlignedAllocator.h" + +#define MAX_PREFERRED_PENETRATION_DIRECTIONS 10 + +/// The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc. +/// It describes general convex shapes using the localGetSupportingVertex interface, used by collision detectors such as btGjkPairDetector. +ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape +{ + + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btConvexShape (); + + virtual ~btConvexShape(); + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const = 0; + + //////// + #ifndef __SPU__ + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const=0; + #endif //#ifndef __SPU__ + + btVector3 localGetSupportVertexWithoutMarginNonVirtual (const btVector3& vec) const; + btVector3 localGetSupportVertexNonVirtual (const btVector3& vec) const; + btScalar getMarginNonVirtual () const; + void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const; + + + //notice that the vectors should be unit length + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0; + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0; + + virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0; + + virtual void setLocalScaling(const btVector3& scaling) =0; + virtual const btVector3& getLocalScaling() const =0; + + virtual void setMargin(btScalar margin)=0; + + virtual btScalar getMargin() const=0; + + virtual int getNumPreferredPenetrationDirections() const=0; + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0; + + + + +}; + + + +#endif //CONVEX_SHAPE_INTERFACE1 diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp new file mode 100644 index 0000000..0f9ced5 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp @@ -0,0 +1,315 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btConvexTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btQuaternion.h" +#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h" + + +btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb) +: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface) +{ + m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; + if ( calcAabb ) + recalcLocalAabb(); +} + + + + +///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once +///but then we are duplicating +class LocalSupportVertexCallback: public btInternalTriangleIndexCallback +{ + + btVector3 m_supportVertexLocal; +public: + + btScalar m_maxDot; + btVector3 m_supportVecLocal; + + LocalSupportVertexCallback(const btVector3& supportVecLocal) + : m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), + m_maxDot(btScalar(-BT_LARGE_FLOAT)), + m_supportVecLocal(supportVecLocal) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + { + (void)triangleIndex; + (void)partId; + + for (int i=0;i<3;i++) + { + btScalar dot = m_supportVecLocal.dot(triangle[i]); + if (dot > m_maxDot) + { + m_maxDot = dot; + m_supportVertexLocal = triangle[i]; + } + } + } + + btVector3 GetSupportVertexLocal() + { + return m_supportVertexLocal; + } + +}; + + + + + +btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const +{ + btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); + + btVector3 vec = vec0; + btScalar lenSqr = vec.length2(); + if (lenSqr < btScalar(0.0001)) + { + vec.setValue(1,0,0); + } else + { + btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); + vec *= rlen; + } + + LocalSupportVertexCallback supportCallback(vec); + btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax); + supVec = supportCallback.GetSupportVertexLocal(); + + return supVec; +} + +void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + //use 'w' component of supportVerticesOut? + { + for (int i=0;iInternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax); + supportVerticesOut[j] = supportCallback.GetSupportVertexLocal(); + } + +} + + + +btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec)const +{ + btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); + + if ( getMargin()!=btScalar(0.) ) + { + btVector3 vecnorm = vec; + if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + vecnorm.normalize(); + supVertex+= getMargin() * vecnorm; + } + return supVertex; +} + + + + + + + + + +//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection +//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo +int btConvexTriangleMeshShape::getNumVertices() const +{ + //cache this? + return 0; + +} + +int btConvexTriangleMeshShape::getNumEdges() const +{ + return 0; +} + +void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const +{ + btAssert(0); +} + +void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const +{ + btAssert(0); +} + +int btConvexTriangleMeshShape::getNumPlanes() const +{ + return 0; +} + +void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int ) const +{ + btAssert(0); +} + +//not yet +bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const +{ + btAssert(0); + return false; +} + + + +void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling) +{ + m_stridingMesh->setScaling(scaling); + + recalcLocalAabb(); + +} + + +const btVector3& btConvexTriangleMeshShape::getLocalScaling() const +{ + return m_stridingMesh->getScaling(); +} + +void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const +{ + class CenterCallback: public btInternalTriangleIndexCallback + { + bool first; + btVector3 ref; + btVector3 sum; + btScalar volume; + + public: + + CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex) + { + (void) triangleIndex; + (void) partId; + if (first) + { + ref = triangle[0]; + first = false; + } + else + { + btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref)); + sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref)); + volume += vol; + } + } + + btVector3 getCenter() + { + return (volume > 0) ? sum / volume : ref; + } + + btScalar getVolume() + { + return volume * btScalar(1. / 6); + } + + }; + + class InertiaCallback: public btInternalTriangleIndexCallback + { + btMatrix3x3 sum; + btVector3 center; + + public: + + InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex) + { + (void) triangleIndex; + (void) partId; + btMatrix3x3 i; + btVector3 a = triangle[0] - center; + btVector3 b = triangle[1] - center; + btVector3 c = triangle[2] - center; + btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6); + for (int j = 0; j < 3; j++) + { + for (int k = 0; k <= j; k++) + { + i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k]) + + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j])); + } + } + btScalar i00 = -i[0][0]; + btScalar i11 = -i[1][1]; + btScalar i22 = -i[2][2]; + i[0][0] = i11 + i22; + i[1][1] = i22 + i00; + i[2][2] = i00 + i11; + sum[0] += i[0]; + sum[1] += i[1]; + sum[2] += i[2]; + } + + btMatrix3x3& getInertia() + { + return sum; + } + + }; + + CenterCallback centerCallback; + btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + m_stridingMesh->InternalProcessAllTriangles(¢erCallback, -aabbMax, aabbMax); + btVector3 center = centerCallback.getCenter(); + principal.setOrigin(center); + volume = centerCallback.getVolume(); + + InertiaCallback inertiaCallback(center); + m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax); + + btMatrix3x3& i = inertiaCallback.getInertia(); + i.diagonalize(principal.getBasis(), btScalar(0.00001), 20); + inertia.setValue(i[0][0], i[1][1], i[2][2]); + inertia /= volume; +} + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h new file mode 100644 index 0000000..f5167e7 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h @@ -0,0 +1,75 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ +#ifndef CONVEX_TRIANGLEMESH_SHAPE_H +#define CONVEX_TRIANGLEMESH_SHAPE_H + + +#include "btPolyhedralConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + + +/// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape. +/// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead. +class btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape +{ + + class btStridingMeshInterface* m_stridingMesh; + +public: + btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true); + + class btStridingMeshInterface* getMeshInterface() + { + return m_stridingMesh; + } + const class btStridingMeshInterface* getMeshInterface() const + { + return m_stridingMesh; + } + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + //debugging + virtual const char* getName()const {return "ConvexTrimesh";} + + virtual int getNumVertices() const; + virtual int getNumEdges() const; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; + virtual void getVertex(int i,btVector3& vtx) const; + virtual int getNumPlanes() const; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const; + virtual bool isInside(const btVector3& pt,btScalar tolerance) const; + + + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const; + + ///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia + ///and the center of mass to the current coordinate system. A mass of 1 is assumed, for other masses just multiply the computed "inertia" + ///by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the + ///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform + ///of the collision object by the principal transform. This method also computes the volume of the convex mesh. + void calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const; + +}; + + + +#endif //CONVEX_TRIANGLEMESH_SHAPE_H + + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp new file mode 100644 index 0000000..2688093 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp @@ -0,0 +1,222 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btCylinderShape.h" + +btCylinderShape::btCylinderShape (const btVector3& halfExtents) +:btConvexInternalShape(), +m_upAxis(1) +{ + btVector3 margin(getMargin(),getMargin(),getMargin()); + m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin; + m_shapeType = CYLINDER_SHAPE_PROXYTYPE; +} + + +btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents) +:btCylinderShape(halfExtents) +{ + m_upAxis = 0; + +} + + +btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents) +:btCylinderShape(halfExtents) +{ + m_upAxis = 2; + +} + +void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); +} + +void btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + //approximation of box shape, todo: implement cylinder shape inertia before people notice ;-) + btVector3 halfExtents = getHalfExtentsWithMargin(); + + btScalar lx=btScalar(2.)*(halfExtents.x()); + btScalar ly=btScalar(2.)*(halfExtents.y()); + btScalar lz=btScalar(2.)*(halfExtents.z()); + + inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + ly*ly)); + +} + + +SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v) +{ +const int cylinderUpAxis = 0; +const int XX = 1; +const int YY = 0; +const int ZZ = 2; + + //mapping depends on how cylinder local orientation is + // extents of the cylinder is: X,Y is for radius, and Z for height + + + btScalar radius = halfExtents[XX]; + btScalar halfHeight = halfExtents[cylinderUpAxis]; + + + btVector3 tmp; + btScalar d ; + + btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]); + if (s != btScalar(0.0)) + { + d = radius / s; + tmp[XX] = v[XX] * d; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = v[ZZ] * d; + return tmp; + } + else + { + tmp[XX] = radius; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = btScalar(0.0); + return tmp; + } + + +} + + + + + + +inline btVector3 CylinderLocalSupportY(const btVector3& halfExtents,const btVector3& v) +{ + +const int cylinderUpAxis = 1; +const int XX = 0; +const int YY = 1; +const int ZZ = 2; + + + btScalar radius = halfExtents[XX]; + btScalar halfHeight = halfExtents[cylinderUpAxis]; + + + btVector3 tmp; + btScalar d ; + + btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]); + if (s != btScalar(0.0)) + { + d = radius / s; + tmp[XX] = v[XX] * d; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = v[ZZ] * d; + return tmp; + } + else + { + tmp[XX] = radius; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = btScalar(0.0); + return tmp; + } + +} + +inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents,const btVector3& v) +{ +const int cylinderUpAxis = 2; +const int XX = 0; +const int YY = 2; +const int ZZ = 1; + + //mapping depends on how cylinder local orientation is + // extents of the cylinder is: X,Y is for radius, and Z for height + + + btScalar radius = halfExtents[XX]; + btScalar halfHeight = halfExtents[cylinderUpAxis]; + + + btVector3 tmp; + btScalar d ; + + btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]); + if (s != btScalar(0.0)) + { + d = radius / s; + tmp[XX] = v[XX] * d; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = v[ZZ] * d; + return tmp; + } + else + { + tmp[XX] = radius; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = btScalar(0.0); + return tmp; + } + + +} + +btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + return CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vec); +} + + +btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vec); +} +btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + return CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vec); +} + +void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + for (int i=0;im_convexInternalShapeData,serializer); + + shapeData->m_upAxis = m_upAxis; + + return "btCylinderShapeData"; +} + + + +#endif //CYLINDER_MINKOWSKI_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp new file mode 100644 index 0000000..a9e6df5 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp @@ -0,0 +1,50 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btEmptyShape.h" + + +#include "btCollisionShape.h" + + +btEmptyShape::btEmptyShape() : btConcaveShape () +{ + m_shapeType = EMPTY_SHAPE_PROXYTYPE; +} + + +btEmptyShape::~btEmptyShape() +{ +} + + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version +void btEmptyShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + btVector3 margin(getMargin(),getMargin(),getMargin()); + + aabbMin = t.getOrigin() - margin; + + aabbMax = t.getOrigin() + margin; + +} + +void btEmptyShape::calculateLocalInertia(btScalar ,btVector3& ) const +{ + btAssert(0); +} + + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btEmptyShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btEmptyShape.h new file mode 100644 index 0000000..9f6b443 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btEmptyShape.h @@ -0,0 +1,70 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef EMPTY_SHAPE_H +#define EMPTY_SHAPE_H + +#include "btConcaveShape.h" + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" +#include "btCollisionMargin.h" + + + + +/// The btEmptyShape is a collision shape without actual collision detection shape, so most users should ignore this class. +/// It can be replaced by another shape during runtime, but the inertia tensor should be recomputed. +class btEmptyShape : public btConcaveShape +{ +public: + btEmptyShape(); + + virtual ~btEmptyShape(); + + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + + virtual void setLocalScaling(const btVector3& scaling) + { + m_localScaling = scaling; + } + virtual const btVector3& getLocalScaling() const + { + return m_localScaling; + } + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual const char* getName()const + { + return "Empty"; + } + + virtual void processAllTriangles(btTriangleCallback* ,const btVector3& ,const btVector3& ) const + { + } + +protected: + btVector3 m_localScaling; + +}; + + + +#endif //EMPTY_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp new file mode 100644 index 0000000..3a1e6f4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -0,0 +1,411 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btHeightfieldTerrainShape.h" + +#include "LinearMath/btTransformUtil.h" + + + +btHeightfieldTerrainShape::btHeightfieldTerrainShape +( +int heightStickWidth, int heightStickLength, void* heightfieldData, +btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis, +PHY_ScalarType hdt, bool flipQuadEdges +) +{ + initialize(heightStickWidth, heightStickLength, heightfieldData, + heightScale, minHeight, maxHeight, upAxis, hdt, + flipQuadEdges); +} + + + +btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges) +{ + // legacy constructor: support only float or unsigned char, + // and min height is zero + PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR; + btScalar minHeight = 0.0; + + // previously, height = uchar * maxHeight / 65535. + // So to preserve legacy behavior, heightScale = maxHeight / 65535 + btScalar heightScale = maxHeight / 65535; + + initialize(heightStickWidth, heightStickLength, heightfieldData, + heightScale, minHeight, maxHeight, upAxis, hdt, + flipQuadEdges); +} + + + +void btHeightfieldTerrainShape::initialize +( +int heightStickWidth, int heightStickLength, void* heightfieldData, +btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis, +PHY_ScalarType hdt, bool flipQuadEdges +) +{ + // validation + btAssert(heightStickWidth > 1 && "bad width"); + btAssert(heightStickLength > 1 && "bad length"); + btAssert(heightfieldData && "null heightfield data"); + // btAssert(heightScale) -- do we care? Trust caller here + btAssert(minHeight <= maxHeight && "bad min/max height"); + btAssert(upAxis >= 0 && upAxis < 3 && + "bad upAxis--should be in range [0,2]"); + btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT && + "Bad height data type enum"); + + // initialize member variables + m_shapeType = TERRAIN_SHAPE_PROXYTYPE; + m_heightStickWidth = heightStickWidth; + m_heightStickLength = heightStickLength; + m_minHeight = minHeight; + m_maxHeight = maxHeight; + m_width = (btScalar) (heightStickWidth - 1); + m_length = (btScalar) (heightStickLength - 1); + m_heightScale = heightScale; + m_heightfieldDataUnknown = heightfieldData; + m_heightDataType = hdt; + m_flipQuadEdges = flipQuadEdges; + m_useDiamondSubdivision = false; + m_upAxis = upAxis; + m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.)); + + // determine min/max axis-aligned bounding box (aabb) values + switch (m_upAxis) + { + case 0: + { + m_localAabbMin.setValue(m_minHeight, 0, 0); + m_localAabbMax.setValue(m_maxHeight, m_width, m_length); + break; + } + case 1: + { + m_localAabbMin.setValue(0, m_minHeight, 0); + m_localAabbMax.setValue(m_width, m_maxHeight, m_length); + break; + }; + case 2: + { + m_localAabbMin.setValue(0, 0, m_minHeight); + m_localAabbMax.setValue(m_width, m_length, m_maxHeight); + break; + } + default: + { + //need to get valid m_upAxis + btAssert(0 && "Bad m_upAxis"); + } + } + + // remember origin (defined as exact middle of aabb) + m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax); +} + + + +btHeightfieldTerrainShape::~btHeightfieldTerrainShape() +{ +} + + + +void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5); + + btVector3 localOrigin(0, 0, 0); + localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5); + localOrigin *= m_localScaling; + + 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)); + extent += btVector3(getMargin(),getMargin(),getMargin()); + + aabbMin = center - extent; + aabbMax = center + extent; +} + + +/// This returns the "raw" (user's initial) height, not the actual height. +/// The actual height needs to be adjusted to be relative to the center +/// of the heightfield's AABB. +btScalar +btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const +{ + btScalar val = 0.f; + switch (m_heightDataType) + { + case PHY_FLOAT: + { + val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x]; + break; + } + + case PHY_UCHAR: + { + unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x]; + val = heightFieldValue * m_heightScale; + break; + } + + case PHY_SHORT: + { + short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x]; + val = hfValue * m_heightScale; + break; + } + + default: + { + btAssert(!"Bad m_heightDataType"); + } + } + + return val; +} + + + + +/// this returns the vertex in bullet-local coordinates +void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const +{ + btAssert(x>=0); + btAssert(y>=0); + btAssert(xstartX) + startX = quantizedAabbMin[1]; + if (quantizedAabbMax[1]startJ) + startJ = quantizedAabbMin[2]; + if (quantizedAabbMax[2]startX) + startX = quantizedAabbMin[0]; + if (quantizedAabbMax[0]startJ) + startJ = quantizedAabbMin[2]; + if (quantizedAabbMax[2]startX) + startX = quantizedAabbMin[0]; + if (quantizedAabbMax[0]startJ) + startJ = quantizedAabbMin[1]; + if (quantizedAabbMax[1]processTriangle(vertices,x,j); + //second triangle + getVertex(x,j,vertices[0]); + getVertex(x+1,j+1,vertices[1]); + getVertex(x,j+1,vertices[2]); + callback->processTriangle(vertices,x,j); + } else + { + //first triangle + getVertex(x,j,vertices[0]); + getVertex(x,j+1,vertices[1]); + getVertex(x+1,j,vertices[2]); + callback->processTriangle(vertices,x,j); + //second triangle + getVertex(x+1,j,vertices[0]); + getVertex(x,j+1,vertices[1]); + getVertex(x+1,j+1,vertices[2]); + callback->processTriangle(vertices,x,j); + } + } + } + + + +} + +void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const +{ + //moving concave objects not supported + + inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); +} + +void btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; +} +const btVector3& btHeightfieldTerrainShape::getLocalScaling() const +{ + return m_localScaling; +} diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h new file mode 100644 index 0000000..4f5d1e3 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h @@ -0,0 +1,161 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef HEIGHTFIELD_TERRAIN_SHAPE_H +#define HEIGHTFIELD_TERRAIN_SHAPE_H + +#include "btConcaveShape.h" + +///btHeightfieldTerrainShape simulates a 2D heightfield terrain +/** + The caller is responsible for maintaining the heightfield array; this + class does not make a copy. + + The heightfield can be dynamic so long as the min/max height values + capture the extremes (heights must always be in that range). + + The local origin of the heightfield is assumed to be the exact + center (as determined by width and length and height, with each + axis multiplied by the localScaling). + + \b NOTE: be careful with coordinates. If you have a heightfield with a local + min height of -100m, and a max height of +500m, you may be tempted to place it + at the origin (0,0) and expect the heights in world coordinates to be + -100 to +500 meters. + Actually, the heights will be -300 to +300m, because bullet will re-center + the heightfield based on its AABB (which is determined by the min/max + heights). So keep in mind that once you create a btHeightfieldTerrainShape + object, the heights will be adjusted relative to the center of the AABB. This + is different to the behavior of many rendering engines, but is useful for + physics engines. + + Most (but not all) rendering and heightfield libraries assume upAxis = 1 + (that is, the y-axis is "up"). This class allows any of the 3 coordinates + to be "up". Make sure your choice of axis is consistent with your rendering + system. + + The heightfield heights are determined from the data type used for the + heightfieldData array. + + - PHY_UCHAR: height at a point is the uchar value at the + grid point, multipled by heightScale. uchar isn't recommended + because of its inability to deal with negative values, and + low resolution (8-bit). + + - PHY_SHORT: height at a point is the short int value at that grid + point, multipled by heightScale. + + - PHY_FLOAT: height at a point is the float value at that grid + point. heightScale is ignored when using the float heightfield + data type. + + Whatever the caller specifies as minHeight and maxHeight will be honored. + The class will not inspect the heightfield to discover the actual minimum + or maximum heights. These values are used to determine the heightfield's + axis-aligned bounding box, multiplied by localScaling. + + For usage and testing see the TerrainDemo. + */ +class btHeightfieldTerrainShape : public btConcaveShape +{ +protected: + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + btVector3 m_localOrigin; + + ///terrain data + int m_heightStickWidth; + int m_heightStickLength; + btScalar m_minHeight; + btScalar m_maxHeight; + btScalar m_width; + btScalar m_length; + btScalar m_heightScale; + union + { + unsigned char* m_heightfieldDataUnsignedChar; + short* m_heightfieldDataShort; + btScalar* m_heightfieldDataFloat; + void* m_heightfieldDataUnknown; + }; + + PHY_ScalarType m_heightDataType; + bool m_flipQuadEdges; + bool m_useDiamondSubdivision; + + int m_upAxis; + + btVector3 m_localScaling; + + virtual btScalar getRawHeightFieldValue(int x,int y) const; + void quantizeWithClamp(int* out, const btVector3& point,int isMax) const; + void getVertex(int x,int y,btVector3& vertex) const; + + + + /// protected initialization + /** + Handles the work of constructors so that public constructors can be + backwards-compatible without a lot of copy/paste. + */ + void initialize(int heightStickWidth, int heightStickLength, + void* heightfieldData, btScalar heightScale, + btScalar minHeight, btScalar maxHeight, int upAxis, + PHY_ScalarType heightDataType, bool flipQuadEdges); + +public: + /// preferred constructor + /** + This constructor supports a range of heightfield + data types, and allows for a non-zero minimum height value. + heightScale is needed for any integer-based heightfield data types. + */ + btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength, + void* heightfieldData, btScalar heightScale, + btScalar minHeight, btScalar maxHeight, + int upAxis, PHY_ScalarType heightDataType, + bool flipQuadEdges); + + /// legacy constructor + /** + The legacy constructor assumes the heightfield has a minimum height + of zero. Only unsigned char or floats are supported. For legacy + compatibility reasons, heightScale is calculated as maxHeight / 65535 + (and is only used when useFloatData = false). + */ + btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges); + + virtual ~btHeightfieldTerrainShape(); + + + void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;} + + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual void setLocalScaling(const btVector3& scaling); + + virtual const btVector3& getLocalScaling() const; + + //debugging + virtual const char* getName()const {return "HEIGHTFIELD";} + +}; + +#endif //HEIGHTFIELD_TERRAIN_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMaterial.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMaterial.h new file mode 100644 index 0000000..030e167 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMaterial.h @@ -0,0 +1,35 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +/// This file was created by Alex Silverman + +#ifndef MATERIAL_H +#define MATERIAL_H + +// Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties +class btMaterial +{ + // public members so that materials can change due to world events +public: + btScalar m_friction; + btScalar m_restitution; + int pad[2]; + + btMaterial(){} + btMaterial(btScalar fric, btScalar rest) { m_friction = fric; m_restitution = rest; } +}; + +#endif // MATERIAL_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp new file mode 100644 index 0000000..06707e2 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp @@ -0,0 +1,60 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + + +#include "btMinkowskiSumShape.h" + + +btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB) +: btConvexInternalShape (), +m_shapeA(shapeA), +m_shapeB(shapeB) +{ + m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE; + m_transA.setIdentity(); + m_transB.setIdentity(); +} + +btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis())); + btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis())); + return supVertexA - supVertexB; +} + +void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + ///@todo: could make recursive use of batching. probably this shape is not used frequently. + for (int i=0;igetMargin() + m_shapeB->getMargin(); +} + + +void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + (void)mass; + btAssert(0); + inertia.setValue(0,0,0); +} diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h new file mode 100644 index 0000000..d6fd040 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h @@ -0,0 +1,60 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef MINKOWSKI_SUM_SHAPE_H +#define MINKOWSKI_SUM_SHAPE_H + +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + +/// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes. +class btMinkowskiSumShape : public btConvexInternalShape +{ + + btTransform m_transA; + btTransform m_transB; + const btConvexShape* m_shapeA; + const btConvexShape* m_shapeB; + +public: + + btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB); + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + void setTransformA(const btTransform& transA) { m_transA = transA;} + void setTransformB(const btTransform& transB) { m_transB = transB;} + + const btTransform& getTransformA()const { return m_transA;} + const btTransform& GetTransformB()const { return m_transB;} + + + virtual btScalar getMargin() const; + + const btConvexShape* getShapeA() const { return m_shapeA;} + const btConvexShape* getShapeB() const { return m_shapeB;} + + virtual const char* getName()const + { + return "MinkowskiSum"; + } +}; + +#endif //MINKOWSKI_SUM_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp new file mode 100644 index 0000000..c996bfc --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp @@ -0,0 +1,167 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + + + +#include "btMultiSphereShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" +#include "LinearMath/btQuaternion.h" +#include "LinearMath/btSerializer.h" + +btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres) +:btConvexInternalAabbCachingShape () +{ + m_shapeType = MULTI_SPHERE_SHAPE_PROXYTYPE; + //btScalar startMargin = btScalar(BT_LARGE_FLOAT); + + m_localPositionArray.resize(numSpheres); + m_radiArray.resize(numSpheres); + for (int i=0;i maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + + return supVec; + +} + + void btMultiSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + + for (int j=0;j maxDot) + { + maxDot = newDot; + supportVerticesOut[j] = vtx; + } + } + } +} + + + + + + + + +void btMultiSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + //as an approximation, take the inertia of the box that bounds the spheres + + btVector3 localAabbMin,localAabbMax; + getCachedLocalAabb(localAabbMin,localAabbMax); + btVector3 halfExtents = (localAabbMax-localAabbMin)*btScalar(0.5); + + btScalar lx=btScalar(2.)*(halfExtents.x()); + btScalar ly=btScalar(2.)*(halfExtents.y()); + btScalar lz=btScalar(2.)*(halfExtents.z()); + + inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + ly*ly)); + +} + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btMultiSphereShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btMultiSphereShapeData* shapeData = (btMultiSphereShapeData*) dataBuffer; + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer); + + int numElem = m_localPositionArray.size(); + shapeData->m_localPositionArrayPtr = numElem ? (btPositionAndRadius*)serializer->getUniquePointer((void*)&m_localPositionArray[0]): 0; + + shapeData->m_localPositionArraySize = numElem; + if (numElem) + { + btChunk* chunk = serializer->allocate(sizeof(btPositionAndRadius),numElem); + btPositionAndRadius* memPtr = (btPositionAndRadius*)chunk->m_oldPtr; + for (int i=0;im_pos); + memPtr->m_radius = float(m_radiArray[i]); + } + serializer->finalizeChunk(chunk,"btPositionAndRadius",BT_ARRAY_CODE,(void*)&m_localPositionArray[0]); + } + + return "btMultiSphereShapeData"; +} + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h new file mode 100644 index 0000000..3db7e32 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h @@ -0,0 +1,99 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef MULTI_SPHERE_MINKOWSKI_H +#define MULTI_SPHERE_MINKOWSKI_H + +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btAabbUtil2.h" + + + +///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes. +///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius +class btMultiSphereShape : public btConvexInternalAabbCachingShape +{ + + btAlignedObjectArray m_localPositionArray; + btAlignedObjectArray m_radiArray; + +public: + btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres); + + ///CollisionShape Interface + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + /// btConvexShape Interface + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + int getSphereCount() const + { + return m_localPositionArray.size(); + } + + const btVector3& getSpherePosition(int index) const + { + return m_localPositionArray[index]; + } + + btScalar getSphereRadius(int index) const + { + return m_radiArray[index]; + } + + + virtual const char* getName()const + { + return "MultiSphere"; + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + + +struct btPositionAndRadius +{ + btVector3FloatData m_pos; + float m_radius; +}; + +struct btMultiSphereShapeData +{ + btConvexInternalShapeData m_convexInternalShapeData; + + btPositionAndRadius *m_localPositionArrayPtr; + int m_localPositionArraySize; + char m_padding[4]; +}; + + + +SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize() const +{ + return sizeof(btMultiSphereShapeData); +} + + + +#endif //MULTI_SPHERE_MINKOWSKI_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp new file mode 100644 index 0000000..58799ac --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp @@ -0,0 +1,45 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +/// This file was created by Alex Silverman + +#include "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h" +//#include "BulletCollision/CollisionShapes/btOptimizedBvh.h" + + +///Obtains the material for a specific triangle +const btMaterial * btMultimaterialTriangleMeshShape::getMaterialProperties(int partID, int triIndex) +{ + const unsigned char * materialBase = 0; + int numMaterials; + PHY_ScalarType materialType; + int materialStride; + const unsigned char * triangleMaterialBase = 0; + int numTriangles; + int triangleMaterialStride; + PHY_ScalarType triangleType; + + ((btTriangleIndexVertexMaterialArray*)m_meshInterface)->getLockedReadOnlyMaterialBase(&materialBase, numMaterials, materialType, materialStride, + &triangleMaterialBase, numTriangles, triangleMaterialStride, triangleType, partID); + + // return the pointer to the place with the friction for the triangle + // TODO: This depends on whether it's a moving mesh or not + // BUG IN GIMPACT + //return (btScalar*)(&materialBase[triangleMaterialBase[(triIndex-1) * triangleMaterialStride] * materialStride]); + int * matInd = (int *)(&(triangleMaterialBase[(triIndex * triangleMaterialStride)])); + btMaterial *matVal = (btMaterial *)(&(materialBase[*matInd * materialStride])); + return (matVal); +} diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h new file mode 100644 index 0000000..d42ba11 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h @@ -0,0 +1,121 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +/// This file was created by Alex Silverman + +#ifndef BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H +#define BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H + +#include "btBvhTriangleMeshShape.h" +#include "btMaterial.h" + +///The BvhTriangleMaterialMeshShape extends the btBvhTriangleMeshShape. Its main contribution is the interface into a material array, which allows per-triangle friction and restitution. +ATTRIBUTE_ALIGNED16(class) btMultimaterialTriangleMeshShape : public btBvhTriangleMeshShape +{ + btAlignedObjectArray m_materialList; + int ** m_triangleMaterials; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btMultimaterialTriangleMeshShape(): btBvhTriangleMeshShape() {m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;} + btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true): + btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh) + { + m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE; + + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + //m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16)); + + for(int i = 0; i < meshInterface->getNumSubParts(); i++) + { + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase, + numverts, + type, + stride, + &indexbase, + indexstride, + numfaces, + indicestype, + i); + //m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces, 16)); + } + } + + ///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb + btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true): + btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, buildBvh) + { + m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE; + + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + //m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16)); + + for(int i = 0; i < meshInterface->getNumSubParts(); i++) + { + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase, + numverts, + type, + stride, + &indexbase, + indexstride, + numfaces, + indicestype, + i); + //m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces * 2, 16)); + } + } + + virtual ~btMultimaterialTriangleMeshShape() + { +/* + for(int i = 0; i < m_meshInterface->getNumSubParts(); i++) + { + btAlignedFree(m_materialValues[i]); + m_materialLookup[i] = NULL; + } + btAlignedFree(m_materialValues); + m_materialLookup = NULL; +*/ + } + //debugging + virtual const char* getName()const {return "MULTIMATERIALTRIANGLEMESH";} + + ///Obtains the material for a specific triangle + const btMaterial * getMaterialProperties(int partID, int triIndex); + +} +; + +#endif //BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp new file mode 100644 index 0000000..981b8a2 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp @@ -0,0 +1,391 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + + +#include "btOptimizedBvh.h" +#include "btStridingMeshInterface.h" +#include "LinearMath/btAabbUtil2.h" +#include "LinearMath/btIDebugDraw.h" + + +btOptimizedBvh::btOptimizedBvh() +{ +} + +btOptimizedBvh::~btOptimizedBvh() +{ +} + + +void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax) +{ + m_useQuantization = useQuantizedAabbCompression; + + + // NodeArray triangleNodes; + + struct NodeTriangleCallback : public btInternalTriangleIndexCallback + { + + NodeArray& m_triangleNodes; + + NodeTriangleCallback& operator=(NodeTriangleCallback& other) + { + m_triangleNodes = other.m_triangleNodes; + return *this; + } + + NodeTriangleCallback(NodeArray& triangleNodes) + :m_triangleNodes(triangleNodes) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + { + btOptimizedBvhNode node; + btVector3 aabbMin,aabbMax; + aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + aabbMin.setMin(triangle[0]); + aabbMax.setMax(triangle[0]); + aabbMin.setMin(triangle[1]); + aabbMax.setMax(triangle[1]); + aabbMin.setMin(triangle[2]); + aabbMax.setMax(triangle[2]); + + //with quantization? + node.m_aabbMinOrg = aabbMin; + node.m_aabbMaxOrg = aabbMax; + + node.m_escapeIndex = -1; + + //for child nodes + node.m_subPart = partId; + node.m_triangleIndex = triangleIndex; + m_triangleNodes.push_back(node); + } + }; + struct QuantizedNodeTriangleCallback : public btInternalTriangleIndexCallback + { + QuantizedNodeArray& m_triangleNodes; + const btQuantizedBvh* m_optimizedTree; // for quantization + + QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other) + { + m_triangleNodes = other.m_triangleNodes; + m_optimizedTree = other.m_optimizedTree; + return *this; + } + + QuantizedNodeTriangleCallback(QuantizedNodeArray& triangleNodes,const btQuantizedBvh* tree) + :m_triangleNodes(triangleNodes),m_optimizedTree(tree) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + { + // The partId and triangle index must fit in the same (positive) integer + btAssert(partId < (1<=0); + + btQuantizedBvhNode node; + btVector3 aabbMin,aabbMax; + aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + aabbMin.setMin(triangle[0]); + aabbMax.setMax(triangle[0]); + aabbMin.setMin(triangle[1]); + aabbMax.setMax(triangle[1]); + aabbMin.setMin(triangle[2]); + aabbMax.setMax(triangle[2]); + + //PCK: add these checks for zero dimensions of aabb + const btScalar MIN_AABB_DIMENSION = btScalar(0.002); + const btScalar MIN_AABB_HALF_DIMENSION = btScalar(0.001); + if (aabbMax.x() - aabbMin.x() < MIN_AABB_DIMENSION) + { + aabbMax.setX(aabbMax.x() + MIN_AABB_HALF_DIMENSION); + aabbMin.setX(aabbMin.x() - MIN_AABB_HALF_DIMENSION); + } + if (aabbMax.y() - aabbMin.y() < MIN_AABB_DIMENSION) + { + aabbMax.setY(aabbMax.y() + MIN_AABB_HALF_DIMENSION); + aabbMin.setY(aabbMin.y() - MIN_AABB_HALF_DIMENSION); + } + if (aabbMax.z() - aabbMin.z() < MIN_AABB_DIMENSION) + { + aabbMax.setZ(aabbMax.z() + MIN_AABB_HALF_DIMENSION); + aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION); + } + + m_optimizedTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0); + m_optimizedTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1); + + node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex; + + m_triangleNodes.push_back(node); + } + }; + + + + int numLeafNodes = 0; + + + if (m_useQuantization) + { + + //initialize quantization values + setQuantizationValues(bvhAabbMin,bvhAabbMax); + + QuantizedNodeTriangleCallback callback(m_quantizedLeafNodes,this); + + + triangles->InternalProcessAllTriangles(&callback,m_bvhAabbMin,m_bvhAabbMax); + + //now we have an array of leafnodes in m_leafNodes + numLeafNodes = m_quantizedLeafNodes.size(); + + + m_quantizedContiguousNodes.resize(2*numLeafNodes); + + + } else + { + NodeTriangleCallback callback(m_leafNodes); + + btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + + triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax); + + //now we have an array of leafnodes in m_leafNodes + numLeafNodes = m_leafNodes.size(); + + m_contiguousNodes.resize(2*numLeafNodes); + } + + m_curNodeIndex = 0; + + buildTree(0,numLeafNodes); + + ///if the entire tree is small then subtree size, we need to create a header info for the tree + if(m_useQuantization && !m_SubtreeHeaders.size()) + { + btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand(); + subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]); + subtree.m_rootNodeIndex = 0; + subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex(); + } + + //PCK: update the copy of the size + m_subtreeHeaderCount = m_SubtreeHeaders.size(); + + //PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary + m_quantizedLeafNodes.clear(); + m_leafNodes.clear(); +} + + + + +void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax) +{ + if (m_useQuantization) + { + + setQuantizationValues(aabbMin,aabbMax); + + updateBvhNodes(meshInterface,0,m_curNodeIndex,0); + + ///now update all subtree headers + + int i; + for (i=0;i m_bvhAabbMin.getX()); + btAssert(aabbMin.getY() > m_bvhAabbMin.getY()); + btAssert(aabbMin.getZ() > m_bvhAabbMin.getZ()); + + btAssert(aabbMax.getX() < m_bvhAabbMax.getX()); + btAssert(aabbMax.getY() < m_bvhAabbMax.getY()); + btAssert(aabbMax.getZ() < m_bvhAabbMax.getZ()); + + ///we should update all quantization values, using updateBvhNodes(meshInterface); + ///but we only update chunks that overlap the given aabb + + unsigned short quantizedQueryAabbMin[3]; + unsigned short quantizedQueryAabbMax[3]; + + quantize(&quantizedQueryAabbMin[0],aabbMin,0); + quantize(&quantizedQueryAabbMax[0],aabbMax,1); + + int i; + for (i=0;im_SubtreeHeaders.size();i++) + { + btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i]; + + //PCK: unsigned instead of bool + unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax); + if (overlap != 0) + { + updateBvhNodes(meshInterface,subtree.m_rootNodeIndex,subtree.m_rootNodeIndex+subtree.m_subtreeSize,i); + + subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]); + } + } + +} + +void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index) +{ + (void)index; + + btAssert(m_useQuantization); + + int curNodeSubPart=-1; + + //get access info to trianglemesh data + const unsigned char *vertexbase = 0; + int numverts = 0; + PHY_ScalarType type = PHY_INTEGER; + int stride = 0; + const unsigned char *indexbase = 0; + int indexstride = 0; + int numfaces = 0; + PHY_ScalarType indicestype = PHY_INTEGER; + + btVector3 triangleVerts[3]; + btVector3 aabbMin,aabbMax; + const btVector3& meshScaling = meshInterface->getScaling(); + + int i; + for (i=endNode-1;i>=firstNode;i--) + { + + + btQuantizedBvhNode& curNode = m_quantizedContiguousNodes[i]; + if (curNode.isLeafNode()) + { + //recalc aabb from triangle data + int nodeSubPart = curNode.getPartId(); + int nodeTriangleIndex = curNode.getTriangleIndex(); + if (nodeSubPart != curNodeSubPart) + { + if (curNodeSubPart >= 0) + meshInterface->unLockReadOnlyVertexBase(curNodeSubPart); + meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart); + + curNodeSubPart = nodeSubPart; + btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT); + } + //triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts, + + unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride); + + + for (int j=2;j>=0;j--) + { + + int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; + if (type == PHY_FLOAT) + { + float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); + triangleVerts[j] = btVector3( + graphicsbase[0]*meshScaling.getX(), + graphicsbase[1]*meshScaling.getY(), + graphicsbase[2]*meshScaling.getZ()); + } + else + { + double* graphicsbase = (double*)(vertexbase+graphicsindex*stride); + triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ())); + } + } + + + + aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + aabbMin.setMin(triangleVerts[0]); + aabbMax.setMax(triangleVerts[0]); + aabbMin.setMin(triangleVerts[1]); + aabbMax.setMax(triangleVerts[1]); + aabbMin.setMin(triangleVerts[2]); + aabbMax.setMax(triangleVerts[2]); + + quantize(&curNode.m_quantizedAabbMin[0],aabbMin,0); + quantize(&curNode.m_quantizedAabbMax[0],aabbMax,1); + + } else + { + //combine aabb from both children + + btQuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i+1]; + + btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i+2] : + &m_quantizedContiguousNodes[i+1+leftChildNode->getEscapeIndex()]; + + + { + for (int i=0;i<3;i++) + { + curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i]; + if (curNode.m_quantizedAabbMin[i]>rightChildNode->m_quantizedAabbMin[i]) + curNode.m_quantizedAabbMin[i]=rightChildNode->m_quantizedAabbMin[i]; + + curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i]; + if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i]) + curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i]; + } + } + } + + } + + if (curNodeSubPart >= 0) + meshInterface->unLockReadOnlyVertexBase(curNodeSubPart); + + +} + +///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place' +btOptimizedBvh* btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian) +{ + btQuantizedBvh* bvh = btQuantizedBvh::deSerializeInPlace(i_alignedDataBuffer,i_dataBufferSize,i_swapEndian); + + //we don't add additional data so just do a static upcast + return static_cast(bvh); +} diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h new file mode 100644 index 0000000..749fe60 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h @@ -0,0 +1,65 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +///Contains contributions from Disney Studio's + +#ifndef OPTIMIZED_BVH_H +#define OPTIMIZED_BVH_H + +#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" + +class btStridingMeshInterface; + + +///The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes, through the btStridingMeshInterface. +ATTRIBUTE_ALIGNED16(class) btOptimizedBvh : public btQuantizedBvh +{ + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + +protected: + +public: + + btOptimizedBvh(); + + virtual ~btOptimizedBvh(); + + void build(btStridingMeshInterface* triangles,bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax); + + void refit(btStridingMeshInterface* triangles,const btVector3& aabbMin,const btVector3& aabbMax); + + void refitPartial(btStridingMeshInterface* triangles,const btVector3& aabbMin, const btVector3& aabbMax); + + void updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index); + + /// Data buffer MUST be 16 byte aligned + virtual bool serializeInPlace(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const + { + return btQuantizedBvh::serialize(o_alignedDataBuffer,i_dataBufferSize,i_swapEndian); + + } + + ///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place' + static btOptimizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian); + + +}; + + +#endif //OPTIMIZED_BVH_H + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp new file mode 100644 index 0000000..b1ecb3e --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp @@ -0,0 +1,193 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" + +btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape() +{ + +} + + +btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const +{ + + + btVector3 supVec(0,0,0); +#ifndef __SPU__ + int i; + btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); + + btVector3 vec = vec0; + btScalar lenSqr = vec.length2(); + if (lenSqr < btScalar(0.0001)) + { + vec.setValue(1,0,0); + } else + { + btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); + vec *= rlen; + } + + btVector3 vtx; + btScalar newDot; + + for (i=0;i maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + + +#endif //__SPU__ + return supVec; +} + + + +void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ +#ifndef __SPU__ + int i; + + btVector3 vtx; + btScalar newDot; + + for (i=0;i supportVerticesOut[j][3]) + { + //WARNING: don't swap next lines, the w component would get overwritten! + supportVerticesOut[j] = vtx; + supportVerticesOut[j][3] = newDot; + } + } + } +#endif //__SPU__ +} + + + +void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ +#ifndef __SPU__ + //not yet, return box inertia + + btScalar margin = getMargin(); + + btTransform ident; + ident.setIdentity(); + btVector3 aabbMin,aabbMax; + getAabb(ident,aabbMin,aabbMax); + btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5); + + btScalar lx=btScalar(2.)*(halfExtents.x()+margin); + btScalar ly=btScalar(2.)*(halfExtents.y()+margin); + btScalar lz=btScalar(2.)*(halfExtents.z()+margin); + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); +#endif //__SPU__ +} + + + +void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling) +{ + btConvexInternalShape::setLocalScaling(scaling); + recalcLocalAabb(); +} + +btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape() +:btPolyhedralConvexShape(), +m_localAabbMin(1,1,1), +m_localAabbMax(-1,-1,-1), +m_isLocalAabbValid(false) +{ +} + +void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +{ + getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin()); +} + +void btPolyhedralConvexAabbCachingShape::recalcLocalAabb() +{ + m_isLocalAabbValid = true; + + #if 1 + static const btVector3 _directions[] = + { + btVector3( 1., 0., 0.), + btVector3( 0., 1., 0.), + btVector3( 0., 0., 1.), + btVector3( -1., 0., 0.), + btVector3( 0., -1., 0.), + btVector3( 0., 0., -1.) + }; + + btVector3 _supporting[] = + { + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.) + }; + + batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6); + + for ( int i = 0; i < 3; ++i ) + { + m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin; + m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin; + } + + #else + + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + btVector3 tmp = localGetSupportingVertex(vec); + m_localAabbMax[i] = tmp[i]+m_collisionMargin; + vec[i] = btScalar(-1.); + tmp = localGetSupportingVertex(vec); + m_localAabbMin[i] = tmp[i]-m_collisionMargin; + } + #endif +} + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h new file mode 100644 index 0000000..2c691b9 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h @@ -0,0 +1,98 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef BU_SHAPE +#define BU_SHAPE + +#include "LinearMath/btMatrix3x3.h" +#include "btConvexInternalShape.h" + + +///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes. +class btPolyhedralConvexShape : public btConvexInternalShape +{ + +protected: + +public: + + btPolyhedralConvexShape(); + + //brute force implementations + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + + virtual int getNumVertices() const = 0 ; + virtual int getNumEdges() const = 0; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0; + virtual void getVertex(int i,btVector3& vtx) const = 0; + virtual int getNumPlanes() const = 0; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0; +// virtual int getIndex(int i) const = 0 ; + + virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0; + +}; + + +///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape +class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape +{ + + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + bool m_isLocalAabbValid; + +protected: + + void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax) + { + m_isLocalAabbValid = true; + m_localAabbMin = aabbMin; + m_localAabbMax = aabbMax; + } + + inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const + { + btAssert(m_isLocalAabbValid); + aabbMin = m_localAabbMin; + aabbMax = m_localAabbMax; + } + +public: + + btPolyhedralConvexAabbCachingShape(); + + inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const + { + + //lazy evaluation of local aabb + btAssert(m_isLocalAabbValid); + btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax); + } + + virtual void setLocalScaling(const btVector3& scaling); + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + void recalcLocalAabb(); + +}; + +#endif //BU_SHAPE diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp new file mode 100644 index 0000000..d964e1e --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp @@ -0,0 +1,121 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + + +#include "btScaledBvhTriangleMeshShape.h" + +btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling) +:m_localScaling(localScaling),m_bvhTriMeshShape(childShape) +{ + m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE; +} + +btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape() +{ +} + + +class btScaledTriangleCallback : public btTriangleCallback +{ + btTriangleCallback* m_originalCallback; + + btVector3 m_localScaling; + +public: + + btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling) + :m_originalCallback(originalCallback), + m_localScaling(localScaling) + { + } + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) + { + btVector3 newTriangle[3]; + newTriangle[0] = triangle[0]*m_localScaling; + newTriangle[1] = triangle[1]*m_localScaling; + newTriangle[2] = triangle[2]*m_localScaling; + m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex); + } +}; + +void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + btScaledTriangleCallback scaledCallback(callback,m_localScaling); + + btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ()); + btVector3 scaledAabbMin,scaledAabbMax; + + ///support negative scaling + scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0]; + scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1]; + scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2]; + + scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0]; + scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1]; + scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2]; + + + m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax); +} + + +void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +{ + btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin(); + btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax(); + + btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling; + btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling; + + localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0]; + localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1]; + localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2]; + localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0]; + localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1]; + localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2]; + + btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin); + btScalar margin = m_bvhTriMeshShape->getMargin(); + localHalfExtents += btVector3(margin,margin,margin); + btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin); + + btMatrix3x3 abs_b = trans.getBasis().absolute(); + + btVector3 center = trans(localCenter); + + btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), + abs_b[1].dot(localHalfExtents), + abs_b[2].dot(localHalfExtents)); + aabbMin = center - extent; + aabbMax = center + extent; + +} + +void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; +} + +const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const +{ + return m_localScaling; +} + +void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + ///don't make this a movable object! +// btAssert(0); +} diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h new file mode 100644 index 0000000..d720b1b --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h @@ -0,0 +1,62 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef SCALED_BVH_TRIANGLE_MESH_SHAPE_H +#define SCALED_BVH_TRIANGLE_MESH_SHAPE_H + +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" + + +///The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMeshShape. +///Note that each btBvhTriangleMeshShape still can have its own local scaling, independent from this btScaledBvhTriangleMeshShape 'localScaling' +ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape +{ + + + btVector3 m_localScaling; + + btBvhTriangleMeshShape* m_bvhTriMeshShape; + +public: + + + btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling); + + virtual ~btScaledBvhTriangleMeshShape(); + + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const; + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + btBvhTriangleMeshShape* getChildShape() + { + return m_bvhTriMeshShape; + } + + const btBvhTriangleMeshShape* getChildShape() const + { + return m_bvhTriMeshShape; + } + + //debugging + virtual const char* getName()const {return "SCALEDBVHTRIANGLEMESH";} + +}; + +#endif //BVH_TRIANGLE_MESH_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp new file mode 100644 index 0000000..3beaf86 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp @@ -0,0 +1,170 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +//btShapeHull was implemented by John McCutchan. + + +#include "btShapeHull.h" +#include "LinearMath/btConvexHull.h" + +#define NUM_UNITSPHERE_POINTS 42 + +btShapeHull::btShapeHull (const btConvexShape* shape) +{ + m_shape = shape; + m_vertices.clear (); + m_indices.clear(); + m_numIndices = 0; +} + +btShapeHull::~btShapeHull () +{ + m_indices.clear(); + m_vertices.clear (); +} + +bool +btShapeHull::buildHull (btScalar /*margin*/) +{ + int numSampleDirections = NUM_UNITSPHERE_POINTS; + { + int numPDA = m_shape->getNumPreferredPenetrationDirections(); + if (numPDA) + { + for (int i=0;igetPreferredPenetrationDirection(i,norm); + getUnitSpherePoints()[numSampleDirections] = norm; + numSampleDirections++; + } + } + } + + btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; + int i; + for (i = 0; i < numSampleDirections; i++) + { + supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]); + } + + HullDesc hd; + hd.mFlags = QF_TRIANGLES; + hd.mVcount = static_cast(numSampleDirections); + +#ifdef BT_USE_DOUBLE_PRECISION + hd.mVertices = &supportPoints[0]; + hd.mVertexStride = sizeof(btVector3); +#else + hd.mVertices = &supportPoints[0]; + hd.mVertexStride = sizeof (btVector3); +#endif + + HullLibrary hl; + HullResult hr; + if (hl.CreateConvexHull (hd, hr) == QE_FAIL) + { + return false; + } + + m_vertices.resize (static_cast(hr.mNumOutputVertices)); + + + for (i = 0; i < static_cast(hr.mNumOutputVertices); i++) + { + m_vertices[i] = hr.m_OutputVertices[i]; + } + m_numIndices = hr.mNumIndices; + m_indices.resize(static_cast(m_numIndices)); + for (i = 0; i < static_cast(m_numIndices); i++) + { + m_indices[i] = hr.m_Indices[i]; + } + + // free temporary hull result that we just copied + hl.ReleaseResult (hr); + + return true; +} + +int +btShapeHull::numTriangles () const +{ + return static_cast(m_numIndices / 3); +} + +int +btShapeHull::numVertices () const +{ + return m_vertices.size (); +} + +int +btShapeHull::numIndices () const +{ + return static_cast(m_numIndices); +} + + +btVector3* btShapeHull::getUnitSpherePoints() +{ + static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = + { + btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)), + btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)), + btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)), + btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)), + btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)), + btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)), + btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)), + btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)), + btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)), + btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)), + btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)), + btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)), + btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)), + btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)), + btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)), + btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)), + btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)), + btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)), + btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)), + btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)), + btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)), + btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)), + btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)), + btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)), + btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)), + btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)), + btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)), + btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)), + btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)), + btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)), + btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)), + btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)), + btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)), + btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)), + btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)), + btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)), + btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)), + btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)), + btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)), + btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)), + btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)), + btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654)) + }; + return sUnitSpherePoints; +} + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btShapeHull.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btShapeHull.h new file mode 100644 index 0000000..07b3500 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btShapeHull.h @@ -0,0 +1,59 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +///btShapeHull implemented by John McCutchan. + +#ifndef _SHAPE_HULL_H +#define _SHAPE_HULL_H + +#include "LinearMath/btAlignedObjectArray.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" + + +///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices. +///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object. +///It approximates the convex hull using the supporting vertex of 42 directions. +class btShapeHull +{ +protected: + + btAlignedObjectArray m_vertices; + btAlignedObjectArray m_indices; + unsigned int m_numIndices; + const btConvexShape* m_shape; + + static btVector3* getUnitSpherePoints(); + +public: + btShapeHull (const btConvexShape* shape); + ~btShapeHull (); + + bool buildHull (btScalar margin); + + int numTriangles () const; + int numVertices () const; + int numIndices () const; + + const btVector3* getVertexPointer() const + { + return &m_vertices[0]; + } + const unsigned int* getIndexPointer() const + { + return &m_indices[0]; + } +}; + +#endif //_SHAPE_HULL_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp new file mode 100644 index 0000000..b9a736c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp @@ -0,0 +1,71 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btSphereShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btQuaternion.h" + +btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + (void)vec; + return btVector3(btScalar(0.),btScalar(0.),btScalar(0.)); +} + +void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + (void)vectors; + + for (int i=0;iprocessTriangle(triangle,0,0); + + triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius; + triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius; + triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius; + + callback->processTriangle(triangle,0,1); + +} + +void btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + (void)mass; + + //moving concave objects not supported + + inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); +} + +void btStaticPlaneShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; +} +const btVector3& btStaticPlaneShape::getLocalScaling() const +{ + return m_localScaling; +} diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h new file mode 100644 index 0000000..beb53ef --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h @@ -0,0 +1,103 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef STATIC_PLANE_SHAPE_H +#define STATIC_PLANE_SHAPE_H + +#include "btConcaveShape.h" + + +///The btStaticPlaneShape simulates an infinite non-moving (static) collision plane. +ATTRIBUTE_ALIGNED16(class) btStaticPlaneShape : public btConcaveShape +{ +protected: + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + + btVector3 m_planeNormal; + btScalar m_planeConstant; + btVector3 m_localScaling; + +public: + btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant); + + virtual ~btStaticPlaneShape(); + + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const; + + const btVector3& getPlaneNormal() const + { + return m_planeNormal; + } + + const btScalar& getPlaneConstant() const + { + return m_planeConstant; + } + + //debugging + virtual const char* getName()const {return "STATICPLANE";} + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btStaticPlaneShapeData +{ + btCollisionShapeData m_collisionShapeData; + + btVector3FloatData m_localScaling; + btVector3FloatData m_planeNormal; + float m_planeConstant; + char m_pad[4]; +}; + + +SIMD_FORCE_INLINE int btStaticPlaneShape::calculateSerializeBufferSize() const +{ + return sizeof(btStaticPlaneShapeData); +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btStaticPlaneShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) dataBuffer; + btCollisionShape::serialize(&planeData->m_collisionShapeData,serializer); + + m_localScaling.serializeFloat(planeData->m_localScaling); + m_planeNormal.serializeFloat(planeData->m_planeNormal); + planeData->m_planeConstant = float(m_planeConstant); + + return "btStaticPlaneShapeData"; +} + + +#endif //STATIC_PLANE_SHAPE_H + + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp new file mode 100644 index 0000000..8624531 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp @@ -0,0 +1,331 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btStridingMeshInterface.h" +#include "LinearMath/btSerializer.h" + +btStridingMeshInterface::~btStridingMeshInterface() +{ + +} + + +void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + (void)aabbMin; + (void)aabbMax; + int numtotalphysicsverts = 0; + int part,graphicssubparts = getNumSubParts(); + const unsigned char * vertexbase; + const unsigned char * indexbase; + int indexstride; + PHY_ScalarType type; + PHY_ScalarType gfxindextype; + int stride,numverts,numtriangles; + int gfxindex; + btVector3 triangle[3]; + + btVector3 meshScaling = getScaling(); + + ///if the number of parts is big, the performance might drop due to the innerloop switch on indextype + for (part=0;partinternalProcessTriangleIndex(triangle,part,gfxindex); + } + break; + } + case PHY_SHORT: + { + for (gfxindex=0;gfxindexinternalProcessTriangleIndex(triangle,part,gfxindex); + } + break; + } + default: + btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT)); + } + break; + } + + case PHY_DOUBLE: + { + double* graphicsbase; + + switch (gfxindextype) + { + case PHY_INTEGER: + { + for (gfxindex=0;gfxindexinternalProcessTriangleIndex(triangle,part,gfxindex); + } + break; + } + case PHY_SHORT: + { + for (gfxindex=0;gfxindexinternalProcessTriangleIndex(triangle,part,gfxindex); + } + break; + } + default: + btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT)); + } + break; + } + default: + btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE)); + } + + unLockReadOnlyVertexBase(part); + } +} + +void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax) +{ + + struct AabbCalculationCallback : public btInternalTriangleIndexCallback + { + btVector3 m_aabbMin; + btVector3 m_aabbMax; + + AabbCalculationCallback() + { + m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + } + + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + { + (void)partId; + (void)triangleIndex; + + m_aabbMin.setMin(triangle[0]); + m_aabbMax.setMax(triangle[0]); + m_aabbMin.setMin(triangle[1]); + m_aabbMax.setMax(triangle[1]); + m_aabbMin.setMin(triangle[2]); + m_aabbMax.setMax(triangle[2]); + } + }; + + //first calculate the total aabb for all triangles + AabbCalculationCallback aabbCallback; + aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax); + + aabbMin = aabbCallback.m_aabbMin; + aabbMax = aabbCallback.m_aabbMax; +} + + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btStridingMeshInterfaceData* trimeshData = (btStridingMeshInterfaceData*) dataBuffer; + + trimeshData->m_numMeshParts = getNumSubParts(); + + //void* uniquePtr = 0; + + trimeshData->m_meshPartsPtr = 0; + + if (trimeshData->m_numMeshParts) + { + btChunk* chunk = serializer->allocate(sizeof(btMeshPartData),trimeshData->m_numMeshParts); + btMeshPartData* memPtr = (btMeshPartData*)chunk->m_oldPtr; + trimeshData->m_meshPartsPtr = (btMeshPartData *)serializer->getUniquePointer(memPtr); + + + // int numtotalphysicsverts = 0; + int part,graphicssubparts = getNumSubParts(); + const unsigned char * vertexbase; + const unsigned char * indexbase; + int indexstride; + PHY_ScalarType type; + PHY_ScalarType gfxindextype; + int stride,numverts,numtriangles; + int gfxindex; + // btVector3 triangle[3]; + + btVector3 meshScaling = getScaling(); + + ///if the number of parts is big, the performance might drop due to the innerloop switch on indextype + for (part=0;partm_numTriangles = numtriangles;//indices = 3*numtriangles + memPtr->m_numVertices = numverts; + memPtr->m_indices16 = 0; + memPtr->m_indices32 = 0; + memPtr->m_3indices16 = 0; + memPtr->m_vertices3f = 0; + memPtr->m_vertices3d = 0; + + switch (gfxindextype) + { + case PHY_INTEGER: + { + int numindices = numtriangles*3; + + if (numindices) + { + btChunk* chunk = serializer->allocate(sizeof(btIntIndexData),numindices); + btIntIndexData* tmpIndices = (btIntIndexData*)chunk->m_oldPtr; + memPtr->m_indices32 = (btIntIndexData*)serializer->getUniquePointer(tmpIndices); + for (gfxindex=0;gfxindexfinalizeChunk(chunk,"btIntIndexData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + case PHY_SHORT: + { + if (numtriangles) + { + btChunk* chunk = serializer->allocate(sizeof(btShortIntIndexTripletData),numtriangles); + btShortIntIndexTripletData* tmpIndices = (btShortIntIndexTripletData*)chunk->m_oldPtr; + memPtr->m_3indices16 = (btShortIntIndexTripletData*) serializer->getUniquePointer(tmpIndices); + for (gfxindex=0;gfxindexfinalizeChunk(chunk,"btShortIntIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + default: + { + btAssert(0); + //unknown index type + } + } + + switch (type) + { + case PHY_FLOAT: + { + float* graphicsbase; + + if (numverts) + { + btChunk* chunk = serializer->allocate(sizeof(btVector3FloatData),numverts); + btVector3FloatData* tmpVertices = (btVector3FloatData*) chunk->m_oldPtr; + memPtr->m_vertices3f = (btVector3FloatData *)serializer->getUniquePointer(tmpVertices); + for (int i=0;ifinalizeChunk(chunk,"btVector3FloatData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + + case PHY_DOUBLE: + { + if (numverts) + { + btChunk* chunk = serializer->allocate(sizeof(btVector3DoubleData),numverts); + btVector3DoubleData* tmpVertices = (btVector3DoubleData*) chunk->m_oldPtr; + memPtr->m_vertices3d = (btVector3DoubleData *) serializer->getUniquePointer(tmpVertices); + for (int i=0;ifinalizeChunk(chunk,"btVector3DoubleData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + + default: + btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE)); + } + + unLockReadOnlyVertexBase(part); + } + + serializer->finalizeChunk(chunk,"btMeshPartData",BT_ARRAY_CODE,chunk->m_oldPtr); + } + + + m_scaling.serializeFloat(trimeshData->m_scaling); + return "btStridingMeshInterfaceData"; +} diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h new file mode 100644 index 0000000..e0c1b54 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h @@ -0,0 +1,154 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef STRIDING_MESHINTERFACE_H +#define STRIDING_MESHINTERFACE_H + +#include "LinearMath/btVector3.h" +#include "btTriangleCallback.h" +#include "btConcaveShape.h" + + + + + +/// The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes. +/// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips. +/// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory. +class btStridingMeshInterface +{ + protected: + + btVector3 m_scaling; + + public: + btStridingMeshInterface() :m_scaling(btScalar(1.),btScalar(1.),btScalar(1.)) + { + + } + + virtual ~btStridingMeshInterface(); + + + + virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + ///brute force method to calculate aabb + void calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax); + + /// get read and write access to a subpart of a triangle mesh + /// this subpart has a continuous array of vertices and indices + /// in this way the mesh can be handled as chunks of memory with striding + /// very similar to OpenGL vertexarray support + /// make a call to unLockVertexBase when the read and write access is finished + virtual void getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0)=0; + + virtual void getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const=0; + + /// unLockVertexBase finishes the access to a subpart of the triangle mesh + /// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished + virtual void unLockVertexBase(int subpart)=0; + + virtual void unLockReadOnlyVertexBase(int subpart) const=0; + + + /// getNumSubParts returns the number of seperate subparts + /// each subpart has a continuous array of vertices and indices + virtual int getNumSubParts() const=0; + + virtual void preallocateVertices(int numverts)=0; + virtual void preallocateIndices(int numindices)=0; + + virtual bool hasPremadeAabb() const { return false; } + virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const + { + (void) aabbMin; + (void) aabbMax; + } + virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const + { + (void) aabbMin; + (void) aabbMax; + } + + const btVector3& getScaling() const { + return m_scaling; + } + void setScaling(const btVector3& scaling) + { + m_scaling = scaling; + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +struct btIntIndexData +{ + int m_value; +}; + +struct btShortIntIndexData +{ + short m_value; + char m_pad[2]; +}; + +struct btShortIntIndexTripletData +{ + short m_values[3]; + char m_pad[2]; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btMeshPartData +{ + btVector3FloatData *m_vertices3f; + btVector3DoubleData *m_vertices3d; + + btIntIndexData *m_indices32; + btShortIntIndexTripletData *m_3indices16; + + btShortIntIndexData *m_indices16;//backwards compatibility + + int m_numTriangles;//length of m_indices = m_numTriangles + int m_numVertices; +}; + + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btStridingMeshInterfaceData +{ + btMeshPartData *m_meshPartsPtr; + btVector3FloatData m_scaling; + int m_numMeshParts; + char m_padding[4]; +}; + + + + +SIMD_FORCE_INLINE int btStridingMeshInterface::calculateSerializeBufferSize() const +{ + return sizeof(btStridingMeshInterfaceData); +} + + + +#endif //STRIDING_MESHINTERFACE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp new file mode 100644 index 0000000..52f346b --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp @@ -0,0 +1,218 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btTetrahedronShape.h" +#include "LinearMath/btMatrix3x3.h" + +btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; +} + +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; + addVertex(pt0); +} + +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; + addVertex(pt0); + addVertex(pt1); +} + +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; + addVertex(pt0); + addVertex(pt1); + addVertex(pt2); +} + +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; + addVertex(pt0); + addVertex(pt1); + addVertex(pt2); + addVertex(pt3); +} + + +void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ +#if 1 + btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax); +#else + aabbMin.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); + aabbMax.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); + + //just transform the vertices in worldspace, and take their AABB + for (int i=0;iprocessAllTriangles(&triBuf,aabbMin, aabbMax); +/// for (int i=0;i m_triangleBuffer; + +public: + + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex); + + int getNumTriangles() const + { + return int(m_triangleBuffer.size()); + } + + const btTriangle& getTriangle(int index) const + { + return m_triangleBuffer[index]; + } + + void clearBuffer() + { + m_triangleBuffer.clear(); + } + +}; + + +#endif //BT_TRIANGLE_BUFFER_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp new file mode 100644 index 0000000..f558bf6 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp @@ -0,0 +1,28 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btTriangleCallback.h" + +btTriangleCallback::~btTriangleCallback() +{ + +} + + +btInternalTriangleIndexCallback::~btInternalTriangleIndexCallback() +{ + +} + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h new file mode 100644 index 0000000..0499702 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h @@ -0,0 +1,42 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef TRIANGLE_CALLBACK_H +#define TRIANGLE_CALLBACK_H + +#include "LinearMath/btVector3.h" + + +///The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTriangles. +///This callback is called by processAllTriangles for all btConcaveShape derived class, such as btBvhTriangleMeshShape, btStaticPlaneShape and btHeightfieldTerrainShape. +class btTriangleCallback +{ +public: + + virtual ~btTriangleCallback(); + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) = 0; +}; + +class btInternalTriangleIndexCallback +{ +public: + + virtual ~btInternalTriangleIndexCallback(); + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) = 0; +}; + + + +#endif //TRIANGLE_CALLBACK_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp new file mode 100644 index 0000000..a665024 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp @@ -0,0 +1,95 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btTriangleIndexVertexArray.h" + +btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride) +: m_hasAabb(0) +{ + btIndexedMesh mesh; + + mesh.m_numTriangles = numTriangles; + mesh.m_triangleIndexBase = (const unsigned char *)triangleIndexBase; + mesh.m_triangleIndexStride = triangleIndexStride; + mesh.m_numVertices = numVertices; + mesh.m_vertexBase = (const unsigned char *)vertexBase; + mesh.m_vertexStride = vertexStride; + + addIndexedMesh(mesh); + +} + +btTriangleIndexVertexArray::~btTriangleIndexVertexArray() +{ + +} + +void btTriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) +{ + btAssert(subpart< getNumSubParts() ); + + btIndexedMesh& mesh = m_indexedMeshes[subpart]; + + numverts = mesh.m_numVertices; + (*vertexbase) = (unsigned char *) mesh.m_vertexBase; + + type = mesh.m_vertexType; + + vertexStride = mesh.m_vertexStride; + + numfaces = mesh.m_numTriangles; + + (*indexbase) = (unsigned char *)mesh.m_triangleIndexBase; + indexstride = mesh.m_triangleIndexStride; + indicestype = mesh.m_indexType; +} + +void btTriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const +{ + const btIndexedMesh& mesh = m_indexedMeshes[subpart]; + + numverts = mesh.m_numVertices; + (*vertexbase) = (const unsigned char *)mesh.m_vertexBase; + + type = mesh.m_vertexType; + + vertexStride = mesh.m_vertexStride; + + numfaces = mesh.m_numTriangles; + (*indexbase) = (const unsigned char *)mesh.m_triangleIndexBase; + indexstride = mesh.m_triangleIndexStride; + indicestype = mesh.m_indexType; +} + +bool btTriangleIndexVertexArray::hasPremadeAabb() const +{ + return (m_hasAabb == 1); +} + + +void btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const +{ + m_aabbMin = aabbMin; + m_aabbMax = aabbMax; + m_hasAabb = 1; // this is intentionally an int see notes in header +} + +void btTriangleIndexVertexArray::getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const +{ + *aabbMin = m_aabbMin; + *aabbMax = m_aabbMax; +} + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h new file mode 100644 index 0000000..c64ea6e --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h @@ -0,0 +1,131 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef BT_TRIANGLE_INDEX_VERTEX_ARRAY_H +#define BT_TRIANGLE_INDEX_VERTEX_ARRAY_H + +#include "btStridingMeshInterface.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btScalar.h" + + +///The btIndexedMesh indexes a single vertex and index array. Multiple btIndexedMesh objects can be passed into a btTriangleIndexVertexArray using addIndexedMesh. +///Instead of the number of indices, we pass the number of triangles. +ATTRIBUTE_ALIGNED16( struct) btIndexedMesh +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + int m_numTriangles; + const unsigned char * m_triangleIndexBase; + int m_triangleIndexStride; + int m_numVertices; + const unsigned char * m_vertexBase; + int m_vertexStride; + + // The index type is set when adding an indexed mesh to the + // btTriangleIndexVertexArray, do not set it manually + PHY_ScalarType m_indexType; + + // The vertex type has a default type similar to Bullet's precision mode (float or double) + // but can be set manually if you for example run Bullet with double precision but have + // mesh data in single precision.. + PHY_ScalarType m_vertexType; + + + btIndexedMesh() + :m_indexType(PHY_INTEGER), +#ifdef BT_USE_DOUBLE_PRECISION + m_vertexType(PHY_DOUBLE) +#else // BT_USE_DOUBLE_PRECISION + m_vertexType(PHY_FLOAT) +#endif // BT_USE_DOUBLE_PRECISION + { + } +} +; + + +typedef btAlignedObjectArray IndexedMeshArray; + +///The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays. +///Additional meshes can be added using addIndexedMesh +///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays. +///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray. +ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface +{ +protected: + IndexedMeshArray m_indexedMeshes; + int m_pad[2]; + mutable int m_hasAabb; // using int instead of bool to maintain alignment + mutable btVector3 m_aabbMin; + mutable btVector3 m_aabbMax; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btTriangleIndexVertexArray() : m_hasAabb(0) + { + } + + virtual ~btTriangleIndexVertexArray(); + + //just to be backwards compatible + btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride); + + void addIndexedMesh(const btIndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER) + { + m_indexedMeshes.push_back(mesh); + m_indexedMeshes[m_indexedMeshes.size()-1].m_indexType = indexType; + } + + + virtual void getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0); + + virtual void getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const; + + /// unLockVertexBase finishes the access to a subpart of the triangle mesh + /// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished + virtual void unLockVertexBase(int subpart) {(void)subpart;} + + virtual void unLockReadOnlyVertexBase(int subpart) const {(void)subpart;} + + /// getNumSubParts returns the number of seperate subparts + /// each subpart has a continuous array of vertices and indices + virtual int getNumSubParts() const { + return (int)m_indexedMeshes.size(); + } + + IndexedMeshArray& getIndexedMeshArray() + { + return m_indexedMeshes; + } + + const IndexedMeshArray& getIndexedMeshArray() const + { + return m_indexedMeshes; + } + + virtual void preallocateVertices(int numverts){(void) numverts;} + virtual void preallocateIndices(int numindices){(void) numindices;} + + virtual bool hasPremadeAabb() const; + virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const; + virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const; + +} +; + +#endif //BT_TRIANGLE_INDEX_VERTEX_ARRAY_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp new file mode 100644 index 0000000..dc56294 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp @@ -0,0 +1,86 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +///This file was created by Alex Silverman + +#include "btTriangleIndexVertexMaterialArray.h" + +btTriangleIndexVertexMaterialArray::btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride, + int numVertices,btScalar* vertexBase,int vertexStride, + int numMaterials, unsigned char* materialBase, int materialStride, + int* triangleMaterialsBase, int materialIndexStride) : +btTriangleIndexVertexArray(numTriangles, triangleIndexBase, triangleIndexStride, numVertices, vertexBase, vertexStride) +{ + btMaterialProperties mat; + + mat.m_numMaterials = numMaterials; + mat.m_materialBase = materialBase; + mat.m_materialStride = materialStride; +#ifdef BT_USE_DOUBLE_PRECISION + mat.m_materialType = PHY_DOUBLE; +#else + mat.m_materialType = PHY_FLOAT; +#endif + + mat.m_numTriangles = numTriangles; + mat.m_triangleMaterialsBase = (unsigned char *)triangleMaterialsBase; + mat.m_triangleMaterialStride = materialIndexStride; + mat.m_triangleType = PHY_INTEGER; + + addMaterialProperties(mat); +} + + +void btTriangleIndexVertexMaterialArray::getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride, + unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart) +{ + btAssert(subpart< getNumSubParts() ); + + btMaterialProperties& mats = m_materials[subpart]; + + numMaterials = mats.m_numMaterials; + (*materialBase) = (unsigned char *) mats.m_materialBase; +#ifdef BT_USE_DOUBLE_PRECISION + materialType = PHY_DOUBLE; +#else + materialType = PHY_FLOAT; +#endif + materialStride = mats.m_materialStride; + + numTriangles = mats.m_numTriangles; + (*triangleMaterialBase) = (unsigned char *)mats.m_triangleMaterialsBase; + triangleMaterialStride = mats.m_triangleMaterialStride; + triangleType = mats.m_triangleType; +} + +void btTriangleIndexVertexMaterialArray::getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride, + const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart) +{ + btMaterialProperties& mats = m_materials[subpart]; + + numMaterials = mats.m_numMaterials; + (*materialBase) = (const unsigned char *) mats.m_materialBase; +#ifdef BT_USE_DOUBLE_PRECISION + materialType = PHY_DOUBLE; +#else + materialType = PHY_FLOAT; +#endif + materialStride = mats.m_materialStride; + + numTriangles = mats.m_numTriangles; + (*triangleMaterialBase) = (const unsigned char *)mats.m_triangleMaterialsBase; + triangleMaterialStride = mats.m_triangleMaterialStride; + triangleType = mats.m_triangleType; +} diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h new file mode 100644 index 0000000..ba4f7b4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h @@ -0,0 +1,84 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +///This file was created by Alex Silverman + +#ifndef BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H +#define BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H + +#include "btTriangleIndexVertexArray.h" + + +ATTRIBUTE_ALIGNED16( struct) btMaterialProperties +{ + ///m_materialBase ==========> 2 btScalar values make up one material, friction then restitution + int m_numMaterials; + const unsigned char * m_materialBase; + int m_materialStride; + PHY_ScalarType m_materialType; + ///m_numTriangles <=========== This exists in the btIndexedMesh object for the same subpart, but since we're + /// padding the structure, it can be reproduced at no real cost + ///m_triangleMaterials =====> 1 integer value makes up one entry + /// eg: m_triangleMaterials[1] = 5; // This will set triangle 2 to use material 5 + int m_numTriangles; + const unsigned char * m_triangleMaterialsBase; + int m_triangleMaterialStride; + ///m_triangleType <========== Automatically set in addMaterialProperties + PHY_ScalarType m_triangleType; +}; + +typedef btAlignedObjectArray MaterialArray; + +///Teh btTriangleIndexVertexMaterialArray is built on TriangleIndexVertexArray +///The addition of a material array allows for the utilization of the partID and +///triangleIndex that are returned in the ContactAddedCallback. As with +///TriangleIndexVertexArray, no duplicate is made of the material data, so it +///is the users responsibility to maintain the array during the lifetime of the +///TriangleIndexVertexMaterialArray. +ATTRIBUTE_ALIGNED16(class) btTriangleIndexVertexMaterialArray : public btTriangleIndexVertexArray +{ +protected: + MaterialArray m_materials; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btTriangleIndexVertexMaterialArray() + { + } + + btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride, + int numVertices,btScalar* vertexBase,int vertexStride, + int numMaterials, unsigned char* materialBase, int materialStride, + int* triangleMaterialsBase, int materialIndexStride); + + virtual ~btTriangleIndexVertexMaterialArray() {} + + void addMaterialProperties(const btMaterialProperties& mat, PHY_ScalarType triangleType = PHY_INTEGER) + { + m_materials.push_back(mat); + m_materials[m_materials.size()-1].m_triangleType = triangleType; + } + + virtual void getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride, + unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType ,int subpart = 0); + + virtual void getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride, + const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart = 0); + +} +; + +#endif //BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h new file mode 100644 index 0000000..282a770 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h @@ -0,0 +1,238 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2010 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, +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. +*/ + +#ifndef _BT_TRIANGLE_INFO_MAP_H +#define _BT_TRIANGLE_INFO_MAP_H + + +#include "LinearMath/btHashMap.h" +#include "LinearMath/btSerializer.h" + + +///for btTriangleInfo m_flags +#define TRI_INFO_V0V1_CONVEX 1 +#define TRI_INFO_V1V2_CONVEX 2 +#define TRI_INFO_V2V0_CONVEX 4 + +#define TRI_INFO_V0V1_SWAP_NORMALB 8 +#define TRI_INFO_V1V2_SWAP_NORMALB 16 +#define TRI_INFO_V2V0_SWAP_NORMALB 32 + + +///The btTriangleInfo structure stores information to adjust collision normals to avoid collisions against internal edges +///it can be generated using +struct btTriangleInfo +{ + btTriangleInfo() + { + m_edgeV0V1Angle = SIMD_2_PI; + m_edgeV1V2Angle = SIMD_2_PI; + m_edgeV2V0Angle = SIMD_2_PI; + m_flags=0; + } + + int m_flags; + + btScalar m_edgeV0V1Angle; + btScalar m_edgeV1V2Angle; + btScalar m_edgeV2V0Angle; + +}; + +typedef btHashMap btInternalTriangleInfoMap; + + +///The btTriangleInfoMap stores edge angle information for some triangles. You can compute this information yourself or using btGenerateInternalEdgeInfo. +struct btTriangleInfoMap : public btInternalTriangleInfoMap +{ + btScalar m_convexEpsilon;///used to determine if an edge or contact normal is convex, using the dot product + btScalar m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle + btScalar m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared' + btScalar m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge" + btScalar m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold) + + + btTriangleInfoMap() + { + m_convexEpsilon = 0.00f; + m_planarEpsilon = 0.0001f; + m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001); + m_edgeDistanceThreshold = btScalar(0.1); + m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001); + } + virtual ~btTriangleInfoMap() {} + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + void deSerialize(struct btTriangleInfoMapData& data); + +}; + +struct btTriangleInfoData +{ + int m_flags; + float m_edgeV0V1Angle; + float m_edgeV1V2Angle; + float m_edgeV2V0Angle; +}; + +struct btTriangleInfoMapData +{ + int *m_hashTablePtr; + int *m_nextPtr; + btTriangleInfoData *m_valueArrayPtr; + int *m_keyArrayPtr; + + float m_convexEpsilon; + float m_planarEpsilon; + float m_equalVertexThreshold; + float m_edgeDistanceThreshold; + float m_zeroAreaThreshold; + + int m_nextSize; + int m_hashTableSize; + int m_numValues; + int m_numKeys; + char m_padding[4]; +}; + +SIMD_FORCE_INLINE int btTriangleInfoMap::calculateSerializeBufferSize() const +{ + return sizeof(btTriangleInfoMapData); +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*) dataBuffer; + tmapData->m_convexEpsilon = m_convexEpsilon; + tmapData->m_planarEpsilon = m_planarEpsilon; + tmapData->m_equalVertexThreshold = m_equalVertexThreshold; + tmapData->m_edgeDistanceThreshold = m_edgeDistanceThreshold; + tmapData->m_zeroAreaThreshold = m_zeroAreaThreshold; + + tmapData->m_hashTableSize = m_hashTable.size(); + + tmapData->m_hashTablePtr = tmapData->m_hashTableSize ? (int*)serializer->getUniquePointer((void*)&m_hashTable[0]) : 0; + if (tmapData->m_hashTablePtr) + { + //serialize an int buffer + int sz = sizeof(int); + int numElem = tmapData->m_hashTableSize; + btChunk* chunk = serializer->allocate(sz,numElem); + int* memPtr = (int*)chunk->m_oldPtr; + for (int i=0;ifinalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_hashTable[0]); + + } + + tmapData->m_nextSize = m_next.size(); + tmapData->m_nextPtr = tmapData->m_nextSize? (int*)serializer->getUniquePointer((void*)&m_next[0]): 0; + if (tmapData->m_nextPtr) + { + int sz = sizeof(int); + int numElem = tmapData->m_nextSize; + btChunk* chunk = serializer->allocate(sz,numElem); + int* memPtr = (int*)chunk->m_oldPtr; + for (int i=0;ifinalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_next[0]); + } + + tmapData->m_numValues = m_valueArray.size(); + tmapData->m_valueArrayPtr = tmapData->m_numValues ? (btTriangleInfoData*)serializer->getUniquePointer((void*)&m_valueArray[0]): 0; + if (tmapData->m_valueArrayPtr) + { + int sz = sizeof(btTriangleInfoData); + int numElem = tmapData->m_numValues; + btChunk* chunk = serializer->allocate(sz,numElem); + btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr; + for (int i=0;im_edgeV0V1Angle = m_valueArray[i].m_edgeV0V1Angle; + memPtr->m_edgeV1V2Angle = m_valueArray[i].m_edgeV1V2Angle; + memPtr->m_edgeV2V0Angle = m_valueArray[i].m_edgeV2V0Angle; + memPtr->m_flags = m_valueArray[i].m_flags; + } + serializer->finalizeChunk(chunk,"btTriangleInfoData",BT_ARRAY_CODE,(void*) &m_valueArray[0]); + } + + tmapData->m_numKeys = m_keyArray.size(); + tmapData->m_keyArrayPtr = tmapData->m_numKeys ? (int*)serializer->getUniquePointer((void*)&m_keyArray[0]) : 0; + if (tmapData->m_keyArrayPtr) + { + int sz = sizeof(int); + int numElem = tmapData->m_numValues; + btChunk* chunk = serializer->allocate(sz,numElem); + int* memPtr = (int*)chunk->m_oldPtr; + for (int i=0;ifinalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*) &m_keyArray[0]); + + } + return "btTriangleInfoMapData"; +} + + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE void btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData ) +{ + + + m_convexEpsilon = tmapData.m_convexEpsilon; + m_planarEpsilon = tmapData.m_planarEpsilon; + m_equalVertexThreshold = tmapData.m_equalVertexThreshold; + m_edgeDistanceThreshold = tmapData.m_edgeDistanceThreshold; + m_zeroAreaThreshold = tmapData.m_zeroAreaThreshold; + m_hashTable.resize(tmapData.m_hashTableSize); + int i =0; + for (i=0;i m_4componentVertices; + btAlignedObjectArray m_3componentVertices; + + btAlignedObjectArray m_32bitIndices; + btAlignedObjectArray m_16bitIndices; + bool m_use32bitIndices; + bool m_use4componentVertices; + + + public: + btScalar m_weldingThreshold; + + btTriangleMesh (bool use32bitIndices=true,bool use4componentVertices=true); + + bool getUse32bitIndices() const + { + return m_use32bitIndices; + } + + bool getUse4componentVertices() const + { + return m_use4componentVertices; + } + ///By default addTriangle won't search for duplicate vertices, because the search is very slow for large triangle meshes. + ///In general it is better to directly use btTriangleIndexVertexArray instead. + void addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2, bool removeDuplicateVertices=false); + + int getNumTriangles() const; + + virtual void preallocateVertices(int numverts){(void) numverts;} + virtual void preallocateIndices(int numindices){(void) numindices;} + + ///findOrAddVertex is an internal method, use addTriangle instead + int findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices); + ///addIndex is an internal method, use addTriangle instead + void addIndex(int index); + +}; + +#endif //TRIANGLE_MESH_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp new file mode 100644 index 0000000..683684d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp @@ -0,0 +1,211 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btTriangleMeshShape.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btQuaternion.h" +#include "btStridingMeshInterface.h" +#include "LinearMath/btAabbUtil2.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + + +btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface) +: btConcaveShape (), m_meshInterface(meshInterface) +{ + m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE; + if(meshInterface->hasPremadeAabb()) + { + meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax); + } + else + { + recalcLocalAabb(); + } +} + + +btTriangleMeshShape::~btTriangleMeshShape() +{ + +} + + + + +void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +{ + + btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin); + localHalfExtents += btVector3(getMargin(),getMargin(),getMargin()); + btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin); + + btMatrix3x3 abs_b = trans.getBasis().absolute(); + + btVector3 center = trans(localCenter); + + btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), + abs_b[1].dot(localHalfExtents), + abs_b[2].dot(localHalfExtents)); + aabbMin = center - extent; + aabbMax = center + extent; + + +} + +void btTriangleMeshShape::recalcLocalAabb() +{ + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + btVector3 tmp = localGetSupportingVertex(vec); + m_localAabbMax[i] = tmp[i]+m_collisionMargin; + vec[i] = btScalar(-1.); + tmp = localGetSupportingVertex(vec); + m_localAabbMin[i] = tmp[i]-m_collisionMargin; + } +} + + + +class SupportVertexCallback : public btTriangleCallback +{ + + btVector3 m_supportVertexLocal; +public: + + btTransform m_worldTrans; + btScalar m_maxDot; + btVector3 m_supportVecLocal; + + SupportVertexCallback(const btVector3& supportVecWorld,const btTransform& trans) + : m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-BT_LARGE_FLOAT)) + + { + m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis(); + } + + virtual void processTriangle( btVector3* triangle,int partId, int triangleIndex) + { + (void)partId; + (void)triangleIndex; + for (int i=0;i<3;i++) + { + btScalar dot = m_supportVecLocal.dot(triangle[i]); + if (dot > m_maxDot) + { + m_maxDot = dot; + m_supportVertexLocal = triangle[i]; + } + } + } + + btVector3 GetSupportVertexWorldSpace() + { + return m_worldTrans(m_supportVertexLocal); + } + + btVector3 GetSupportVertexLocal() + { + return m_supportVertexLocal; + } + +}; + + +void btTriangleMeshShape::setLocalScaling(const btVector3& scaling) +{ + m_meshInterface->setScaling(scaling); + recalcLocalAabb(); +} + +const btVector3& btTriangleMeshShape::getLocalScaling() const +{ + return m_meshInterface->getScaling(); +} + + + + + + +//#define DEBUG_TRIANGLE_MESH + + + +void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + struct FilteredCallback : public btInternalTriangleIndexCallback + { + btTriangleCallback* m_callback; + btVector3 m_aabbMin; + btVector3 m_aabbMax; + + FilteredCallback(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) + :m_callback(callback), + m_aabbMin(aabbMin), + m_aabbMax(aabbMax) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + { + if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax)) + { + //check aabb in triangle-space, before doing this + m_callback->processTriangle(triangle,partId,triangleIndex); + } + + } + + }; + + FilteredCallback filterCallback(callback,aabbMin,aabbMax); + + m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax); +} + + + + + +void btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + (void)mass; + //moving concave objects not supported + btAssert(0); + inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); +} + + +btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const +{ + btVector3 supportVertex; + + btTransform ident; + ident.setIdentity(); + + SupportVertexCallback supportCallback(vec,ident); + + btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + + processAllTriangles(&supportCallback,-aabbMax,aabbMax); + + supportVertex = supportCallback.GetSupportVertexLocal(); + + return supportVertex; +} + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h new file mode 100644 index 0000000..2216698 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h @@ -0,0 +1,89 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef TRIANGLE_MESH_SHAPE_H +#define TRIANGLE_MESH_SHAPE_H + +#include "btConcaveShape.h" +#include "btStridingMeshInterface.h" + + +///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead. +class btTriangleMeshShape : public btConcaveShape +{ +protected: + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + btStridingMeshInterface* m_meshInterface; + + ///btTriangleMeshShape constructor has been disabled/protected, so that users will not mistakenly use this class. + ///Don't use btTriangleMeshShape but use btBvhTriangleMeshShape instead! + btTriangleMeshShape(btStridingMeshInterface* meshInterface); + +public: + + virtual ~btTriangleMeshShape(); + + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const; + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const + { + btAssert(0); + return localGetSupportingVertex(vec); + } + + void recalcLocalAabb(); + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const; + + btStridingMeshInterface* getMeshInterface() + { + return m_meshInterface; + } + + const btStridingMeshInterface* getMeshInterface() const + { + return m_meshInterface; + } + + const btVector3& getLocalAabbMin() const + { + return m_localAabbMin; + } + const btVector3& getLocalAabbMax() const + { + return m_localAabbMax; + } + + + + //debugging + virtual const char* getName()const {return "TRIANGLEMESH";} + + + +}; + + + + +#endif //TRIANGLE_MESH_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleShape.h new file mode 100644 index 0000000..847147c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btTriangleShape.h @@ -0,0 +1,182 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef OBB_TRIANGLE_MINKOWSKI_H +#define OBB_TRIANGLE_MINKOWSKI_H + +#include "btConvexShape.h" +#include "btBoxShape.h" + +ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape +{ + + +public: + + btVector3 m_vertices1[3]; + + virtual int getNumVertices() const + { + return 3; + } + + btVector3& getVertexPtr(int index) + { + return m_vertices1[index]; + } + + const btVector3& getVertexPtr(int index) const + { + return m_vertices1[index]; + } + virtual void getVertex(int index,btVector3& vert) const + { + vert = m_vertices1[index]; + } + + virtual int getNumEdges() const + { + return 3; + } + + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const + { + getVertex(i,pa); + getVertex((i+1)%3,pb); + } + + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const + { +// btAssert(0); + getAabbSlow(t,aabbMin,aabbMax); + } + + btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const + { + btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2])); + return m_vertices1[dots.maxAxis()]; + + } + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const + { + for (int i=0;i= -tolerance && dist <= tolerance) + { + //inside check on edge-planes + int i; + for (i=0;i<3;i++) + { + btVector3 pa,pb; + getEdge(i,pa,pb); + btVector3 edge = pb-pa; + btVector3 edgeNormal = edge.cross(normal); + edgeNormal.normalize(); + btScalar dist = pt.dot( edgeNormal); + btScalar edgeConst = pa.dot(edgeNormal); + dist -= edgeConst; + if (dist < -tolerance) + return false; + } + + return true; + } + + return false; + } + //debugging + virtual const char* getName()const + { + return "Triangle"; + } + + virtual int getNumPreferredPenetrationDirections() const + { + return 2; + } + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const + { + calcNormal(penetrationVector); + if (index) + penetrationVector *= btScalar(-1.); + } + + +}; + +#endif //OBB_TRIANGLE_MINKOWSKI_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp new file mode 100644 index 0000000..8e86f6b --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp @@ -0,0 +1,115 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#include "btUniformScalingShape.h" + +btUniformScalingShape::btUniformScalingShape( btConvexShape* convexChildShape,btScalar uniformScalingFactor): +btConvexShape (), m_childConvexShape(convexChildShape), +m_uniformScalingFactor(uniformScalingFactor) +{ + m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE; +} + +btUniformScalingShape::~btUniformScalingShape() +{ +} + + +btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + btVector3 tmpVertex; + tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec); + return tmpVertex*m_uniformScalingFactor; +} + +void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors); + int i; + for (i=0;ilocalGetSupportingVertex(vec); + return tmpVertex*m_uniformScalingFactor; +} + + +void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + + ///this linear upscaling is not realistic, but we don't deal with large mass ratios... + btVector3 tmpInertia; + m_childConvexShape->calculateLocalInertia(mass,tmpInertia); + inertia = tmpInertia * m_uniformScalingFactor; +} + + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version +void btUniformScalingShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + m_childConvexShape->getAabb(t,aabbMin,aabbMax); + btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5); + btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor; + + aabbMin = aabbCenter - scaledAabbHalfExtends; + aabbMax = aabbCenter + scaledAabbHalfExtends; + +} + +void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax); + btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5); + btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor; + + aabbMin = aabbCenter - scaledAabbHalfExtends; + aabbMax = aabbCenter + scaledAabbHalfExtends; +} + +void btUniformScalingShape::setLocalScaling(const btVector3& scaling) +{ + m_childConvexShape->setLocalScaling(scaling); +} + +const btVector3& btUniformScalingShape::getLocalScaling() const +{ + return m_childConvexShape->getLocalScaling(); +} + +void btUniformScalingShape::setMargin(btScalar margin) +{ + m_childConvexShape->setMargin(margin); +} +btScalar btUniformScalingShape::getMargin() const +{ + return m_childConvexShape->getMargin() * m_uniformScalingFactor; +} + +int btUniformScalingShape::getNumPreferredPenetrationDirections() const +{ + return m_childConvexShape->getNumPreferredPenetrationDirections(); +} + +void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const +{ + m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector); +} diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h new file mode 100644 index 0000000..cbf7e6f --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h @@ -0,0 +1,87 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef BT_UNIFORM_SCALING_SHAPE_H +#define BT_UNIFORM_SCALING_SHAPE_H + +#include "btConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + +///The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way. +///Istead of using btUniformScalingShape, it is better to use the non-uniform setLocalScaling method on convex shapes that implement it. +class btUniformScalingShape : public btConvexShape +{ + btConvexShape* m_childConvexShape; + + btScalar m_uniformScalingFactor; + + public: + + btUniformScalingShape( btConvexShape* convexChildShape, btScalar uniformScalingFactor); + + virtual ~btUniformScalingShape(); + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + btScalar getUniformScalingFactor() const + { + return m_uniformScalingFactor; + } + + btConvexShape* getChildShape() + { + return m_childConvexShape; + } + + const btConvexShape* getChildShape() const + { + return m_childConvexShape; + } + + virtual const char* getName()const + { + return "UniformScalingShape"; + } + + + + /////////////////////////// + + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void setLocalScaling(const btVector3& scaling) ; + virtual const btVector3& getLocalScaling() const ; + + virtual void setMargin(btScalar margin); + virtual btScalar getMargin() const; + + virtual int getNumPreferredPenetrationDirections() const; + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const; + + +}; + +#endif //BT_UNIFORM_SCALING_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btBoxCollision.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btBoxCollision.h new file mode 100644 index 0000000..d5676aa --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btBoxCollision.h @@ -0,0 +1,647 @@ +#ifndef BT_BOX_COLLISION_H_INCLUDED +#define BT_BOX_COLLISION_H_INCLUDED + +/*! \file gim_box_collision.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + +#include "LinearMath/btTransform.h" + + +///Swap numbers +#define BT_SWAP_NUMBERS(a,b){ \ + a = a+b; \ + b = a-b; \ + a = a-b; \ +}\ + + +#define BT_MAX(a,b) (ab?b:a) + +#define BT_GREATER(x, y) btFabs(x) > (y) + +#define BT_MAX3(a,b,c) BT_MAX(a,BT_MAX(b,c)) +#define BT_MIN3(a,b,c) BT_MIN(a,BT_MIN(b,c)) + + + + + + +enum eBT_PLANE_INTERSECTION_TYPE +{ + BT_CONST_BACK_PLANE = 0, + BT_CONST_COLLIDE_PLANE, + BT_CONST_FRONT_PLANE +}; + +//SIMD_FORCE_INLINE bool test_cross_edge_box( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, const btVector3 & extend, +// int dir_index0, +// int dir_index1 +// int component_index0, +// int component_index1) +//{ +// // dir coords are -z and y +// +// const btScalar dir0 = -edge[dir_index0]; +// const btScalar dir1 = edge[dir_index1]; +// btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1; +// btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1; +// //find minmax +// if(pmin>pmax) +// { +// BT_SWAP_NUMBERS(pmin,pmax); +// } +// //find extends +// const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] + +// extend[component_index1] * absolute_edge[dir_index1]; +// +// if(pmin>rad || -rad>pmax) return false; +// return true; +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2); +//} +// +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0); +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1); +//} + + +#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\ +{\ + const btScalar dir0 = -edge[i_dir_0];\ + const btScalar dir1 = edge[i_dir_1];\ + btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\ + btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\ + if(pmin>pmax)\ + {\ + BT_SWAP_NUMBERS(pmin,pmax); \ + }\ + const btScalar abs_dir0 = absolute_edge[i_dir_0];\ + const btScalar abs_dir1 = absolute_edge[i_dir_1];\ + const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\ + if(pmin>rad || -rad>pmax) return false;\ +}\ + + +#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\ +}\ + + +//! Returns the dot product between a vec3f and the col of a matrix +SIMD_FORCE_INLINE btScalar bt_mat3_dot_col( +const btMatrix3x3 & mat, const btVector3 & vec3, int colindex) +{ + return vec3[0]*mat[0][colindex] + vec3[1]*mat[1][colindex] + vec3[2]*mat[2][colindex]; +} + + +//! Class for transforming a model1 to the space of model0 +ATTRIBUTE_ALIGNED16 (class) BT_BOX_BOX_TRANSFORM_CACHE +{ +public: + btVector3 m_T1to0;//!< Transforms translation of model1 to model 0 + btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal to R0' * R1 + btMatrix3x3 m_AR;//!< Absolute value of m_R1to0 + + SIMD_FORCE_INLINE void calc_absolute_matrix() + { +// static const btVector3 vepsi(1e-6f,1e-6f,1e-6f); +// m_AR[0] = vepsi + m_R1to0[0].absolute(); +// m_AR[1] = vepsi + m_R1to0[1].absolute(); +// m_AR[2] = vepsi + m_R1to0[2].absolute(); + + int i,j; + + for(i=0;i<3;i++) + { + for(j=0;j<3;j++ ) + { + m_AR[i][j] = 1e-6f + btFabs(m_R1to0[i][j]); + } + } + + } + + BT_BOX_BOX_TRANSFORM_CACHE() + { + } + + + + //! Calc the transformation relative 1 to 0. Inverts matrics by transposing + SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1) + { + + btTransform temp_trans = trans0.inverse(); + temp_trans = temp_trans * trans1; + + m_T1to0 = temp_trans.getOrigin(); + m_R1to0 = temp_trans.getBasis(); + + + calc_absolute_matrix(); + } + + //! Calcs the full invertion of the matrices. Useful for scaling matrices + SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1) + { + m_R1to0 = trans0.getBasis().inverse(); + m_T1to0 = m_R1to0 * (-trans0.getOrigin()); + + m_T1to0 += m_R1to0*trans1.getOrigin(); + m_R1to0 *= trans1.getBasis(); + + calc_absolute_matrix(); + } + + SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) const + { + return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(), + m_R1to0[1].dot(point) + m_T1to0.y(), + m_R1to0[2].dot(point) + m_T1to0.z()); + } +}; + + +#define BOX_PLANE_EPSILON 0.000001f + +//! Axis aligned box +ATTRIBUTE_ALIGNED16 (class) btAABB +{ +public: + btVector3 m_min; + btVector3 m_max; + + btAABB() + {} + + + btAABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3) + { + m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); + } + + btAABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3, + btScalar margin) + { + m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + btAABB(const btAABB &other): + m_min(other.m_min),m_max(other.m_max) + { + } + + btAABB(const btAABB &other,btScalar margin ): + m_min(other.m_min),m_max(other.m_max) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void invalidate() + { + m_min[0] = SIMD_INFINITY; + m_min[1] = SIMD_INFINITY; + m_min[2] = SIMD_INFINITY; + m_max[0] = -SIMD_INFINITY; + m_max[1] = -SIMD_INFINITY; + m_max[2] = -SIMD_INFINITY; + } + + SIMD_FORCE_INLINE void increment_margin(btScalar margin) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void copy_with_margin(const btAABB &other, btScalar margin) + { + m_min[0] = other.m_min[0] - margin; + m_min[1] = other.m_min[1] - margin; + m_min[2] = other.m_min[2] - margin; + + m_max[0] = other.m_max[0] + margin; + m_max[1] = other.m_max[1] + margin; + m_max[2] = other.m_max[2] + margin; + } + + template + SIMD_FORCE_INLINE void calc_from_triangle( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3) + { + m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); + } + + template + SIMD_FORCE_INLINE void calc_from_triangle_margin( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3, btScalar margin) + { + m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + //! Apply a transform to an AABB + SIMD_FORCE_INLINE void appy_transform(const btTransform & trans) + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extends = m_max - center; + // Compute new center + center = trans(center); + + btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()), + extends.dot(trans.getBasis().getRow(1).absolute()), + extends.dot(trans.getBasis().getRow(2).absolute())); + + m_min = center - textends; + m_max = center + textends; + } + + + //! Apply a transform to an AABB + SIMD_FORCE_INLINE void appy_transform_trans_cache(const BT_BOX_BOX_TRANSFORM_CACHE & trans) + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extends = m_max - center; + // Compute new center + center = trans.transform(center); + + btVector3 textends(extends.dot(trans.m_R1to0.getRow(0).absolute()), + extends.dot(trans.m_R1to0.getRow(1).absolute()), + extends.dot(trans.m_R1to0.getRow(2).absolute())); + + m_min = center - textends; + m_max = center + textends; + } + + //! Merges a Box + SIMD_FORCE_INLINE void merge(const btAABB & box) + { + m_min[0] = BT_MIN(m_min[0],box.m_min[0]); + m_min[1] = BT_MIN(m_min[1],box.m_min[1]); + m_min[2] = BT_MIN(m_min[2],box.m_min[2]); + + m_max[0] = BT_MAX(m_max[0],box.m_max[0]); + m_max[1] = BT_MAX(m_max[1],box.m_max[1]); + m_max[2] = BT_MAX(m_max[2],box.m_max[2]); + } + + //! Merges a point + template + SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point) + { + m_min[0] = BT_MIN(m_min[0],point[0]); + m_min[1] = BT_MIN(m_min[1],point[1]); + m_min[2] = BT_MIN(m_min[2],point[2]); + + m_max[0] = BT_MAX(m_max[0],point[0]); + m_max[1] = BT_MAX(m_max[1],point[1]); + m_max[2] = BT_MAX(m_max[2],point[2]); + } + + //! Gets the extend and center + SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend) const + { + center = (m_max+m_min)*0.5f; + extend = m_max - center; + } + + //! Finds the intersecting box between this box and the other. + SIMD_FORCE_INLINE void find_intersection(const btAABB & other, btAABB & intersection) const + { + intersection.m_min[0] = BT_MAX(other.m_min[0],m_min[0]); + intersection.m_min[1] = BT_MAX(other.m_min[1],m_min[1]); + intersection.m_min[2] = BT_MAX(other.m_min[2],m_min[2]); + + intersection.m_max[0] = BT_MIN(other.m_max[0],m_max[0]); + intersection.m_max[1] = BT_MIN(other.m_max[1],m_max[1]); + intersection.m_max[2] = BT_MIN(other.m_max[2],m_max[2]); + } + + + SIMD_FORCE_INLINE bool has_collision(const btAABB & other) const + { + if(m_min[0] > other.m_max[0] || + m_max[0] < other.m_min[0] || + m_min[1] > other.m_max[1] || + m_max[1] < other.m_min[1] || + m_min[2] > other.m_max[2] || + m_max[2] < other.m_min[2]) + { + return false; + } + return true; + } + + /*! \brief Finds the Ray intersection parameter. + \param aabb Aligned box + \param vorigin A vec3f with the origin of the ray + \param vdir A vec3f with the direction of the ray + */ + SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir) const + { + btVector3 extents,center; + this->get_center_extend(center,extents);; + + btScalar Dx = vorigin[0] - center[0]; + if(BT_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f) return false; + btScalar Dy = vorigin[1] - center[1]; + if(BT_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f) return false; + btScalar Dz = vorigin[2] - center[2]; + if(BT_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f) return false; + + + btScalar f = vdir[1] * Dz - vdir[2] * Dy; + if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false; + f = vdir[2] * Dx - vdir[0] * Dz; + if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false; + f = vdir[0] * Dy - vdir[1] * Dx; + if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false; + return true; + } + + + SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extend = m_max-center; + + btScalar _fOrigin = direction.dot(center); + btScalar _fMaximumExtent = extend.dot(direction.absolute()); + vmin = _fOrigin - _fMaximumExtent; + vmax = _fOrigin + _fMaximumExtent; + } + + SIMD_FORCE_INLINE eBT_PLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const + { + btScalar _fmin,_fmax; + this->projection_interval(plane,_fmin,_fmax); + + if(plane[3] > _fmax + BOX_PLANE_EPSILON) + { + return BT_CONST_BACK_PLANE; // 0 + } + + if(plane[3]+BOX_PLANE_EPSILON >=_fmin) + { + return BT_CONST_COLLIDE_PLANE; //1 + } + return BT_CONST_FRONT_PLANE;//2 + } + + SIMD_FORCE_INLINE bool overlapping_trans_conservative(const btAABB & box, btTransform & trans1_to_0) const + { + btAABB tbox = box; + tbox.appy_transform(trans1_to_0); + return has_collision(tbox); + } + + SIMD_FORCE_INLINE bool overlapping_trans_conservative2(const btAABB & box, + const BT_BOX_BOX_TRANSFORM_CACHE & trans1_to_0) const + { + btAABB tbox = box; + tbox.appy_transform_trans_cache(trans1_to_0); + return has_collision(tbox); + } + + //! transcache is the transformation cache from box to this AABB + SIMD_FORCE_INLINE bool overlapping_trans_cache( + const btAABB & box,const BT_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest) const + { + + //Taken from OPCODE + btVector3 ea,eb;//extends + btVector3 ca,cb;//extends + get_center_extend(ca,ea); + box.get_center_extend(cb,eb); + + + btVector3 T; + btScalar t,t2; + int i; + + // Class I : A's basis vectors + for(i=0;i<3;i++) + { + T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i]; + t = transcache.m_AR[i].dot(eb) + ea[i]; + if(BT_GREATER(T[i], t)) return false; + } + // Class II : B's basis vectors + for(i=0;i<3;i++) + { + t = bt_mat3_dot_col(transcache.m_R1to0,T,i); + t2 = bt_mat3_dot_col(transcache.m_AR,ea,i) + eb[i]; + if(BT_GREATER(t,t2)) return false; + } + // Class III : 9 cross products + if(fulltest) + { + int j,m,n,o,p,q,r; + for(i=0;i<3;i++) + { + m = (i+1)%3; + n = (i+2)%3; + o = i==0?1:0; + p = i==2?1:2; + for(j=0;j<3;j++) + { + q = j==2?1:2; + r = j==0?1:0; + t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j]; + t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] + + eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r]; + if(BT_GREATER(t,t2)) return false; + } + } + } + return true; + } + + //! Simple test for planes. + SIMD_FORCE_INLINE bool collide_plane( + const btVector4 & plane) const + { + eBT_PLANE_INTERSECTION_TYPE classify = plane_classify(plane); + return (classify == BT_CONST_COLLIDE_PLANE); + } + + //! test for a triangle, with edges + SIMD_FORCE_INLINE bool collide_triangle_exact( + const btVector3 & p1, + const btVector3 & p2, + const btVector3 & p3, + const btVector4 & triangle_plane) const + { + if(!collide_plane(triangle_plane)) return false; + + btVector3 center,extends; + this->get_center_extend(center,extends); + + const btVector3 v1(p1 - center); + const btVector3 v2(p2 - center); + const btVector3 v3(p3 - center); + + //First axis + btVector3 diff(v2 - v1); + btVector3 abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends); + + + diff = v3 - v2; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends); + + diff = v1 - v3; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends); + + return true; + } +}; + + +//! Compairison of transformation objects +SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2) +{ + if(!(t1.getOrigin() == t2.getOrigin()) ) return false; + + if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false; + if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false; + if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false; + return true; +} + + + +#endif // GIM_BOX_COLLISION_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btClipPolygon.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btClipPolygon.h new file mode 100644 index 0000000..de0a523 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btClipPolygon.h @@ -0,0 +1,182 @@ +#ifndef BT_CLIP_POLYGON_H_INCLUDED +#define BT_CLIP_POLYGON_H_INCLUDED + +/*! \file btClipPolygon.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + +#include "LinearMath/btTransform.h" +#include "LinearMath/btGeometryUtil.h" + + +SIMD_FORCE_INLINE btScalar bt_distance_point_plane(const btVector4 & plane,const btVector3 &point) +{ + return point.dot(plane) - plane[3]; +} + +/*! Vector blending +Takes two vectors a, b, blends them together*/ +SIMD_FORCE_INLINE void bt_vec_blend(btVector3 &vr, const btVector3 &va,const btVector3 &vb, btScalar blend_factor) +{ + vr = (1-blend_factor)*va + blend_factor*vb; +} + +//! This function calcs the distance from a 3D plane +SIMD_FORCE_INLINE void bt_plane_clip_polygon_collect( + const btVector3 & point0, + const btVector3 & point1, + btScalar dist0, + btScalar dist1, + btVector3 * clipped, + int & clipped_count) +{ + bool _prevclassif = (dist0>SIMD_EPSILON); + bool _classif = (dist1>SIMD_EPSILON); + if(_classif!=_prevclassif) + { + btScalar blendfactor = -dist0/(dist1-dist0); + bt_vec_blend(clipped[clipped_count],point0,point1,blendfactor); + clipped_count++; + } + if(!_classif) + { + clipped[clipped_count] = point1; + clipped_count++; + } +} + + +//! Clips a polygon by a plane +/*! +*\return The count of the clipped counts +*/ +SIMD_FORCE_INLINE int bt_plane_clip_polygon( + const btVector4 & plane, + const btVector3 * polygon_points, + int polygon_point_count, + btVector3 * clipped) +{ + int clipped_count = 0; + + + //clip first point + btScalar firstdist = bt_distance_point_plane(plane,polygon_points[0]);; + if(!(firstdist>SIMD_EPSILON)) + { + clipped[clipped_count] = polygon_points[0]; + clipped_count++; + } + + btScalar olddist = firstdist; + for(int i=1;iSIMD_EPSILON)) + { + clipped[clipped_count] = point0; + clipped_count++; + } + + // point 1 + btScalar olddist = firstdist; + btScalar dist = bt_distance_point_plane(plane,point1); + + bt_plane_clip_polygon_collect( + point0,point1, + olddist, + dist, + clipped, + clipped_count); + + olddist = dist; + + + // point 2 + dist = bt_distance_point_plane(plane,point2); + + bt_plane_clip_polygon_collect( + point1,point2, + olddist, + dist, + clipped, + clipped_count); + olddist = dist; + + + + //RETURN TO FIRST point0 + bt_plane_clip_polygon_collect( + point2,point0, + olddist, + firstdist, + clipped, + clipped_count); + + return clipped_count; +} + + + + + +#endif // GIM_TRI_COLLISION_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btContactProcessing.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btContactProcessing.h new file mode 100644 index 0000000..0c66f8e --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btContactProcessing.h @@ -0,0 +1,145 @@ +#ifndef BT_CONTACT_H_INCLUDED +#define BT_CONTACT_H_INCLUDED + +/*! \file gim_contact.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + +#include "LinearMath/btTransform.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "btTriangleShapeEx.h" + + + +/** +Configuration var for applying interpolation of contact normals +*/ +#define NORMAL_CONTACT_AVERAGE 1 + +#define CONTACT_DIFF_EPSILON 0.00001f + +///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint. +///@todo: remove and replace GIM_CONTACT by btManifoldPoint. +class GIM_CONTACT +{ +public: + btVector3 m_point; + btVector3 m_normal; + btScalar m_depth;//Positive value indicates interpenetration + btScalar m_distance;//Padding not for use + int m_feature1;//Face number + int m_feature2;//Face number +public: + GIM_CONTACT() + { + } + + GIM_CONTACT(const GIM_CONTACT & contact): + m_point(contact.m_point), + m_normal(contact.m_normal), + m_depth(contact.m_depth), + m_feature1(contact.m_feature1), + m_feature2(contact.m_feature2) + { + } + + GIM_CONTACT(const btVector3 &point,const btVector3 & normal, + btScalar depth, int feature1, int feature2): + m_point(point), + m_normal(normal), + m_depth(depth), + m_feature1(feature1), + m_feature2(feature2) + { + } + + //! Calcs key for coord classification + SIMD_FORCE_INLINE unsigned int calc_key_contact() const + { + int _coords[] = { + (int)(m_point[0]*1000.0f+1.0f), + (int)(m_point[1]*1333.0f), + (int)(m_point[2]*2133.0f+3.0f)}; + unsigned int _hash=0; + unsigned int *_uitmp = (unsigned int *)(&_coords[0]); + _hash = *_uitmp; + _uitmp++; + _hash += (*_uitmp)<<4; + _uitmp++; + _hash += (*_uitmp)<<8; + return _hash; + } + + SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count) + { + btVector3 vec_sum(m_normal); + for(int i=0;i +{ +public: + btContactArray() + { + reserve(64); + } + + SIMD_FORCE_INLINE void push_contact( + const btVector3 &point,const btVector3 & normal, + btScalar depth, int feature1, int feature2) + { + push_back( GIM_CONTACT(point,normal,depth,feature1,feature2) ); + } + + SIMD_FORCE_INLINE void push_triangle_contacts( + const GIM_TRIANGLE_CONTACT & tricontact, + int feature1,int feature2) + { + for(int i = 0;i +{ +public: + btPairSet() + { + reserve(32); + } + inline void push_pair(int index1,int index2) + { + push_back(GIM_PAIR(index1,index2)); + } + + inline void push_pair_inv(int index1,int index2) + { + push_back(GIM_PAIR(index2,index1)); + } +}; + + +///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box +struct GIM_BVH_DATA +{ + btAABB m_bound; + int m_data; +}; + +//! Node Structure for trees +class GIM_BVH_TREE_NODE +{ +public: + btAABB m_bound; +protected: + int m_escapeIndexOrDataIndex; +public: + GIM_BVH_TREE_NODE() + { + m_escapeIndexOrDataIndex = 0; + } + + SIMD_FORCE_INLINE bool isLeafNode() const + { + //skipindex is negative (internal node), triangleindex >=0 (leafnode) + return (m_escapeIndexOrDataIndex>=0); + } + + SIMD_FORCE_INLINE int getEscapeIndex() const + { + //btAssert(m_escapeIndexOrDataIndex < 0); + return -m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setEscapeIndex(int index) + { + m_escapeIndexOrDataIndex = -index; + } + + SIMD_FORCE_INLINE int getDataIndex() const + { + //btAssert(m_escapeIndexOrDataIndex >= 0); + + return m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setDataIndex(int index) + { + m_escapeIndexOrDataIndex = index; + } + +}; + + +class GIM_BVH_DATA_ARRAY:public btAlignedObjectArray +{ +}; + + +class GIM_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray +{ +}; + + + + +//! Basic Box tree structure +class btBvhTree +{ +protected: + int m_num_nodes; + GIM_BVH_TREE_NODE_ARRAY m_node_array; +protected: + int _sort_and_calc_splitting_index( + GIM_BVH_DATA_ARRAY & primitive_boxes, + int startIndex, int endIndex, int splitAxis); + + int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); + + void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); +public: + btBvhTree() + { + m_num_nodes = 0; + } + + //! prototype functions for box tree management + //!@{ + void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes); + + SIMD_FORCE_INLINE void clearNodes() + { + m_node_array.clear(); + m_num_nodes = 0; + } + + //! node count + SIMD_FORCE_INLINE int getNodeCount() const + { + return m_num_nodes; + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const + { + return m_node_array[nodeindex].isLeafNode(); + } + + SIMD_FORCE_INLINE int getNodeData(int nodeindex) const + { + return m_node_array[nodeindex].getDataIndex(); + } + + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + { + bound = m_node_array[nodeindex].m_bound; + } + + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + { + m_node_array[nodeindex].m_bound = bound; + } + + SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const + { + return nodeindex+1; + } + + SIMD_FORCE_INLINE int getRightNode(int nodeindex) const + { + if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2; + return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex(); + } + + SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const + { + return m_node_array[nodeindex].getEscapeIndex(); + } + + SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const + { + return &m_node_array[index]; + } + + //!@} +}; + + +//! Prototype Base class for primitive classification +/*! +This class is a wrapper for primitive collections. +This tells relevant info for the Bounding Box set classes, which take care of space classification. +This class can manage Compound shapes and trimeshes, and if it is managing trimesh then the Hierarchy Bounding Box classes will take advantage of primitive Vs Box overlapping tests for getting optimal results and less Per Box compairisons. +*/ +class btPrimitiveManagerBase +{ +public: + + virtual ~btPrimitiveManagerBase() {} + + //! determines if this manager consist on only triangles, which special case will be optimized + virtual bool is_trimesh() const = 0; + virtual int get_primitive_count() const = 0; + virtual void get_primitive_box(int prim_index ,btAABB & primbox) const = 0; + //! retrieves only the points of the triangle, and the collision margin + virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const= 0; +}; + + +//! Structure for containing Boxes +/*! +This class offers an structure for managing a box tree of primitives. +Requires a Primitive prototype (like btPrimitiveManagerBase ) +*/ +class btGImpactBvh +{ +protected: + btBvhTree m_box_tree; + btPrimitiveManagerBase * m_primitive_manager; + +protected: + //stackless refit + void refit(); +public: + + //! this constructor doesn't build the tree. you must call buildSet + btGImpactBvh() + { + m_primitive_manager = NULL; + } + + //! this constructor doesn't build the tree. you must call buildSet + btGImpactBvh(btPrimitiveManagerBase * primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + SIMD_FORCE_INLINE btAABB getGlobalBox() const + { + btAABB totalbox; + getNodeBound(0, totalbox); + return totalbox; + } + + SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const + { + return m_primitive_manager; + } + + +//! node manager prototype functions +///@{ + + //! this attemps to refit the box set. + SIMD_FORCE_INLINE void update() + { + refit(); + } + + //! this rebuild the entire set + void buildSet(); + + //! returns the indices of the primitives in the m_primitive_manager + bool boxQuery(const btAABB & box, btAlignedObjectArray & collided_results) const; + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box, + const btTransform & transform, btAlignedObjectArray & collided_results) const + { + btAABB transbox=box; + transbox.appy_transform(transform); + return boxQuery(transbox,collided_results); + } + + //! returns the indices of the primitives in the m_primitive_manager + bool rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + btAlignedObjectArray & collided_results) const; + + //! tells if this set has hierarcht + SIMD_FORCE_INLINE bool hasHierarchy() const + { + return true; + } + + //! tells if this set is a trimesh + SIMD_FORCE_INLINE bool isTrimesh() const + { + return m_primitive_manager->is_trimesh(); + } + + //! node count + SIMD_FORCE_INLINE int getNodeCount() const + { + return m_box_tree.getNodeCount(); + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const + { + return m_box_tree.isLeafNode(nodeindex); + } + + SIMD_FORCE_INLINE int getNodeData(int nodeindex) const + { + return m_box_tree.getNodeData(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + { + m_box_tree.getNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + { + m_box_tree.setNodeBound(nodeindex, bound); + } + + + SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const + { + return m_box_tree.getLeftNode(nodeindex); + } + + SIMD_FORCE_INLINE int getRightNode(int nodeindex) const + { + return m_box_tree.getRightNode(nodeindex); + } + + SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const + { + return m_box_tree.getEscapeNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const + { + m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle); + } + + + SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const + { + return m_box_tree.get_node_pointer(index); + } + + + static float getAverageTreeCollisionTime(); + + + static void find_collision(btGImpactBvh * boxset1, const btTransform & trans1, + btGImpactBvh * boxset2, const btTransform & trans2, + btPairSet & collision_pairs); +}; + + +#endif // GIM_BOXPRUNING_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h new file mode 100644 index 0000000..1b7f92e --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h @@ -0,0 +1,306 @@ +/*! \file btGImpactShape.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + +#ifndef BVH_CONCAVE_COLLISION_ALGORITHM_H +#define BVH_CONCAVE_COLLISION_ALGORITHM_H + +#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btDispatcher; +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" + +#include "LinearMath/btAlignedObjectArray.h" + +#include "btGImpactShape.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" +#include "BulletCollision/CollisionShapes/btCompoundShape.h" +#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" +#include "LinearMath/btIDebugDraw.h" + + + +//! Collision Algorithm for GImpact Shapes +/*! +For register this algorithm in Bullet, proceed as following: + \code +btCollisionDispatcher * dispatcher = static_cast(m_dynamicsWorld ->getDispatcher()); +btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); + \endcode +*/ +class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ +protected: + btCollisionAlgorithm * m_convex_algorithm; + btPersistentManifold * m_manifoldPtr; + btManifoldResult* m_resultOut; + const btDispatcherInfo * m_dispatchInfo; + int m_triface0; + int m_part0; + int m_triface1; + int m_part1; + + + //! Creates a new contact point + SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(btCollisionObject* body0,btCollisionObject* body1) + { + m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1); + return m_manifoldPtr; + } + + SIMD_FORCE_INLINE void destroyConvexAlgorithm() + { + if(m_convex_algorithm) + { + m_convex_algorithm->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm); + m_convex_algorithm = NULL; + } + } + + SIMD_FORCE_INLINE void destroyContactManifolds() + { + if(m_manifoldPtr == NULL) return; + m_dispatcher->releaseManifold(m_manifoldPtr); + m_manifoldPtr = NULL; + } + + SIMD_FORCE_INLINE void clearCache() + { + destroyContactManifolds(); + destroyConvexAlgorithm(); + + m_triface0 = -1; + m_part0 = -1; + m_triface1 = -1; + m_part1 = -1; + } + + SIMD_FORCE_INLINE btPersistentManifold* getLastManifold() + { + return m_manifoldPtr; + } + + + // Call before process collision + SIMD_FORCE_INLINE void checkManifold(btCollisionObject* body0,btCollisionObject* body1) + { + if(getLastManifold() == 0) + { + newContactManifold(body0,body1); + } + + m_resultOut->setPersistentManifold(getLastManifold()); + } + + // Call before process collision + SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(btCollisionObject* body0,btCollisionObject* body1) + { + checkManifold(body0,body1); + + btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm( + body0,body1,getLastManifold()); + return convex_algorithm ; + } + + // Call before process collision + SIMD_FORCE_INLINE void checkConvexAlgorithm(btCollisionObject* body0,btCollisionObject* body1) + { + if(m_convex_algorithm) return; + m_convex_algorithm = newAlgorithm(body0,body1); + } + + + + + void addContactPoint(btCollisionObject * body0, + btCollisionObject * body1, + const btVector3 & point, + const btVector3 & normal, + btScalar distance); + +//! Collision routines +//!@{ + + void collide_gjk_triangles(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count); + + void collide_sat_triangles(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count); + + + + + void shape_vs_shape_collision( + btCollisionObject * body0, + btCollisionObject * body1, + btCollisionShape * shape0, + btCollisionShape * shape1); + + void convex_vs_convex_collision(btCollisionObject * body0, + btCollisionObject * body1, + btCollisionShape * shape0, + btCollisionShape * shape1); + + + + void gimpact_vs_gimpact_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + btGImpactShapeInterface * shape0, + btGImpactShapeInterface * shape1,btPairSet & pairset); + + void gimpact_vs_shape_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + btGImpactShapeInterface * shape0, + btCollisionShape * shape1, + btAlignedObjectArray & collided_primitives); + + + void gimpacttrimeshpart_vs_plane_collision( + btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btStaticPlaneShape * shape1,bool swapped); + + +public: + + btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); + + virtual ~btGImpactCollisionAlgorithm(); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr) + manifoldArray.push_back(m_manifoldPtr); + } + + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm)); + return new(mem) btGImpactCollisionAlgorithm(ci,body0,body1); + } + }; + + //! Use this function for register the algorithm externally + static void registerAlgorithm(btCollisionDispatcher * dispatcher); + + //! Gets the average time in miliseconds of tree collisions + static float getAverageTreeCollisionTime(); + + //! Gets the average time in miliseconds of triangle collisions + static float getAverageTriangleCollisionTime(); + + + //! Collides two gimpact shapes + /*! + \pre shape0 and shape1 couldn't be btGImpactMeshShape objects + */ + + + void gimpact_vs_gimpact(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btGImpactShapeInterface * shape1); + + void gimpact_vs_shape(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btCollisionShape * shape1,bool swapped); + + void gimpact_vs_compoundshape(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btCompoundShape * shape1,bool swapped); + + void gimpact_vs_concave( + btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btConcaveShape * shape1,bool swapped); + + + + + /// Accessor/Mutator pairs for Part and triangleID + void setFace0(int value) + { + m_triface0 = value; + } + int getFace0() + { + return m_triface0; + } + void setFace1(int value) + { + m_triface1 = value; + } + int getFace1() + { + return m_triface1; + } + void setPart0(int value) + { + m_part0 = value; + } + int getPart0() + { + return m_part0; + } + void setPart1(int value) + { + m_part1 = value; + } + int getPart1() + { + return m_part1; + } + +}; + + +//algorithm details +//#define BULLET_TRIANGLE_COLLISION 1 +#define GIMPACT_VS_PLANE_COLLISION 1 + + + +#endif //BVH_CONCAVE_COLLISION_ALGORITHM_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h new file mode 100644 index 0000000..2543aef --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h @@ -0,0 +1,60 @@ +/*! \file btGImpactMassUtil.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + + +#ifndef GIMPACT_MASS_UTIL_H +#define GIMPACT_MASS_UTIL_H + +#include "LinearMath/btTransform.h" + + + +SIMD_FORCE_INLINE btVector3 gim_inertia_add_transformed( + const btVector3 & source_inertia, const btVector3 & added_inertia, const btTransform & transform) +{ + btMatrix3x3 rotatedTensor = transform.getBasis().scaled(added_inertia) * transform.getBasis().transpose(); + + btScalar x2 = transform.getOrigin()[0]; + x2*= x2; + btScalar y2 = transform.getOrigin()[1]; + y2*= y2; + btScalar z2 = transform.getOrigin()[2]; + z2*= z2; + + btScalar ix = rotatedTensor[0][0]*(y2+z2); + btScalar iy = rotatedTensor[1][1]*(x2+z2); + btScalar iz = rotatedTensor[2][2]*(x2+y2); + + return btVector3(source_inertia[0]+ix,source_inertia[1]+iy,source_inertia[2] + iz); +} + +SIMD_FORCE_INLINE btVector3 gim_get_point_inertia(const btVector3 & point, btScalar mass) +{ + btScalar x2 = point[0]*point[0]; + btScalar y2 = point[1]*point[1]; + btScalar z2 = point[2]*point[2]; + return btVector3(mass*(y2+z2),mass*(x2+z2),mass*(x2+y2)); +} + + +#endif //GIMPACT_MESH_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h new file mode 100644 index 0000000..25a0391 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h @@ -0,0 +1,372 @@ +#ifndef GIM_QUANTIZED_SET_H_INCLUDED +#define GIM_QUANTIZED_SET_H_INCLUDED + +/*! \file btGImpactQuantizedBvh.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + +#include "btGImpactBvh.h" +#include "btQuantization.h" + + + + + +///btQuantizedBvhNode is a compressed aabb node, 16 bytes. +///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range). +ATTRIBUTE_ALIGNED16 (struct) BT_QUANTIZED_BVH_NODE +{ + //12 bytes + unsigned short int m_quantizedAabbMin[3]; + unsigned short int m_quantizedAabbMax[3]; + //4 bytes + int m_escapeIndexOrDataIndex; + + BT_QUANTIZED_BVH_NODE() + { + m_escapeIndexOrDataIndex = 0; + } + + SIMD_FORCE_INLINE bool isLeafNode() const + { + //skipindex is negative (internal node), triangleindex >=0 (leafnode) + return (m_escapeIndexOrDataIndex>=0); + } + + SIMD_FORCE_INLINE int getEscapeIndex() const + { + //btAssert(m_escapeIndexOrDataIndex < 0); + return -m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setEscapeIndex(int index) + { + m_escapeIndexOrDataIndex = -index; + } + + SIMD_FORCE_INLINE int getDataIndex() const + { + //btAssert(m_escapeIndexOrDataIndex >= 0); + + return m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setDataIndex(int index) + { + m_escapeIndexOrDataIndex = index; + } + + SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp( + unsigned short * quantizedMin,unsigned short * quantizedMax) const + { + if(m_quantizedAabbMin[0] > quantizedMax[0] || + m_quantizedAabbMax[0] < quantizedMin[0] || + m_quantizedAabbMin[1] > quantizedMax[1] || + m_quantizedAabbMax[1] < quantizedMin[1] || + m_quantizedAabbMin[2] > quantizedMax[2] || + m_quantizedAabbMax[2] < quantizedMin[2]) + { + return false; + } + return true; + } + +}; + + + +class GIM_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray +{ +}; + + + + +//! Basic Box tree structure +class btQuantizedBvhTree +{ +protected: + int m_num_nodes; + GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array; + btAABB m_global_bound; + btVector3 m_bvhQuantization; +protected: + void calc_quantization(GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) ); + + int _sort_and_calc_splitting_index( + GIM_BVH_DATA_ARRAY & primitive_boxes, + int startIndex, int endIndex, int splitAxis); + + int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); + + void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); +public: + btQuantizedBvhTree() + { + m_num_nodes = 0; + } + + //! prototype functions for box tree management + //!@{ + void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes); + + SIMD_FORCE_INLINE void quantizePoint( + unsigned short * quantizedpoint, const btVector3 & point) const + { + bt_quantize_clamp(quantizedpoint,point,m_global_bound.m_min,m_global_bound.m_max,m_bvhQuantization); + } + + + SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp( + int node_index, + unsigned short * quantizedMin,unsigned short * quantizedMax) const + { + return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin,quantizedMax); + } + + SIMD_FORCE_INLINE void clearNodes() + { + m_node_array.clear(); + m_num_nodes = 0; + } + + //! node count + SIMD_FORCE_INLINE int getNodeCount() const + { + return m_num_nodes; + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const + { + return m_node_array[nodeindex].isLeafNode(); + } + + SIMD_FORCE_INLINE int getNodeData(int nodeindex) const + { + return m_node_array[nodeindex].getDataIndex(); + } + + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + { + bound.m_min = bt_unquantize( + m_node_array[nodeindex].m_quantizedAabbMin, + m_global_bound.m_min,m_bvhQuantization); + + bound.m_max = bt_unquantize( + m_node_array[nodeindex].m_quantizedAabbMax, + m_global_bound.m_min,m_bvhQuantization); + } + + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + { + bt_quantize_clamp( m_node_array[nodeindex].m_quantizedAabbMin, + bound.m_min, + m_global_bound.m_min, + m_global_bound.m_max, + m_bvhQuantization); + + bt_quantize_clamp( m_node_array[nodeindex].m_quantizedAabbMax, + bound.m_max, + m_global_bound.m_min, + m_global_bound.m_max, + m_bvhQuantization); + } + + SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const + { + return nodeindex+1; + } + + SIMD_FORCE_INLINE int getRightNode(int nodeindex) const + { + if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2; + return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex(); + } + + SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const + { + return m_node_array[nodeindex].getEscapeIndex(); + } + + SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const + { + return &m_node_array[index]; + } + + //!@} +}; + + + +//! Structure for containing Boxes +/*! +This class offers an structure for managing a box tree of primitives. +Requires a Primitive prototype (like btPrimitiveManagerBase ) +*/ +class btGImpactQuantizedBvh +{ +protected: + btQuantizedBvhTree m_box_tree; + btPrimitiveManagerBase * m_primitive_manager; + +protected: + //stackless refit + void refit(); +public: + + //! this constructor doesn't build the tree. you must call buildSet + btGImpactQuantizedBvh() + { + m_primitive_manager = NULL; + } + + //! this constructor doesn't build the tree. you must call buildSet + btGImpactQuantizedBvh(btPrimitiveManagerBase * primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + SIMD_FORCE_INLINE btAABB getGlobalBox() const + { + btAABB totalbox; + getNodeBound(0, totalbox); + return totalbox; + } + + SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const + { + return m_primitive_manager; + } + + +//! node manager prototype functions +///@{ + + //! this attemps to refit the box set. + SIMD_FORCE_INLINE void update() + { + refit(); + } + + //! this rebuild the entire set + void buildSet(); + + //! returns the indices of the primitives in the m_primitive_manager + bool boxQuery(const btAABB & box, btAlignedObjectArray & collided_results) const; + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box, + const btTransform & transform, btAlignedObjectArray & collided_results) const + { + btAABB transbox=box; + transbox.appy_transform(transform); + return boxQuery(transbox,collided_results); + } + + //! returns the indices of the primitives in the m_primitive_manager + bool rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + btAlignedObjectArray & collided_results) const; + + //! tells if this set has hierarcht + SIMD_FORCE_INLINE bool hasHierarchy() const + { + return true; + } + + //! tells if this set is a trimesh + SIMD_FORCE_INLINE bool isTrimesh() const + { + return m_primitive_manager->is_trimesh(); + } + + //! node count + SIMD_FORCE_INLINE int getNodeCount() const + { + return m_box_tree.getNodeCount(); + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const + { + return m_box_tree.isLeafNode(nodeindex); + } + + SIMD_FORCE_INLINE int getNodeData(int nodeindex) const + { + return m_box_tree.getNodeData(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + { + m_box_tree.getNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + { + m_box_tree.setNodeBound(nodeindex, bound); + } + + + SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const + { + return m_box_tree.getLeftNode(nodeindex); + } + + SIMD_FORCE_INLINE int getRightNode(int nodeindex) const + { + return m_box_tree.getRightNode(nodeindex); + } + + SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const + { + return m_box_tree.getEscapeNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const + { + m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle); + } + + + SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const + { + return m_box_tree.get_node_pointer(index); + } + + + static float getAverageTreeCollisionTime(); + + + static void find_collision(btGImpactQuantizedBvh * boxset1, const btTransform & trans1, + btGImpactQuantizedBvh * boxset2, const btTransform & trans2, + btPairSet & collision_pairs); +}; + + +#endif // GIM_BOXPRUNING_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGImpactShape.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGImpactShape.h new file mode 100644 index 0000000..90015bb --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGImpactShape.h @@ -0,0 +1,1171 @@ +/*! \file btGImpactShape.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + + +#ifndef GIMPACT_SHAPE_H +#define GIMPACT_SHAPE_H + +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" +#include "BulletCollision/CollisionShapes/btConcaveShape.h" +#include "BulletCollision/CollisionShapes/btTetrahedronShape.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btAlignedObjectArray.h" + +#include "btGImpactQuantizedBvh.h" // box tree class + + +//! declare Quantized trees, (you can change to float based trees) +typedef btGImpactQuantizedBvh btGImpactBoxSet; + +enum eGIMPACT_SHAPE_TYPE +{ + CONST_GIMPACT_COMPOUND_SHAPE = 0, + CONST_GIMPACT_TRIMESH_SHAPE_PART, + CONST_GIMPACT_TRIMESH_SHAPE +}; + + +//! Helper class for tetrahedrons +class btTetrahedronShapeEx:public btBU_Simplex1to4 +{ +public: + btTetrahedronShapeEx() + { + m_numVertices = 4; + } + + + SIMD_FORCE_INLINE void setVertices( + const btVector3 & v0,const btVector3 & v1, + const btVector3 & v2,const btVector3 & v3) + { + m_vertices[0] = v0; + m_vertices[1] = v1; + m_vertices[2] = v2; + m_vertices[3] = v3; + recalcLocalAabb(); + } +}; + + +//! Base class for gimpact shapes +class btGImpactShapeInterface : public btConcaveShape +{ +protected: + btAABB m_localAABB; + bool m_needs_update; + btVector3 localScaling; + btGImpactBoxSet m_box_set;// optionally boxset + + //! use this function for perfofm refit in bounding boxes + //! use this function for perfofm refit in bounding boxes + virtual void calcLocalAABB() + { + lockChildShapes(); + if(m_box_set.getNodeCount() == 0) + { + m_box_set.buildSet(); + } + else + { + m_box_set.update(); + } + unlockChildShapes(); + + m_localAABB = m_box_set.getGlobalBox(); + } + + +public: + btGImpactShapeInterface() + { + m_shapeType=GIMPACT_SHAPE_PROXYTYPE; + m_localAABB.invalidate(); + m_needs_update = true; + localScaling.setValue(1.f,1.f,1.f); + } + + + //! performs refit operation + /*! + Updates the entire Box set of this shape. + \pre postUpdate() must be called for attemps to calculating the box set, else this function + will does nothing. + \post if m_needs_update == true, then it calls calcLocalAABB(); + */ + SIMD_FORCE_INLINE void updateBound() + { + if(!m_needs_update) return; + calcLocalAABB(); + m_needs_update = false; + } + + //! If the Bounding box is not updated, then this class attemps to calculate it. + /*! + \post Calls updateBound() for update the box set. + */ + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + btAABB transformedbox = m_localAABB; + transformedbox.appy_transform(t); + aabbMin = transformedbox.m_min; + aabbMax = transformedbox.m_max; + } + + //! Tells to this object that is needed to refit the box set + virtual void postUpdate() + { + m_needs_update = true; + } + + //! Obtains the local box, which is the global calculated box of the total of subshapes + SIMD_FORCE_INLINE const btAABB & getLocalBox() + { + return m_localAABB; + } + + + virtual int getShapeType() const + { + return GIMPACT_SHAPE_PROXYTYPE; + } + + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setLocalScaling(const btVector3& scaling) + { + localScaling = scaling; + postUpdate(); + } + + virtual const btVector3& getLocalScaling() const + { + return localScaling; + } + + + virtual void setMargin(btScalar margin) + { + m_collisionMargin = margin; + int i = getNumChildShapes(); + while(i--) + { + btCollisionShape* child = getChildShape(i); + child->setMargin(margin); + } + + m_needs_update = true; + } + + + //! Subshape member functions + //!@{ + + //! Base method for determinig which kind of GIMPACT shape we get + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const = 0 ; + + //! gets boxset + SIMD_FORCE_INLINE btGImpactBoxSet * getBoxSet() + { + return &m_box_set; + } + + //! Determines if this class has a hierarchy structure for sorting its primitives + SIMD_FORCE_INLINE bool hasBoxSet() const + { + if(m_box_set.getNodeCount() == 0) return false; + return true; + } + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const = 0; + + + //! Gets the number of children + virtual int getNumChildShapes() const = 0; + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const = 0; + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const = 0; + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const = 0; + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const = 0; + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const = 0; + + + + //! call when reading child shapes + virtual void lockChildShapes() const + { + } + + virtual void unlockChildShapes() const + { + } + + //! if this trimesh + SIMD_FORCE_INLINE void getPrimitiveTriangle(int index,btPrimitiveTriangle & triangle) const + { + getPrimitiveManager()->get_primitive_triangle(index,triangle); + } + + + //! Retrieves the bound from a child + /*! + */ + virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + btAABB child_aabb; + getPrimitiveManager()->get_primitive_box(child_index,child_aabb); + child_aabb.appy_transform(t); + aabbMin = child_aabb.m_min; + aabbMax = child_aabb.m_max; + } + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) = 0; + + + //! Gets the child + virtual const btCollisionShape* getChildShape(int index) const = 0; + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const = 0; + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) = 0; + + //!@} + + + //! virtual method for ray collision + virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const + { + (void) rayFrom; (void) rayTo; (void) resultCallback; + } + + //! Function for retrieve triangles. + /*! + It gives the triangles in local space + */ + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const + { + (void) callback; (void) aabbMin; (void) aabbMax; + } + + //!@} + +}; + + +//! btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once +/*! +This class only can manage Convex subshapes +*/ +class btGImpactCompoundShape : public btGImpactShapeInterface +{ +public: + //! compound primitive manager + class CompoundPrimitiveManager:public btPrimitiveManagerBase + { + public: + virtual ~CompoundPrimitiveManager() {} + btGImpactCompoundShape * m_compoundShape; + + + CompoundPrimitiveManager(const CompoundPrimitiveManager& compound) + : btPrimitiveManagerBase() + { + m_compoundShape = compound.m_compoundShape; + } + + CompoundPrimitiveManager(btGImpactCompoundShape * compoundShape) + { + m_compoundShape = compoundShape; + } + + CompoundPrimitiveManager() + { + m_compoundShape = NULL; + } + + virtual bool is_trimesh() const + { + return false; + } + + virtual int get_primitive_count() const + { + return (int )m_compoundShape->getNumChildShapes(); + } + + virtual void get_primitive_box(int prim_index ,btAABB & primbox) const + { + btTransform prim_trans; + if(m_compoundShape->childrenHasTransform()) + { + prim_trans = m_compoundShape->getChildTransform(prim_index); + } + else + { + prim_trans.setIdentity(); + } + const btCollisionShape* shape = m_compoundShape->getChildShape(prim_index); + shape->getAabb(prim_trans,primbox.m_min,primbox.m_max); + } + + virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const + { + btAssert(0); + (void) prim_index; (void) triangle; + } + + }; + + + +protected: + CompoundPrimitiveManager m_primitive_manager; + btAlignedObjectArray m_childTransforms; + btAlignedObjectArray m_childShapes; + + +public: + + btGImpactCompoundShape(bool children_has_transform = true) + { + (void) children_has_transform; + m_primitive_manager.m_compoundShape = this; + m_box_set.setPrimitiveManager(&m_primitive_manager); + } + + virtual ~btGImpactCompoundShape() + { + } + + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const + { + if(m_childTransforms.size()==0) return false; + return true; + } + + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const + { + return &m_primitive_manager; + } + + //! Obtains the compopund primitive manager + SIMD_FORCE_INLINE CompoundPrimitiveManager * getCompoundPrimitiveManager() + { + return &m_primitive_manager; + } + + //! Gets the number of children + virtual int getNumChildShapes() const + { + return m_childShapes.size(); + } + + + //! Use this method for adding children. Only Convex shapes are allowed. + void addChildShape(const btTransform& localTransform,btCollisionShape* shape) + { + btAssert(shape->isConvex()); + m_childTransforms.push_back(localTransform); + m_childShapes.push_back(shape); + } + + //! Use this method for adding children. Only Convex shapes are allowed. + void addChildShape(btCollisionShape* shape) + { + btAssert(shape->isConvex()); + m_childShapes.push_back(shape); + } + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) + { + return m_childShapes[index]; + } + + //! Gets the children + virtual const btCollisionShape* getChildShape(int index) const + { + return m_childShapes[index]; + } + + //! Retrieves the bound from a child + /*! + */ + virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + + if(childrenHasTransform()) + { + m_childShapes[child_index]->getAabb(t*m_childTransforms[child_index],aabbMin,aabbMax); + } + else + { + m_childShapes[child_index]->getAabb(t,aabbMin,aabbMax); + } + } + + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const + { + btAssert(m_childTransforms.size() == m_childShapes.size()); + return m_childTransforms[index]; + } + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) + { + btAssert(m_childTransforms.size() == m_childShapes.size()); + m_childTransforms[index] = transform; + postUpdate(); + } + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const + { + return false; + } + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const + { + return false; + } + + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + { + (void) prim_index; (void) triangle; + btAssert(0); + } + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + { + (void) prim_index; (void) tetrahedron; + btAssert(0); + } + + + //! Calculates the exact inertia tensor for this shape + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual const char* getName()const + { + return "GImpactCompound"; + } + + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const + { + return CONST_GIMPACT_COMPOUND_SHAPE; + } + +}; + + + +//! This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface. +/*! +- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShapePart, then you must call updateBound() after creating the mesh +- When making operations with this shape, you must call lock before accessing to the trimesh primitives, and then call unlock +- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices. + +*/ +class btGImpactMeshShapePart : public btGImpactShapeInterface +{ +public: + //! Trimesh primitive manager + /*! + Manages the info from btStridingMeshInterface object and controls the Lock/Unlock mechanism + */ + class TrimeshPrimitiveManager:public btPrimitiveManagerBase + { + public: + btScalar m_margin; + btStridingMeshInterface * m_meshInterface; + btVector3 m_scale; + int m_part; + int m_lock_count; + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + TrimeshPrimitiveManager() + { + m_meshInterface = NULL; + m_part = 0; + m_margin = 0.01f; + m_scale = btVector3(1.f,1.f,1.f); + m_lock_count = 0; + vertexbase = 0; + numverts = 0; + stride = 0; + indexbase = 0; + indexstride = 0; + numfaces = 0; + } + + TrimeshPrimitiveManager(const TrimeshPrimitiveManager & manager) + : btPrimitiveManagerBase() + { + m_meshInterface = manager.m_meshInterface; + m_part = manager.m_part; + m_margin = manager.m_margin; + m_scale = manager.m_scale; + m_lock_count = 0; + vertexbase = 0; + numverts = 0; + stride = 0; + indexbase = 0; + indexstride = 0; + numfaces = 0; + + } + + TrimeshPrimitiveManager( + btStridingMeshInterface * meshInterface, int part) + { + m_meshInterface = meshInterface; + m_part = part; + m_scale = m_meshInterface->getScaling(); + m_margin = 0.1f; + m_lock_count = 0; + vertexbase = 0; + numverts = 0; + stride = 0; + indexbase = 0; + indexstride = 0; + numfaces = 0; + + } + + virtual ~TrimeshPrimitiveManager() {} + + void lock() + { + if(m_lock_count>0) + { + m_lock_count++; + return; + } + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase,numverts, + type, stride,&indexbase, indexstride, numfaces,indicestype,m_part); + + m_lock_count = 1; + } + + void unlock() + { + if(m_lock_count == 0) return; + if(m_lock_count>1) + { + --m_lock_count; + return; + } + m_meshInterface->unLockReadOnlyVertexBase(m_part); + vertexbase = NULL; + m_lock_count = 0; + } + + virtual bool is_trimesh() const + { + return true; + } + + virtual int get_primitive_count() const + { + return (int )numfaces; + } + + SIMD_FORCE_INLINE int get_vertex_count() const + { + return (int )numverts; + } + + SIMD_FORCE_INLINE void get_indices(int face_index,int &i0,int &i1,int &i2) const + { + if(indicestype == PHY_SHORT) + { + short * s_indices = (short *)(indexbase + face_index*indexstride); + i0 = s_indices[0]; + i1 = s_indices[1]; + i2 = s_indices[2]; + } + else + { + int * i_indices = (int *)(indexbase + face_index*indexstride); + i0 = i_indices[0]; + i1 = i_indices[1]; + i2 = i_indices[2]; + } + } + + SIMD_FORCE_INLINE void get_vertex(int vertex_index, btVector3 & vertex) const + { + if(type == PHY_DOUBLE) + { + double * dvertices = (double *)(vertexbase + vertex_index*stride); + vertex[0] = btScalar(dvertices[0]*m_scale[0]); + vertex[1] = btScalar(dvertices[1]*m_scale[1]); + vertex[2] = btScalar(dvertices[2]*m_scale[2]); + } + else + { + float * svertices = (float *)(vertexbase + vertex_index*stride); + vertex[0] = svertices[0]*m_scale[0]; + vertex[1] = svertices[1]*m_scale[1]; + vertex[2] = svertices[2]*m_scale[2]; + } + } + + virtual void get_primitive_box(int prim_index ,btAABB & primbox) const + { + btPrimitiveTriangle triangle; + get_primitive_triangle(prim_index,triangle); + primbox.calc_from_triangle_margin( + triangle.m_vertices[0], + triangle.m_vertices[1],triangle.m_vertices[2],triangle.m_margin); + } + + virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const + { + int indices[3]; + get_indices(prim_index,indices[0],indices[1],indices[2]); + get_vertex(indices[0],triangle.m_vertices[0]); + get_vertex(indices[1],triangle.m_vertices[1]); + get_vertex(indices[2],triangle.m_vertices[2]); + triangle.m_margin = m_margin; + } + + SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index,btTriangleShapeEx & triangle) const + { + int indices[3]; + get_indices(prim_index,indices[0],indices[1],indices[2]); + get_vertex(indices[0],triangle.m_vertices1[0]); + get_vertex(indices[1],triangle.m_vertices1[1]); + get_vertex(indices[2],triangle.m_vertices1[2]); + triangle.setMargin(m_margin); + } + + }; + + +protected: + TrimeshPrimitiveManager m_primitive_manager; +public: + + btGImpactMeshShapePart() + { + m_box_set.setPrimitiveManager(&m_primitive_manager); + } + + + btGImpactMeshShapePart(btStridingMeshInterface * meshInterface, int part) + { + m_primitive_manager.m_meshInterface = meshInterface; + m_primitive_manager.m_part = part; + m_box_set.setPrimitiveManager(&m_primitive_manager); + } + + virtual ~btGImpactMeshShapePart() + { + } + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const + { + return false; + } + + + //! call when reading child shapes + virtual void lockChildShapes() const + { + void * dummy = (void*)(m_box_set.getPrimitiveManager()); + TrimeshPrimitiveManager * dummymanager = static_cast(dummy); + dummymanager->lock(); + } + + virtual void unlockChildShapes() const + { + void * dummy = (void*)(m_box_set.getPrimitiveManager()); + TrimeshPrimitiveManager * dummymanager = static_cast(dummy); + dummymanager->unlock(); + } + + //! Gets the number of children + virtual int getNumChildShapes() const + { + return m_primitive_manager.get_primitive_count(); + } + + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) + { + (void) index; + btAssert(0); + return NULL; + } + + + + //! Gets the child + virtual const btCollisionShape* getChildShape(int index) const + { + (void) index; + btAssert(0); + return NULL; + } + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const + { + (void) index; + btAssert(0); + return btTransform(); + } + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) + { + (void) index; + (void) transform; + btAssert(0); + } + + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const + { + return &m_primitive_manager; + } + + SIMD_FORCE_INLINE TrimeshPrimitiveManager * getTrimeshPrimitiveManager() + { + return &m_primitive_manager; + } + + + + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + + + + virtual const char* getName()const + { + return "GImpactMeshShapePart"; + } + + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const + { + return CONST_GIMPACT_TRIMESH_SHAPE_PART; + } + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const + { + return true; + } + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const + { + return false; + } + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + { + m_primitive_manager.get_bullet_triangle(prim_index,triangle); + } + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + { + (void) prim_index; + (void) tetrahedron; + btAssert(0); + } + + + + SIMD_FORCE_INLINE int getVertexCount() const + { + return m_primitive_manager.get_vertex_count(); + } + + SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3 & vertex) const + { + m_primitive_manager.get_vertex(vertex_index,vertex); + } + + SIMD_FORCE_INLINE void setMargin(btScalar margin) + { + m_primitive_manager.m_margin = margin; + postUpdate(); + } + + SIMD_FORCE_INLINE btScalar getMargin() const + { + return m_primitive_manager.m_margin; + } + + virtual void setLocalScaling(const btVector3& scaling) + { + m_primitive_manager.m_scale = scaling; + postUpdate(); + } + + virtual const btVector3& getLocalScaling() const + { + return m_primitive_manager.m_scale; + } + + SIMD_FORCE_INLINE int getPart() const + { + return (int)m_primitive_manager.m_part; + } + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; +}; + + +//! This class manages a mesh supplied by the btStridingMeshInterface interface. +/*! +Set of btGImpactMeshShapePart parts +- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShape, then you must call updateBound() after creating the mesh + +- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices. + +*/ +class btGImpactMeshShape : public btGImpactShapeInterface +{ + btStridingMeshInterface* m_meshInterface; + +protected: + btAlignedObjectArray m_mesh_parts; + void buildMeshParts(btStridingMeshInterface * meshInterface) + { + for (int i=0;igetNumSubParts() ;++i ) + { + btGImpactMeshShapePart * newpart = new btGImpactMeshShapePart(meshInterface,i); + m_mesh_parts.push_back(newpart); + } + } + + //! use this function for perfofm refit in bounding boxes + virtual void calcLocalAABB() + { + m_localAABB.invalidate(); + int i = m_mesh_parts.size(); + while(i--) + { + m_mesh_parts[i]->updateBound(); + m_localAABB.merge(m_mesh_parts[i]->getLocalBox()); + } + } + +public: + btGImpactMeshShape(btStridingMeshInterface * meshInterface) + { + m_meshInterface = meshInterface; + buildMeshParts(meshInterface); + } + + virtual ~btGImpactMeshShape() + { + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + delete part; + } + m_mesh_parts.clear(); + } + + + btStridingMeshInterface* getMeshInterface() + { + return m_meshInterface; + } + + const btStridingMeshInterface* getMeshInterface() const + { + return m_meshInterface; + } + + int getMeshPartCount() const + { + return m_mesh_parts.size(); + } + + btGImpactMeshShapePart * getMeshPart(int index) + { + return m_mesh_parts[index]; + } + + + + const btGImpactMeshShapePart * getMeshPart(int index) const + { + return m_mesh_parts[index]; + } + + + virtual void setLocalScaling(const btVector3& scaling) + { + localScaling = scaling; + + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + part->setLocalScaling(scaling); + } + + m_needs_update = true; + } + + virtual void setMargin(btScalar margin) + { + m_collisionMargin = margin; + + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + part->setMargin(margin); + } + + m_needs_update = true; + } + + //! Tells to this object that is needed to refit all the meshes + virtual void postUpdate() + { + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + part->postUpdate(); + } + + m_needs_update = true; + } + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const + { + btAssert(0); + return NULL; + } + + + //! Gets the number of children + virtual int getNumChildShapes() const + { + btAssert(0); + return 0; + } + + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const + { + btAssert(0); + return false; + } + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const + { + btAssert(0); + return false; + } + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const + { + btAssert(0); + return false; + } + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + { + (void) prim_index; (void) triangle; + btAssert(0); + } + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + { + (void) prim_index; (void) tetrahedron; + btAssert(0); + } + + //! call when reading child shapes + virtual void lockChildShapes() const + { + btAssert(0); + } + + virtual void unlockChildShapes() const + { + btAssert(0); + } + + + + + //! Retrieves the bound from a child + /*! + */ + virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + (void) child_index; (void) t; (void) aabbMin; (void) aabbMax; + btAssert(0); + } + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) + { + (void) index; + btAssert(0); + return NULL; + } + + + //! Gets the child + virtual const btCollisionShape* getChildShape(int index) const + { + (void) index; + btAssert(0); + return NULL; + } + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const + { + (void) index; + btAssert(0); + return btTransform(); + } + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) + { + (void) index; (void) transform; + btAssert(0); + } + + + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const + { + return CONST_GIMPACT_TRIMESH_SHAPE; + } + + + virtual const char* getName()const + { + return "GImpactMesh"; + } + + virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const; + + //! Function for retrieve triangles. + /*! + It gives the triangles in local space + */ + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btGImpactMeshShapeData +{ + btCollisionShapeData m_collisionShapeData; + + btStridingMeshInterfaceData m_meshInterface; + + btVector3FloatData m_localScaling; + + float m_collisionMargin; + + int m_gimpactSubType; +}; + +SIMD_FORCE_INLINE int btGImpactMeshShape::calculateSerializeBufferSize() const +{ + return sizeof(btGImpactMeshShapeData); +} + + +#endif //GIMPACT_MESH_SHAPE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h new file mode 100644 index 0000000..b46d851 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h @@ -0,0 +1,163 @@ +/*! \file btGenericPoolAllocator.h +\author Francisco Leon Najera. email projectileman@yahoo.com + +General purpose allocator class +*/ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_GENERIC_POOL_ALLOCATOR_H +#define BT_GENERIC_POOL_ALLOCATOR_H + +#include +#include +#include +#include "LinearMath/btAlignedAllocator.h" + +#define BT_UINT_MAX UINT_MAX +#define BT_DEFAULT_MAX_POOLS 16 + + +//! Generic Pool class +class btGenericMemoryPool +{ +public: + unsigned char * m_pool; //[m_element_size*m_max_element_count]; + size_t * m_free_nodes; //[m_max_element_count];//! free nodes + size_t * m_allocated_sizes;//[m_max_element_count];//! Number of elements allocated per node + size_t m_allocated_count; + size_t m_free_nodes_count; +protected: + size_t m_element_size; + size_t m_max_element_count; + + size_t allocate_from_free_nodes(size_t num_elements); + size_t allocate_from_pool(size_t num_elements); + +public: + + void init_pool(size_t element_size, size_t element_count); + + void end_pool(); + + + btGenericMemoryPool(size_t element_size, size_t element_count) + { + init_pool(element_size, element_count); + } + + ~btGenericMemoryPool() + { + end_pool(); + } + + + inline size_t get_pool_capacity() + { + return m_element_size*m_max_element_count; + } + + inline size_t gem_element_size() + { + return m_element_size; + } + + inline size_t get_max_element_count() + { + return m_max_element_count; + } + + inline size_t get_allocated_count() + { + return m_allocated_count; + } + + inline size_t get_free_positions_count() + { + return m_free_nodes_count; + } + + inline void * get_element_data(size_t element_index) + { + return &m_pool[element_index*m_element_size]; + } + + //! Allocates memory in pool + /*! + \param size_bytes size in bytes of the buffer + */ + void * allocate(size_t size_bytes); + + bool freeMemory(void * pointer); +}; + + + + +//! Generic Allocator with pools +/*! +General purpose Allocator which can create Memory Pools dynamiacally as needed. +*/ +class btGenericPoolAllocator +{ +protected: + size_t m_pool_element_size; + size_t m_pool_element_count; +public: + btGenericMemoryPool * m_pools[BT_DEFAULT_MAX_POOLS]; + size_t m_pool_count; + + + inline size_t get_pool_capacity() + { + return m_pool_element_size*m_pool_element_count; + } + + +protected: + // creates a pool + btGenericMemoryPool * push_new_pool(); + + void * failback_alloc(size_t size_bytes); + + bool failback_free(void * pointer); +public: + + btGenericPoolAllocator(size_t pool_element_size, size_t pool_element_count) + { + m_pool_count = 0; + m_pool_element_size = pool_element_size; + m_pool_element_count = pool_element_count; + } + + virtual ~btGenericPoolAllocator(); + + //! Allocates memory in pool + /*! + \param size_bytes size in bytes of the buffer + */ + void * allocate(size_t size_bytes); + + bool freeMemory(void * pointer); +}; + + + +void * btPoolAlloc(size_t size); +void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize); +void btPoolFree(void *ptr); + + +#endif diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGeometryOperations.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGeometryOperations.h new file mode 100644 index 0000000..60f0651 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/btGeometryOperations.h @@ -0,0 +1,212 @@ +#ifndef BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED +#define BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED + +/*! \file btGeometryOperations.h +*\author Francisco Leon Najera + +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + +#include "btBoxCollision.h" + + + + + +#define PLANEDIREPSILON 0.0000001f +#define PARALELENORMALS 0.000001f + + +#define BT_CLAMP(number,minval,maxval) (numbermaxval?maxval:number)) + +/// Calc a plane from a triangle edge an a normal. plane is a vec4f +SIMD_FORCE_INLINE void bt_edge_plane(const btVector3 & e1,const btVector3 & e2, const btVector3 & normal,btVector4 & plane) +{ + btVector3 planenormal = (e2-e1).cross(normal); + planenormal.normalize(); + plane.setValue(planenormal[0],planenormal[1],planenormal[2],e2.dot(planenormal)); +} + + + +//***************** SEGMENT and LINE FUNCTIONS **********************************/// + +/*! Finds the closest point(cp) to (v) on a segment (e1,e2) + */ +SIMD_FORCE_INLINE void bt_closest_point_on_segment( + btVector3 & cp, const btVector3 & v, + const btVector3 &e1,const btVector3 &e2) +{ + btVector3 n = e2-e1; + cp = v - e1; + btScalar _scalar = cp.dot(n)/n.dot(n); + if(_scalar <0.0f) + { + cp = e1; + } + else if(_scalar >1.0f) + { + cp = e2; + } + else + { + cp = _scalar*n + e1; + } +} + + +//! line plane collision +/*! +*\return + -0 if the ray never intersects + -1 if the ray collides in front + -2 if the ray collides in back +*/ + +SIMD_FORCE_INLINE int bt_line_plane_collision( + const btVector4 & plane, + const btVector3 & vDir, + const btVector3 & vPoint, + btVector3 & pout, + btScalar &tparam, + btScalar tmin, btScalar tmax) +{ + + btScalar _dotdir = vDir.dot(plane); + + if(btFabs(_dotdir)tmax) + { + returnvalue = 0; + tparam = tmax; + } + pout = tparam*vDir + vPoint; + return returnvalue; +} + + +//! Find closest points on segments +SIMD_FORCE_INLINE void bt_segment_collision( + const btVector3 & vA1, + const btVector3 & vA2, + const btVector3 & vB1, + const btVector3 & vB2, + btVector3 & vPointA, + btVector3 & vPointB) +{ + btVector3 AD = vA2 - vA1; + btVector3 BD = vB2 - vB1; + btVector3 N = AD.cross(BD); + btScalar tp = N.length2(); + + btVector4 _M;//plane + + if(tp_M[1]) + { + invert_b_order = true; + BT_SWAP_NUMBERS(_M[0],_M[1]); + } + _M[2] = vA1.dot(AD); + _M[3] = vA2.dot(AD); + //mid points + N[0] = (_M[0]+_M[1])*0.5f; + N[1] = (_M[2]+_M[3])*0.5f; + + if(N[0] +class gim_array +{ +public: +//! properties +//!@{ + T *m_data; + GUINT m_size; + GUINT m_allocated_size; +//!@} +//! protected operations +//!@{ + + inline void destroyData() + { + m_allocated_size = 0; + if(m_data==NULL) return; + gim_free(m_data); + m_data = NULL; + } + + inline bool resizeData(GUINT newsize) + { + if(newsize==0) + { + destroyData(); + return true; + } + + if(m_size>0) + { + m_data = (T*)gim_realloc(m_data,m_size*sizeof(T),newsize*sizeof(T)); + } + else + { + m_data = (T*)gim_alloc(newsize*sizeof(T)); + } + m_allocated_size = newsize; + return true; + } + + inline bool growingCheck() + { + if(m_allocated_size<=m_size) + { + GUINT requestsize = m_size; + m_size = m_allocated_size; + if(resizeData((requestsize+GIM_ARRAY_GROW_INCREMENT)*GIM_ARRAY_GROW_FACTOR)==false) return false; + } + return true; + } + +//!@} +//! public operations +//!@{ + inline bool reserve(GUINT size) + { + if(m_allocated_size>=size) return false; + return resizeData(size); + } + + inline void clear_range(GUINT start_range) + { + while(m_size>start_range) + { + m_data[--m_size].~T(); + } + } + + inline void clear() + { + if(m_size==0)return; + clear_range(0); + } + + inline void clear_memory() + { + clear(); + destroyData(); + } + + gim_array() + { + m_data = 0; + m_size = 0; + m_allocated_size = 0; + } + + gim_array(GUINT reservesize) + { + m_data = 0; + m_size = 0; + + m_allocated_size = 0; + reserve(reservesize); + } + + ~gim_array() + { + clear_memory(); + } + + inline GUINT size() const + { + return m_size; + } + + inline GUINT max_size() const + { + return m_allocated_size; + } + + inline T & operator[](size_t i) + { + return m_data[i]; + } + inline const T & operator[](size_t i) const + { + return m_data[i]; + } + + inline T * pointer(){ return m_data;} + inline const T * pointer() const + { return m_data;} + + + inline T * get_pointer_at(GUINT i) + { + return m_data + i; + } + + inline const T * get_pointer_at(GUINT i) const + { + return m_data + i; + } + + inline T & at(GUINT i) + { + return m_data[i]; + } + + inline const T & at(GUINT i) const + { + return m_data[i]; + } + + inline T & front() + { + return *m_data; + } + + inline const T & front() const + { + return *m_data; + } + + inline T & back() + { + return m_data[m_size-1]; + } + + inline const T & back() const + { + return m_data[m_size-1]; + } + + + inline void swap(GUINT i, GUINT j) + { + gim_swap_elements(m_data,i,j); + } + + inline void push_back(const T & obj) + { + this->growingCheck(); + m_data[m_size] = obj; + m_size++; + } + + //!Simply increase the m_size, doesn't call the new element constructor + inline void push_back_mem() + { + this->growingCheck(); + m_size++; + } + + inline void push_back_memcpy(const T & obj) + { + this->growingCheck(); + irr_simd_memcpy(&m_data[m_size],&obj,sizeof(T)); + m_size++; + } + + inline void pop_back() + { + m_size--; + m_data[m_size].~T(); + } + + //!Simply decrease the m_size, doesn't call the deleted element destructor + inline void pop_back_mem() + { + m_size--; + } + + //! fast erase + inline void erase(GUINT index) + { + if(indexgrowingCheck(); + for(GUINT i = m_size;i>index;i--) + { + gim_simd_memcpy(m_data+i,m_data+i-1,sizeof(T)); + } + m_size++; + } + + inline void insert(const T & obj,GUINT index) + { + insert_mem(index); + m_data[index] = obj; + } + + inline void resize(GUINT size, bool call_constructor = true) + { + + if(size>m_size) + { + reserve(size); + if(call_constructor) + { + T obj; + while(m_size +SIMD_FORCE_INLINE bool POINT_IN_HULL( + const CLASS_POINT& point,const CLASS_PLANE * planes,GUINT plane_count) +{ + GREAL _dis; + for (GUINT _i = 0;_i< plane_count;++_i) + { + _dis = DISTANCE_PLANE_POINT(planes[_i],point); + if(_dis>0.0f) return false; + } + return true; +} + +template +SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT( + const CLASS_POINT& s1, + const CLASS_POINT &s2,const CLASS_PLANE &plane,CLASS_POINT &clipped) +{ + GREAL _dis1,_dis2; + _dis1 = DISTANCE_PLANE_POINT(plane,s1); + VEC_DIFF(clipped,s2,s1); + _dis2 = VEC_DOT(clipped,plane); + VEC_SCALE(clipped,-_dis1/_dis2,clipped); + VEC_SUM(clipped,clipped,s1); +} + +enum ePLANE_INTERSECTION_TYPE +{ + G_BACK_PLANE = 0, + G_COLLIDE_PLANE, + G_FRONT_PLANE +}; + +enum eLINE_PLANE_INTERSECTION_TYPE +{ + G_FRONT_PLANE_S1 = 0, + G_FRONT_PLANE_S2, + G_BACK_PLANE_S1, + G_BACK_PLANE_S2, + G_COLLIDE_PLANE_S1, + G_COLLIDE_PLANE_S2 +}; + +//! Confirms if the plane intersect the edge or nor +/*! +intersection type must have the following values +
    +
  • 0 : Segment in front of plane, s1 closest +
  • 1 : Segment in front of plane, s2 closest +
  • 2 : Segment in back of plane, s1 closest +
  • 3 : Segment in back of plane, s2 closest +
  • 4 : Segment collides plane, s1 in back +
  • 5 : Segment collides plane, s2 in back +
+*/ + +template +SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2( + const CLASS_POINT& s1, + const CLASS_POINT &s2, + const CLASS_PLANE &plane,CLASS_POINT &clipped) +{ + GREAL _dis1 = DISTANCE_PLANE_POINT(plane,s1); + GREAL _dis2 = DISTANCE_PLANE_POINT(plane,s2); + if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON) + { + if(_dis1<_dis2) return G_FRONT_PLANE_S1; + return G_FRONT_PLANE_S2; + } + else if(_dis1 _dis2) return G_BACK_PLANE_S1; + return G_BACK_PLANE_S2; + } + + VEC_DIFF(clipped,s2,s1); + _dis2 = VEC_DOT(clipped,plane); + VEC_SCALE(clipped,-_dis1/_dis2,clipped); + VEC_SUM(clipped,clipped,s1); + if(_dis1<_dis2) return G_COLLIDE_PLANE_S1; + return G_COLLIDE_PLANE_S2; +} + +//! Confirms if the plane intersect the edge or not +/*! +clipped1 and clipped2 are the vertices behind the plane. +clipped1 is the closest + +intersection_type must have the following values +
    +
  • 0 : Segment in front of plane, s1 closest +
  • 1 : Segment in front of plane, s2 closest +
  • 2 : Segment in back of plane, s1 closest +
  • 3 : Segment in back of plane, s2 closest +
  • 4 : Segment collides plane, s1 in back +
  • 5 : Segment collides plane, s2 in back +
+*/ +template +SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST( + const CLASS_POINT& s1, + const CLASS_POINT &s2, + const CLASS_PLANE &plane, + CLASS_POINT &clipped1,CLASS_POINT &clipped2) +{ + eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1); + switch(intersection_type) + { + case G_FRONT_PLANE_S1: + VEC_COPY(clipped1,s1); + VEC_COPY(clipped2,s2); + break; + case G_FRONT_PLANE_S2: + VEC_COPY(clipped1,s2); + VEC_COPY(clipped2,s1); + break; + case G_BACK_PLANE_S1: + VEC_COPY(clipped1,s1); + VEC_COPY(clipped2,s2); + break; + case G_BACK_PLANE_S2: + VEC_COPY(clipped1,s2); + VEC_COPY(clipped2,s1); + break; + case G_COLLIDE_PLANE_S1: + VEC_COPY(clipped2,s1); + break; + case G_COLLIDE_PLANE_S2: + VEC_COPY(clipped2,s2); + break; + } + return intersection_type; +} + + +//! Finds the 2 smallest cartesian coordinates of a plane normal +#define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1) + +//! Ray plane collision in one way +/*! +Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).
+It uses the PLANEDIREPSILON constant. +*/ +template +SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION( + const CLASS_PLANE & plane, + const CLASS_POINT & vDir, + const CLASS_POINT & vPoint, + CLASS_POINT & pout,T &tparam) +{ + GREAL _dis,_dotdir; + _dotdir = VEC_DOT(plane,vDir); + if(_dotdir +SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION( + const CLASS_PLANE & plane, + const CLASS_POINT & vDir, + const CLASS_POINT & vPoint, + CLASS_POINT & pout, + T &tparam, + T tmin, T tmax) +{ + GREAL _dis,_dotdir; + _dotdir = VEC_DOT(plane,vDir); + if(btFabs(_dotdir)tmax) + { + returnvalue = 0; + tparam = tmax; + } + + VEC_SCALE(pout,tparam,vDir); + VEC_SUM(pout,vPoint,pout); + return returnvalue; +} + +/*! \brief Returns the Ray on which 2 planes intersect if they do. + Written by Rodrigo Hernandez on ODE convex collision + + \param p1 Plane 1 + \param p2 Plane 2 + \param p Contains the origin of the ray upon returning if planes intersect + \param d Contains the direction of the ray upon returning if planes intersect + \return true if the planes intersect, 0 if paralell. + +*/ +template +SIMD_FORCE_INLINE bool INTERSECT_PLANES( + const CLASS_PLANE &p1, + const CLASS_PLANE &p2, + CLASS_POINT &p, + CLASS_POINT &d) +{ + VEC_CROSS(d,p1,p2); + GREAL denom = VEC_DOT(d, d); + if(GIM_IS_ZERO(denom)) return false; + vec3f _n; + _n[0]=p1[3]*p2[0] - p2[3]*p1[0]; + _n[1]=p1[3]*p2[1] - p2[3]*p1[1]; + _n[2]=p1[3]*p2[2] - p2[3]*p1[2]; + VEC_CROSS(p,_n,d); + p[0]/=denom; + p[1]/=denom; + p[2]/=denom; + return true; +} + +//***************** SEGMENT and LINE FUNCTIONS **********************************/// + +/*! Finds the closest point(cp) to (v) on a segment (e1,e2) + */ +template +SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT( + CLASS_POINT & cp, const CLASS_POINT & v, + const CLASS_POINT &e1,const CLASS_POINT &e2) +{ + vec3f _n; + VEC_DIFF(_n,e2,e1); + VEC_DIFF(cp,v,e1); + GREAL _scalar = VEC_DOT(cp, _n); + _scalar/= VEC_DOT(_n, _n); + if(_scalar <0.0f) + { + VEC_COPY(cp,e1); + } + else if(_scalar >1.0f) + { + VEC_COPY(cp,e2); + } + else + { + VEC_SCALE(cp,_scalar,_n); + VEC_SUM(cp,cp,e1); + } +} + + +/*! \brief Finds the line params where these lines intersect. + +\param dir1 Direction of line 1 +\param point1 Point of line 1 +\param dir2 Direction of line 2 +\param point2 Point of line 2 +\param t1 Result Parameter for line 1 +\param t2 Result Parameter for line 2 +\param dointersect 0 if the lines won't intersect, else 1 + +*/ +template +SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS( + const CLASS_POINT & dir1, + CLASS_POINT & point1, + const CLASS_POINT & dir2, + CLASS_POINT & point2, + T& t1,T& t2) +{ + GREAL det; + GREAL e1e1 = VEC_DOT(dir1,dir1); + GREAL e1e2 = VEC_DOT(dir1,dir2); + GREAL e2e2 = VEC_DOT(dir2,dir2); + vec3f p1p2; + VEC_DIFF(p1p2,point1,point2); + GREAL p1p2e1 = VEC_DOT(p1p2,dir1); + GREAL p1p2e2 = VEC_DOT(p1p2,dir2); + det = e1e2*e1e2 - e1e1*e2e2; + if(GIM_IS_ZERO(det)) return false; + t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det; + t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det; + return true; +} + +//! Find closest points on segments +template +SIMD_FORCE_INLINE void SEGMENT_COLLISION( + const CLASS_POINT & vA1, + const CLASS_POINT & vA2, + const CLASS_POINT & vB1, + const CLASS_POINT & vB2, + CLASS_POINT & vPointA, + CLASS_POINT & vPointB) +{ + CLASS_POINT _AD,_BD,_N; + vec4f _M;//plane + VEC_DIFF(_AD,vA2,vA1); + VEC_DIFF(_BD,vB2,vB1); + VEC_CROSS(_N,_AD,_BD); + GREAL _tp = VEC_DOT(_N,_N); + if(_tp_M[1]) + { + invert_b_order = true; + GIM_SWAP_NUMBERS(_M[0],_M[1]); + } + _M[2] = VEC_DOT(vA1,_AD); + _M[3] = VEC_DOT(vA2,_AD); + //mid points + _N[0] = (_M[0]+_M[1])*0.5f; + _N[1] = (_M[2]+_M[3])*0.5f; + + if(_N[0]<_N[1]) + { + if(_M[1]<_M[2]) + { + vPointB = invert_b_order?vB1:vB2; + vPointA = vA1; + } + else if(_M[1]<_M[3]) + { + vPointB = invert_b_order?vB1:vB2; + CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); + } + else + { + vPointA = vA2; + CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); + } + } + else + { + if(_M[3]<_M[0]) + { + vPointB = invert_b_order?vB2:vB1; + vPointA = vA2; + } + else if(_M[3]<_M[1]) + { + vPointA = vA2; + CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); + } + else + { + vPointB = invert_b_order?vB1:vB2; + CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); + } + } + return; + } + + + VEC_CROSS(_M,_N,_BD); + _M[3] = VEC_DOT(_M,vB1); + + LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,btScalar(0), btScalar(1)); + /*Closest point on segment*/ + VEC_DIFF(vPointB,vPointA,vB1); + _tp = VEC_DOT(vPointB, _BD); + _tp/= VEC_DOT(_BD, _BD); + _tp = GIM_CLAMP(_tp,0.0f,1.0f); + VEC_SCALE(vPointB,_tp,_BD); + VEC_SUM(vPointB,vPointB,vB1); +} + + + + +//! Line box intersection in one dimension +/*! + +*\param pos Position of the ray +*\param dir Projection of the Direction of the ray +*\param bmin Minimum bound of the box +*\param bmax Maximum bound of the box +*\param tfirst the minimum projection. Assign to 0 at first. +*\param tlast the maximum projection. Assign to INFINITY at first. +*\return true if there is an intersection. +*/ +template +SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir,T bmin, T bmax, T & tfirst, T & tlast) +{ + if(GIM_IS_ZERO(dir)) + { + return !(pos < bmin || pos > bmax); + } + GREAL a0 = (bmin - pos) / dir; + GREAL a1 = (bmax - pos) / dir; + if(a0 > a1) GIM_SWAP_NUMBERS(a0, a1); + tfirst = GIM_MAX(a0, tfirst); + tlast = GIM_MIN(a1, tlast); + if (tlast < tfirst) return false; + return true; +} + + +//! Sorts 3 componets +template +SIMD_FORCE_INLINE void SORT_3_INDICES( + const T * values, + GUINT * order_indices) +{ + //get minimum + order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2); + + //get second and third + GUINT i0 = (order_indices[0] + 1)%3; + GUINT i1 = (i0 + 1)%3; + + if(values[i0] < values[i1]) + { + order_indices[1] = i0; + order_indices[2] = i1; + } + else + { + order_indices[1] = i1; + order_indices[2] = i0; + } +} + + + + + +#endif // GIM_VECTOR_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_bitset.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_bitset.h new file mode 100644 index 0000000..7dee48a --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_bitset.h @@ -0,0 +1,123 @@ +#ifndef GIM_BITSET_H_INCLUDED +#define GIM_BITSET_H_INCLUDED +/*! \file gim_bitset.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_array.h" + + +#define GUINT_BIT_COUNT 32 +#define GUINT_EXPONENT 5 + +class gim_bitset +{ +public: + gim_array m_container; + + gim_bitset() + { + + } + + gim_bitset(GUINT bits_count) + { + resize(bits_count); + } + + ~gim_bitset() + { + } + + inline bool resize(GUINT newsize) + { + GUINT oldsize = m_container.size(); + m_container.resize(newsize/GUINT_BIT_COUNT + 1,false); + while(oldsize=size()) + { + resize(bit_index); + } + m_container[bit_index >> GUINT_EXPONENT] |= (1 << (bit_index & (GUINT_BIT_COUNT-1))); + } + + ///Return 0 or 1 + inline char get(GUINT bit_index) + { + if(bit_index>=size()) + { + return 0; + } + char value = m_container[bit_index >> GUINT_EXPONENT] & + (1 << (bit_index & (GUINT_BIT_COUNT-1))); + return value; + } + + inline void clear(GUINT bit_index) + { + m_container[bit_index >> GUINT_EXPONENT] &= ~(1 << (bit_index & (GUINT_BIT_COUNT-1))); + } +}; + + + + + +#endif // GIM_CONTAINERS_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_box_collision.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_box_collision.h new file mode 100644 index 0000000..b360dd4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_box_collision.h @@ -0,0 +1,590 @@ +#ifndef GIM_BOX_COLLISION_H_INCLUDED +#define GIM_BOX_COLLISION_H_INCLUDED + +/*! \file gim_box_collision.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ +#include "gim_basic_geometry_operations.h" +#include "LinearMath/btTransform.h" + + + +//SIMD_FORCE_INLINE bool test_cross_edge_box( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, const btVector3 & extend, +// int dir_index0, +// int dir_index1 +// int component_index0, +// int component_index1) +//{ +// // dir coords are -z and y +// +// const btScalar dir0 = -edge[dir_index0]; +// const btScalar dir1 = edge[dir_index1]; +// btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1; +// btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1; +// //find minmax +// if(pmin>pmax) +// { +// GIM_SWAP_NUMBERS(pmin,pmax); +// } +// //find extends +// const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] + +// extend[component_index1] * absolute_edge[dir_index1]; +// +// if(pmin>rad || -rad>pmax) return false; +// return true; +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2); +//} +// +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0); +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1); +//} + +#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\ +{\ + const btScalar dir0 = -edge[i_dir_0];\ + const btScalar dir1 = edge[i_dir_1];\ + btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\ + btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\ + if(pmin>pmax)\ + {\ + GIM_SWAP_NUMBERS(pmin,pmax); \ + }\ + const btScalar abs_dir0 = absolute_edge[i_dir_0];\ + const btScalar abs_dir1 = absolute_edge[i_dir_1];\ + const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\ + if(pmin>rad || -rad>pmax) return false;\ +}\ + + +#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\ +}\ + + + +//! Class for transforming a model1 to the space of model0 +class GIM_BOX_BOX_TRANSFORM_CACHE +{ +public: + btVector3 m_T1to0;//!< Transforms translation of model1 to model 0 + btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal to R0' * R1 + btMatrix3x3 m_AR;//!< Absolute value of m_R1to0 + + SIMD_FORCE_INLINE void calc_absolute_matrix() + { + static const btVector3 vepsi(1e-6f,1e-6f,1e-6f); + m_AR[0] = vepsi + m_R1to0[0].absolute(); + m_AR[1] = vepsi + m_R1to0[1].absolute(); + m_AR[2] = vepsi + m_R1to0[2].absolute(); + } + + GIM_BOX_BOX_TRANSFORM_CACHE() + { + } + + + GIM_BOX_BOX_TRANSFORM_CACHE(mat4f trans1_to_0) + { + COPY_MATRIX_3X3(m_R1to0,trans1_to_0) + MAT_GET_TRANSLATION(trans1_to_0,m_T1to0) + calc_absolute_matrix(); + } + + //! Calc the transformation relative 1 to 0. Inverts matrics by transposing + SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1) + { + + m_R1to0 = trans0.getBasis().transpose(); + m_T1to0 = m_R1to0 * (-trans0.getOrigin()); + + m_T1to0 += m_R1to0*trans1.getOrigin(); + m_R1to0 *= trans1.getBasis(); + + calc_absolute_matrix(); + } + + //! Calcs the full invertion of the matrices. Useful for scaling matrices + SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1) + { + m_R1to0 = trans0.getBasis().inverse(); + m_T1to0 = m_R1to0 * (-trans0.getOrigin()); + + m_T1to0 += m_R1to0*trans1.getOrigin(); + m_R1to0 *= trans1.getBasis(); + + calc_absolute_matrix(); + } + + SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) + { + return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(), + m_R1to0[1].dot(point) + m_T1to0.y(), + m_R1to0[2].dot(point) + m_T1to0.z()); + } +}; + + +#define BOX_PLANE_EPSILON 0.000001f + +//! Axis aligned box +class GIM_AABB +{ +public: + btVector3 m_min; + btVector3 m_max; + + GIM_AABB() + {} + + + GIM_AABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + } + + GIM_AABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3, + GREAL margin) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + GIM_AABB(const GIM_AABB &other): + m_min(other.m_min),m_max(other.m_max) + { + } + + GIM_AABB(const GIM_AABB &other,btScalar margin ): + m_min(other.m_min),m_max(other.m_max) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void invalidate() + { + m_min[0] = G_REAL_INFINITY; + m_min[1] = G_REAL_INFINITY; + m_min[2] = G_REAL_INFINITY; + m_max[0] = -G_REAL_INFINITY; + m_max[1] = -G_REAL_INFINITY; + m_max[2] = -G_REAL_INFINITY; + } + + SIMD_FORCE_INLINE void increment_margin(btScalar margin) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void copy_with_margin(const GIM_AABB &other, btScalar margin) + { + m_min[0] = other.m_min[0] - margin; + m_min[1] = other.m_min[1] - margin; + m_min[2] = other.m_min[2] - margin; + + m_max[0] = other.m_max[0] + margin; + m_max[1] = other.m_max[1] + margin; + m_max[2] = other.m_max[2] + margin; + } + + template + SIMD_FORCE_INLINE void calc_from_triangle( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + } + + template + SIMD_FORCE_INLINE void calc_from_triangle_margin( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3, btScalar margin) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + //! Apply a transform to an AABB + SIMD_FORCE_INLINE void appy_transform(const btTransform & trans) + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extends = m_max - center; + // Compute new center + center = trans(center); + + btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()), + extends.dot(trans.getBasis().getRow(1).absolute()), + extends.dot(trans.getBasis().getRow(2).absolute())); + + m_min = center - textends; + m_max = center + textends; + } + + //! Merges a Box + SIMD_FORCE_INLINE void merge(const GIM_AABB & box) + { + m_min[0] = GIM_MIN(m_min[0],box.m_min[0]); + m_min[1] = GIM_MIN(m_min[1],box.m_min[1]); + m_min[2] = GIM_MIN(m_min[2],box.m_min[2]); + + m_max[0] = GIM_MAX(m_max[0],box.m_max[0]); + m_max[1] = GIM_MAX(m_max[1],box.m_max[1]); + m_max[2] = GIM_MAX(m_max[2],box.m_max[2]); + } + + //! Merges a point + template + SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point) + { + m_min[0] = GIM_MIN(m_min[0],point[0]); + m_min[1] = GIM_MIN(m_min[1],point[1]); + m_min[2] = GIM_MIN(m_min[2],point[2]); + + m_max[0] = GIM_MAX(m_max[0],point[0]); + m_max[1] = GIM_MAX(m_max[1],point[1]); + m_max[2] = GIM_MAX(m_max[2],point[2]); + } + + //! Gets the extend and center + SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend) const + { + center = (m_max+m_min)*0.5f; + extend = m_max - center; + } + + //! Finds the intersecting box between this box and the other. + SIMD_FORCE_INLINE void find_intersection(const GIM_AABB & other, GIM_AABB & intersection) const + { + intersection.m_min[0] = GIM_MAX(other.m_min[0],m_min[0]); + intersection.m_min[1] = GIM_MAX(other.m_min[1],m_min[1]); + intersection.m_min[2] = GIM_MAX(other.m_min[2],m_min[2]); + + intersection.m_max[0] = GIM_MIN(other.m_max[0],m_max[0]); + intersection.m_max[1] = GIM_MIN(other.m_max[1],m_max[1]); + intersection.m_max[2] = GIM_MIN(other.m_max[2],m_max[2]); + } + + + SIMD_FORCE_INLINE bool has_collision(const GIM_AABB & other) const + { + if(m_min[0] > other.m_max[0] || + m_max[0] < other.m_min[0] || + m_min[1] > other.m_max[1] || + m_max[1] < other.m_min[1] || + m_min[2] > other.m_max[2] || + m_max[2] < other.m_min[2]) + { + return false; + } + return true; + } + + /*! \brief Finds the Ray intersection parameter. + \param aabb Aligned box + \param vorigin A vec3f with the origin of the ray + \param vdir A vec3f with the direction of the ray + */ + SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir) + { + btVector3 extents,center; + this->get_center_extend(center,extents);; + + btScalar Dx = vorigin[0] - center[0]; + if(GIM_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f) return false; + btScalar Dy = vorigin[1] - center[1]; + if(GIM_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f) return false; + btScalar Dz = vorigin[2] - center[2]; + if(GIM_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f) return false; + + + btScalar f = vdir[1] * Dz - vdir[2] * Dy; + if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false; + f = vdir[2] * Dx - vdir[0] * Dz; + if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false; + f = vdir[0] * Dy - vdir[1] * Dx; + if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false; + return true; + } + + + SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extend = m_max-center; + + btScalar _fOrigin = direction.dot(center); + btScalar _fMaximumExtent = extend.dot(direction.absolute()); + vmin = _fOrigin - _fMaximumExtent; + vmax = _fOrigin + _fMaximumExtent; + } + + SIMD_FORCE_INLINE ePLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const + { + btScalar _fmin,_fmax; + this->projection_interval(plane,_fmin,_fmax); + + if(plane[3] > _fmax + BOX_PLANE_EPSILON) + { + return G_BACK_PLANE; // 0 + } + + if(plane[3]+BOX_PLANE_EPSILON >=_fmin) + { + return G_COLLIDE_PLANE; //1 + } + return G_FRONT_PLANE;//2 + } + + SIMD_FORCE_INLINE bool overlapping_trans_conservative(const GIM_AABB & box, btTransform & trans1_to_0) + { + GIM_AABB tbox = box; + tbox.appy_transform(trans1_to_0); + return has_collision(tbox); + } + + //! transcache is the transformation cache from box to this AABB + SIMD_FORCE_INLINE bool overlapping_trans_cache( + const GIM_AABB & box,const GIM_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest) + { + + //Taken from OPCODE + btVector3 ea,eb;//extends + btVector3 ca,cb;//extends + get_center_extend(ca,ea); + box.get_center_extend(cb,eb); + + + btVector3 T; + btScalar t,t2; + int i; + + // Class I : A's basis vectors + for(i=0;i<3;i++) + { + T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i]; + t = transcache.m_AR[i].dot(eb) + ea[i]; + if(GIM_GREATER(T[i], t)) return false; + } + // Class II : B's basis vectors + for(i=0;i<3;i++) + { + t = MAT_DOT_COL(transcache.m_R1to0,T,i); + t2 = MAT_DOT_COL(transcache.m_AR,ea,i) + eb[i]; + if(GIM_GREATER(t,t2)) return false; + } + // Class III : 9 cross products + if(fulltest) + { + int j,m,n,o,p,q,r; + for(i=0;i<3;i++) + { + m = (i+1)%3; + n = (i+2)%3; + o = i==0?1:0; + p = i==2?1:2; + for(j=0;j<3;j++) + { + q = j==2?1:2; + r = j==0?1:0; + t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j]; + t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] + + eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r]; + if(GIM_GREATER(t,t2)) return false; + } + } + } + return true; + } + + //! Simple test for planes. + SIMD_FORCE_INLINE bool collide_plane( + const btVector4 & plane) + { + ePLANE_INTERSECTION_TYPE classify = plane_classify(plane); + return (classify == G_COLLIDE_PLANE); + } + + //! test for a triangle, with edges + SIMD_FORCE_INLINE bool collide_triangle_exact( + const btVector3 & p1, + const btVector3 & p2, + const btVector3 & p3, + const btVector4 & triangle_plane) + { + if(!collide_plane(triangle_plane)) return false; + + btVector3 center,extends; + this->get_center_extend(center,extends); + + const btVector3 v1(p1 - center); + const btVector3 v2(p2 - center); + const btVector3 v3(p3 - center); + + //First axis + btVector3 diff(v2 - v1); + btVector3 abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends); + + + diff = v3 - v2; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends); + + diff = v1 - v3; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends); + + return true; + } +}; + + +//! Compairison of transformation objects +SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2) +{ + if(!(t1.getOrigin() == t2.getOrigin()) ) return false; + + if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false; + if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false; + if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false; + return true; +} + + + +#endif // GIM_BOX_COLLISION_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_box_set.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_box_set.h new file mode 100644 index 0000000..61d190a --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_box_set.h @@ -0,0 +1,674 @@ +#ifndef GIM_BOX_SET_H_INCLUDED +#define GIM_BOX_SET_H_INCLUDED + +/*! \file gim_box_set.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_array.h" +#include "gim_radixsort.h" +#include "gim_box_collision.h" +#include "gim_tri_collision.h" + + + +//! Overlapping pair +struct GIM_PAIR +{ + GUINT m_index1; + GUINT m_index2; + GIM_PAIR() + {} + + GIM_PAIR(const GIM_PAIR & p) + { + m_index1 = p.m_index1; + m_index2 = p.m_index2; + } + + GIM_PAIR(GUINT index1, GUINT index2) + { + m_index1 = index1; + m_index2 = index2; + } +}; + +//! A pairset array +class gim_pair_set: public gim_array +{ +public: + gim_pair_set():gim_array(32) + { + } + inline void push_pair(GUINT index1,GUINT index2) + { + push_back(GIM_PAIR(index1,index2)); + } + + inline void push_pair_inv(GUINT index1,GUINT index2) + { + push_back(GIM_PAIR(index2,index1)); + } +}; + + +//! Prototype Base class for primitive classification +/*! +This class is a wrapper for primitive collections. +This tells relevant info for the Bounding Box set classes, which take care of space classification. +This class can manage Compound shapes and trimeshes, and if it is managing trimesh then the Hierarchy Bounding Box classes will take advantage of primitive Vs Box overlapping tests for getting optimal results and less Per Box compairisons. +*/ +class GIM_PRIMITIVE_MANAGER_PROTOTYPE +{ +public: + + virtual ~GIM_PRIMITIVE_MANAGER_PROTOTYPE() {} + //! determines if this manager consist on only triangles, which special case will be optimized + virtual bool is_trimesh() = 0; + virtual GUINT get_primitive_count() = 0; + virtual void get_primitive_box(GUINT prim_index ,GIM_AABB & primbox) = 0; + virtual void get_primitive_triangle(GUINT prim_index,GIM_TRIANGLE & triangle) = 0; +}; + + +struct GIM_AABB_DATA +{ + GIM_AABB m_bound; + GUINT m_data; +}; + +//! Node Structure for trees +struct GIM_BOX_TREE_NODE +{ + GIM_AABB m_bound; + GUINT m_left;//!< Left subtree + GUINT m_right;//!< Right subtree + GUINT m_escapeIndex;//!< Scape index for traversing + GUINT m_data;//!< primitive index if apply + + GIM_BOX_TREE_NODE() + { + m_left = 0; + m_right = 0; + m_escapeIndex = 0; + m_data = 0; + } + + SIMD_FORCE_INLINE bool is_leaf_node() const + { + return (!m_left && !m_right); + } +}; + +//! Basic Box tree structure +class GIM_BOX_TREE +{ +protected: + GUINT m_num_nodes; + gim_array m_node_array; +protected: + GUINT _sort_and_calc_splitting_index( + gim_array & primitive_boxes, + GUINT startIndex, GUINT endIndex, GUINT splitAxis); + + GUINT _calc_splitting_axis(gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex); + + void _build_sub_tree(gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex); +public: + GIM_BOX_TREE() + { + m_num_nodes = 0; + } + + //! prototype functions for box tree management + //!@{ + void build_tree(gim_array & primitive_boxes); + + SIMD_FORCE_INLINE void clearNodes() + { + m_node_array.clear(); + m_num_nodes = 0; + } + + //! node count + SIMD_FORCE_INLINE GUINT getNodeCount() const + { + return m_num_nodes; + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const + { + return m_node_array[nodeindex].is_leaf_node(); + } + + SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_data; + } + + SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound) const + { + bound = m_node_array[nodeindex].m_bound; + } + + SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound) + { + m_node_array[nodeindex].m_bound = bound; + } + + SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_left; + } + + SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_right; + } + + SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_escapeIndex; + } + + //!@} +}; + + +//! Generic Box Tree Template +/*! +This class offers an structure for managing a box tree of primitives. +Requires a Primitive prototype (like GIM_PRIMITIVE_MANAGER_PROTOTYPE ) and +a Box tree structure ( like GIM_BOX_TREE). +*/ +template +class GIM_BOX_TREE_TEMPLATE_SET +{ +protected: + _GIM_PRIMITIVE_MANAGER_PROTOTYPE m_primitive_manager; + _GIM_BOX_TREE_PROTOTYPE m_box_tree; +protected: + //stackless refit + SIMD_FORCE_INLINE void refit() + { + GUINT nodecount = getNodeCount(); + while(nodecount--) + { + if(isLeafNode(nodecount)) + { + GIM_AABB leafbox; + m_primitive_manager.get_primitive_box(getNodeData(nodecount),leafbox); + setNodeBound(nodecount,leafbox); + } + else + { + //get left bound + GUINT childindex = getLeftNodeIndex(nodecount); + GIM_AABB bound; + getNodeBound(childindex,bound); + //get right bound + childindex = getRightNodeIndex(nodecount); + GIM_AABB bound2; + getNodeBound(childindex,bound2); + bound.merge(bound2); + + setNodeBound(nodecount,bound); + } + } + } +public: + + GIM_BOX_TREE_TEMPLATE_SET() + { + } + + SIMD_FORCE_INLINE GIM_AABB getGlobalBox() const + { + GIM_AABB totalbox; + getNodeBound(0, totalbox); + return totalbox; + } + + SIMD_FORCE_INLINE void setPrimitiveManager(const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager() const + { + return m_primitive_manager; + } + + _GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager() + { + return m_primitive_manager; + } + +//! node manager prototype functions +///@{ + + //! this attemps to refit the box set. + SIMD_FORCE_INLINE void update() + { + refit(); + } + + //! this rebuild the entire set + SIMD_FORCE_INLINE void buildSet() + { + //obtain primitive boxes + gim_array primitive_boxes; + primitive_boxes.resize(m_primitive_manager.get_primitive_count(),false); + + for (GUINT i = 0;i & collided_results) const + { + GUINT curIndex = 0; + GUINT numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + GIM_AABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.has_collision(box); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData(curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getScapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; + } + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool boxQueryTrans(const GIM_AABB & box, + const btTransform & transform, gim_array & collided_results) const + { + GIM_AABB transbox=box; + transbox.appy_transform(transform); + return boxQuery(transbox,collided_results); + } + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + gim_array & collided_results) const + { + GUINT curIndex = 0; + GUINT numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + GIM_AABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData( curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getScapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; + } + + //! tells if this set has hierarcht + SIMD_FORCE_INLINE bool hasHierarchy() const + { + return true; + } + + //! tells if this set is a trimesh + SIMD_FORCE_INLINE bool isTrimesh() const + { + return m_primitive_manager.is_trimesh(); + } + + //! node count + SIMD_FORCE_INLINE GUINT getNodeCount() const + { + return m_box_tree.getNodeCount(); + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const + { + return m_box_tree.isLeafNode(nodeindex); + } + + SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const + { + return m_box_tree.getNodeData(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound) const + { + m_box_tree.getNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound) + { + m_box_tree.setNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const + { + return m_box_tree.getLeftNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const + { + return m_box_tree.getRightNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const + { + return m_box_tree.getScapeNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeTriangle(GUINT nodeindex,GIM_TRIANGLE & triangle) const + { + m_primitive_manager.get_primitive_triangle(getNodeData(nodeindex),triangle); + } + +}; + +//! Class for Box Tree Sets +/*! +this has the GIM_BOX_TREE implementation for bounding boxes. +*/ +template +class GIM_BOX_TREE_SET: public GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, GIM_BOX_TREE> +{ +public: + +}; + + + + + +/// GIM_BOX_SET collision methods +template +class GIM_TREE_TREE_COLLIDER +{ +public: + gim_pair_set * m_collision_pairs; + BOX_SET_CLASS0 * m_boxset0; + BOX_SET_CLASS1 * m_boxset1; + GUINT current_node0; + GUINT current_node1; + bool node0_is_leaf; + bool node1_is_leaf; + bool t0_is_trimesh; + bool t1_is_trimesh; + bool node0_has_triangle; + bool node1_has_triangle; + GIM_AABB m_box0; + GIM_AABB m_box1; + GIM_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0; + btTransform trans_cache_0to1; + GIM_TRIANGLE m_tri0; + btVector4 m_tri0_plane; + GIM_TRIANGLE m_tri1; + btVector4 m_tri1_plane; + + +public: + GIM_TREE_TREE_COLLIDER() + { + current_node0 = G_UINT_INFINITY; + current_node1 = G_UINT_INFINITY; + } +protected: + SIMD_FORCE_INLINE void retrieve_node0_triangle(GUINT node0) + { + if(node0_has_triangle) return; + m_boxset0->getNodeTriangle(node0,m_tri0); + //transform triangle + m_tri0.m_vertices[0] = trans_cache_0to1(m_tri0.m_vertices[0]); + m_tri0.m_vertices[1] = trans_cache_0to1(m_tri0.m_vertices[1]); + m_tri0.m_vertices[2] = trans_cache_0to1(m_tri0.m_vertices[2]); + m_tri0.get_plane(m_tri0_plane); + + node0_has_triangle = true; + } + + SIMD_FORCE_INLINE void retrieve_node1_triangle(GUINT node1) + { + if(node1_has_triangle) return; + m_boxset1->getNodeTriangle(node1,m_tri1); + //transform triangle + m_tri1.m_vertices[0] = trans_cache_1to0.transform(m_tri1.m_vertices[0]); + m_tri1.m_vertices[1] = trans_cache_1to0.transform(m_tri1.m_vertices[1]); + m_tri1.m_vertices[2] = trans_cache_1to0.transform(m_tri1.m_vertices[2]); + m_tri1.get_plane(m_tri1_plane); + + node1_has_triangle = true; + } + + SIMD_FORCE_INLINE void retrieve_node0_info(GUINT node0) + { + if(node0 == current_node0) return; + m_boxset0->getNodeBound(node0,m_box0); + node0_is_leaf = m_boxset0->isLeafNode(node0); + node0_has_triangle = false; + current_node0 = node0; + } + + SIMD_FORCE_INLINE void retrieve_node1_info(GUINT node1) + { + if(node1 == current_node1) return; + m_boxset1->getNodeBound(node1,m_box1); + node1_is_leaf = m_boxset1->isLeafNode(node1); + node1_has_triangle = false; + current_node1 = node1; + } + + SIMD_FORCE_INLINE bool node_collision(GUINT node0 ,GUINT node1) + { + retrieve_node0_info(node0); + retrieve_node1_info(node1); + bool result = m_box0.overlapping_trans_cache(m_box1,trans_cache_1to0,true); + if(!result) return false; + + if(t0_is_trimesh && node0_is_leaf) + { + //perform primitive vs box collision + retrieve_node0_triangle(node0); + //do triangle vs box collision + m_box1.increment_margin(m_tri0.m_margin); + + result = m_box1.collide_triangle_exact( + m_tri0.m_vertices[0],m_tri0.m_vertices[1],m_tri0.m_vertices[2],m_tri0_plane); + + m_box1.increment_margin(-m_tri0.m_margin); + + if(!result) return false; + return true; + } + else if(t1_is_trimesh && node1_is_leaf) + { + //perform primitive vs box collision + retrieve_node1_triangle(node1); + //do triangle vs box collision + m_box0.increment_margin(m_tri1.m_margin); + + result = m_box0.collide_triangle_exact( + m_tri1.m_vertices[0],m_tri1.m_vertices[1],m_tri1.m_vertices[2],m_tri1_plane); + + m_box0.increment_margin(-m_tri1.m_margin); + + if(!result) return false; + return true; + } + return true; + } + + //stackless collision routine + void find_collision_pairs() + { + gim_pair_set stack_collisions; + stack_collisions.reserve(32); + + //add the first pair + stack_collisions.push_pair(0,0); + + + while(stack_collisions.size()) + { + //retrieve the last pair and pop + GUINT node0 = stack_collisions.back().m_index1; + GUINT node1 = stack_collisions.back().m_index2; + stack_collisions.pop_back(); + if(node_collision(node0,node1)) // a collision is found + { + if(node0_is_leaf) + { + if(node1_is_leaf) + { + m_collision_pairs->push_pair(m_boxset0->getNodeData(node0),m_boxset1->getNodeData(node1)); + } + else + { + //collide left + stack_collisions.push_pair(node0,m_boxset1->getLeftNodeIndex(node1)); + + //collide right + stack_collisions.push_pair(node0,m_boxset1->getRightNodeIndex(node1)); + } + } + else + { + if(node1_is_leaf) + { + //collide left + stack_collisions.push_pair(m_boxset0->getLeftNodeIndex(node0),node1); + //collide right + stack_collisions.push_pair(m_boxset0->getRightNodeIndex(node0),node1); + } + else + { + GUINT left0 = m_boxset0->getLeftNodeIndex(node0); + GUINT right0 = m_boxset0->getRightNodeIndex(node0); + GUINT left1 = m_boxset1->getLeftNodeIndex(node1); + GUINT right1 = m_boxset1->getRightNodeIndex(node1); + //collide left + stack_collisions.push_pair(left0,left1); + //collide right + stack_collisions.push_pair(left0,right1); + //collide left + stack_collisions.push_pair(right0,left1); + //collide right + stack_collisions.push_pair(right0,right1); + + }// else if node1 is not a leaf + }// else if node0 is not a leaf + + }// if(node_collision(node0,node1)) + }//while(stack_collisions.size()) + } +public: + void find_collision(BOX_SET_CLASS0 * boxset1, const btTransform & trans1, + BOX_SET_CLASS1 * boxset2, const btTransform & trans2, + gim_pair_set & collision_pairs, bool complete_primitive_tests = true) + { + m_collision_pairs = &collision_pairs; + m_boxset0 = boxset1; + m_boxset1 = boxset2; + + trans_cache_1to0.calc_from_homogenic(trans1,trans2); + + trans_cache_0to1 = trans2.inverse(); + trans_cache_0to1 *= trans1; + + + if(complete_primitive_tests) + { + t0_is_trimesh = boxset1->getPrimitiveManager().is_trimesh(); + t1_is_trimesh = boxset2->getPrimitiveManager().is_trimesh(); + } + else + { + t0_is_trimesh = false; + t1_is_trimesh = false; + } + + find_collision_pairs(); + } +}; + + +#endif // GIM_BOXPRUNING_H_INCLUDED + + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_clip_polygon.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_clip_polygon.h new file mode 100644 index 0000000..e342459 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_clip_polygon.h @@ -0,0 +1,210 @@ +#ifndef GIM_CLIP_POLYGON_H_INCLUDED +#define GIM_CLIP_POLYGON_H_INCLUDED + +/*! \file gim_tri_collision.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +//! This function calcs the distance from a 3D plane +class DISTANCE_PLANE_3D_FUNC +{ +public: + template + inline GREAL operator()(const CLASS_PLANE & plane, const CLASS_POINT & point) + { + return DISTANCE_PLANE_POINT(plane, point); + } +}; + + + +template +SIMD_FORCE_INLINE void PLANE_CLIP_POLYGON_COLLECT( + const CLASS_POINT & point0, + const CLASS_POINT & point1, + GREAL dist0, + GREAL dist1, + CLASS_POINT * clipped, + GUINT & clipped_count) +{ + GUINT _prevclassif = (dist0>G_EPSILON); + GUINT _classif = (dist1>G_EPSILON); + if(_classif!=_prevclassif) + { + GREAL blendfactor = -dist0/(dist1-dist0); + VEC_BLEND(clipped[clipped_count],point0,point1,blendfactor); + clipped_count++; + } + if(!_classif) + { + VEC_COPY(clipped[clipped_count],point1); + clipped_count++; + } +} + + +//! Clips a polygon by a plane +/*! +*\return The count of the clipped counts +*/ +template +SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON_GENERIC( + const CLASS_PLANE & plane, + const CLASS_POINT * polygon_points, + GUINT polygon_point_count, + CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func) +{ + GUINT clipped_count = 0; + + + //clip first point + GREAL firstdist = distance_func(plane,polygon_points[0]);; + if(!(firstdist>G_EPSILON)) + { + VEC_COPY(clipped[clipped_count],polygon_points[0]); + clipped_count++; + } + + GREAL olddist = firstdist; + for(GUINT _i=1;_i +SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE_GENERIC( + const CLASS_PLANE & plane, + const CLASS_POINT & point0, + const CLASS_POINT & point1, + const CLASS_POINT & point2, + CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func) +{ + GUINT clipped_count = 0; + + //clip first point + GREAL firstdist = distance_func(plane,point0);; + if(!(firstdist>G_EPSILON)) + { + VEC_COPY(clipped[clipped_count],point0); + clipped_count++; + } + + // point 1 + GREAL olddist = firstdist; + GREAL dist = distance_func(plane,point1); + + PLANE_CLIP_POLYGON_COLLECT( + point0,point1, + olddist, + dist, + clipped, + clipped_count); + + olddist = dist; + + + // point 2 + dist = distance_func(plane,point2); + + PLANE_CLIP_POLYGON_COLLECT( + point1,point2, + olddist, + dist, + clipped, + clipped_count); + olddist = dist; + + + + //RETURN TO FIRST point + PLANE_CLIP_POLYGON_COLLECT( + point2,point0, + olddist, + firstdist, + clipped, + clipped_count); + + return clipped_count; +} + + +template +SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON3D( + const CLASS_PLANE & plane, + const CLASS_POINT * polygon_points, + GUINT polygon_point_count, + CLASS_POINT * clipped) +{ + return PLANE_CLIP_POLYGON_GENERIC(plane,polygon_points,polygon_point_count,clipped,DISTANCE_PLANE_3D_FUNC()); +} + + +template +SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE3D( + const CLASS_PLANE & plane, + const CLASS_POINT & point0, + const CLASS_POINT & point1, + const CLASS_POINT & point2, + CLASS_POINT * clipped) +{ + return PLANE_CLIP_TRIANGLE_GENERIC(plane,point0,point1,point2,clipped,DISTANCE_PLANE_3D_FUNC()); +} + + + +#endif // GIM_TRI_COLLISION_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_contact.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_contact.h new file mode 100644 index 0000000..5d9f8ef --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_contact.h @@ -0,0 +1,164 @@ +#ifndef GIM_CONTACT_H_INCLUDED +#define GIM_CONTACT_H_INCLUDED + +/*! \file gim_contact.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ +#include "gim_geometry.h" +#include "gim_radixsort.h" +#include "gim_array.h" + + +/** +Configuration var for applying interpolation of contact normals +*/ +#define NORMAL_CONTACT_AVERAGE 1 +#define CONTACT_DIFF_EPSILON 0.00001f + +/// Structure for collision results +///Functions for managing and sorting contacts resulting from a collision query. +///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST +///After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY +///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts +class GIM_CONTACT +{ +public: + btVector3 m_point; + btVector3 m_normal; + GREAL m_depth;//Positive value indicates interpenetration + GREAL m_distance;//Padding not for use + GUINT m_feature1;//Face number + GUINT m_feature2;//Face number +public: + GIM_CONTACT() + { + } + + GIM_CONTACT(const GIM_CONTACT & contact): + m_point(contact.m_point), + m_normal(contact.m_normal), + m_depth(contact.m_depth), + m_feature1(contact.m_feature1), + m_feature2(contact.m_feature2) + { + m_point = contact.m_point; + m_normal = contact.m_normal; + m_depth = contact.m_depth; + m_feature1 = contact.m_feature1; + m_feature2 = contact.m_feature2; + } + + GIM_CONTACT(const btVector3 &point,const btVector3 & normal, + GREAL depth, GUINT feature1, GUINT feature2): + m_point(point), + m_normal(normal), + m_depth(depth), + m_feature1(feature1), + m_feature2(feature2) + { + } + + //! Calcs key for coord classification + SIMD_FORCE_INLINE GUINT calc_key_contact() const + { + GINT _coords[] = { + (GINT)(m_point[0]*1000.0f+1.0f), + (GINT)(m_point[1]*1333.0f), + (GINT)(m_point[2]*2133.0f+3.0f)}; + GUINT _hash=0; + GUINT *_uitmp = (GUINT *)(&_coords[0]); + _hash = *_uitmp; + _uitmp++; + _hash += (*_uitmp)<<4; + _uitmp++; + _hash += (*_uitmp)<<8; + return _hash; + } + + SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count) + { + btVector3 vec_sum(m_normal); + for(GUINT i=0;i +{ +public: + gim_contact_array():gim_array(64) + { + } + + SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal, + GREAL depth, GUINT feature1, GUINT feature2) + { + push_back_mem(); + GIM_CONTACT & newele = back(); + newele.m_point = point; + newele.m_normal = normal; + newele.m_depth = depth; + newele.m_feature1 = feature1; + newele.m_feature2 = feature2; + } + + SIMD_FORCE_INLINE void push_triangle_contacts( + const GIM_TRIANGLE_CONTACT_DATA & tricontact, + GUINT feature1,GUINT feature2) + { + for(GUINT i = 0;i +struct GIM_HASH_TABLE_NODE +{ + GUINT m_key; + T m_data; + GIM_HASH_TABLE_NODE() + { + } + + GIM_HASH_TABLE_NODE(const GIM_HASH_TABLE_NODE & value) + { + m_key = value.m_key; + m_data = value.m_data; + } + + GIM_HASH_TABLE_NODE(GUINT key, const T & data) + { + m_key = key; + m_data = data; + } + + bool operator <(const GIM_HASH_TABLE_NODE & other) const + { + ///inverse order, further objects are first + if(m_key < other.m_key) return true; + return false; + } + + bool operator >(const GIM_HASH_TABLE_NODE & other) const + { + ///inverse order, further objects are first + if(m_key > other.m_key) return true; + return false; + } + + bool operator ==(const GIM_HASH_TABLE_NODE & other) const + { + ///inverse order, further objects are first + if(m_key == other.m_key) return true; + return false; + } +}; + +///Macro for getting the key +class GIM_HASH_NODE_GET_KEY +{ +public: + template + inline GUINT operator()( const T& a) + { + return a.m_key; + } +}; + + + +///Macro for comparing the key and the element +class GIM_HASH_NODE_CMP_KEY_MACRO +{ +public: + template + inline int operator() ( const T& a, GUINT key) + { + return ((int)(a.m_key - key)); + } +}; + +///Macro for comparing Hash nodes +class GIM_HASH_NODE_CMP_MACRO +{ +public: + template + inline int operator() ( const T& a, const T& b ) + { + return ((int)(a.m_key - b.m_key)); + } +}; + + + + + +//! Sorting for hash table +/*! +switch automatically between quicksort and radixsort +*/ +template +void gim_sort_hash_node_array(T * array, GUINT array_count) +{ + if(array_count + +
    +
  • if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes. +When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable. +
  • If node_size != 0, then this container becomes a hash table for ever +
+ +*/ +template +class gim_hash_table +{ +protected: + typedef GIM_HASH_TABLE_NODE _node_type; + + //!The nodes + //array< _node_type, SuperAllocator<_node_type> > m_nodes; + gim_array< _node_type > m_nodes; + //SuperBufferedArray< _node_type > m_nodes; + bool m_sorted; + + ///Hash table data management. The hash table has the indices to the corresponding m_nodes array + GUINT * m_hash_table;//!< + GUINT m_table_size;//!< + GUINT m_node_size;//!< + GUINT m_min_hash_table_size; + + + + //! Returns the cell index + inline GUINT _find_cell(GUINT hashkey) + { + _node_type * nodesptr = m_nodes.pointer(); + GUINT start_index = (hashkey%m_table_size)*m_node_size; + GUINT end_index = start_index + m_node_size; + + while(start_index= m_nodes.size()) return false; + if(m_nodes[index].m_key != GIM_INVALID_HASH) + { + //Search for the avaliable cell in buffer + GUINT cell_index = _find_cell(m_nodes[index].m_key); + + btAssert(cell_index!=GIM_INVALID_HASH); + btAssert(m_hash_table[cell_index]==index); + + m_hash_table[cell_index] = GIM_INVALID_HASH; + } + + return this->_erase_unsorted(index); + } + + //! erase by key in hash table + inline bool _erase_hash_table(GUINT hashkey) + { + if(hashkey == GIM_INVALID_HASH) return false; + + //Search for the avaliable cell in buffer + GUINT cell_index = _find_cell(hashkey); + if(cell_index ==GIM_INVALID_HASH) return false; + + GUINT index = m_hash_table[cell_index]; + m_hash_table[cell_index] = GIM_INVALID_HASH; + + return this->_erase_unsorted(index); + } + + + + //! insert an element in hash table + /*! + If the element exists, this won't insert the element + \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted + If so, the element has been inserted at the last position of the array. + */ + inline GUINT _insert_hash_table(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH) + { + //Insert anyway + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + } + + GUINT cell_index = _assign_hash_table_cell(hashkey); + + GUINT value_key = m_hash_table[cell_index]; + + if(value_key!= GIM_INVALID_HASH) return value_key;// Not overrited + + m_hash_table[cell_index] = m_nodes.size(); + + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + } + + //! insert an element in hash table. + /*! + If the element exists, this replaces the element. + \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted + If so, the element has been inserted at the last position of the array. + */ + inline GUINT _insert_hash_table_replace(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH) + { + //Insert anyway + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + } + + GUINT cell_index = _assign_hash_table_cell(hashkey); + + GUINT value_key = m_hash_table[cell_index]; + + if(value_key!= GIM_INVALID_HASH) + {//replaces the existing + m_nodes[value_key] = _node_type(hashkey,value); + return value_key;// index of the replaced element + } + + m_hash_table[cell_index] = m_nodes.size(); + + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + + } + + + ///Sorted array data management. The hash table has the indices to the corresponding m_nodes array + inline bool _erase_sorted(GUINT index) + { + if(index>=(GUINT)m_nodes.size()) return false; + m_nodes.erase_sorted(index); + if(m_nodes.size()<2) m_sorted = false; + return true; + } + + //! faster, but unsorted + inline bool _erase_unsorted(GUINT index) + { + if(index>=m_nodes.size()) return false; + + GUINT lastindex = m_nodes.size()-1; + if(indexcheck_for_switching_to_hashtable(); + } + + //! Insert an element in an ordered array + inline GUINT _insert_sorted(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH || size()==0) + { + m_nodes.push_back(_node_type(hashkey,value)); + return GIM_INVALID_HASH; + } + //Insert at last position + //Sort element + + + GUINT result_ind=0; + GUINT last_index = m_nodes.size()-1; + _node_type * ptr = m_nodes.pointer(); + + bool found = gim_binary_search_ex( + ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); + + + //Insert before found index + if(found) + { + return result_ind; + } + else + { + _insert_in_pos(hashkey, value, result_ind); + } + return GIM_INVALID_HASH; + } + + inline GUINT _insert_sorted_replace(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH || size()==0) + { + m_nodes.push_back(_node_type(hashkey,value)); + return GIM_INVALID_HASH; + } + //Insert at last position + //Sort element + GUINT result_ind; + GUINT last_index = m_nodes.size()-1; + _node_type * ptr = m_nodes.pointer(); + + bool found = gim_binary_search_ex( + ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); + + //Insert before found index + if(found) + { + m_nodes[result_ind] = _node_type(hashkey,value); + } + else + { + _insert_in_pos(hashkey, value, result_ind); + } + return result_ind; + } + + //! Fast insertion in m_nodes array + inline GUINT _insert_unsorted(GUINT hashkey, const T & value) + { + m_nodes.push_back(_node_type(hashkey,value)); + m_sorted = false; + return GIM_INVALID_HASH; + } + + + +public: + + /*! +
  • if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes. + When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable. +
  • If node_size != 0, then this container becomes a hash table for ever + + */ + gim_hash_table(GUINT reserve_size = GIM_DEFAULT_HASH_TABLE_SIZE, + GUINT node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE, + GUINT min_hash_table_size = GIM_INVALID_HASH) + { + m_hash_table = NULL; + m_table_size = 0; + m_sorted = false; + m_node_size = node_size; + m_min_hash_table_size = min_hash_table_size; + + if(m_node_size!=0) + { + if(reserve_size!=0) + { + m_nodes.reserve(reserve_size); + _reserve_table_memory(reserve_size); + _invalidate_keys(); + } + else + { + m_nodes.reserve(GIM_DEFAULT_HASH_TABLE_SIZE); + _reserve_table_memory(GIM_DEFAULT_HASH_TABLE_SIZE); + _invalidate_keys(); + } + } + else if(reserve_size!=0) + { + m_nodes.reserve(reserve_size); + } + + } + + ~gim_hash_table() + { + _destroy(); + } + + inline bool is_hash_table() + { + if(m_hash_table) return true; + return false; + } + + inline bool is_sorted() + { + if(size()<2) return true; + return m_sorted; + } + + bool sort() + { + if(is_sorted()) return true; + if(m_nodes.size()<2) return false; + + + _node_type * ptr = m_nodes.pointer(); + GUINT siz = m_nodes.size(); + gim_sort_hash_node_array(ptr,siz); + m_sorted=true; + + + + if(m_hash_table) + { + _rehash(); + } + return true; + } + + bool switch_to_hashtable() + { + if(m_hash_table) return false; + if(m_node_size==0) m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE; + if(m_nodes.size()m_hash_table) return true; + + if(!(m_nodes.size()< m_min_hash_table_size)) + { + if(m_node_size == 0) + { + m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE; + } + + _resize_table(m_nodes.size()+1); + return true; + } + return false; + } + + inline void set_sorted(bool value) + { + m_sorted = value; + } + + //! Retrieves the amount of keys. + inline GUINT size() const + { + return m_nodes.size(); + } + + //! Retrieves the hash key. + inline GUINT get_key(GUINT index) const + { + return m_nodes[index].m_key; + } + + //! Retrieves the value by index + /*! + */ + inline T * get_value_by_index(GUINT index) + { + return &m_nodes[index].m_data; + } + + inline const T& operator[](GUINT index) const + { + return m_nodes[index].m_data; + } + + inline T& operator[](GUINT index) + { + return m_nodes[index].m_data; + } + + //! Finds the index of the element with the key + /*! + \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted + If so, the element has been inserted at the last position of the array. + */ + inline GUINT find(GUINT hashkey) + { + if(m_hash_table) + { + GUINT cell_index = _find_cell(hashkey); + if(cell_index==GIM_INVALID_HASH) return GIM_INVALID_HASH; + return m_hash_table[cell_index]; + } + GUINT last_index = m_nodes.size(); + if(last_index<2) + { + if(last_index==0) return GIM_INVALID_HASH; + if(m_nodes[0].m_key == hashkey) return 0; + return GIM_INVALID_HASH; + } + else if(m_sorted) + { + //Binary search + GUINT result_ind = 0; + last_index--; + _node_type * ptr = m_nodes.pointer(); + + bool found = gim_binary_search_ex(ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); + + + if(found) return result_ind; + } + return GIM_INVALID_HASH; + } + + //! Retrieves the value associated with the index + /*! + \return the found element, or null + */ + inline T * get_value(GUINT hashkey) + { + GUINT index = find(hashkey); + if(index == GIM_INVALID_HASH) return NULL; + return &m_nodes[index].m_data; + } + + + /*! + */ + inline bool erase_by_index(GUINT index) + { + if(index > m_nodes.size()) return false; + + if(m_hash_table == NULL) + { + if(is_sorted()) + { + return this->_erase_sorted(index); + } + else + { + return this->_erase_unsorted(index); + } + } + else + { + return this->_erase_by_index_hash_table(index); + } + return false; + } + + + + inline bool erase_by_index_unsorted(GUINT index) + { + if(index > m_nodes.size()) return false; + + if(m_hash_table == NULL) + { + return this->_erase_unsorted(index); + } + else + { + return this->_erase_by_index_hash_table(index); + } + return false; + } + + + + /*! + + */ + inline bool erase_by_key(GUINT hashkey) + { + if(size()==0) return false; + + if(m_hash_table) + { + return this->_erase_hash_table(hashkey); + } + //Binary search + + if(is_sorted()==false) return false; + + GUINT result_ind = find(hashkey); + if(result_ind!= GIM_INVALID_HASH) + { + return this->_erase_sorted(result_ind); + } + return false; + } + + void clear() + { + m_nodes.clear(); + + if(m_hash_table==NULL) return; + GUINT datasize = m_table_size*m_node_size; + //Initialize the hashkeys. + GUINT i; + for(i=0;i_insert_hash_table(hashkey,element); + } + if(this->is_sorted()) + { + return this->_insert_sorted(hashkey,element); + } + return this->_insert_unsorted(hashkey,element); + } + + //! Insert an element into the hash, and could overrite an existing object with the same hash. + /*! + \return If GIM_INVALID_HASH, the object has been inserted succesfully. Else it returns the position + of the replaced element. + */ + inline GUINT insert_override(GUINT hashkey, const T & element) + { + if(m_hash_table) + { + return this->_insert_hash_table_replace(hashkey,element); + } + if(this->is_sorted()) + { + return this->_insert_sorted_replace(hashkey,element); + } + this->_insert_unsorted(hashkey,element); + return m_nodes.size(); + } + + + + //! Insert an element into the hash,But if this container is a sorted array, this inserts it unsorted + /*! + */ + inline GUINT insert_unsorted(GUINT hashkey,const T & element) + { + if(m_hash_table) + { + return this->_insert_hash_table(hashkey,element); + } + return this->_insert_unsorted(hashkey,element); + } + + +}; + + + +#endif // GIM_CONTAINERS_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_linear_math.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_linear_math.h new file mode 100644 index 0000000..64f11b4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_linear_math.h @@ -0,0 +1,1573 @@ +#ifndef GIM_LINEAR_H_INCLUDED +#define GIM_LINEAR_H_INCLUDED + +/*! \file gim_linear_math.h +*\author Francisco Leon Najera +Type Independant Vector and matrix operations. +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_math.h" +#include "gim_geom_types.h" + + + + +//! Zero out a 2D vector +#define VEC_ZERO_2(a) \ +{ \ + (a)[0] = (a)[1] = 0.0f; \ +}\ + + +//! Zero out a 3D vector +#define VEC_ZERO(a) \ +{ \ + (a)[0] = (a)[1] = (a)[2] = 0.0f; \ +}\ + + +/// Zero out a 4D vector +#define VEC_ZERO_4(a) \ +{ \ + (a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \ +}\ + + +/// Vector copy +#define VEC_COPY_2(b,a) \ +{ \ + (b)[0] = (a)[0]; \ + (b)[1] = (a)[1]; \ +}\ + + +/// Copy 3D vector +#define VEC_COPY(b,a) \ +{ \ + (b)[0] = (a)[0]; \ + (b)[1] = (a)[1]; \ + (b)[2] = (a)[2]; \ +}\ + + +/// Copy 4D vector +#define VEC_COPY_4(b,a) \ +{ \ + (b)[0] = (a)[0]; \ + (b)[1] = (a)[1]; \ + (b)[2] = (a)[2]; \ + (b)[3] = (a)[3]; \ +}\ + +/// VECTOR SWAP +#define VEC_SWAP(b,a) \ +{ \ + GIM_SWAP_NUMBERS((b)[0],(a)[0]);\ + GIM_SWAP_NUMBERS((b)[1],(a)[1]);\ + GIM_SWAP_NUMBERS((b)[2],(a)[2]);\ +}\ + +/// Vector difference +#define VEC_DIFF_2(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] - (v1)[0]; \ + (v21)[1] = (v2)[1] - (v1)[1]; \ +}\ + + +/// Vector difference +#define VEC_DIFF(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] - (v1)[0]; \ + (v21)[1] = (v2)[1] - (v1)[1]; \ + (v21)[2] = (v2)[2] - (v1)[2]; \ +}\ + + +/// Vector difference +#define VEC_DIFF_4(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] - (v1)[0]; \ + (v21)[1] = (v2)[1] - (v1)[1]; \ + (v21)[2] = (v2)[2] - (v1)[2]; \ + (v21)[3] = (v2)[3] - (v1)[3]; \ +}\ + + +/// Vector sum +#define VEC_SUM_2(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] + (v1)[0]; \ + (v21)[1] = (v2)[1] + (v1)[1]; \ +}\ + + +/// Vector sum +#define VEC_SUM(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] + (v1)[0]; \ + (v21)[1] = (v2)[1] + (v1)[1]; \ + (v21)[2] = (v2)[2] + (v1)[2]; \ +}\ + + +/// Vector sum +#define VEC_SUM_4(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] + (v1)[0]; \ + (v21)[1] = (v2)[1] + (v1)[1]; \ + (v21)[2] = (v2)[2] + (v1)[2]; \ + (v21)[3] = (v2)[3] + (v1)[3]; \ +}\ + + +/// scalar times vector +#define VEC_SCALE_2(c,a,b) \ +{ \ + (c)[0] = (a)*(b)[0]; \ + (c)[1] = (a)*(b)[1]; \ +}\ + + +/// scalar times vector +#define VEC_SCALE(c,a,b) \ +{ \ + (c)[0] = (a)*(b)[0]; \ + (c)[1] = (a)*(b)[1]; \ + (c)[2] = (a)*(b)[2]; \ +}\ + + +/// scalar times vector +#define VEC_SCALE_4(c,a,b) \ +{ \ + (c)[0] = (a)*(b)[0]; \ + (c)[1] = (a)*(b)[1]; \ + (c)[2] = (a)*(b)[2]; \ + (c)[3] = (a)*(b)[3]; \ +}\ + + +/// accumulate scaled vector +#define VEC_ACCUM_2(c,a,b) \ +{ \ + (c)[0] += (a)*(b)[0]; \ + (c)[1] += (a)*(b)[1]; \ +}\ + + +/// accumulate scaled vector +#define VEC_ACCUM(c,a,b) \ +{ \ + (c)[0] += (a)*(b)[0]; \ + (c)[1] += (a)*(b)[1]; \ + (c)[2] += (a)*(b)[2]; \ +}\ + + +/// accumulate scaled vector +#define VEC_ACCUM_4(c,a,b) \ +{ \ + (c)[0] += (a)*(b)[0]; \ + (c)[1] += (a)*(b)[1]; \ + (c)[2] += (a)*(b)[2]; \ + (c)[3] += (a)*(b)[3]; \ +}\ + + +/// Vector dot product +#define VEC_DOT_2(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1]) + + +/// Vector dot product +#define VEC_DOT(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2]) + +/// Vector dot product +#define VEC_DOT_4(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2] + (a)[3]*(b)[3]) + +/// vector impact parameter (squared) +#define VEC_IMPACT_SQ(bsq,direction,position) {\ + GREAL _llel_ = VEC_DOT(direction, position);\ + bsq = VEC_DOT(position, position) - _llel_*_llel_;\ +}\ + + +/// vector impact parameter +#define VEC_IMPACT(bsq,direction,position) {\ + VEC_IMPACT_SQ(bsq,direction,position); \ + GIM_SQRT(bsq,bsq); \ +}\ + +/// Vector length +#define VEC_LENGTH_2(a,l)\ +{\ + GREAL _pp = VEC_DOT_2(a,a);\ + GIM_SQRT(_pp,l);\ +}\ + + +/// Vector length +#define VEC_LENGTH(a,l)\ +{\ + GREAL _pp = VEC_DOT(a,a);\ + GIM_SQRT(_pp,l);\ +}\ + + +/// Vector length +#define VEC_LENGTH_4(a,l)\ +{\ + GREAL _pp = VEC_DOT_4(a,a);\ + GIM_SQRT(_pp,l);\ +}\ + +/// Vector inv length +#define VEC_INV_LENGTH_2(a,l)\ +{\ + GREAL _pp = VEC_DOT_2(a,a);\ + GIM_INV_SQRT(_pp,l);\ +}\ + + +/// Vector inv length +#define VEC_INV_LENGTH(a,l)\ +{\ + GREAL _pp = VEC_DOT(a,a);\ + GIM_INV_SQRT(_pp,l);\ +}\ + + +/// Vector inv length +#define VEC_INV_LENGTH_4(a,l)\ +{\ + GREAL _pp = VEC_DOT_4(a,a);\ + GIM_INV_SQRT(_pp,l);\ +}\ + + + +/// distance between two points +#define VEC_DISTANCE(_len,_va,_vb) {\ + vec3f _tmp_; \ + VEC_DIFF(_tmp_, _vb, _va); \ + VEC_LENGTH(_tmp_,_len); \ +}\ + + +/// Vector length +#define VEC_CONJUGATE_LENGTH(a,l)\ +{\ + GREAL _pp = 1.0 - a[0]*a[0] - a[1]*a[1] - a[2]*a[2];\ + GIM_SQRT(_pp,l);\ +}\ + + +/// Vector length +#define VEC_NORMALIZE(a) { \ + GREAL len;\ + VEC_INV_LENGTH(a,len); \ + if(lenA[1]?(A[0]>A[2]?0:2):(A[1]>A[2]?1:2);\ +}\ + +//! Finds the 2 smallest cartesian coordinates from a vector +#define VEC_MINOR_AXES(vec, i0, i1)\ +{\ + VEC_MAYOR_COORD(vec,i0);\ + i0 = (i0+1)%3;\ + i1 = (i0+1)%3;\ +}\ + + + + +#define VEC_EQUAL(v1,v2) (v1[0]==v2[0]&&v1[1]==v2[1]&&v1[2]==v2[2]) + +#define VEC_NEAR_EQUAL(v1,v2) (GIM_NEAR_EQUAL(v1[0],v2[0])&&GIM_NEAR_EQUAL(v1[1],v2[1])&&GIM_NEAR_EQUAL(v1[2],v2[2])) + + +/// Vector cross +#define X_AXIS_CROSS_VEC(dst,src)\ +{ \ + dst[0] = 0.0f; \ + dst[1] = -src[2]; \ + dst[2] = src[1]; \ +}\ + +#define Y_AXIS_CROSS_VEC(dst,src)\ +{ \ + dst[0] = src[2]; \ + dst[1] = 0.0f; \ + dst[2] = -src[0]; \ +}\ + +#define Z_AXIS_CROSS_VEC(dst,src)\ +{ \ + dst[0] = -src[1]; \ + dst[1] = src[0]; \ + dst[2] = 0.0f; \ +}\ + + + + + + +/// initialize matrix +#define IDENTIFY_MATRIX_3X3(m) \ +{ \ + m[0][0] = 1.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 1.0; \ + m[1][2] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 1.0; \ +}\ + +/*! initialize matrix */ +#define IDENTIFY_MATRIX_4X4(m) \ +{ \ + m[0][0] = 1.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 1.0; \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 1.0; \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! initialize matrix */ +#define ZERO_MATRIX_4X4(m) \ +{ \ + m[0][0] = 0.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 0.0; \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 0.0; \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 0.0; \ +}\ + +/*! matrix rotation X */ +#define ROTX_CS(m,cosine,sine) \ +{ \ + /* rotation about the x-axis */ \ + \ + m[0][0] = 1.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = (cosine); \ + m[1][2] = (sine); \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = -(sine); \ + m[2][2] = (cosine); \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! matrix rotation Y */ +#define ROTY_CS(m,cosine,sine) \ +{ \ + /* rotation about the y-axis */ \ + \ + m[0][0] = (cosine); \ + m[0][1] = 0.0; \ + m[0][2] = -(sine); \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 1.0; \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = (sine); \ + m[2][1] = 0.0; \ + m[2][2] = (cosine); \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! matrix rotation Z */ +#define ROTZ_CS(m,cosine,sine) \ +{ \ + /* rotation about the z-axis */ \ + \ + m[0][0] = (cosine); \ + m[0][1] = (sine); \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = -(sine); \ + m[1][1] = (cosine); \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 1.0; \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! matrix copy */ +#define COPY_MATRIX_2X2(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + \ +}\ + + +/*! matrix copy */ +#define COPY_MATRIX_2X3(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + b[0][2] = a[0][2]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[1][2]; \ +}\ + + +/*! matrix copy */ +#define COPY_MATRIX_3X3(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + b[0][2] = a[0][2]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[1][2]; \ + \ + b[2][0] = a[2][0]; \ + b[2][1] = a[2][1]; \ + b[2][2] = a[2][2]; \ +}\ + + +/*! matrix copy */ +#define COPY_MATRIX_4X4(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + b[0][2] = a[0][2]; \ + b[0][3] = a[0][3]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[1][2]; \ + b[1][3] = a[1][3]; \ + \ + b[2][0] = a[2][0]; \ + b[2][1] = a[2][1]; \ + b[2][2] = a[2][2]; \ + b[2][3] = a[2][3]; \ + \ + b[3][0] = a[3][0]; \ + b[3][1] = a[3][1]; \ + b[3][2] = a[3][2]; \ + b[3][3] = a[3][3]; \ +}\ + + +/*! matrix transpose */ +#define TRANSPOSE_MATRIX_2X2(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[1][0]; \ + \ + b[1][0] = a[0][1]; \ + b[1][1] = a[1][1]; \ +}\ + + +/*! matrix transpose */ +#define TRANSPOSE_MATRIX_3X3(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[1][0]; \ + b[0][2] = a[2][0]; \ + \ + b[1][0] = a[0][1]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[2][1]; \ + \ + b[2][0] = a[0][2]; \ + b[2][1] = a[1][2]; \ + b[2][2] = a[2][2]; \ +}\ + + +/*! matrix transpose */ +#define TRANSPOSE_MATRIX_4X4(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[1][0]; \ + b[0][2] = a[2][0]; \ + b[0][3] = a[3][0]; \ + \ + b[1][0] = a[0][1]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[2][1]; \ + b[1][3] = a[3][1]; \ + \ + b[2][0] = a[0][2]; \ + b[2][1] = a[1][2]; \ + b[2][2] = a[2][2]; \ + b[2][3] = a[3][2]; \ + \ + b[3][0] = a[0][3]; \ + b[3][1] = a[1][3]; \ + b[3][2] = a[2][3]; \ + b[3][3] = a[3][3]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_MATRIX_2X2(b,s,a) \ +{ \ + b[0][0] = (s) * a[0][0]; \ + b[0][1] = (s) * a[0][1]; \ + \ + b[1][0] = (s) * a[1][0]; \ + b[1][1] = (s) * a[1][1]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_MATRIX_3X3(b,s,a) \ +{ \ + b[0][0] = (s) * a[0][0]; \ + b[0][1] = (s) * a[0][1]; \ + b[0][2] = (s) * a[0][2]; \ + \ + b[1][0] = (s) * a[1][0]; \ + b[1][1] = (s) * a[1][1]; \ + b[1][2] = (s) * a[1][2]; \ + \ + b[2][0] = (s) * a[2][0]; \ + b[2][1] = (s) * a[2][1]; \ + b[2][2] = (s) * a[2][2]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_MATRIX_4X4(b,s,a) \ +{ \ + b[0][0] = (s) * a[0][0]; \ + b[0][1] = (s) * a[0][1]; \ + b[0][2] = (s) * a[0][2]; \ + b[0][3] = (s) * a[0][3]; \ + \ + b[1][0] = (s) * a[1][0]; \ + b[1][1] = (s) * a[1][1]; \ + b[1][2] = (s) * a[1][2]; \ + b[1][3] = (s) * a[1][3]; \ + \ + b[2][0] = (s) * a[2][0]; \ + b[2][1] = (s) * a[2][1]; \ + b[2][2] = (s) * a[2][2]; \ + b[2][3] = (s) * a[2][3]; \ + \ + b[3][0] = s * a[3][0]; \ + b[3][1] = s * a[3][1]; \ + b[3][2] = s * a[3][2]; \ + b[3][3] = s * a[3][3]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_VEC_MATRIX_2X2(b,svec,a) \ +{ \ + b[0][0] = svec[0] * a[0][0]; \ + b[1][0] = svec[0] * a[1][0]; \ + \ + b[0][1] = svec[1] * a[0][1]; \ + b[1][1] = svec[1] * a[1][1]; \ +}\ + + +/*! multiply matrix by scalar. Each columns is scaled by each scalar vector component */ +#define SCALE_VEC_MATRIX_3X3(b,svec,a) \ +{ \ + b[0][0] = svec[0] * a[0][0]; \ + b[1][0] = svec[0] * a[1][0]; \ + b[2][0] = svec[0] * a[2][0]; \ + \ + b[0][1] = svec[1] * a[0][1]; \ + b[1][1] = svec[1] * a[1][1]; \ + b[2][1] = svec[1] * a[2][1]; \ + \ + b[0][2] = svec[2] * a[0][2]; \ + b[1][2] = svec[2] * a[1][2]; \ + b[2][2] = svec[2] * a[2][2]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_VEC_MATRIX_4X4(b,svec,a) \ +{ \ + b[0][0] = svec[0] * a[0][0]; \ + b[1][0] = svec[0] * a[1][0]; \ + b[2][0] = svec[0] * a[2][0]; \ + b[3][0] = svec[0] * a[3][0]; \ + \ + b[0][1] = svec[1] * a[0][1]; \ + b[1][1] = svec[1] * a[1][1]; \ + b[2][1] = svec[1] * a[2][1]; \ + b[3][1] = svec[1] * a[3][1]; \ + \ + b[0][2] = svec[2] * a[0][2]; \ + b[1][2] = svec[2] * a[1][2]; \ + b[2][2] = svec[2] * a[2][2]; \ + b[3][2] = svec[2] * a[3][2]; \ + \ + b[0][3] = svec[3] * a[0][3]; \ + b[1][3] = svec[3] * a[1][3]; \ + b[2][3] = svec[3] * a[2][3]; \ + b[3][3] = svec[3] * a[3][3]; \ +}\ + + +/*! multiply matrix by scalar */ +#define ACCUM_SCALE_MATRIX_2X2(b,s,a) \ +{ \ + b[0][0] += (s) * a[0][0]; \ + b[0][1] += (s) * a[0][1]; \ + \ + b[1][0] += (s) * a[1][0]; \ + b[1][1] += (s) * a[1][1]; \ +}\ + + +/*! multiply matrix by scalar */ +#define ACCUM_SCALE_MATRIX_3X3(b,s,a) \ +{ \ + b[0][0] += (s) * a[0][0]; \ + b[0][1] += (s) * a[0][1]; \ + b[0][2] += (s) * a[0][2]; \ + \ + b[1][0] += (s) * a[1][0]; \ + b[1][1] += (s) * a[1][1]; \ + b[1][2] += (s) * a[1][2]; \ + \ + b[2][0] += (s) * a[2][0]; \ + b[2][1] += (s) * a[2][1]; \ + b[2][2] += (s) * a[2][2]; \ +}\ + + +/*! multiply matrix by scalar */ +#define ACCUM_SCALE_MATRIX_4X4(b,s,a) \ +{ \ + b[0][0] += (s) * a[0][0]; \ + b[0][1] += (s) * a[0][1]; \ + b[0][2] += (s) * a[0][2]; \ + b[0][3] += (s) * a[0][3]; \ + \ + b[1][0] += (s) * a[1][0]; \ + b[1][1] += (s) * a[1][1]; \ + b[1][2] += (s) * a[1][2]; \ + b[1][3] += (s) * a[1][3]; \ + \ + b[2][0] += (s) * a[2][0]; \ + b[2][1] += (s) * a[2][1]; \ + b[2][2] += (s) * a[2][2]; \ + b[2][3] += (s) * a[2][3]; \ + \ + b[3][0] += (s) * a[3][0]; \ + b[3][1] += (s) * a[3][1]; \ + b[3][2] += (s) * a[3][2]; \ + b[3][3] += (s) * a[3][3]; \ +}\ + +/*! matrix product */ +/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ +#define MATRIX_PRODUCT_2X2(c,a,b) \ +{ \ + c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]; \ + c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]; \ + \ + c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]; \ + c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]; \ + \ +}\ + +/*! matrix product */ +/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ +#define MATRIX_PRODUCT_3X3(c,a,b) \ +{ \ + c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]; \ + c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]; \ + c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]; \ + \ + c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]; \ + c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]; \ + c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]; \ + \ + c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]; \ + c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]; \ + c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]; \ +}\ + + +/*! matrix product */ +/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ +#define MATRIX_PRODUCT_4X4(c,a,b) \ +{ \ + c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]+a[0][3]*b[3][0];\ + c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]+a[0][3]*b[3][1];\ + c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]+a[0][3]*b[3][2];\ + c[0][3] = a[0][0]*b[0][3]+a[0][1]*b[1][3]+a[0][2]*b[2][3]+a[0][3]*b[3][3];\ + \ + c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]+a[1][3]*b[3][0];\ + c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]+a[1][3]*b[3][1];\ + c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]+a[1][3]*b[3][2];\ + c[1][3] = a[1][0]*b[0][3]+a[1][1]*b[1][3]+a[1][2]*b[2][3]+a[1][3]*b[3][3];\ + \ + c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]+a[2][3]*b[3][0];\ + c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]+a[2][3]*b[3][1];\ + c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]+a[2][3]*b[3][2];\ + c[2][3] = a[2][0]*b[0][3]+a[2][1]*b[1][3]+a[2][2]*b[2][3]+a[2][3]*b[3][3];\ + \ + c[3][0] = a[3][0]*b[0][0]+a[3][1]*b[1][0]+a[3][2]*b[2][0]+a[3][3]*b[3][0];\ + c[3][1] = a[3][0]*b[0][1]+a[3][1]*b[1][1]+a[3][2]*b[2][1]+a[3][3]*b[3][1];\ + c[3][2] = a[3][0]*b[0][2]+a[3][1]*b[1][2]+a[3][2]*b[2][2]+a[3][3]*b[3][2];\ + c[3][3] = a[3][0]*b[0][3]+a[3][1]*b[1][3]+a[3][2]*b[2][3]+a[3][3]*b[3][3];\ +}\ + + +/*! matrix times vector */ +#define MAT_DOT_VEC_2X2(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1]; \ +}\ + + +/*! matrix times vector */ +#define MAT_DOT_VEC_3X3(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2]; \ + p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2]; \ +}\ + + +/*! matrix times vector +v is a vec4f +*/ +#define MAT_DOT_VEC_4X4(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]*v[3]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]*v[3]; \ + p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]*v[3]; \ + p[3] = m[3][0]*v[0] + m[3][1]*v[1] + m[3][2]*v[2] + m[3][3]*v[3]; \ +}\ + +/*! matrix times vector +v is a vec3f +and m is a mat4f
    +Last column is added as the position +*/ +#define MAT_DOT_VEC_3X4(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]; \ + p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]; \ +}\ + + +/*! vector transpose times matrix */ +/*! p[j] = v[0]*m[0][j] + v[1]*m[1][j] + v[2]*m[2][j]; */ +#define VEC_DOT_MAT_3X3(p,v,m) \ +{ \ + p[0] = v[0]*m[0][0] + v[1]*m[1][0] + v[2]*m[2][0]; \ + p[1] = v[0]*m[0][1] + v[1]*m[1][1] + v[2]*m[2][1]; \ + p[2] = v[0]*m[0][2] + v[1]*m[1][2] + v[2]*m[2][2]; \ +}\ + + +/*! affine matrix times vector */ +/** The matrix is assumed to be an affine matrix, with last two + * entries representing a translation */ +#define MAT_DOT_VEC_2X3(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]; \ +}\ + +//! Transform a plane +#define MAT_TRANSFORM_PLANE_4X4(pout,m,plane)\ +{ \ + pout[0] = m[0][0]*plane[0] + m[0][1]*plane[1] + m[0][2]*plane[2];\ + pout[1] = m[1][0]*plane[0] + m[1][1]*plane[1] + m[1][2]*plane[2];\ + pout[2] = m[2][0]*plane[0] + m[2][1]*plane[1] + m[2][2]*plane[2];\ + pout[3] = m[0][3]*pout[0] + m[1][3]*pout[1] + m[2][3]*pout[2] + plane[3];\ +}\ + + + +/** inverse transpose of matrix times vector + * + * This macro computes inverse transpose of matrix m, + * and multiplies vector v into it, to yeild vector p + * + * DANGER !!! Do Not use this on normal vectors!!! + * It will leave normals the wrong length !!! + * See macro below for use on normals. + */ +#define INV_TRANSP_MAT_DOT_VEC_2X2(p,m,v) \ +{ \ + GREAL det; \ + \ + det = m[0][0]*m[1][1] - m[0][1]*m[1][0]; \ + p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ + p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ + \ + /* if matrix not singular, and not orthonormal, then renormalize */ \ + if ((det!=1.0f) && (det != 0.0f)) { \ + det = 1.0f / det; \ + p[0] *= det; \ + p[1] *= det; \ + } \ +}\ + + +/** transform normal vector by inverse transpose of matrix + * and then renormalize the vector + * + * This macro computes inverse transpose of matrix m, + * and multiplies vector v into it, to yeild vector p + * Vector p is then normalized. + */ +#define NORM_XFORM_2X2(p,m,v) \ +{ \ + GREAL len; \ + \ + /* do nothing if off-diagonals are zero and diagonals are \ + * equal */ \ + if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) { \ + p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ + p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ + \ + len = p[0]*p[0] + p[1]*p[1]; \ + GIM_INV_SQRT(len,len); \ + p[0] *= len; \ + p[1] *= len; \ + } else { \ + VEC_COPY_2 (p, v); \ + } \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define OUTER_PRODUCT_2X2(m,v,t) \ +{ \ + m[0][0] = v[0] * t[0]; \ + m[0][1] = v[0] * t[1]; \ + \ + m[1][0] = v[1] * t[0]; \ + m[1][1] = v[1] * t[1]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define OUTER_PRODUCT_3X3(m,v,t) \ +{ \ + m[0][0] = v[0] * t[0]; \ + m[0][1] = v[0] * t[1]; \ + m[0][2] = v[0] * t[2]; \ + \ + m[1][0] = v[1] * t[0]; \ + m[1][1] = v[1] * t[1]; \ + m[1][2] = v[1] * t[2]; \ + \ + m[2][0] = v[2] * t[0]; \ + m[2][1] = v[2] * t[1]; \ + m[2][2] = v[2] * t[2]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define OUTER_PRODUCT_4X4(m,v,t) \ +{ \ + m[0][0] = v[0] * t[0]; \ + m[0][1] = v[0] * t[1]; \ + m[0][2] = v[0] * t[2]; \ + m[0][3] = v[0] * t[3]; \ + \ + m[1][0] = v[1] * t[0]; \ + m[1][1] = v[1] * t[1]; \ + m[1][2] = v[1] * t[2]; \ + m[1][3] = v[1] * t[3]; \ + \ + m[2][0] = v[2] * t[0]; \ + m[2][1] = v[2] * t[1]; \ + m[2][2] = v[2] * t[2]; \ + m[2][3] = v[2] * t[3]; \ + \ + m[3][0] = v[3] * t[0]; \ + m[3][1] = v[3] * t[1]; \ + m[3][2] = v[3] * t[2]; \ + m[3][3] = v[3] * t[3]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define ACCUM_OUTER_PRODUCT_2X2(m,v,t) \ +{ \ + m[0][0] += v[0] * t[0]; \ + m[0][1] += v[0] * t[1]; \ + \ + m[1][0] += v[1] * t[0]; \ + m[1][1] += v[1] * t[1]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define ACCUM_OUTER_PRODUCT_3X3(m,v,t) \ +{ \ + m[0][0] += v[0] * t[0]; \ + m[0][1] += v[0] * t[1]; \ + m[0][2] += v[0] * t[2]; \ + \ + m[1][0] += v[1] * t[0]; \ + m[1][1] += v[1] * t[1]; \ + m[1][2] += v[1] * t[2]; \ + \ + m[2][0] += v[2] * t[0]; \ + m[2][1] += v[2] * t[1]; \ + m[2][2] += v[2] * t[2]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define ACCUM_OUTER_PRODUCT_4X4(m,v,t) \ +{ \ + m[0][0] += v[0] * t[0]; \ + m[0][1] += v[0] * t[1]; \ + m[0][2] += v[0] * t[2]; \ + m[0][3] += v[0] * t[3]; \ + \ + m[1][0] += v[1] * t[0]; \ + m[1][1] += v[1] * t[1]; \ + m[1][2] += v[1] * t[2]; \ + m[1][3] += v[1] * t[3]; \ + \ + m[2][0] += v[2] * t[0]; \ + m[2][1] += v[2] * t[1]; \ + m[2][2] += v[2] * t[2]; \ + m[2][3] += v[2] * t[3]; \ + \ + m[3][0] += v[3] * t[0]; \ + m[3][1] += v[3] * t[1]; \ + m[3][2] += v[3] * t[2]; \ + m[3][3] += v[3] * t[3]; \ +}\ + + +/** determinant of matrix + * + * Computes determinant of matrix m, returning d + */ +#define DETERMINANT_2X2(d,m) \ +{ \ + d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \ +}\ + + +/** determinant of matrix + * + * Computes determinant of matrix m, returning d + */ +#define DETERMINANT_3X3(d,m) \ +{ \ + d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]); \ + d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]); \ + d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]); \ +}\ + + +/** i,j,th cofactor of a 4x4 matrix + * + */ +#define COFACTOR_4X4_IJ(fac,m,i,j) \ +{ \ + GUINT __ii[4], __jj[4], __k; \ + \ + for (__k=0; __k +*/ +#define INV_MAT_DOT_VEC_3X3(p,m,v) \ +{ \ + p[0] = MAT_DOT_COL(m,v,0); \ + p[1] = MAT_DOT_COL(m,v,1); \ + p[2] = MAT_DOT_COL(m,v,2); \ +}\ + + + +#endif // GIM_VECTOR_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_math.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_math.h new file mode 100644 index 0000000..939079e --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_math.h @@ -0,0 +1,157 @@ +#ifndef GIM_MATH_H_INCLUDED +#define GIM_MATH_H_INCLUDED +/*! \file gim_math.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "LinearMath/btScalar.h" + + + +#define GREAL btScalar +#define GREAL2 double +#define GINT int +#define GUINT unsigned int +#define GSHORT short +#define GUSHORT unsigned short +#define GINT64 long long +#define GUINT64 unsigned long long + + + +#define G_PI 3.14159265358979f +#define G_HALF_PI 1.5707963f +//267948966 +#define G_TWO_PI 6.28318530f +//71795864 +#define G_ROOT3 1.73205f +#define G_ROOT2 1.41421f +#define G_UINT_INFINITY 0xffffffff //!< A very very high value +#define G_REAL_INFINITY FLT_MAX +#define G_SIGN_BITMASK 0x80000000 +#define G_EPSILON SIMD_EPSILON + + + +enum GIM_SCALAR_TYPES +{ + G_STYPE_REAL =0, + G_STYPE_REAL2, + G_STYPE_SHORT, + G_STYPE_USHORT, + G_STYPE_INT, + G_STYPE_UINT, + G_STYPE_INT64, + G_STYPE_UINT64 +}; + + + +#define G_DEGTORAD(X) ((X)*3.1415926f/180.0f) +#define G_RADTODEG(X) ((X)*180.0f/3.1415926f) + +//! Integer representation of a floating-point value. +#define GIM_IR(x) ((GUINT&)(x)) + +//! Signed integer representation of a floating-point value. +#define GIM_SIR(x) ((GINT&)(x)) + +//! Absolute integer representation of a floating-point value +#define GIM_AIR(x) (GIM_IR(x)&0x7fffffff) + +//! Floating-point representation of an integer value. +#define GIM_FR(x) ((GREAL&)(x)) + +#define GIM_MAX(a,b) (ab?b:a) + +#define GIM_MAX3(a,b,c) GIM_MAX(a,GIM_MAX(b,c)) +#define GIM_MIN3(a,b,c) GIM_MIN(a,GIM_MIN(b,c)) + +#define GIM_IS_ZERO(value) (value < G_EPSILON && value > -G_EPSILON) + +#define GIM_IS_NEGATIVE(value) (value <= -G_EPSILON) + +#define GIM_IS_POSISITVE(value) (value >= G_EPSILON) + +#define GIM_NEAR_EQUAL(v1,v2) GIM_IS_ZERO((v1-v2)) + +///returns a clamped number +#define GIM_CLAMP(number,minval,maxval) (numbermaxval?maxval:number)) + +#define GIM_GREATER(x, y) btFabs(x) > (y) + +///Swap numbers +#define GIM_SWAP_NUMBERS(a,b){ \ + a = a+b; \ + b = a-b; \ + a = a-b; \ +}\ + +#define GIM_INV_SQRT(va,isva)\ +{\ + if(va<=0.0000001f)\ + {\ + isva = G_REAL_INFINITY;\ + }\ + else\ + {\ + GREAL _x = va * 0.5f;\ + GUINT _y = 0x5f3759df - ( GIM_IR(va) >> 1);\ + isva = GIM_FR(_y);\ + isva = isva * ( 1.5f - ( _x * isva * isva ) );\ + }\ +}\ + +#define GIM_SQRT(va,sva)\ +{\ + GIM_INV_SQRT(va,sva);\ + sva = 1.0f/sva;\ +}\ + +//! Computes 1.0f / sqrtf(x). Comes from Quake3. See http://www.magic-software.com/3DGEDInvSqrt.html +inline GREAL gim_inv_sqrt(GREAL f) +{ + GREAL r; + GIM_INV_SQRT(f,r); + return r; +} + +inline GREAL gim_sqrt(GREAL f) +{ + GREAL r; + GIM_SQRT(f,r); + return r; +} + + + +#endif // GIM_MATH_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_memory.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_memory.h new file mode 100644 index 0000000..e203888 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_memory.h @@ -0,0 +1,190 @@ +#ifndef GIM_MEMORY_H_INCLUDED +#define GIM_MEMORY_H_INCLUDED +/*! \file gim_memory.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_math.h" +#include + +#ifdef PREFETCH +#include // for prefetch +#define pfval 64 +#define pfval2 128 +//! Prefetch 64 +#define pf(_x,_i) _mm_prefetch((void *)(_x + _i + pfval), 0) +//! Prefetch 128 +#define pf2(_x,_i) _mm_prefetch((void *)(_x + _i + pfval2), 0) +#else +//! Prefetch 64 +#define pf(_x,_i) +//! Prefetch 128 +#define pf2(_x,_i) +#endif + + +///Functions for manip packed arrays of numbers +#define GIM_COPY_ARRAYS(dest_array,source_array,element_count)\ +{\ + for (GUINT _i_=0;_i_=SIMD_T_SIZE) + { + *(ui_dst_ptr++) = *(ui_src_ptr++); + copysize-=SIMD_T_SIZE; + } + if(copysize==0) return; +*/ + + char * c_src_ptr = (char *)src; + char * c_dst_ptr = (char *)dst; + while(copysize>0) + { + *(c_dst_ptr++) = *(c_src_ptr++); + copysize--; + } + return; +#else + memcpy(dst,src,copysize); +#endif +} + + + +template +inline void gim_swap_elements(T* _array,size_t _i,size_t _j) +{ + T _e_tmp_ = _array[_i]; + _array[_i] = _array[_j]; + _array[_j] = _e_tmp_; +} + + +template +inline void gim_swap_elements_memcpy(T* _array,size_t _i,size_t _j) +{ + char _e_tmp_[sizeof(T)]; + gim_simd_memcpy(_e_tmp_,&_array[_i],sizeof(T)); + gim_simd_memcpy(&_array[_i],&_array[_j],sizeof(T)); + gim_simd_memcpy(&_array[_j],_e_tmp_,sizeof(T)); +} + +template +inline void gim_swap_elements_ptr(char * _array,size_t _i,size_t _j) +{ + char _e_tmp_[SIZE]; + _i*=SIZE; + _j*=SIZE; + gim_simd_memcpy(_e_tmp_,_array+_i,SIZE); + gim_simd_memcpy(_array+_i,_array+_j,SIZE); + gim_simd_memcpy(_array+_j,_e_tmp_,SIZE); +} + +#endif // GIM_MEMORY_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_radixsort.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_radixsort.h new file mode 100644 index 0000000..c246ef1 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_radixsort.h @@ -0,0 +1,406 @@ +#ifndef GIM_RADIXSORT_H_INCLUDED +#define GIM_RADIXSORT_H_INCLUDED +/*! \file gim_radixsort.h +\author Francisco Leon Najera. +Based on the work of Michael Herf : "fast floating-point radix sort" +Avaliable on http://www.stereopsis.com/radix.html +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_memory.h" + +///Macros for sorting. +//! Prototype for comparators +class less_comparator +{ + public: + + template + inline int operator() ( const T& a, const Z& b ) + { + return ( ab?1:0)); + } +}; + +//! Prototype for comparators +class integer_comparator +{ + public: + + template + inline int operator() ( const T& a, const T& b ) + { + return (int)(a-b); + } +}; + +//!Prototype for getting the integer representation of an object +class uint_key_func +{ +public: + template + inline GUINT operator()( const T& a) + { + return (GUINT)a; + } +}; + + +//!Prototype for copying elements +class copy_elements_func +{ +public: + template + inline void operator()(T& a,T& b) + { + a = b; + } +}; + +//!Prototype for copying elements +class memcopy_elements_func +{ +public: + template + inline void operator()(T& a,T& b) + { + gim_simd_memcpy(&a,&b,sizeof(T)); + } +}; + + +//! @{ +struct GIM_RSORT_TOKEN +{ + GUINT m_key; + GUINT m_value; + GIM_RSORT_TOKEN() + { + } + GIM_RSORT_TOKEN(const GIM_RSORT_TOKEN& rtoken) + { + m_key = rtoken.m_key; + m_value = rtoken.m_value; + } + + inline bool operator <(const GIM_RSORT_TOKEN& other) const + { + return (m_key < other.m_key); + } + + inline bool operator >(const GIM_RSORT_TOKEN& other) const + { + return (m_key > other.m_key); + } +}; + +//! Prototype for comparators +class GIM_RSORT_TOKEN_COMPARATOR +{ + public: + + inline int operator()( const GIM_RSORT_TOKEN& a, const GIM_RSORT_TOKEN& b ) + { + return (int)((a.m_key) - (b.m_key)); + } +}; + + + +#define kHist 2048 +// ---- utils for accessing 11-bit quantities +#define D11_0(x) (x & 0x7FF) +#define D11_1(x) (x >> 11 & 0x7FF) +#define D11_2(x) (x >> 22 ) + + + +///Radix sort for unsigned integer keys +inline void gim_radix_sort_rtokens( + GIM_RSORT_TOKEN * array, + GIM_RSORT_TOKEN * sorted, GUINT element_count) +{ + GUINT i; + GUINT b0[kHist * 3]; + GUINT *b1 = b0 + kHist; + GUINT *b2 = b1 + kHist; + for (i = 0; i < kHist * 3; ++i) + { + b0[i] = 0; + } + GUINT fi; + GUINT pos; + for (i = 0; i < element_count; ++i) + { + fi = array[i].m_key; + b0[D11_0(fi)] ++; + b1[D11_1(fi)] ++; + b2[D11_2(fi)] ++; + } + { + GUINT sum0 = 0, sum1 = 0, sum2 = 0; + GUINT tsum; + for (i = 0; i < kHist; ++i) + { + tsum = b0[i] + sum0; + b0[i] = sum0 - 1; + sum0 = tsum; + tsum = b1[i] + sum1; + b1[i] = sum1 - 1; + sum1 = tsum; + tsum = b2[i] + sum2; + b2[i] = sum2 - 1; + sum2 = tsum; + } + } + for (i = 0; i < element_count; ++i) + { + fi = array[i].m_key; + pos = D11_0(fi); + pos = ++b0[pos]; + sorted[pos].m_key = array[i].m_key; + sorted[pos].m_value = array[i].m_value; + } + for (i = 0; i < element_count; ++i) + { + fi = sorted[i].m_key; + pos = D11_1(fi); + pos = ++b1[pos]; + array[pos].m_key = sorted[i].m_key; + array[pos].m_value = sorted[i].m_value; + } + for (i = 0; i < element_count; ++i) + { + fi = array[i].m_key; + pos = D11_2(fi); + pos = ++b2[pos]; + sorted[pos].m_key = array[i].m_key; + sorted[pos].m_value = array[i].m_value; + } +} + + + + +/// Get the sorted tokens from an array. For generic use. Tokens are IRR_RSORT_TOKEN +/*! +*\param array Array of elements to sort +*\param sorted_tokens Tokens of sorted elements +*\param element_count element count +*\param uintkey_macro Functor which retrieves the integer representation of an array element +*/ +template +void gim_radix_sort_array_tokens( + T* array , + GIM_RSORT_TOKEN * sorted_tokens, + GUINT element_count,GETKEY_CLASS uintkey_macro) +{ + GIM_RSORT_TOKEN * _unsorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count); + for (GUINT _i=0;_i +void gim_radix_sort( + T * array, GUINT element_count, + GETKEY_CLASS get_uintkey_macro, COPY_CLASS copy_elements_macro) +{ + GIM_RSORT_TOKEN * _sorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count); + gim_radix_sort_array_tokens(array,_sorted,element_count,get_uintkey_macro); + T * _original_array = (T *) gim_alloc(sizeof(T)*element_count); + gim_simd_memcpy(_original_array,array,sizeof(T)*element_count); + for (GUINT _i=0;_i +bool gim_binary_search_ex( + const T* _array, GUINT _start_i, + GUINT _end_i,GUINT & _result_index, + const KEYCLASS & _search_key, + COMP_CLASS _comp_macro) +{ + GUINT _k; + int _comp_result; + GUINT _i = _start_i; + GUINT _j = _end_i+1; + while (_i < _j) + { + _k = (_j+_i-1)/2; + _comp_result = _comp_macro(_array[_k], _search_key); + if (_comp_result == 0) + { + _result_index = _k; + return true; + } + else if (_comp_result < 0) + { + _i = _k+1; + } + else + { + _j = _k; + } + } + _result_index = _i; + return false; +} + + + +//! Failsafe Iterative binary search,Template version +/*! +If the element is not found, it returns the nearest upper element position, may be the further position after the last element. +\param _array +\param _start_i the beginning of the array +\param _end_i the ending index of the array +\param _search_key Value to find +\param _result_index the index of the found element, or if not found then it will get the index of the closest bigger value +\return true if found, else false +*/ +template +bool gim_binary_search( + const T*_array,GUINT _start_i, + GUINT _end_i,const T & _search_key, + GUINT & _result_index) +{ + GUINT _i = _start_i; + GUINT _j = _end_i+1; + GUINT _k; + while(_i < _j) + { + _k = (_j+_i-1)/2; + if(_array[_k]==_search_key) + { + _result_index = _k; + return true; + } + else if (_array[_k]<_search_key) + { + _i = _k+1; + } + else + { + _j = _k; + } + } + _result_index = _i; + return false; +} + + + +///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/ +template +void gim_down_heap(T *pArr, GUINT k, GUINT n,COMP_CLASS CompareFunc) +{ + /* PRE: a[k+1..N] is a heap */ + /* POST: a[k..N] is a heap */ + + T temp = pArr[k - 1]; + /* k has child(s) */ + while (k <= n/2) + { + int child = 2*k; + + if ((child < (int)n) && CompareFunc(pArr[child - 1] , pArr[child])<0) + { + child++; + } + /* pick larger child */ + if (CompareFunc(temp , pArr[child - 1])<0) + { + /* move child up */ + pArr[k - 1] = pArr[child - 1]; + k = child; + } + else + { + break; + } + } + pArr[k - 1] = temp; +} /*downHeap*/ + + +template +void gim_heap_sort(T *pArr, GUINT element_count, COMP_CLASS CompareFunc) +{ + /* sort a[0..N-1], N.B. 0 to N-1 */ + GUINT k; + GUINT n = element_count; + for (k = n/2; k > 0; k--) + { + gim_down_heap(pArr, k, n, CompareFunc); + } + + /* a[1..N] is now a heap */ + while ( n>=2 ) + { + gim_swap_elements(pArr,0,n-1); /* largest of a[0..n-1] */ + --n; + /* restore a[1..i-1] heap */ + gim_down_heap(pArr, 1, n, CompareFunc); + } +} + + + + +#endif // GIM_RADIXSORT_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_tri_collision.h b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_tri_collision.h new file mode 100644 index 0000000..5b552a1 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/Gimpact/gim_tri_collision.h @@ -0,0 +1,379 @@ +#ifndef GIM_TRI_COLLISION_H_INCLUDED +#define GIM_TRI_COLLISION_H_INCLUDED + +/*! \file gim_tri_collision.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_box_collision.h" +#include "gim_clip_polygon.h" + + + + +#define MAX_TRI_CLIPPING 16 + +//! Structure for collision +struct GIM_TRIANGLE_CONTACT_DATA +{ + GREAL m_penetration_depth; + GUINT m_point_count; + btVector4 m_separating_normal; + btVector3 m_points[MAX_TRI_CLIPPING]; + + SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT_DATA& other) + { + m_penetration_depth = other.m_penetration_depth; + m_separating_normal = other.m_separating_normal; + m_point_count = other.m_point_count; + GUINT i = m_point_count; + while(i--) + { + m_points[i] = other.m_points[i]; + } + } + + GIM_TRIANGLE_CONTACT_DATA() + { + } + + GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA& other) + { + copy_from(other); + } + + + + + //! classify points that are closer + template + SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE & plane, + GREAL margin, const btVector3 * points, GUINT point_count, DISTANCE_FUNC distance_func) + { + m_point_count = 0; + m_penetration_depth= -1000.0f; + + GUINT point_indices[MAX_TRI_CLIPPING]; + + GUINT _k; + + for(_k=0;_k=0.0f) + { + if(_dist>m_penetration_depth) + { + m_penetration_depth = _dist; + point_indices[0] = _k; + m_point_count=1; + } + else if((_dist+G_EPSILON)>=m_penetration_depth) + { + point_indices[m_point_count] = _k; + m_point_count++; + } + } + } + + for( _k=0;_k u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1] + + --> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1] + + --> u*(axe1[i1] - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2] + + --> u*((axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2] + + --> u*(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1] + + --> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) + +if 0.0<= u+v <=1.0 then they are inside of triangle + + \return false if the point is outside of triangle.This function doesn't take the margin + */ + SIMD_FORCE_INLINE bool get_uv_parameters( + const btVector3 & point, + const btVector3 & tri_plane, + GREAL & u, GREAL & v) const + { + btVector3 _axe1 = m_vertices[1]-m_vertices[0]; + btVector3 _axe2 = m_vertices[2]-m_vertices[0]; + btVector3 _vecproj = point - m_vertices[0]; + GUINT _i1 = (tri_plane.closestAxis()+1)%3; + GUINT _i2 = (_i1+1)%3; + if(btFabs(_axe2[_i2])G_EPSILON) + { + return false; + } + } + return true; + } + + //! is point in triangle beam? + /*! + Test if point is in triangle, with m_margin tolerance + */ + SIMD_FORCE_INLINE bool is_point_inside(const btVector3 & point, const btVector3 & tri_normal) const + { + //Test with edge 0 + btVector4 edge_plane; + this->get_edge_plane(0,tri_normal,edge_plane); + GREAL dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + + this->get_edge_plane(1,tri_normal,edge_plane); + dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + + this->get_edge_plane(2,tri_normal,edge_plane); + dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + return true; + } + + + //! Bidireccional ray collision + SIMD_FORCE_INLINE bool ray_collision( + const btVector3 & vPoint, + const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, + GREAL & tparam, GREAL tmax = G_REAL_INFINITY) + { + btVector4 faceplane; + { + btVector3 dif1 = m_vertices[1] - m_vertices[0]; + btVector3 dif2 = m_vertices[2] - m_vertices[0]; + VEC_CROSS(faceplane,dif1,dif2); + faceplane[3] = m_vertices[0].dot(faceplane); + } + + GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); + if(res == 0) return false; + if(! is_point_inside(pout,faceplane)) return false; + + if(res==2) //invert normal + { + triangle_normal.setValue(-faceplane[0],-faceplane[1],-faceplane[2]); + } + else + { + triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); + } + + VEC_NORMALIZE(triangle_normal); + + return true; + } + + + //! one direccion ray collision + SIMD_FORCE_INLINE bool ray_collision_front_side( + const btVector3 & vPoint, + const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, + GREAL & tparam, GREAL tmax = G_REAL_INFINITY) + { + btVector4 faceplane; + { + btVector3 dif1 = m_vertices[1] - m_vertices[0]; + btVector3 dif2 = m_vertices[2] - m_vertices[0]; + VEC_CROSS(faceplane,dif1,dif2); + faceplane[3] = m_vertices[0].dot(faceplane); + } + + GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); + if(res != 1) return false; + + if(!is_point_inside(pout,faceplane)) return false; + + triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); + + VEC_NORMALIZE(triangle_normal); + + return true; + } + +}; + + + + +#endif // GIM_TRI_COLLISION_H_INCLUDED diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h new file mode 100644 index 0000000..28c2b4d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h @@ -0,0 +1,52 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#ifndef CONTINUOUS_COLLISION_CONVEX_CAST_H +#define CONTINUOUS_COLLISION_CONVEX_CAST_H + +#include "btConvexCast.h" +#include "btSimplexSolverInterface.h" +class btConvexPenetrationDepthSolver; +class btConvexShape; + +/// btContinuousConvexCollision implements angular and linear time of impact for convex objects. +/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis). +/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent. +/// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops +class btContinuousConvexCollision : public btConvexCast +{ + btSimplexSolverInterface* m_simplexSolver; + btConvexPenetrationDepthSolver* m_penetrationDepthSolver; + const btConvexShape* m_convexA; + const btConvexShape* m_convexB; + + +public: + + btContinuousConvexCollision (const btConvexShape* shapeA,const btConvexShape* shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); + + virtual bool calcTimeOfImpact( + const btTransform& fromA, + const btTransform& toA, + const btTransform& fromB, + const btTransform& toB, + CastResult& result); + + +}; + +#endif //CONTINUOUS_COLLISION_CONVEX_CAST_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h new file mode 100644 index 0000000..b0bce34 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h @@ -0,0 +1,73 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#ifndef CONVEX_CAST_H +#define CONVEX_CAST_H + +#include "LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btScalar.h" +class btMinkowskiSumShape; +#include "LinearMath/btIDebugDraw.h" + +/// btConvexCast is an interface for Casting +class btConvexCast +{ +public: + + + virtual ~btConvexCast(); + + ///RayResult stores the closest result + /// alternatively, add a callback method to decide about closest/all results + struct CastResult + { + //virtual bool addRayResult(const btVector3& normal,btScalar fraction) = 0; + + virtual void DebugDraw(btScalar fraction) {(void)fraction;} + virtual void drawCoordSystem(const btTransform& trans) {(void)trans;} + + CastResult() + :m_fraction(btScalar(BT_LARGE_FLOAT)), + m_debugDrawer(0), + m_allowedPenetration(btScalar(0)) + { + } + + + virtual ~CastResult() {}; + + btTransform m_hitTransformA; + btTransform m_hitTransformB; + btVector3 m_normal; + btVector3 m_hitPoint; + btScalar m_fraction; //input and output + btIDebugDraw* m_debugDrawer; + btScalar m_allowedPenetration; + + }; + + + /// cast a convex against another convex object + virtual bool calcTimeOfImpact( + const btTransform& fromA, + const btTransform& toA, + const btTransform& fromB, + const btTransform& toB, + CastResult& result) = 0; +}; + +#endif //CONVEX_CAST_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h new file mode 100644 index 0000000..7e3fde8 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h @@ -0,0 +1,42 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#ifndef __CONVEX_PENETRATION_DEPTH_H +#define __CONVEX_PENETRATION_DEPTH_H + +class btStackAlloc; +class btVector3; +#include "btSimplexSolverInterface.h" +class btConvexShape; +class btTransform; + +///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation. +class btConvexPenetrationDepthSolver +{ +public: + + virtual ~btConvexPenetrationDepthSolver() {}; + virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver, + const btConvexShape* convexA,const btConvexShape* convexB, + const btTransform& transA,const btTransform& transB, + btVector3& v, btVector3& pa, btVector3& pb, + class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc + ) = 0; + + +}; +#endif //CONVEX_PENETRATION_DEPTH_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h new file mode 100644 index 0000000..bc711ad --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h @@ -0,0 +1,89 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#ifndef DISCRETE_COLLISION_DETECTOR1_INTERFACE_H +#define DISCRETE_COLLISION_DETECTOR1_INTERFACE_H +#include "LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +class btStackAlloc; + +/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations +/// This interface allows to query for closest points and penetration depth between two (convex) objects +/// the closest point is on the second object (B), and the normal points from the surface on B towards A. +/// distance is between closest points on B and closest point on A. So you can calculate closest point on A +/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB +struct btDiscreteCollisionDetectorInterface +{ + + struct Result + { + + virtual ~Result(){} + + ///setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner + virtual void setShapeIdentifiersA(int partId0,int index0)=0; + virtual void setShapeIdentifiersB(int partId1,int index1)=0; + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)=0; + }; + + struct ClosestPointInput + { + ClosestPointInput() + :m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT)), + m_stackAlloc(0) + { + } + + btTransform m_transformA; + btTransform m_transformB; + btScalar m_maximumDistanceSquared; + btStackAlloc* m_stackAlloc; + }; + + virtual ~btDiscreteCollisionDetectorInterface() {}; + + // + // give either closest points (distance > 0) or penetration (distance) + // the normal always points from B towards A + // + virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false) = 0; + +}; + +struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result +{ + btVector3 m_normalOnSurfaceB; + btVector3 m_closestPointInB; + btScalar m_distance; //negative means penetration ! + + btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT)) + { + + } + virtual ~btStorageResult() {}; + + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) + { + if (depth < m_distance) + { + m_normalOnSurfaceB = normalOnBInWorld; + m_closestPointInB = pointInWorld; + m_distance = depth; + } + } +}; + +#endif //DISCRETE_COLLISION_DETECTOR_INTERFACE1_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h new file mode 100644 index 0000000..a977c9e --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h @@ -0,0 +1,50 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#ifndef GJK_CONVEX_CAST_H +#define GJK_CONVEX_CAST_H + +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btVector3.h" +#include "btConvexCast.h" +class btConvexShape; +class btMinkowskiSumShape; +#include "btSimplexSolverInterface.h" + +///GjkConvexCast performs a raycast on a convex object using support mapping. +class btGjkConvexCast : public btConvexCast +{ + btSimplexSolverInterface* m_simplexSolver; + const btConvexShape* m_convexA; + const btConvexShape* m_convexB; + +public: + + btGjkConvexCast(const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver); + + /// cast a convex against another convex object + virtual bool calcTimeOfImpact( + const btTransform& fromA, + const btTransform& toA, + const btTransform& fromB, + const btTransform& toB, + CastResult& result); + +}; + +#endif //GJK_CONVEX_CAST_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h new file mode 100644 index 0000000..2296527 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h @@ -0,0 +1,73 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +/* +GJK-EPA collision solver by Nathanael Presson, 2008 +*/ +#ifndef _68DA1F85_90B7_4bb0_A705_83B4040A75C6_ +#define _68DA1F85_90B7_4bb0_A705_83B4040A75C6_ +#include "BulletCollision/CollisionShapes/btConvexShape.h" + +///btGjkEpaSolver contributed under zlib by Nathanael Presson +struct btGjkEpaSolver2 +{ +struct sResults + { + enum eStatus + { + Separated, /* Shapes doesnt penetrate */ + Penetrating, /* Shapes are penetrating */ + GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */ + EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */ + } status; + btVector3 witnesses[2]; + btVector3 normal; + btScalar distance; + }; + +static int StackSizeRequirement(); + +static bool Distance( const btConvexShape* shape0,const btTransform& wtrs0, + const btConvexShape* shape1,const btTransform& wtrs1, + const btVector3& guess, + sResults& results); + +static bool Penetration(const btConvexShape* shape0,const btTransform& wtrs0, + const btConvexShape* shape1,const btTransform& wtrs1, + const btVector3& guess, + sResults& results, + bool usemargins=true); +#ifndef __SPU__ +static btScalar SignedDistance( const btVector3& position, + btScalar margin, + const btConvexShape* shape, + const btTransform& wtrs, + sResults& results); + +static bool SignedDistance( const btConvexShape* shape0,const btTransform& wtrs0, + const btConvexShape* shape1,const btTransform& wtrs1, + const btVector3& guess, + sResults& results); +#endif //__SPU__ + +}; + +#endif diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h new file mode 100644 index 0000000..a49689a --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h @@ -0,0 +1,43 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +EPA Copyright (c) Ricardo Padrela 2006 + +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. +*/ +#ifndef BT_GJP_EPA_PENETRATION_DEPTH_H +#define BT_GJP_EPA_PENETRATION_DEPTH_H + +#include "btConvexPenetrationDepthSolver.h" + +///EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to +///calculate the penetration depth between two convex shapes. +class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver +{ + public : + + btGjkEpaPenetrationDepthSolver() + { + } + + bool calcPenDepth( btSimplexSolverInterface& simplexSolver, + const btConvexShape* pConvexA, const btConvexShape* pConvexB, + const btTransform& transformA, const btTransform& transformB, + btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB, + class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc ); + + private : + +}; + +#endif // BT_GJP_EPA_PENETRATION_DEPTH_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h new file mode 100644 index 0000000..cc6287c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h @@ -0,0 +1,103 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + + +#ifndef GJK_PAIR_DETECTOR_H +#define GJK_PAIR_DETECTOR_H + +#include "btDiscreteCollisionDetectorInterface.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +class btConvexShape; +#include "btSimplexSolverInterface.h" +class btConvexPenetrationDepthSolver; + +/// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface +class btGjkPairDetector : public btDiscreteCollisionDetectorInterface +{ + + + btVector3 m_cachedSeparatingAxis; + btConvexPenetrationDepthSolver* m_penetrationDepthSolver; + btSimplexSolverInterface* m_simplexSolver; + const btConvexShape* m_minkowskiA; + const btConvexShape* m_minkowskiB; + int m_shapeTypeA; + int m_shapeTypeB; + btScalar m_marginA; + btScalar m_marginB; + + bool m_ignoreMargin; + btScalar m_cachedSeparatingDistance; + + +public: + + //some debugging to fix degeneracy problems + int m_lastUsedMethod; + int m_curIter; + int m_degenerateSimplex; + int m_catchDegeneracies; + + + btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); + btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); + virtual ~btGjkPairDetector() {}; + + virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false); + + void getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw); + + + void setMinkowskiA(btConvexShape* minkA) + { + m_minkowskiA = minkA; + } + + void setMinkowskiB(btConvexShape* minkB) + { + m_minkowskiB = minkB; + } + void setCachedSeperatingAxis(const btVector3& seperatingAxis) + { + m_cachedSeparatingAxis = seperatingAxis; + } + + const btVector3& getCachedSeparatingAxis() const + { + return m_cachedSeparatingAxis; + } + btScalar getCachedSeparatingDistance() const + { + return m_cachedSeparatingDistance; + } + + void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver) + { + m_penetrationDepthSolver = penetrationDepthSolver; + } + + ///don't use setIgnoreMargin, it's for Bullet's internal use + void setIgnoreMargin(bool ignoreMargin) + { + m_ignoreMargin = ignoreMargin; + } + + +}; + +#endif //GJK_PAIR_DETECTOR_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h new file mode 100644 index 0000000..53c9727 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @@ -0,0 +1,153 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef MANIFOLD_CONTACT_POINT_H +#define MANIFOLD_CONTACT_POINT_H + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransformUtil.h" + +// Don't change following order of parameters +ATTRIBUTE_ALIGNED16(struct) PfxConstraintRow { + btScalar mNormal[3]; + btScalar mRhs; + btScalar mJacDiagInv; + btScalar mLowerLimit; + btScalar mUpperLimit; + btScalar mAccumImpulse; +}; + + + + +/// ManifoldContactPoint collects and maintains persistent contactpoints. +/// used to improve stability and performance of rigidbody dynamics response. +class btManifoldPoint + { + public: + btManifoldPoint() + :m_userPersistentData(0), + m_appliedImpulse(0.f), + m_lateralFrictionInitialized(false), + m_appliedImpulseLateral1(0.f), + m_appliedImpulseLateral2(0.f), + m_contactMotion1(0.f), + m_contactMotion2(0.f), + m_contactCFM1(0.f), + m_contactCFM2(0.f), + m_lifeTime(0) + { + } + + btManifoldPoint( const btVector3 &pointA, const btVector3 &pointB, + const btVector3 &normal, + btScalar distance ) : + m_localPointA( pointA ), + m_localPointB( pointB ), + m_normalWorldOnB( normal ), + m_distance1( distance ), + m_combinedFriction(btScalar(0.)), + m_combinedRestitution(btScalar(0.)), + m_userPersistentData(0), + m_appliedImpulse(0.f), + m_lateralFrictionInitialized(false), + m_appliedImpulseLateral1(0.f), + m_appliedImpulseLateral2(0.f), + m_contactMotion1(0.f), + m_contactMotion2(0.f), + m_contactCFM1(0.f), + m_contactCFM2(0.f), + m_lifeTime(0) + { + mConstraintRow[0].mAccumImpulse = 0.f; + mConstraintRow[1].mAccumImpulse = 0.f; + mConstraintRow[2].mAccumImpulse = 0.f; + } + + + + btVector3 m_localPointA; + btVector3 m_localPointB; + btVector3 m_positionWorldOnB; + ///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity + btVector3 m_positionWorldOnA; + btVector3 m_normalWorldOnB; + + btScalar m_distance1; + btScalar m_combinedFriction; + btScalar m_combinedRestitution; + + //BP mod, store contact triangles. + int m_partId0; + int m_partId1; + int m_index0; + int m_index1; + + mutable void* m_userPersistentData; + btScalar m_appliedImpulse; + + bool m_lateralFrictionInitialized; + btScalar m_appliedImpulseLateral1; + btScalar m_appliedImpulseLateral2; + btScalar m_contactMotion1; + btScalar m_contactMotion2; + btScalar m_contactCFM1; + btScalar m_contactCFM2; + + int m_lifeTime;//lifetime of the contactpoint in frames + + btVector3 m_lateralFrictionDir1; + btVector3 m_lateralFrictionDir2; + + + + PfxConstraintRow mConstraintRow[3]; + + + btScalar getDistance() const + { + return m_distance1; + } + int getLifeTime() const + { + return m_lifeTime; + } + + const btVector3& getPositionWorldOnA() const { + return m_positionWorldOnA; +// return m_positionWorldOnB + m_normalWorldOnB * m_distance1; + } + + const btVector3& getPositionWorldOnB() const + { + return m_positionWorldOnB; + } + + void setDistance(btScalar dist) + { + m_distance1 = dist; + } + + ///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver + btScalar getAppliedImpulse() const + { + return m_appliedImpulse; + } + + + + }; + +#endif //MANIFOLD_CONTACT_POINT_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h new file mode 100644 index 0000000..7b6c8a6 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h @@ -0,0 +1,40 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H +#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H + +#include "btConvexPenetrationDepthSolver.h" + +///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation. +///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points. +class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver +{ +protected: + + static btVector3* getPenetrationDirections(); + +public: + + virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver, + const btConvexShape* convexA,const btConvexShape* convexB, + const btTransform& transA,const btTransform& transB, + btVector3& v, btVector3& pa, btVector3& pb, + class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc + ); +}; + +#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h new file mode 100644 index 0000000..705f818 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h @@ -0,0 +1,227 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef PERSISTENT_MANIFOLD_H +#define PERSISTENT_MANIFOLD_H + + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "btManifoldPoint.h" +#include "LinearMath/btAlignedAllocator.h" + +struct btCollisionResult; + +///maximum contact breaking and merging threshold +extern btScalar gContactBreakingThreshold; + +typedef bool (*ContactDestroyedCallback)(void* userPersistentData); +typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1); +extern ContactDestroyedCallback gContactDestroyedCallback; +extern ContactProcessedCallback gContactProcessedCallback; + + +enum btContactManifoldTypes +{ + BT_PERSISTENT_MANIFOLD_TYPE = 1, + MAX_CONTACT_MANIFOLD_TYPE +}; + +#define MANIFOLD_CACHE_SIZE 4 + +///btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase. +///Those contact points are created by the collision narrow phase. +///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time. +///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large) +///reduces the cache to 4 points, when more then 4 points are added, using following rules: +///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points +///note that some pairs of objects might have more then one contact manifold. + + +ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject +//ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject +{ + + btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE]; + + /// this two body pointers can point to the physics rigidbody class. + /// void* will allow any rigidbody class + void* m_body0; + void* m_body1; + + int m_cachedPoints; + + btScalar m_contactBreakingThreshold; + btScalar m_contactProcessingThreshold; + + + /// sort cached points so most isolated points come first + int sortCachedPoints(const btManifoldPoint& pt); + + int findContactPoint(const btManifoldPoint* unUsed, int numUnused,const btManifoldPoint& pt); + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + int m_companionIdA; + int m_companionIdB; + + int m_index1a; + + btPersistentManifold(); + + btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold) + : btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE), + m_body0(body0),m_body1(body1),m_cachedPoints(0), + m_contactBreakingThreshold(contactBreakingThreshold), + m_contactProcessingThreshold(contactProcessingThreshold) + { + } + + SIMD_FORCE_INLINE void* getBody0() { return m_body0;} + SIMD_FORCE_INLINE void* getBody1() { return m_body1;} + + SIMD_FORCE_INLINE const void* getBody0() const { return m_body0;} + SIMD_FORCE_INLINE const void* getBody1() const { return m_body1;} + + void setBodies(void* body0,void* body1) + { + m_body0 = body0; + m_body1 = body1; + } + + void clearUserCache(btManifoldPoint& pt); + +#ifdef DEBUG_PERSISTENCY + void DebugPersistency(); +#endif // + + SIMD_FORCE_INLINE int getNumContacts() const { return m_cachedPoints;} + + SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const + { + btAssert(index < m_cachedPoints); + return m_pointCache[index]; + } + + SIMD_FORCE_INLINE btManifoldPoint& getContactPoint(int index) + { + btAssert(index < m_cachedPoints); + return m_pointCache[index]; + } + + ///@todo: get this margin from the current physics / collision environment + btScalar getContactBreakingThreshold() const; + + btScalar getContactProcessingThreshold() const + { + return m_contactProcessingThreshold; + } + + int getCacheEntry(const btManifoldPoint& newPoint) const; + + int addManifoldPoint( const btManifoldPoint& newPoint); + + void removeContactPoint (int index) + { + clearUserCache(m_pointCache[index]); + + int lastUsedIndex = getNumContacts() - 1; +// m_pointCache[index] = m_pointCache[lastUsedIndex]; + if(index != lastUsedIndex) + { + m_pointCache[index] = m_pointCache[lastUsedIndex]; + //get rid of duplicated userPersistentData pointer + m_pointCache[lastUsedIndex].m_userPersistentData = 0; + m_pointCache[lastUsedIndex].mConstraintRow[0].mAccumImpulse = 0.f; + m_pointCache[lastUsedIndex].mConstraintRow[1].mAccumImpulse = 0.f; + m_pointCache[lastUsedIndex].mConstraintRow[2].mAccumImpulse = 0.f; + + m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f; + m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false; + m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f; + m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f; + m_pointCache[lastUsedIndex].m_lifeTime = 0; + } + + btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0); + m_cachedPoints--; + } + void replaceContactPoint(const btManifoldPoint& newPoint,int insertIndex) + { + btAssert(validContactDistance(newPoint)); + +#define MAINTAIN_PERSISTENCY 1 +#ifdef MAINTAIN_PERSISTENCY + int lifeTime = m_pointCache[insertIndex].getLifeTime(); + btScalar appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse; + btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse; + btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse; +// bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized; + + + + btAssert(lifeTime>=0); + void* cache = m_pointCache[insertIndex].m_userPersistentData; + + m_pointCache[insertIndex] = newPoint; + + m_pointCache[insertIndex].m_userPersistentData = cache; + m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse; + m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1; + m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2; + + m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse = appliedImpulse; + m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse = appliedLateralImpulse1; + m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse = appliedLateralImpulse2; + + + m_pointCache[insertIndex].m_lifeTime = lifeTime; +#else + clearUserCache(m_pointCache[insertIndex]); + m_pointCache[insertIndex] = newPoint; + +#endif + } + + bool validContactDistance(const btManifoldPoint& pt) const + { + return pt.m_distance1 <= getContactBreakingThreshold(); + } + /// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin + void refreshContactPoints( const btTransform& trA,const btTransform& trB); + + + SIMD_FORCE_INLINE void clearManifold() + { + int i; + for (i=0;i btVertexArray; + +// Clips a face to the back of a plane +struct btPolyhedralContactClipping +{ + static void clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut); + static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut); + + static bool findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut); + + ///the clipFace method is used internally + static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS); + +}; + +#endif // BT_POLYHEDRAL_CONTACT_CLIPPING_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h new file mode 100644 index 0000000..3a1ab38 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h @@ -0,0 +1,71 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef RAYCAST_TRI_CALLBACK_H +#define RAYCAST_TRI_CALLBACK_H + +#include "BulletCollision/CollisionShapes/btTriangleCallback.h" +#include "LinearMath/btTransform.h" +struct btBroadphaseProxy; +class btConvexShape; + +class btTriangleRaycastCallback: public btTriangleCallback +{ +public: + + //input + btVector3 m_from; + btVector3 m_to; + + //@BP Mod - allow backface filtering and unflipped normals + enum EFlags + { + kF_None = 0, + kF_FilterBackfaces = 1 << 0, + kF_KeepUnflippedNormal = 1 << 1, // Prevents returned face normal getting flipped when a ray hits a back-facing triangle + + kF_Terminator = 0xFFFFFFFF + }; + unsigned int m_flags; + + btScalar m_hitFraction; + + btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags=0); + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex); + + virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex ) = 0; + +}; + +class btTriangleConvexcastCallback : public btTriangleCallback +{ +public: + const btConvexShape* m_convexShape; + btTransform m_convexShapeFrom; + btTransform m_convexShapeTo; + btTransform m_triangleToWorld; + btScalar m_hitFraction; + btScalar m_triangleCollisionMargin; + + btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin); + + virtual void processTriangle (btVector3* triangle, int partId, int triangleIndex); + + virtual btScalar reportHit (const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex) = 0; +}; + +#endif //RAYCAST_TRI_CALLBACK_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h new file mode 100644 index 0000000..823b4e7 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h @@ -0,0 +1,63 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#ifndef SIMPLEX_SOLVER_INTERFACE_H +#define SIMPLEX_SOLVER_INTERFACE_H + +#include "LinearMath/btVector3.h" + +#define NO_VIRTUAL_INTERFACE 1 +#ifdef NO_VIRTUAL_INTERFACE +#include "btVoronoiSimplexSolver.h" +#define btSimplexSolverInterface btVoronoiSimplexSolver +#else + +/// btSimplexSolverInterface can incrementally calculate distance between origin and up to 4 vertices +/// Used by GJK or Linear Casting. Can be implemented by the Johnson-algorithm or alternative approaches based on +/// voronoi regions or barycentric coordinates +class btSimplexSolverInterface +{ + public: + virtual ~btSimplexSolverInterface() {}; + + virtual void reset() = 0; + + virtual void addVertex(const btVector3& w, const btVector3& p, const btVector3& q) = 0; + + virtual bool closest(btVector3& v) = 0; + + virtual btScalar maxVertex() = 0; + + virtual bool fullSimplex() const = 0; + + virtual int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const = 0; + + virtual bool inSimplex(const btVector3& w) = 0; + + virtual void backup_closest(btVector3& v) = 0; + + virtual bool emptySimplex() const = 0; + + virtual void compute_points(btVector3& p1, btVector3& p2) = 0; + + virtual int numVertices() const =0; + + +}; +#endif +#endif //SIMPLEX_SOLVER_INTERFACE_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h new file mode 100644 index 0000000..05662db --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h @@ -0,0 +1,50 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#ifndef SUBSIMPLEX_CONVEX_CAST_H +#define SUBSIMPLEX_CONVEX_CAST_H + +#include "btConvexCast.h" +#include "btSimplexSolverInterface.h" +class btConvexShape; + +/// btSubsimplexConvexCast implements Gino van den Bergens' paper +///"Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection" +/// GJK based Ray Cast, optimized version +/// Objects should not start in overlap, otherwise results are not defined. +class btSubsimplexConvexCast : public btConvexCast +{ + btSimplexSolverInterface* m_simplexSolver; + const btConvexShape* m_convexA; + const btConvexShape* m_convexB; + +public: + + btSubsimplexConvexCast (const btConvexShape* shapeA,const btConvexShape* shapeB,btSimplexSolverInterface* simplexSolver); + + //virtual ~btSubsimplexConvexCast(); + ///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects. + ///Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector. + virtual bool calcTimeOfImpact( + const btTransform& fromA, + const btTransform& toA, + const btTransform& fromB, + const btTransform& toB, + CastResult& result); + +}; + +#endif //SUBSIMPLEX_CONVEX_CAST_H diff --git a/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h new file mode 100644 index 0000000..9a4f552 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h @@ -0,0 +1,178 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#ifndef btVoronoiSimplexSolver_H +#define btVoronoiSimplexSolver_H + +#include "btSimplexSolverInterface.h" + + + +#define VORONOI_SIMPLEX_MAX_VERTS 5 + +///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure +#define BT_USE_EQUAL_VERTEX_THRESHOLD +#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f + + +struct btUsageBitfield{ + btUsageBitfield() + { + reset(); + } + + void reset() + { + usedVertexA = false; + usedVertexB = false; + usedVertexC = false; + usedVertexD = false; + } + unsigned short usedVertexA : 1; + unsigned short usedVertexB : 1; + unsigned short usedVertexC : 1; + unsigned short usedVertexD : 1; + unsigned short unused1 : 1; + unsigned short unused2 : 1; + unsigned short unused3 : 1; + unsigned short unused4 : 1; +}; + + +struct btSubSimplexClosestResult +{ + btVector3 m_closestPointOnSimplex; + //MASK for m_usedVertices + //stores the simplex vertex-usage, using the MASK, + // if m_usedVertices & MASK then the related vertex is used + btUsageBitfield m_usedVertices; + btScalar m_barycentricCoords[4]; + bool m_degenerate; + + void reset() + { + m_degenerate = false; + setBarycentricCoordinates(); + m_usedVertices.reset(); + } + bool isValid() + { + bool valid = (m_barycentricCoords[0] >= btScalar(0.)) && + (m_barycentricCoords[1] >= btScalar(0.)) && + (m_barycentricCoords[2] >= btScalar(0.)) && + (m_barycentricCoords[3] >= btScalar(0.)); + + + return valid; + } + void setBarycentricCoordinates(btScalar a=btScalar(0.),btScalar b=btScalar(0.),btScalar c=btScalar(0.),btScalar d=btScalar(0.)) + { + m_barycentricCoords[0] = a; + m_barycentricCoords[1] = b; + m_barycentricCoords[2] = c; + m_barycentricCoords[3] = d; + } + +}; + +/// btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin. +/// Can be used with GJK, as an alternative to Johnson distance algorithm. +#ifdef NO_VIRTUAL_INTERFACE +class btVoronoiSimplexSolver +#else +class btVoronoiSimplexSolver : public btSimplexSolverInterface +#endif +{ +public: + + int m_numVertices; + + btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS]; + btVector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS]; + btVector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS]; + + + + btVector3 m_cachedP1; + btVector3 m_cachedP2; + btVector3 m_cachedV; + btVector3 m_lastW; + + btScalar m_equalVertexThreshold; + bool m_cachedValidClosest; + + + btSubSimplexClosestResult m_cachedBC; + + bool m_needsUpdate; + + void removeVertex(int index); + void reduceVertices (const btUsageBitfield& usedVerts); + bool updateClosestVectorAndPoints(); + + bool closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult); + int pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d); + bool closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result); + +public: + + btVoronoiSimplexSolver() + : m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD) + { + } + void reset(); + + void addVertex(const btVector3& w, const btVector3& p, const btVector3& q); + + void setEqualVertexThreshold(btScalar threshold) + { + m_equalVertexThreshold = threshold; + } + + btScalar getEqualVertexThreshold() const + { + return m_equalVertexThreshold; + } + + bool closest(btVector3& v); + + btScalar maxVertex(); + + bool fullSimplex() const + { + return (m_numVertices == 4); + } + + int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const; + + bool inSimplex(const btVector3& w); + + void backup_closest(btVector3& v) ; + + bool emptySimplex() const ; + + void compute_points(btVector3& p1, btVector3& p2) ; + + int numVertices() const + { + return m_numVertices; + } + + +}; + +#endif //VoronoiSimplexSolver diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/Character/btCharacterControllerInterface.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/Character/btCharacterControllerInterface.h new file mode 100644 index 0000000..19373da --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/Character/btCharacterControllerInterface.h @@ -0,0 +1,45 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#ifndef CHARACTER_CONTROLLER_INTERFACE_H +#define CHARACTER_CONTROLLER_INTERFACE_H + +#include "LinearMath/btVector3.h" +#include "BulletDynamics/Dynamics/btActionInterface.h" + +class btCollisionShape; +class btRigidBody; +class btCollisionWorld; + +class btCharacterControllerInterface : public btActionInterface +{ +public: + btCharacterControllerInterface () {}; + virtual ~btCharacterControllerInterface () {}; + + virtual void setWalkDirection(const btVector3& walkDirection) = 0; + virtual void setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval) = 0; + virtual void reset () = 0; + virtual void warp (const btVector3& origin) = 0; + + virtual void preStep ( btCollisionWorld* collisionWorld) = 0; + virtual void playerStep (btCollisionWorld* collisionWorld, btScalar dt) = 0; + virtual bool canJump () const = 0; + virtual void jump () = 0; + + virtual bool onGround () const = 0; +}; + +#endif diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/Character/btKinematicCharacterController.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/Character/btKinematicCharacterController.h new file mode 100644 index 0000000..704355c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/Character/btKinematicCharacterController.h @@ -0,0 +1,162 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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. +*/ + + +#ifndef KINEMATIC_CHARACTER_CONTROLLER_H +#define KINEMATIC_CHARACTER_CONTROLLER_H + +#include "LinearMath/btVector3.h" + +#include "btCharacterControllerInterface.h" + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" + + +class btCollisionShape; +class btRigidBody; +class btCollisionWorld; +class btCollisionDispatcher; +class btPairCachingGhostObject; + +///btKinematicCharacterController is an object that supports a sliding motion in a world. +///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations. +///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user. +class btKinematicCharacterController : public btCharacterControllerInterface +{ +protected: + + btScalar m_halfHeight; + + btPairCachingGhostObject* m_ghostObject; + btConvexShape* m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast + + btScalar m_verticalVelocity; + btScalar m_verticalOffset; + btScalar m_fallSpeed; + btScalar m_jumpSpeed; + btScalar m_maxJumpHeight; + btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value) + btScalar m_maxSlopeCosine; // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization) + btScalar m_gravity; + + btScalar m_turnAngle; + + btScalar m_stepHeight; + + btScalar m_addedMargin;//@todo: remove this and fix the code + + ///this is the desired walk direction, set by the user + btVector3 m_walkDirection; + btVector3 m_normalizedDirection; + + //some internal variables + btVector3 m_currentPosition; + btScalar m_currentStepOffset; + btVector3 m_targetPosition; + + ///keep track of the contact manifolds + btManifoldArray m_manifoldArray; + + bool m_touchingContact; + btVector3 m_touchingNormal; + + bool m_wasOnGround; + bool m_wasJumping; + bool m_useGhostObjectSweepTest; + bool m_useWalkDirection; + btScalar m_velocityTimeInterval; + int m_upAxis; + + static btVector3* getUpAxisDirections(); + + btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal); + btVector3 parallelComponent (const btVector3& direction, const btVector3& normal); + btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal); + + bool recoverFromPenetration ( btCollisionWorld* collisionWorld); + void stepUp (btCollisionWorld* collisionWorld); + void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0)); + void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove); + void stepDown (btCollisionWorld* collisionWorld, btScalar dt); +public: + btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1); + ~btKinematicCharacterController (); + + + ///btActionInterface interface + virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime) + { + preStep ( collisionWorld); + playerStep (collisionWorld, deltaTime); + } + + ///btActionInterface interface + void debugDraw(btIDebugDraw* debugDrawer); + + void setUpAxis (int axis) + { + if (axis < 0) + axis = 0; + if (axis > 2) + axis = 2; + m_upAxis = axis; + } + + /// This should probably be called setPositionIncrementPerSimulatorStep. + /// This is neither a direction nor a velocity, but the amount to + /// increment the position each simulation iteration, regardless + /// of dt. + /// This call will reset any velocity set by setVelocityForTimeInterval(). + virtual void setWalkDirection(const btVector3& walkDirection); + + /// Caller provides a velocity with which the character should move for + /// the given time period. After the time period, velocity is reset + /// to zero. + /// This call will reset any walk direction set by setWalkDirection(). + /// Negative time intervals will result in no motion. + virtual void setVelocityForTimeInterval(const btVector3& velocity, + btScalar timeInterval); + + void reset (); + void warp (const btVector3& origin); + + void preStep ( btCollisionWorld* collisionWorld); + void playerStep ( btCollisionWorld* collisionWorld, btScalar dt); + + void setFallSpeed (btScalar fallSpeed); + void setJumpSpeed (btScalar jumpSpeed); + void setMaxJumpHeight (btScalar maxJumpHeight); + bool canJump () const; + + void jump (); + + void setGravity(btScalar gravity); + btScalar getGravity() const; + + /// The max slope determines the maximum angle that the controller can walk up. + /// The slope angle is measured in radians. + void setMaxSlope(btScalar slopeRadians); + btScalar getMaxSlope() const; + + btPairCachingGhostObject* getGhostObject(); + void setUseGhostSweepTest(bool useGhostObjectSweepTest) + { + m_useGhostObjectSweepTest = useGhostObjectSweepTest; + } + + bool onGround () const; +}; + +#endif // KINEMATIC_CHARACTER_CONTROLLER_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h new file mode 100644 index 0000000..f310d47 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h @@ -0,0 +1,332 @@ +/* +Bullet Continuous Collision Detection and Physics Library +btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios + +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. + +Written by: Marcus Hennix +*/ + + + +/* +Overview: + +btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc). +It is a fixed translation, 3 degree-of-freedom (DOF) rotational "joint". +It divides the 3 rotational DOFs into swing (movement within a cone) and twist. +Swing is divided into swing1 and swing2 which can have different limits, giving an elliptical shape. +(Note: the cone's base isn't flat, so this ellipse is "embedded" on the surface of a sphere.) + +In the contraint's frame of reference: +twist is along the x-axis, +and swing 1 and 2 are along the z and y axes respectively. +*/ + + + +#ifndef CONETWISTCONSTRAINT_H +#define CONETWISTCONSTRAINT_H + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + +class btRigidBody; + +enum btConeTwistFlags +{ + BT_CONETWIST_FLAGS_LIN_CFM = 1, + BT_CONETWIST_FLAGS_LIN_ERP = 2, + BT_CONETWIST_FLAGS_ANG_CFM = 4 +}; + +///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc) +class btConeTwistConstraint : public btTypedConstraint +{ +#ifdef IN_PARALLELL_SOLVER +public: +#endif + btJacobianEntry m_jac[3]; //3 orthogonal linear constraints + + btTransform m_rbAFrame; + btTransform m_rbBFrame; + + btScalar m_limitSoftness; + btScalar m_biasFactor; + btScalar m_relaxationFactor; + + btScalar m_damping; + + btScalar m_swingSpan1; + btScalar m_swingSpan2; + btScalar m_twistSpan; + + btScalar m_fixThresh; + + btVector3 m_swingAxis; + btVector3 m_twistAxis; + + btScalar m_kSwing; + btScalar m_kTwist; + + btScalar m_twistLimitSign; + btScalar m_swingCorrection; + btScalar m_twistCorrection; + + btScalar m_twistAngle; + + btScalar m_accSwingLimitImpulse; + btScalar m_accTwistLimitImpulse; + + bool m_angularOnly; + bool m_solveTwistLimit; + bool m_solveSwingLimit; + + bool m_useSolveConstraintObsolete; + + // not yet used... + btScalar m_swingLimitRatio; + btScalar m_twistLimitRatio; + btVector3 m_twistAxisA; + + // motor + bool m_bMotorEnabled; + bool m_bNormalizedMotorStrength; + btQuaternion m_qTarget; + btScalar m_maxMotorImpulse; + btVector3 m_accMotorImpulse; + + // parameters + int m_flags; + btScalar m_linCFM; + btScalar m_linERP; + btScalar m_angCFM; + +protected: + + void init(); + + void computeConeLimitInfo(const btQuaternion& qCone, // in + btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs + + void computeTwistLimitInfo(const btQuaternion& qTwist, // in + btScalar& twistAngle, btVector3& vTwistAxis); // all outs + + void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const; + + +public: + + btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame); + + btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame); + + virtual void buildJacobian(); + + virtual void getInfo1 (btConstraintInfo1* info); + + void getInfo1NonVirtual(btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + void getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB); + + virtual void solveConstraintObsolete(btRigidBody& bodyA,btRigidBody& bodyB,btScalar timeStep); + + void updateRHS(btScalar timeStep); + + const btRigidBody& getRigidBodyA() const + { + return m_rbA; + } + const btRigidBody& getRigidBodyB() const + { + return m_rbB; + } + + void setAngularOnly(bool angularOnly) + { + m_angularOnly = angularOnly; + } + + void setLimit(int limitIndex,btScalar limitValue) + { + switch (limitIndex) + { + case 3: + { + m_twistSpan = limitValue; + break; + } + case 4: + { + m_swingSpan2 = limitValue; + break; + } + case 5: + { + m_swingSpan1 = limitValue; + break; + } + default: + { + } + }; + } + + // setLimit(), a few notes: + // _softness: + // 0->1, recommend ~0.8->1. + // describes % of limits where movement is free. + // beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached. + // _biasFactor: + // 0->1?, recommend 0.3 +/-0.3 or so. + // strength with which constraint resists zeroth order (angular, not angular velocity) limit violation. + // __relaxationFactor: + // 0->1, recommend to stay near 1. + // the lower the value, the less the constraint will fight velocities which violate the angular limits. + void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) + { + m_swingSpan1 = _swingSpan1; + m_swingSpan2 = _swingSpan2; + m_twistSpan = _twistSpan; + + m_limitSoftness = _softness; + m_biasFactor = _biasFactor; + m_relaxationFactor = _relaxationFactor; + } + + const btTransform& getAFrame() { return m_rbAFrame; }; + const btTransform& getBFrame() { return m_rbBFrame; }; + + inline int getSolveTwistLimit() + { + return m_solveTwistLimit; + } + + inline int getSolveSwingLimit() + { + return m_solveTwistLimit; + } + + inline btScalar getTwistLimitSign() + { + return m_twistLimitSign; + } + + void calcAngleInfo(); + void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB); + + inline btScalar getSwingSpan1() + { + return m_swingSpan1; + } + inline btScalar getSwingSpan2() + { + return m_swingSpan2; + } + inline btScalar getTwistSpan() + { + return m_twistSpan; + } + inline btScalar getTwistAngle() + { + return m_twistAngle; + } + bool isPastSwingLimit() { return m_solveSwingLimit; } + + + void setDamping(btScalar damping) { m_damping = damping; } + + void enableMotor(bool b) { m_bMotorEnabled = b; } + void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; } + void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; } + + btScalar getFixThresh() { return m_fixThresh; } + void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; } + + // setMotorTarget: + // q: the desired rotation of bodyA wrt bodyB. + // note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability) + // note: don't forget to enableMotor() + void setMotorTarget(const btQuaternion &q); + + // same as above, but q is the desired rotation of frameA wrt frameB in constraint space + void setMotorTargetInConstraintSpace(const btQuaternion &q); + + btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const; + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1); + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btConeTwistConstraintData +{ + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; + btTransformFloatData m_rbBFrame; + + //limits + float m_swingSpan1; + float m_swingSpan2; + float m_twistSpan; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; + + float m_damping; + + char m_pad[4]; + +}; + + + +SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btConeTwistConstraintData); + +} + + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btConeTwistConstraintData* cone = (btConeTwistConstraintData*) dataBuffer; + btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer); + + m_rbAFrame.serializeFloat(cone->m_rbAFrame); + m_rbBFrame.serializeFloat(cone->m_rbBFrame); + + cone->m_swingSpan1 = float(m_swingSpan1); + cone->m_swingSpan2 = float(m_swingSpan2); + cone->m_twistSpan = float(m_twistSpan); + cone->m_limitSoftness = float(m_limitSoftness); + cone->m_biasFactor = float(m_biasFactor); + cone->m_relaxationFactor = float(m_relaxationFactor); + cone->m_damping = float(m_damping); + + return "btConeTwistConstraintData"; +} + + +#endif //CONETWISTCONSTRAINT_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h new file mode 100644 index 0000000..7a8e9c1 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h @@ -0,0 +1,52 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef CONSTRAINT_SOLVER_H +#define CONSTRAINT_SOLVER_H + +#include "LinearMath/btScalar.h" + +class btPersistentManifold; +class btRigidBody; +class btCollisionObject; +class btTypedConstraint; +struct btContactSolverInfo; +struct btBroadphaseProxy; +class btIDebugDraw; +class btStackAlloc; +class btDispatcher; +/// btConstraintSolver provides solver interface +class btConstraintSolver +{ + +public: + + virtual ~btConstraintSolver() {} + + virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;} + + ///solve a group of constraints + virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher) = 0; + + virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */, btStackAlloc* /* stackAlloc */) {;} + + ///clear internal cached data and reset random seed + virtual void reset() = 0; +}; + + + + +#endif //CONSTRAINT_SOLVER_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h new file mode 100644 index 0000000..63c1a41 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h @@ -0,0 +1,68 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef CONTACT_CONSTRAINT_H +#define CONTACT_CONSTRAINT_H + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" + +///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface +ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint +{ +protected: + + btPersistentManifold m_contactManifold; + +public: + + + btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB); + + void setContactManifold(btPersistentManifold* contactManifold); + + btPersistentManifold* getContactManifold() + { + return &m_contactManifold; + } + + const btPersistentManifold* getContactManifold() const + { + return &m_contactManifold; + } + + virtual ~btContactConstraint(); + + virtual void getInfo1 (btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + ///obsolete methods + virtual void buildJacobian(); + + +}; + + +///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects +void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1, + btRigidBody& body2, const btVector3& pos2, + btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep); + + + +#endif //CONTACT_CONSTRAINT_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h new file mode 100644 index 0000000..db5bb5e --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -0,0 +1,87 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef CONTACT_SOLVER_INFO +#define CONTACT_SOLVER_INFO + +enum btSolverMode +{ + SOLVER_RANDMIZE_ORDER = 1, + SOLVER_FRICTION_SEPARATE = 2, + SOLVER_USE_WARMSTARTING = 4, + SOLVER_USE_FRICTION_WARMSTARTING = 8, + SOLVER_USE_2_FRICTION_DIRECTIONS = 16, + SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32, + SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64, + SOLVER_CACHE_FRIENDLY = 128, + SOLVER_SIMD = 256, //enabled for Windows, the solver innerloop is branchless SIMD, 40% faster than FPU/scalar version + SOLVER_CUDA = 512 //will be open sourced during Game Developers Conference 2009. Much faster. +}; + +struct btContactSolverInfoData +{ + + + btScalar m_tau; + btScalar m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. + btScalar m_friction; + btScalar m_timeStep; + btScalar m_restitution; + int m_numIterations; + btScalar m_maxErrorReduction; + btScalar m_sor; + btScalar m_erp;//used as Baumgarte factor + btScalar m_erp2;//used in Split Impulse + btScalar m_globalCfm;//constraint force mixing + int m_splitImpulse; + btScalar m_splitImpulsePenetrationThreshold; + btScalar m_linearSlop; + btScalar m_warmstartingFactor; + + int m_solverMode; + int m_restingContactRestitutionThreshold; + int m_minimumSolverBatchSize; + + +}; + +struct btContactSolverInfo : public btContactSolverInfoData +{ + + + + inline btContactSolverInfo() + { + m_tau = btScalar(0.6); + m_damping = btScalar(1.0); + m_friction = btScalar(0.3); + m_restitution = btScalar(0.); + m_maxErrorReduction = btScalar(20.); + m_numIterations = 10; + m_erp = btScalar(0.2); + m_erp2 = btScalar(0.1); + m_globalCfm = btScalar(0.); + m_sor = btScalar(1.); + m_splitImpulse = false; + m_splitImpulsePenetrationThreshold = -0.02f; + m_linearSlop = btScalar(0.0); + m_warmstartingFactor=btScalar(0.85); + m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER; + m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution + m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit + } +}; + +#endif //CONTACT_SOLVER_INFO diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.h new file mode 100644 index 0000000..60f6009 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.h @@ -0,0 +1,56 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2012 Advanced Micro Devices, Inc. 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, +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. +*/ + + + +#ifndef BT_GEAR_CONSTRAINT_H +#define BT_GEAR_CONSTRAINT_H + +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +///The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio. +///See Bullet/Demos/ConstraintDemo for an example use. +class btGearConstraint : public btTypedConstraint +{ +protected: + btVector3 m_axisInA; + btVector3 m_axisInB; + bool m_useFrameA; + btScalar m_ratio; + +public: + btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio=1.f); + virtual ~btGearConstraint (); + + ///internal method used by the constraint solver, don't use them directly + virtual void getInfo1 (btConstraintInfo1* info); + + ///internal method used by the constraint solver, don't use them directly + virtual void getInfo2 (btConstraintInfo2* info); + + virtual void setParam(int num, btScalar value, int axis = -1) + { + btAssert(0); + }; + + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const + { + btAssert(0); + return 0.f; + } + +}; + +#endif //BT_GEAR_CONSTRAINT_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h new file mode 100644 index 0000000..2653d26 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h @@ -0,0 +1,588 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +/// 2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev +/// Added support for generic constraint solver through getInfo1/getInfo2 methods + +/* +2007-09-09 +btGeneric6DofConstraint Refactored by Francisco Le?n +email: projectileman@yahoo.com +http://gimpact.sf.net +*/ + + +#ifndef GENERIC_6DOF_CONSTRAINT_H +#define GENERIC_6DOF_CONSTRAINT_H + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + +class btRigidBody; + + + + +//! Rotation Limit structure for generic joints +class btRotationalLimitMotor +{ +public: + //! limit_parameters + //!@{ + btScalar m_loLimit;//!< joint limit + btScalar m_hiLimit;//!< joint limit + btScalar m_targetVelocity;//!< target motor velocity + btScalar m_maxMotorForce;//!< max force on motor + btScalar m_maxLimitForce;//!< max force on limit + btScalar m_damping;//!< Damping. + btScalar m_limitSoftness;//! Relaxation factor + btScalar m_normalCFM;//!< Constraint force mixing factor + btScalar m_stopERP;//!< Error tolerance factor when joint is at limit + btScalar m_stopCFM;//!< Constraint force mixing factor when joint is at limit + btScalar m_bounce;//!< restitution factor + bool m_enableMotor; + + //!@} + + //! temp_variables + //!@{ + btScalar m_currentLimitError;//! How much is violated this limit + btScalar m_currentPosition; //! current value of angle + int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit + btScalar m_accumulatedImpulse; + //!@} + + btRotationalLimitMotor() + { + m_accumulatedImpulse = 0.f; + m_targetVelocity = 0; + m_maxMotorForce = 0.1f; + m_maxLimitForce = 300.0f; + m_loLimit = 1.0f; + m_hiLimit = -1.0f; + m_normalCFM = 0.f; + m_stopERP = 0.2f; + m_stopCFM = 0.f; + m_bounce = 0.0f; + m_damping = 1.0f; + m_limitSoftness = 0.5f; + m_currentLimit = 0; + m_currentLimitError = 0; + m_enableMotor = false; + } + + btRotationalLimitMotor(const btRotationalLimitMotor & limot) + { + m_targetVelocity = limot.m_targetVelocity; + m_maxMotorForce = limot.m_maxMotorForce; + m_limitSoftness = limot.m_limitSoftness; + m_loLimit = limot.m_loLimit; + m_hiLimit = limot.m_hiLimit; + m_normalCFM = limot.m_normalCFM; + m_stopERP = limot.m_stopERP; + m_stopCFM = limot.m_stopCFM; + m_bounce = limot.m_bounce; + m_currentLimit = limot.m_currentLimit; + m_currentLimitError = limot.m_currentLimitError; + m_enableMotor = limot.m_enableMotor; + } + + + + //! Is limited + bool isLimited() + { + if(m_loLimit > m_hiLimit) return false; + return true; + } + + //! Need apply correction + bool needApplyTorques() + { + if(m_currentLimit == 0 && m_enableMotor == false) return false; + return true; + } + + //! calculates error + /*! + calculates m_currentLimit and m_currentLimitError. + */ + int testLimitValue(btScalar test_value); + + //! apply the correction impulses for two bodies + btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1); + +}; + + + +class btTranslationalLimitMotor +{ +public: + btVector3 m_lowerLimit;//!< the constraint lower limits + btVector3 m_upperLimit;//!< the constraint upper limits + btVector3 m_accumulatedImpulse; + //! Linear_Limit_parameters + //!@{ + btScalar m_limitSoftness;//!< Softness for linear limit + btScalar m_damping;//!< Damping for linear limit + btScalar m_restitution;//! Bounce parameter for linear limit + btVector3 m_normalCFM;//!< Constraint force mixing factor + btVector3 m_stopERP;//!< Error tolerance factor when joint is at limit + btVector3 m_stopCFM;//!< Constraint force mixing factor when joint is at limit + //!@} + bool m_enableMotor[3]; + btVector3 m_targetVelocity;//!< target motor velocity + btVector3 m_maxMotorForce;//!< max force on motor + btVector3 m_currentLimitError;//! How much is violated this limit + btVector3 m_currentLinearDiff;//! Current relative offset of constraint frames + int m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit + + btTranslationalLimitMotor() + { + m_lowerLimit.setValue(0.f,0.f,0.f); + m_upperLimit.setValue(0.f,0.f,0.f); + m_accumulatedImpulse.setValue(0.f,0.f,0.f); + m_normalCFM.setValue(0.f, 0.f, 0.f); + m_stopERP.setValue(0.2f, 0.2f, 0.2f); + m_stopCFM.setValue(0.f, 0.f, 0.f); + + m_limitSoftness = 0.7f; + m_damping = btScalar(1.0f); + m_restitution = btScalar(0.5f); + for(int i=0; i < 3; i++) + { + m_enableMotor[i] = false; + m_targetVelocity[i] = btScalar(0.f); + m_maxMotorForce[i] = btScalar(0.f); + } + } + + btTranslationalLimitMotor(const btTranslationalLimitMotor & other ) + { + m_lowerLimit = other.m_lowerLimit; + m_upperLimit = other.m_upperLimit; + m_accumulatedImpulse = other.m_accumulatedImpulse; + + m_limitSoftness = other.m_limitSoftness ; + m_damping = other.m_damping; + m_restitution = other.m_restitution; + m_normalCFM = other.m_normalCFM; + m_stopERP = other.m_stopERP; + m_stopCFM = other.m_stopCFM; + + for(int i=0; i < 3; i++) + { + m_enableMotor[i] = other.m_enableMotor[i]; + m_targetVelocity[i] = other.m_targetVelocity[i]; + m_maxMotorForce[i] = other.m_maxMotorForce[i]; + } + } + + //! Test limit + /*! + - free means upper < lower, + - locked means upper == lower + - limited means upper > lower + - limitIndex: first 3 are linear, next 3 are angular + */ + inline bool isLimited(int limitIndex) + { + return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]); + } + inline bool needApplyForce(int limitIndex) + { + if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false; + return true; + } + int testLimitValue(int limitIndex, btScalar test_value); + + + btScalar solveLinearAxis( + btScalar timeStep, + btScalar jacDiagABInv, + btRigidBody& body1,const btVector3 &pointInA, + btRigidBody& body2,const btVector3 &pointInB, + int limit_index, + const btVector3 & axis_normal_on_a, + const btVector3 & anchorPos); + + +}; + +enum bt6DofFlags +{ + BT_6DOF_FLAGS_CFM_NORM = 1, + BT_6DOF_FLAGS_CFM_STOP = 2, + BT_6DOF_FLAGS_ERP_STOP = 4 +}; +#define BT_6DOF_FLAGS_AXIS_SHIFT 3 // bits per axis + + +/// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space +/*! +btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'. +currently this limit supports rotational motors
    +
      +
    • For Linear limits, use btGeneric6DofConstraint.setLinearUpperLimit, btGeneric6DofConstraint.setLinearLowerLimit. You can set the parameters with the btTranslationalLimitMotor structure accsesible through the btGeneric6DofConstraint.getTranslationalLimitMotor method. +At this moment translational motors are not supported. May be in the future.
      • + +
    • For Angular limits, use the btRotationalLimitMotor structure for configuring the limit. +This is accessible through btGeneric6DofConstraint.getLimitMotor method, +This brings support for limit parameters and motors.
      • + +
    • Angulars limits have these possible ranges: + + + + + + + + + + + + + + + + + + +
      AXISMIN ANGLEMAX ANGLE
      X-PIPI
      Y-PI/2PI/2
      Z-PIPI
      +
      • +
    + +*/ +class btGeneric6DofConstraint : public btTypedConstraint +{ +protected: + + //! relative_frames + //!@{ + btTransform m_frameInA;//!< the constraint space w.r.t body A + btTransform m_frameInB;//!< the constraint space w.r.t body B + //!@} + + //! Jacobians + //!@{ + btJacobianEntry m_jacLinear[3];//!< 3 orthogonal linear constraints + btJacobianEntry m_jacAng[3];//!< 3 orthogonal angular constraints + //!@} + + //! Linear_Limit_parameters + //!@{ + btTranslationalLimitMotor m_linearLimits; + //!@} + + + //! hinge_parameters + //!@{ + btRotationalLimitMotor m_angularLimits[3]; + //!@} + + +protected: + //! temporal variables + //!@{ + btScalar m_timeStep; + btTransform m_calculatedTransformA; + btTransform m_calculatedTransformB; + btVector3 m_calculatedAxisAngleDiff; + btVector3 m_calculatedAxis[3]; + btVector3 m_calculatedLinearDiff; + btScalar m_factA; + btScalar m_factB; + bool m_hasStaticBody; + + btVector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes + + bool m_useLinearReferenceFrameA; + bool m_useOffsetForConstraintFrame; + + int m_flags; + + //!@} + + btGeneric6DofConstraint& operator=(btGeneric6DofConstraint& other) + { + btAssert(0); + (void) other; + return *this; + } + + + int setAngularLimits(btConstraintInfo2 *info, int row_offset,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB); + + int setLinearLimits(btConstraintInfo2 *info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB); + + void buildLinearJacobian( + btJacobianEntry & jacLinear,const btVector3 & normalWorld, + const btVector3 & pivotAInW,const btVector3 & pivotBInW); + + void buildAngularJacobian(btJacobianEntry & jacAngular,const btVector3 & jointAxisW); + + // tests linear limits + void calculateLinearInfo(); + + //! calcs the euler angles between the two bodies. + void calculateAngleInfo(); + + + +public: + + ///for backwards compatibility during the transition to 'getInfo/getInfo2' + bool m_useSolveConstraintObsolete; + + btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); + btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB); + + //! Calcs global transform of the offsets + /*! + Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies. + \sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo + */ + void calculateTransforms(const btTransform& transA,const btTransform& transB); + + void calculateTransforms(); + + //! Gets the global transform of the offset for body A + /*! + \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo. + */ + const btTransform & getCalculatedTransformA() const + { + return m_calculatedTransformA; + } + + //! Gets the global transform of the offset for body B + /*! + \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo. + */ + const btTransform & getCalculatedTransformB() const + { + return m_calculatedTransformB; + } + + const btTransform & getFrameOffsetA() const + { + return m_frameInA; + } + + const btTransform & getFrameOffsetB() const + { + return m_frameInB; + } + + + btTransform & getFrameOffsetA() + { + return m_frameInA; + } + + btTransform & getFrameOffsetB() + { + return m_frameInB; + } + + + //! performs Jacobian calculation, and also calculates angle differences and axis + virtual void buildJacobian(); + + virtual void getInfo1 (btConstraintInfo1* info); + + void getInfo1NonVirtual (btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + void getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB); + + + void updateRHS(btScalar timeStep); + + //! Get the rotation axis in global coordinates + /*! + \pre btGeneric6DofConstraint.buildJacobian must be called previously. + */ + btVector3 getAxis(int axis_index) const; + + //! Get the relative Euler angle + /*! + \pre btGeneric6DofConstraint::calculateTransforms() must be called previously. + */ + btScalar getAngle(int axis_index) const; + + //! Get the relative position of the constraint pivot + /*! + \pre btGeneric6DofConstraint::calculateTransforms() must be called previously. + */ + btScalar getRelativePivotPosition(int axis_index) const; + + + //! Test angular limit. + /*! + Calculates angular correction and returns true if limit needs to be corrected. + \pre btGeneric6DofConstraint::calculateTransforms() must be called previously. + */ + bool testAngularLimitMotor(int axis_index); + + void setLinearLowerLimit(const btVector3& linearLower) + { + m_linearLimits.m_lowerLimit = linearLower; + } + + void setLinearUpperLimit(const btVector3& linearUpper) + { + m_linearLimits.m_upperLimit = linearUpper; + } + + void setAngularLowerLimit(const btVector3& angularLower) + { + for(int i = 0; i < 3; i++) + m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]); + } + + void setAngularUpperLimit(const btVector3& angularUpper) + { + for(int i = 0; i < 3; i++) + m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]); + } + + //! Retrieves the angular limit informacion + btRotationalLimitMotor * getRotationalLimitMotor(int index) + { + return &m_angularLimits[index]; + } + + //! Retrieves the limit informacion + btTranslationalLimitMotor * getTranslationalLimitMotor() + { + return &m_linearLimits; + } + + //first 3 are linear, next 3 are angular + void setLimit(int axis, btScalar lo, btScalar hi) + { + if(axis<3) + { + m_linearLimits.m_lowerLimit[axis] = lo; + m_linearLimits.m_upperLimit[axis] = hi; + } + else + { + lo = btNormalizeAngle(lo); + hi = btNormalizeAngle(hi); + m_angularLimits[axis-3].m_loLimit = lo; + m_angularLimits[axis-3].m_hiLimit = hi; + } + } + + //! Test limit + /*! + - free means upper < lower, + - locked means upper == lower + - limited means upper > lower + - limitIndex: first 3 are linear, next 3 are angular + */ + bool isLimited(int limitIndex) + { + if(limitIndex<3) + { + return m_linearLimits.isLimited(limitIndex); + + } + return m_angularLimits[limitIndex-3].isLimited(); + } + + virtual void calcAnchorPos(void); // overridable + + int get_limit_motor_info2( btRotationalLimitMotor * limot, + const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB, + btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed = false); + + // access for UseFrameOffset + bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; } + void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; } + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1); + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btGeneric6DofConstraintData +{ + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformFloatData m_rbBFrame; + + btVector3FloatData m_linearUpperLimit; + btVector3FloatData m_linearLowerLimit; + + btVector3FloatData m_angularUpperLimit; + btVector3FloatData m_angularLowerLimit; + + int m_useLinearReferenceFrameA; + int m_useOffsetForConstraintFrame; +}; + +SIMD_FORCE_INLINE int btGeneric6DofConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btGeneric6DofConstraintData); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btGeneric6DofConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + + btGeneric6DofConstraintData* dof = (btGeneric6DofConstraintData*)dataBuffer; + btTypedConstraint::serialize(&dof->m_typeConstraintData,serializer); + + m_frameInA.serializeFloat(dof->m_rbAFrame); + m_frameInB.serializeFloat(dof->m_rbBFrame); + + + int i; + for (i=0;i<3;i++) + { + dof->m_angularLowerLimit.m_floats[i] = float(m_angularLimits[i].m_loLimit); + dof->m_angularUpperLimit.m_floats[i] = float(m_angularLimits[i].m_hiLimit); + dof->m_linearLowerLimit.m_floats[i] = float(m_linearLimits.m_lowerLimit[i]); + dof->m_linearUpperLimit.m_floats[i] = float(m_linearLimits.m_upperLimit[i]); + } + + dof->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA? 1 : 0; + dof->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame ? 1 : 0; + + return "btGeneric6DofConstraintData"; +} + + + + + +#endif //GENERIC_6DOF_CONSTRAINT_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h new file mode 100644 index 0000000..3152a8d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h @@ -0,0 +1,55 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + +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. +*/ + +#ifndef GENERIC_6DOF_SPRING_CONSTRAINT_H +#define GENERIC_6DOF_SPRING_CONSTRAINT_H + + +#include "LinearMath/btVector3.h" +#include "btTypedConstraint.h" +#include "btGeneric6DofConstraint.h" + + +/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF + +/// DOF index used in enableSpring() and setStiffness() means: +/// 0 : translation X +/// 1 : translation Y +/// 2 : translation Z +/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] ) +/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] ) +/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] ) + +class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint +{ +protected: + bool m_springEnabled[6]; + btScalar m_equilibriumPoint[6]; + btScalar m_springStiffness[6]; + btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping) + void internalUpdateSprings(btConstraintInfo2* info); +public: + btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); + void enableSpring(int index, bool onOff); + void setStiffness(int index, btScalar stiffness); + void setDamping(int index, btScalar damping); + void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF + void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF + void setEquilibriumPoint(int index, btScalar val); + virtual void getInfo2 (btConstraintInfo2* info); +}; + +#endif // GENERIC_6DOF_SPRING_CONSTRAINT_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h new file mode 100644 index 0000000..15fd4a0 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h @@ -0,0 +1,58 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + +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. +*/ + +#ifndef HINGE2_CONSTRAINT_H +#define HINGE2_CONSTRAINT_H + + + +#include "LinearMath/btVector3.h" +#include "btTypedConstraint.h" +#include "btGeneric6DofSpringConstraint.h" + + + +// Constraint similar to ODE Hinge2 Joint +// has 3 degrees of frredom: +// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2) +// 1 translational (along axis Z) with suspension spring + +class btHinge2Constraint : public btGeneric6DofSpringConstraint +{ +protected: + btVector3 m_anchor; + btVector3 m_axis1; + btVector3 m_axis2; +public: + // constructor + // anchor, axis1 and axis2 are in world coordinate system + // axis1 must be orthogonal to axis2 + btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2); + // access + const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); } + const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); } + const btVector3& getAxis1() { return m_axis1; } + const btVector3& getAxis2() { return m_axis2; } + btScalar getAngle1() { return getAngle(2); } + btScalar getAngle2() { return getAngle(0); } + // limits + void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); } + void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3( 1.f, 0.f, ang1min)); } +}; + + + +#endif // HINGE2_CONSTRAINT_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h new file mode 100644 index 0000000..4680c42 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h @@ -0,0 +1,332 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */ + +#ifndef HINGECONSTRAINT_H +#define HINGECONSTRAINT_H + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + +class btRigidBody; + +#ifdef BT_USE_DOUBLE_PRECISION +#define btHingeConstraintData btHingeConstraintDoubleData +#define btHingeConstraintDataName "btHingeConstraintDoubleData" +#else +#define btHingeConstraintData btHingeConstraintFloatData +#define btHingeConstraintDataName "btHingeConstraintFloatData" +#endif //BT_USE_DOUBLE_PRECISION + + +enum btHingeFlags +{ + BT_HINGE_FLAGS_CFM_STOP = 1, + BT_HINGE_FLAGS_ERP_STOP = 2, + BT_HINGE_FLAGS_CFM_NORM = 4 +}; + + +/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space +/// axis defines the orientation of the hinge axis +ATTRIBUTE_ALIGNED16(class) btHingeConstraint : public btTypedConstraint +{ +#ifdef IN_PARALLELL_SOLVER +public: +#endif + btJacobianEntry m_jac[3]; //3 orthogonal linear constraints + btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor + + btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransform m_rbBFrame; + + btScalar m_motorTargetVelocity; + btScalar m_maxMotorImpulse; + + btScalar m_limitSoftness; + btScalar m_biasFactor; + btScalar m_relaxationFactor; + + btScalar m_lowerLimit; + btScalar m_upperLimit; + + btScalar m_kHinge; + + btScalar m_limitSign; + btScalar m_correction; + + btScalar m_accLimitImpulse; + btScalar m_hingeAngle; + btScalar m_referenceSign; + + bool m_angularOnly; + bool m_enableAngularMotor; + bool m_solveLimit; + bool m_useSolveConstraintObsolete; + bool m_useOffsetForConstraintFrame; + bool m_useReferenceFrameA; + + btScalar m_accMotorImpulse; + + int m_flags; + btScalar m_normalCFM; + btScalar m_stopCFM; + btScalar m_stopERP; + + +public: + + btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false); + + btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false); + + btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false); + + btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false); + + + virtual void buildJacobian(); + + virtual void getInfo1 (btConstraintInfo1* info); + + void getInfo1NonVirtual(btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + void getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB); + + void getInfo2Internal(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB); + void getInfo2InternalUsingFrameOffset(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB); + + + void updateRHS(btScalar timeStep); + + const btRigidBody& getRigidBodyA() const + { + return m_rbA; + } + const btRigidBody& getRigidBodyB() const + { + return m_rbB; + } + + btRigidBody& getRigidBodyA() + { + return m_rbA; + } + + btRigidBody& getRigidBodyB() + { + return m_rbB; + } + + void setAngularOnly(bool angularOnly) + { + m_angularOnly = angularOnly; + } + + void enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse) + { + m_enableAngularMotor = enableMotor; + m_motorTargetVelocity = targetVelocity; + m_maxMotorImpulse = maxMotorImpulse; + } + + // extra motor API, including ability to set a target rotation (as opposed to angular velocity) + // note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to + // maintain a given angular target. + void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; } + void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; } + void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B. + void setMotorTarget(btScalar targetAngle, btScalar dt); + + + void setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) + { + m_lowerLimit = btNormalizeAngle(low); + m_upperLimit = btNormalizeAngle(high); + + m_limitSoftness = _softness; + m_biasFactor = _biasFactor; + m_relaxationFactor = _relaxationFactor; + + } + + void setAxis(btVector3& axisInA) + { + btVector3 rbAxisA1, rbAxisA2; + btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2); + btVector3 pivotInA = m_rbAFrame.getOrigin(); +// m_rbAFrame.getOrigin() = pivotInA; + m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(), + rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(), + rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() ); + + btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA; + + btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB); + btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1); + btVector3 rbAxisB2 = axisInB.cross(rbAxisB1); + + + m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(pivotInA); + m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(), + rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(), + rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() ); + } + + btScalar getLowerLimit() const + { + return m_lowerLimit; + } + + btScalar getUpperLimit() const + { + return m_upperLimit; + } + + + btScalar getHingeAngle(); + + btScalar getHingeAngle(const btTransform& transA,const btTransform& transB); + + void testLimit(const btTransform& transA,const btTransform& transB); + + + const btTransform& getAFrame() const { return m_rbAFrame; }; + const btTransform& getBFrame() const { return m_rbBFrame; }; + + btTransform& getAFrame() { return m_rbAFrame; }; + btTransform& getBFrame() { return m_rbBFrame; }; + + inline int getSolveLimit() + { + return m_solveLimit; + } + + inline btScalar getLimitSign() + { + return m_limitSign; + } + + inline bool getAngularOnly() + { + return m_angularOnly; + } + inline bool getEnableAngularMotor() + { + return m_enableAngularMotor; + } + inline btScalar getMotorTargetVelosity() + { + return m_motorTargetVelocity; + } + inline btScalar getMaxMotorImpulse() + { + return m_maxMotorImpulse; + } + // access for UseFrameOffset + bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; } + void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; } + + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1); + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btHingeConstraintDoubleData +{ + btTypedConstraintData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformDoubleData m_rbBFrame; + int m_useReferenceFrameA; + int m_angularOnly; + int m_enableAngularMotor; + float m_motorTargetVelocity; + float m_maxMotorImpulse; + + float m_lowerLimit; + float m_upperLimit; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; + +}; +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btHingeConstraintFloatData +{ + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformFloatData m_rbBFrame; + int m_useReferenceFrameA; + int m_angularOnly; + + int m_enableAngularMotor; + float m_motorTargetVelocity; + float m_maxMotorImpulse; + + float m_lowerLimit; + float m_upperLimit; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; + +}; + + + +SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btHingeConstraintData); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer; + btTypedConstraint::serialize(&hingeData->m_typeConstraintData,serializer); + + m_rbAFrame.serialize(hingeData->m_rbAFrame); + m_rbBFrame.serialize(hingeData->m_rbBFrame); + + hingeData->m_angularOnly = m_angularOnly; + hingeData->m_enableAngularMotor = m_enableAngularMotor; + hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse); + hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity); + hingeData->m_useReferenceFrameA = m_useReferenceFrameA; + + hingeData->m_lowerLimit = float(m_lowerLimit); + hingeData->m_upperLimit = float(m_upperLimit); + hingeData->m_limitSoftness = float(m_limitSoftness); + hingeData->m_biasFactor = float(m_biasFactor); + hingeData->m_relaxationFactor = float(m_relaxationFactor); + + return btHingeConstraintDataName; +} + +#endif //HINGECONSTRAINT_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h new file mode 100644 index 0000000..22a8af6 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h @@ -0,0 +1,156 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef JACOBIAN_ENTRY_H +#define JACOBIAN_ENTRY_H + +#include "LinearMath/btVector3.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" + + +//notes: +// Another memory optimization would be to store m_1MinvJt in the remaining 3 w components +// which makes the btJacobianEntry memory layout 16 bytes +// if you only are interested in angular part, just feed massInvA and massInvB zero + +/// Jacobian entry is an abstraction that allows to describe constraints +/// it can be used in combination with a constraint solver +/// Can be used to relate the effect of an impulse to the constraint error +ATTRIBUTE_ALIGNED16(class) btJacobianEntry +{ +public: + btJacobianEntry() {}; + //constraint between two different rigidbodies + btJacobianEntry( + const btMatrix3x3& world2A, + const btMatrix3x3& world2B, + const btVector3& rel_pos1,const btVector3& rel_pos2, + const btVector3& jointAxis, + const btVector3& inertiaInvA, + const btScalar massInvA, + const btVector3& inertiaInvB, + const btScalar massInvB) + :m_linearJointAxis(jointAxis) + { + m_aJ = world2A*(rel_pos1.cross(m_linearJointAxis)); + m_bJ = world2B*(rel_pos2.cross(-m_linearJointAxis)); + m_0MinvJt = inertiaInvA * m_aJ; + m_1MinvJt = inertiaInvB * m_bJ; + m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ); + + btAssert(m_Adiag > btScalar(0.0)); + } + + //angular constraint between two different rigidbodies + btJacobianEntry(const btVector3& jointAxis, + const btMatrix3x3& world2A, + const btMatrix3x3& world2B, + const btVector3& inertiaInvA, + const btVector3& inertiaInvB) + :m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.))) + { + m_aJ= world2A*jointAxis; + m_bJ = world2B*-jointAxis; + m_0MinvJt = inertiaInvA * m_aJ; + m_1MinvJt = inertiaInvB * m_bJ; + m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ); + + btAssert(m_Adiag > btScalar(0.0)); + } + + //angular constraint between two different rigidbodies + btJacobianEntry(const btVector3& axisInA, + const btVector3& axisInB, + const btVector3& inertiaInvA, + const btVector3& inertiaInvB) + : m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.))) + , m_aJ(axisInA) + , m_bJ(-axisInB) + { + m_0MinvJt = inertiaInvA * m_aJ; + m_1MinvJt = inertiaInvB * m_bJ; + m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ); + + btAssert(m_Adiag > btScalar(0.0)); + } + + //constraint on one rigidbody + btJacobianEntry( + const btMatrix3x3& world2A, + const btVector3& rel_pos1,const btVector3& rel_pos2, + const btVector3& jointAxis, + const btVector3& inertiaInvA, + const btScalar massInvA) + :m_linearJointAxis(jointAxis) + { + m_aJ= world2A*(rel_pos1.cross(jointAxis)); + m_bJ = world2A*(rel_pos2.cross(-jointAxis)); + m_0MinvJt = inertiaInvA * m_aJ; + m_1MinvJt = btVector3(btScalar(0.),btScalar(0.),btScalar(0.)); + m_Adiag = massInvA + m_0MinvJt.dot(m_aJ); + + btAssert(m_Adiag > btScalar(0.0)); + } + + btScalar getDiagonal() const { return m_Adiag; } + + // for two constraints on the same rigidbody (for example vehicle friction) + btScalar getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA) const + { + const btJacobianEntry& jacA = *this; + btScalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis); + btScalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ); + return lin + ang; + } + + + + // for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies) + btScalar getNonDiagonal(const btJacobianEntry& jacB,const btScalar massInvA,const btScalar massInvB) const + { + const btJacobianEntry& jacA = *this; + btVector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis; + btVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ; + btVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ; + btVector3 lin0 = massInvA * lin ; + btVector3 lin1 = massInvB * lin; + btVector3 sum = ang0+ang1+lin0+lin1; + return sum[0]+sum[1]+sum[2]; + } + + btScalar getRelativeVelocity(const btVector3& linvelA,const btVector3& angvelA,const btVector3& linvelB,const btVector3& angvelB) + { + btVector3 linrel = linvelA - linvelB; + btVector3 angvela = angvelA * m_aJ; + btVector3 angvelb = angvelB * m_bJ; + linrel *= m_linearJointAxis; + angvela += angvelb; + angvela += linrel; + btScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2]; + return rel_vel2 + SIMD_EPSILON; + } +//private: + + btVector3 m_linearJointAxis; + btVector3 m_aJ; + btVector3 m_bJ; + btVector3 m_0MinvJt; + btVector3 m_1MinvJt; + //Optimization: can be stored in the w/last component of one of the vectors + btScalar m_Adiag; + +}; + +#endif //JACOBIAN_ENTRY_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h new file mode 100644 index 0000000..b589ee6 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h @@ -0,0 +1,161 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef POINT2POINTCONSTRAINT_H +#define POINT2POINTCONSTRAINT_H + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + +class btRigidBody; + + +#ifdef BT_USE_DOUBLE_PRECISION +#define btPoint2PointConstraintData btPoint2PointConstraintDoubleData +#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData" +#else +#define btPoint2PointConstraintData btPoint2PointConstraintFloatData +#define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData" +#endif //BT_USE_DOUBLE_PRECISION + +struct btConstraintSetting +{ + btConstraintSetting() : + m_tau(btScalar(0.3)), + m_damping(btScalar(1.)), + m_impulseClamp(btScalar(0.)) + { + } + btScalar m_tau; + btScalar m_damping; + btScalar m_impulseClamp; +}; + +enum btPoint2PointFlags +{ + BT_P2P_FLAGS_ERP = 1, + BT_P2P_FLAGS_CFM = 2 +}; + +/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space +ATTRIBUTE_ALIGNED16(class) btPoint2PointConstraint : public btTypedConstraint +{ +#ifdef IN_PARALLELL_SOLVER +public: +#endif + btJacobianEntry m_jac[3]; //3 orthogonal linear constraints + + btVector3 m_pivotInA; + btVector3 m_pivotInB; + + int m_flags; + btScalar m_erp; + btScalar m_cfm; + +public: + + ///for backwards compatibility during the transition to 'getInfo/getInfo2' + bool m_useSolveConstraintObsolete; + + btConstraintSetting m_setting; + + btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB); + + btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA); + + + virtual void buildJacobian(); + + virtual void getInfo1 (btConstraintInfo1* info); + + void getInfo1NonVirtual (btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans); + + void updateRHS(btScalar timeStep); + + void setPivotA(const btVector3& pivotA) + { + m_pivotInA = pivotA; + } + + void setPivotB(const btVector3& pivotB) + { + m_pivotInB = pivotB; + } + + const btVector3& getPivotInA() const + { + return m_pivotInA; + } + + const btVector3& getPivotInB() const + { + return m_pivotInB; + } + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1); + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btPoint2PointConstraintFloatData +{ + btTypedConstraintData m_typeConstraintData; + btVector3FloatData m_pivotInA; + btVector3FloatData m_pivotInB; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btPoint2PointConstraintDoubleData +{ + btTypedConstraintData m_typeConstraintData; + btVector3DoubleData m_pivotInA; + btVector3DoubleData m_pivotInB; +}; + + +SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btPoint2PointConstraintData); + +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer; + + btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer); + m_pivotInA.serialize(p2pData->m_pivotInA); + m_pivotInB.serialize(p2pData->m_pivotInB); + + return btPoint2PointConstraintDataName; +} + +#endif //POINT2POINTCONSTRAINT_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h new file mode 100644 index 0000000..f268ec9 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -0,0 +1,128 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H +#define SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H + +#include "btConstraintSolver.h" +class btIDebugDraw; +#include "btContactConstraint.h" +#include "btSolverBody.h" +#include "btSolverConstraint.h" +#include "btTypedConstraint.h" +#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" + +///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. +class btSequentialImpulseConstraintSolver : public btConstraintSolver +{ +protected: + + btConstraintArray m_tmpSolverContactConstraintPool; + btConstraintArray m_tmpSolverNonContactConstraintPool; + btConstraintArray m_tmpSolverContactFrictionConstraintPool; + btAlignedObjectArray m_orderTmpConstraintPool; + btAlignedObjectArray m_orderFrictionConstraintPool; + btAlignedObjectArray m_tmpConstraintSizesPool; + + void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyIdB, + btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, + btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, + btScalar desiredVelocity=0., btScalar cfmSlip=0.); + + btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.); + + void setupContactConstraint(btSolverConstraint& solverConstraint, btCollisionObject* colObj0, btCollisionObject* colObj1, btManifoldPoint& cp, + const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation, + btVector3& rel_pos1, btVector3& rel_pos2); + + void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, btRigidBody* rb0, btRigidBody* rb1, + btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); + + ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction + unsigned long m_btSeed2; + +// void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject); + btScalar restitutionCurve(btScalar rel_vel, btScalar restitution); + + void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal); + + + void resolveSplitPenetrationSIMD( + btRigidBody& body1, + btRigidBody& body2, + const btSolverConstraint& contactConstraint); + + void resolveSplitPenetrationImpulseCacheFriendly( + btRigidBody& body1, + btRigidBody& body2, + const btSolverConstraint& contactConstraint); + + //internal method + int getOrInitSolverBody(btCollisionObject& body); + + void resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint); + + void resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint); + + void resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint); + + void resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint); + +protected: + static btRigidBody& getFixedBody(); + + virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); + virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); + btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); + + virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); + virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); + + +public: + + + btSequentialImpulseConstraintSolver(); + virtual ~btSequentialImpulseConstraintSolver(); + + virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher); + + + + ///clear internal cached data and reset random seed + virtual void reset(); + + unsigned long btRand2(); + + int btRandInt2 (int n); + + void setRandSeed(unsigned long seed) + { + m_btSeed2 = seed; + } + unsigned long getRandSeed() const + { + return m_btSeed2; + } + +}; + +#ifndef BT_PREFER_SIMD +typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverPrefered; +#endif + + +#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h new file mode 100644 index 0000000..7d2a502 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h @@ -0,0 +1,321 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +/* +Added by Roman Ponomarev (rponom@gmail.com) +April 04, 2008 + +TODO: + - add clamping od accumulated impulse to improve stability + - add conversion for ODE constraint solver +*/ + +#ifndef SLIDER_CONSTRAINT_H +#define SLIDER_CONSTRAINT_H + + + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + + + +class btRigidBody; + + + +#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0)) +#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0)) +#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7)) +#define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f)) + + +enum btSliderFlags +{ + BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0), + BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1), + BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2), + BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3), + BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4), + BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5), + BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6), + BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7), + BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8), + BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9), + BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10), + BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11) +}; + + +class btSliderConstraint : public btTypedConstraint +{ +protected: + ///for backwards compatibility during the transition to 'getInfo/getInfo2' + bool m_useSolveConstraintObsolete; + bool m_useOffsetForConstraintFrame; + btTransform m_frameInA; + btTransform m_frameInB; + // use frameA fo define limits, if true + bool m_useLinearReferenceFrameA; + // linear limits + btScalar m_lowerLinLimit; + btScalar m_upperLinLimit; + // angular limits + btScalar m_lowerAngLimit; + btScalar m_upperAngLimit; + // softness, restitution and damping for different cases + // DirLin - moving inside linear limits + // LimLin - hitting linear limit + // DirAng - moving inside angular limits + // LimAng - hitting angular limit + // OrthoLin, OrthoAng - against constraint axis + btScalar m_softnessDirLin; + btScalar m_restitutionDirLin; + btScalar m_dampingDirLin; + btScalar m_cfmDirLin; + + btScalar m_softnessDirAng; + btScalar m_restitutionDirAng; + btScalar m_dampingDirAng; + btScalar m_cfmDirAng; + + btScalar m_softnessLimLin; + btScalar m_restitutionLimLin; + btScalar m_dampingLimLin; + btScalar m_cfmLimLin; + + btScalar m_softnessLimAng; + btScalar m_restitutionLimAng; + btScalar m_dampingLimAng; + btScalar m_cfmLimAng; + + btScalar m_softnessOrthoLin; + btScalar m_restitutionOrthoLin; + btScalar m_dampingOrthoLin; + btScalar m_cfmOrthoLin; + + btScalar m_softnessOrthoAng; + btScalar m_restitutionOrthoAng; + btScalar m_dampingOrthoAng; + btScalar m_cfmOrthoAng; + + // for interlal use + bool m_solveLinLim; + bool m_solveAngLim; + + int m_flags; + + btJacobianEntry m_jacLin[3]; + btScalar m_jacLinDiagABInv[3]; + + btJacobianEntry m_jacAng[3]; + + btScalar m_timeStep; + btTransform m_calculatedTransformA; + btTransform m_calculatedTransformB; + + btVector3 m_sliderAxis; + btVector3 m_realPivotAInW; + btVector3 m_realPivotBInW; + btVector3 m_projPivotInW; + btVector3 m_delta; + btVector3 m_depth; + btVector3 m_relPosA; + btVector3 m_relPosB; + + btScalar m_linPos; + btScalar m_angPos; + + btScalar m_angDepth; + btScalar m_kAngle; + + bool m_poweredLinMotor; + btScalar m_targetLinMotorVelocity; + btScalar m_maxLinMotorForce; + btScalar m_accumulatedLinMotorImpulse; + + bool m_poweredAngMotor; + btScalar m_targetAngMotorVelocity; + btScalar m_maxAngMotorForce; + btScalar m_accumulatedAngMotorImpulse; + + //------------------------ + void initParams(); +public: + // constructors + btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); + btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA); + + // overrides + + virtual void getInfo1 (btConstraintInfo1* info); + + void getInfo1NonVirtual(btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass); + + + // access + const btRigidBody& getRigidBodyA() const { return m_rbA; } + const btRigidBody& getRigidBodyB() const { return m_rbB; } + const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; } + const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; } + const btTransform & getFrameOffsetA() const { return m_frameInA; } + const btTransform & getFrameOffsetB() const { return m_frameInB; } + btTransform & getFrameOffsetA() { return m_frameInA; } + btTransform & getFrameOffsetB() { return m_frameInB; } + btScalar getLowerLinLimit() { return m_lowerLinLimit; } + void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; } + btScalar getUpperLinLimit() { return m_upperLinLimit; } + void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; } + btScalar getLowerAngLimit() { return m_lowerAngLimit; } + void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); } + btScalar getUpperAngLimit() { return m_upperAngLimit; } + void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); } + bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; } + btScalar getSoftnessDirLin() { return m_softnessDirLin; } + btScalar getRestitutionDirLin() { return m_restitutionDirLin; } + btScalar getDampingDirLin() { return m_dampingDirLin ; } + btScalar getSoftnessDirAng() { return m_softnessDirAng; } + btScalar getRestitutionDirAng() { return m_restitutionDirAng; } + btScalar getDampingDirAng() { return m_dampingDirAng; } + btScalar getSoftnessLimLin() { return m_softnessLimLin; } + btScalar getRestitutionLimLin() { return m_restitutionLimLin; } + btScalar getDampingLimLin() { return m_dampingLimLin; } + btScalar getSoftnessLimAng() { return m_softnessLimAng; } + btScalar getRestitutionLimAng() { return m_restitutionLimAng; } + btScalar getDampingLimAng() { return m_dampingLimAng; } + btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; } + btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; } + btScalar getDampingOrthoLin() { return m_dampingOrthoLin; } + btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; } + btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; } + btScalar getDampingOrthoAng() { return m_dampingOrthoAng; } + void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; } + void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; } + void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; } + void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; } + void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; } + void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; } + void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; } + void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; } + void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; } + void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; } + void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; } + void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; } + void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; } + void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; } + void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; } + void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; } + void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; } + void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; } + void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; } + bool getPoweredLinMotor() { return m_poweredLinMotor; } + void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; } + btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; } + void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; } + btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; } + void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; } + bool getPoweredAngMotor() { return m_poweredAngMotor; } + void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; } + btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; } + void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; } + btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; } + btScalar getLinearPos() { return m_linPos; } + + + // access for ODE solver + bool getSolveLinLimit() { return m_solveLinLim; } + btScalar getLinDepth() { return m_depth[0]; } + bool getSolveAngLimit() { return m_solveAngLim; } + btScalar getAngDepth() { return m_angDepth; } + // shared code used by ODE solver + void calculateTransforms(const btTransform& transA,const btTransform& transB); + void testLinLimits(); + void testAngLimits(); + // access for PE Solver + btVector3 getAncorInA(); + btVector3 getAncorInB(); + // access for UseFrameOffset + bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; } + void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; } + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1); + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btSliderConstraintData +{ + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformFloatData m_rbBFrame; + + float m_linearUpperLimit; + float m_linearLowerLimit; + + float m_angularUpperLimit; + float m_angularLowerLimit; + + int m_useLinearReferenceFrameA; + int m_useOffsetForConstraintFrame; + +}; + + +SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btSliderConstraintData); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + + btSliderConstraintData* sliderData = (btSliderConstraintData*) dataBuffer; + btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer); + + m_frameInA.serializeFloat(sliderData->m_rbAFrame); + m_frameInB.serializeFloat(sliderData->m_rbBFrame); + + sliderData->m_linearUpperLimit = float(m_upperLinLimit); + sliderData->m_linearLowerLimit = float(m_lowerLinLimit); + + sliderData->m_angularUpperLimit = float(m_upperAngLimit); + sliderData->m_angularLowerLimit = float(m_lowerAngLimit); + + sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA; + sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame; + + return "btSliderConstraintData"; +} + + + +#endif //SLIDER_CONSTRAINT_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h new file mode 100644 index 0000000..057d3fa --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h @@ -0,0 +1,107 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SOLVE_2LINEAR_CONSTRAINT_H +#define SOLVE_2LINEAR_CONSTRAINT_H + +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btVector3.h" + + +class btRigidBody; + + + +/// constraint class used for lateral tyre friction. +class btSolve2LinearConstraint +{ + btScalar m_tau; + btScalar m_damping; + +public: + + btSolve2LinearConstraint(btScalar tau,btScalar damping) + { + m_tau = tau; + m_damping = damping; + } + // + // solve unilateral constraint (equality, direct method) + // + void resolveUnilateralPairConstraint( + btRigidBody* body0, + btRigidBody* body1, + + const btMatrix3x3& world2A, + const btMatrix3x3& world2B, + + const btVector3& invInertiaADiag, + const btScalar invMassA, + const btVector3& linvelA,const btVector3& angvelA, + const btVector3& rel_posA1, + const btVector3& invInertiaBDiag, + const btScalar invMassB, + const btVector3& linvelB,const btVector3& angvelB, + const btVector3& rel_posA2, + + btScalar depthA, const btVector3& normalA, + const btVector3& rel_posB1,const btVector3& rel_posB2, + btScalar depthB, const btVector3& normalB, + btScalar& imp0,btScalar& imp1); + + + // + // solving 2x2 lcp problem (inequality, direct solution ) + // + void resolveBilateralPairConstraint( + btRigidBody* body0, + btRigidBody* body1, + const btMatrix3x3& world2A, + const btMatrix3x3& world2B, + + const btVector3& invInertiaADiag, + const btScalar invMassA, + const btVector3& linvelA,const btVector3& angvelA, + const btVector3& rel_posA1, + const btVector3& invInertiaBDiag, + const btScalar invMassB, + const btVector3& linvelB,const btVector3& angvelB, + const btVector3& rel_posA2, + + btScalar depthA, const btVector3& normalA, + const btVector3& rel_posB1,const btVector3& rel_posB2, + btScalar depthB, const btVector3& normalB, + btScalar& imp0,btScalar& imp1); + +/* + void resolveAngularConstraint( const btMatrix3x3& invInertiaAWS, + const btScalar invMassA, + const btVector3& linvelA,const btVector3& angvelA, + const btVector3& rel_posA1, + const btMatrix3x3& invInertiaBWS, + const btScalar invMassB, + const btVector3& linvelB,const btVector3& angvelB, + const btVector3& rel_posA2, + + btScalar depthA, const btVector3& normalA, + const btVector3& rel_posB1,const btVector3& rel_posB2, + btScalar depthB, const btVector3& normalB, + btScalar& imp0,btScalar& imp1); + +*/ + +}; + +#endif //SOLVE_2LINEAR_CONSTRAINT_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h new file mode 100644 index 0000000..8de5158 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h @@ -0,0 +1,191 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOLVER_BODY_H +#define BT_SOLVER_BODY_H + +class btRigidBody; +#include "LinearMath/btVector3.h" +#include "LinearMath/btMatrix3x3.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btAlignedAllocator.h" +#include "LinearMath/btTransformUtil.h" + +///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision +#ifdef BT_USE_SSE +#define USE_SIMD 1 +#endif // + + +#ifdef USE_SIMD + +struct btSimdScalar +{ + SIMD_FORCE_INLINE btSimdScalar() + { + + } + + SIMD_FORCE_INLINE btSimdScalar(float fl) + :m_vec128 (_mm_set1_ps(fl)) + { + } + + SIMD_FORCE_INLINE btSimdScalar(__m128 v128) + :m_vec128(v128) + { + } + union + { + __m128 m_vec128; + float m_floats[4]; + int m_ints[4]; + btScalar m_unusedPadding; + }; + SIMD_FORCE_INLINE __m128 get128() + { + return m_vec128; + } + + SIMD_FORCE_INLINE const __m128 get128() const + { + return m_vec128; + } + + SIMD_FORCE_INLINE void set128(__m128 v128) + { + m_vec128 = v128; + } + + SIMD_FORCE_INLINE operator __m128() + { + return m_vec128; + } + SIMD_FORCE_INLINE operator const __m128() const + { + return m_vec128; + } + + SIMD_FORCE_INLINE operator float() const + { + return m_floats[0]; + } + +}; + +///@brief Return the elementwise product of two btSimdScalar +SIMD_FORCE_INLINE btSimdScalar +operator*(const btSimdScalar& v1, const btSimdScalar& v2) +{ + return btSimdScalar(_mm_mul_ps(v1.get128(),v2.get128())); +} + +///@brief Return the elementwise product of two btSimdScalar +SIMD_FORCE_INLINE btSimdScalar +operator+(const btSimdScalar& v1, const btSimdScalar& v2) +{ + return btSimdScalar(_mm_add_ps(v1.get128(),v2.get128())); +} + + +#else +#define btSimdScalar btScalar +#endif + +///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance. +ATTRIBUTE_ALIGNED64 (struct) btSolverBodyObsolete +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + btVector3 m_deltaLinearVelocity; + btVector3 m_deltaAngularVelocity; + btVector3 m_angularFactor; + btVector3 m_invMass; + btRigidBody* m_originalBody; + btVector3 m_pushVelocity; + btVector3 m_turnVelocity; + + + SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const + { + if (m_originalBody) + velocity = m_originalBody->getLinearVelocity()+m_deltaLinearVelocity + (m_originalBody->getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos); + else + velocity.setValue(0,0,0); + } + + SIMD_FORCE_INLINE void getAngularVelocity(btVector3& angVel) const + { + if (m_originalBody) + angVel = m_originalBody->getAngularVelocity()+m_deltaAngularVelocity; + else + angVel.setValue(0,0,0); + } + + + //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position + SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude) + { + //if (m_invMass) + { + m_deltaLinearVelocity += linearComponent*impulseMagnitude; + m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor); + } + } + + SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) + { + if (m_originalBody) + { + m_pushVelocity += linearComponent*impulseMagnitude; + m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor); + } + } + + void writebackVelocity() + { + if (m_originalBody) + { + m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity); + m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity); + + //m_originalBody->setCompanionId(-1); + } + } + + + void writebackVelocity(btScalar timeStep) + { + (void) timeStep; + if (m_originalBody) + { + m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity); + m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity); + + //correct the position/orientation based on push/turn recovery + btTransform newTransform; + btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform); + m_originalBody->setWorldTransform(newTransform); + + //m_originalBody->setCompanionId(-1); + } + } + + + +}; + +#endif //BT_SOLVER_BODY_H + + diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h new file mode 100644 index 0000000..79e45a4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h @@ -0,0 +1,96 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOLVER_CONSTRAINT_H +#define BT_SOLVER_CONSTRAINT_H + +class btRigidBody; +#include "LinearMath/btVector3.h" +#include "LinearMath/btMatrix3x3.h" +#include "btJacobianEntry.h" + +//#define NO_FRICTION_TANGENTIALS 1 +#include "btSolverBody.h" + + +///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. +ATTRIBUTE_ALIGNED64 (struct) btSolverConstraint +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btVector3 m_relpos1CrossNormal; + btVector3 m_contactNormal; + + btVector3 m_relpos2CrossNormal; + //btVector3 m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal + + btVector3 m_angularComponentA; + btVector3 m_angularComponentB; + + mutable btSimdScalar m_appliedPushImpulse; + mutable btSimdScalar m_appliedImpulse; + + + btScalar m_friction; + btScalar m_jacDiagABInv; + union + { + int m_numConsecutiveRowsPerKernel; + btScalar m_unusedPadding0; + }; + + union + { + int m_frictionIndex; + btScalar m_unusedPadding1; + }; + union + { + btRigidBody* m_solverBodyA; + int m_companionIdA; + }; + union + { + btRigidBody* m_solverBodyB; + int m_companionIdB; + }; + + union + { + void* m_originalContactPoint; + btScalar m_unusedPadding4; + }; + + btScalar m_rhs; + btScalar m_cfm; + btScalar m_lowerLimit; + btScalar m_upperLimit; + + btScalar m_rhsPenetration; + + enum btSolverConstraintType + { + BT_SOLVER_CONTACT_1D = 0, + BT_SOLVER_FRICTION_1D + }; +}; + +typedef btAlignedObjectArray btConstraintArray; + + +#endif //BT_SOLVER_CONSTRAINT_H + + + diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h new file mode 100644 index 0000000..8f2d582 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h @@ -0,0 +1,315 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2010 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef TYPED_CONSTRAINT_H +#define TYPED_CONSTRAINT_H + +class btRigidBody; +#include "LinearMath/btScalar.h" +#include "btSolverConstraint.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" + +class btSerializer; + +enum btTypedConstraintType +{ + POINT2POINT_CONSTRAINT_TYPE=MAX_CONTACT_MANIFOLD_TYPE+1, + HINGE_CONSTRAINT_TYPE, + CONETWIST_CONSTRAINT_TYPE, + D6_CONSTRAINT_TYPE, + SLIDER_CONSTRAINT_TYPE, + CONTACT_CONSTRAINT_TYPE +}; + + +enum btConstraintParams +{ + BT_CONSTRAINT_ERP=1, + BT_CONSTRAINT_STOP_ERP, + BT_CONSTRAINT_CFM, + BT_CONSTRAINT_STOP_CFM +}; + +#if 1 + #define btAssertConstrParams(_par) btAssert(_par) +#else + #define btAssertConstrParams(_par) +#endif + + +///TypedConstraint is the baseclass for Bullet constraints and vehicles +class btTypedConstraint : public btTypedObject +{ + int m_userConstraintType; + + union + { + int m_userConstraintId; + void* m_userConstraintPtr; + }; + + bool m_needsFeedback; + + btTypedConstraint& operator=(btTypedConstraint& other) + { + btAssert(0); + (void) other; + return *this; + } + +protected: + btRigidBody& m_rbA; + btRigidBody& m_rbB; + btScalar m_appliedImpulse; + btScalar m_dbgDrawSize; + + ///internal method used by the constraint solver, don't use them directly + btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact); + + static btRigidBody& getFixedBody(); + +public: + + virtual ~btTypedConstraint() {}; + btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA); + btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB); + + struct btConstraintInfo1 { + int m_numConstraintRows,nub; + }; + + struct btConstraintInfo2 { + // integrator parameters: frames per second (1/stepsize), default error + // reduction parameter (0..1). + btScalar fps,erp; + + // for the first and second body, pointers to two (linear and angular) + // n*3 jacobian sub matrices, stored by rows. these matrices will have + // been initialized to 0 on entry. if the second body is zero then the + // J2xx pointers may be 0. + btScalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis; + + // elements to jump from one row to the next in J's + int rowskip; + + // right hand sides of the equation J*v = c + cfm * lambda. cfm is the + // "constraint force mixing" vector. c is set to zero on entry, cfm is + // set to a constant value (typically very small or zero) value on entry. + btScalar *m_constraintError,*cfm; + + // lo and hi limits for variables (set to -/+ infinity on entry). + btScalar *m_lowerLimit,*m_upperLimit; + + // findex vector for variables. see the LCP solver interface for a + // description of what this does. this is set to -1 on entry. + // note that the returned indexes are relative to the first index of + // the constraint. + int *findex; + // number of solver iterations + int m_numIterations; + + //damping of the velocity + btScalar m_damping; + }; + + ///internal method used by the constraint solver, don't use them directly + virtual void buildJacobian() {}; + + ///internal method used by the constraint solver, don't use them directly + virtual void setupSolverConstraint(btConstraintArray& ca, int solverBodyA,int solverBodyB, btScalar timeStep) + { + (void)ca; + (void)solverBodyA; + (void)solverBodyB; + (void)timeStep; + } + + ///internal method used by the constraint solver, don't use them directly + virtual void getInfo1 (btConstraintInfo1* info)=0; + + ///internal method used by the constraint solver, don't use them directly + virtual void getInfo2 (btConstraintInfo2* info)=0; + + ///internal method used by the constraint solver, don't use them directly + void internalSetAppliedImpulse(btScalar appliedImpulse) + { + m_appliedImpulse = appliedImpulse; + } + ///internal method used by the constraint solver, don't use them directly + btScalar internalGetAppliedImpulse() + { + return m_appliedImpulse; + } + + ///internal method used by the constraint solver, don't use them directly + virtual void solveConstraintObsolete(btRigidBody& /*bodyA*/,btRigidBody& /*bodyB*/,btScalar /*timeStep*/) {}; + + + const btRigidBody& getRigidBodyA() const + { + return m_rbA; + } + const btRigidBody& getRigidBodyB() const + { + return m_rbB; + } + + btRigidBody& getRigidBodyA() + { + return m_rbA; + } + btRigidBody& getRigidBodyB() + { + return m_rbB; + } + + int getUserConstraintType() const + { + return m_userConstraintType ; + } + + void setUserConstraintType(int userConstraintType) + { + m_userConstraintType = userConstraintType; + }; + + void setUserConstraintId(int uid) + { + m_userConstraintId = uid; + } + + int getUserConstraintId() const + { + return m_userConstraintId; + } + + void setUserConstraintPtr(void* ptr) + { + m_userConstraintPtr = ptr; + } + + void* getUserConstraintPtr() + { + return m_userConstraintPtr; + } + + int getUid() const + { + return m_userConstraintId; + } + + bool needsFeedback() const + { + return m_needsFeedback; + } + + ///enableFeedback will allow to read the applied linear and angular impulse + ///use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information + void enableFeedback(bool needsFeedback) + { + m_needsFeedback = needsFeedback; + } + + ///getAppliedImpulse is an estimated total applied impulse. + ///This feedback could be used to determine breaking constraints or playing sounds. + btScalar getAppliedImpulse() const + { + btAssert(m_needsFeedback); + return m_appliedImpulse; + } + + btTypedConstraintType getConstraintType () const + { + return btTypedConstraintType(m_objectType); + } + + void setDbgDrawSize(btScalar dbgDrawSize) + { + m_dbgDrawSize = dbgDrawSize; + } + btScalar getDbgDrawSize() + { + return m_dbgDrawSize; + } + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1) = 0; + + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const = 0; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + +}; + +// returns angle in range [-SIMD_2_PI, SIMD_2_PI], closest to one of the limits +// all arguments should be normalized angles (i.e. in range [-SIMD_PI, SIMD_PI]) +SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScalar angleLowerLimitInRadians, btScalar angleUpperLimitInRadians) +{ + if(angleLowerLimitInRadians >= angleUpperLimitInRadians) + { + return angleInRadians; + } + else if(angleInRadians < angleLowerLimitInRadians) + { + btScalar diffLo = btFabs(btNormalizeAngle(angleLowerLimitInRadians - angleInRadians)); + btScalar diffHi = btFabs(btNormalizeAngle(angleUpperLimitInRadians - angleInRadians)); + return (diffLo < diffHi) ? angleInRadians : (angleInRadians + SIMD_2_PI); + } + else if(angleInRadians > angleUpperLimitInRadians) + { + btScalar diffHi = btFabs(btNormalizeAngle(angleInRadians - angleUpperLimitInRadians)); + btScalar diffLo = btFabs(btNormalizeAngle(angleInRadians - angleLowerLimitInRadians)); + return (diffLo < diffHi) ? (angleInRadians - SIMD_2_PI) : angleInRadians; + } + else + { + return angleInRadians; + } +} + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btTypedConstraintData +{ + btRigidBodyData *m_rbA; + btRigidBodyData *m_rbB; + char *m_name; + + int m_objectType; + int m_userConstraintType; + int m_userConstraintId; + int m_needsFeedback; + + float m_appliedImpulse; + float m_dbgDrawSize; + + int m_disableCollisionsBetweenLinkedBodies; + char m_pad4[4]; + +}; + +SIMD_FORCE_INLINE int btTypedConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btTypedConstraintData); +} + + + + +#endif //TYPED_CONSTRAINT_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h new file mode 100644 index 0000000..4e64a7d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h @@ -0,0 +1,60 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + +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. +*/ + +#ifndef UNIVERSAL_CONSTRAINT_H +#define UNIVERSAL_CONSTRAINT_H + + + +#include "LinearMath/btVector3.h" +#include "btTypedConstraint.h" +#include "btGeneric6DofConstraint.h" + + + +/// Constraint similar to ODE Universal Joint +/// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1) +/// and Y (axis 2) +/// Description from ODE manual : +/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. +/// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal." + +class btUniversalConstraint : public btGeneric6DofConstraint +{ +protected: + btVector3 m_anchor; + btVector3 m_axis1; + btVector3 m_axis2; +public: + // constructor + // anchor, axis1 and axis2 are in world coordinate system + // axis1 must be orthogonal to axis2 + btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2); + // access + const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); } + const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); } + const btVector3& getAxis1() { return m_axis1; } + const btVector3& getAxis2() { return m_axis2; } + btScalar getAngle1() { return getAngle(2); } + btScalar getAngle2() { return getAngle(1); } + // limits + void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); } + void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); } +}; + + + +#endif // UNIVERSAL_CONSTRAINT_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btActionInterface.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btActionInterface.h new file mode 100644 index 0000000..e1fea3a --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btActionInterface.h @@ -0,0 +1,46 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef _BT_ACTION_INTERFACE_H +#define _BT_ACTION_INTERFACE_H + +class btIDebugDraw; +class btCollisionWorld; + +#include "LinearMath/btScalar.h" +#include "btRigidBody.h" + +///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld +class btActionInterface +{ +protected: + + static btRigidBody& getFixedBody(); + + +public: + + virtual ~btActionInterface() + { + } + + virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTimeStep)=0; + + virtual void debugDraw(btIDebugDraw* debugDrawer) = 0; + +}; + +#endif //_BT_ACTION_INTERFACE_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp new file mode 100644 index 0000000..23501c4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp @@ -0,0 +1,196 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btContinuousDynamicsWorld.h" +#include "LinearMath/btQuickprof.h" + +//collision detection +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" + +//rigidbody & constraints +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" +#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" + + + +#include + +btContinuousDynamicsWorld::btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration) +:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration) +{ +} + +btContinuousDynamicsWorld::~btContinuousDynamicsWorld() +{ +} + + +void btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep) +{ + + startProfiling(timeStep); + + if(0 != m_internalPreTickCallback) { + (*m_internalPreTickCallback)(this, timeStep); + } + + + ///update aabbs information + updateAabbs(); + //static int frame=0; +// printf("frame %d\n",frame++); + + ///apply gravity, predict motion + predictUnconstraintMotion(timeStep); + + btDispatcherInfo& dispatchInfo = getDispatchInfo(); + + dispatchInfo.m_timeStep = timeStep; + dispatchInfo.m_stepCount = 0; + dispatchInfo.m_debugDraw = getDebugDrawer(); + + ///perform collision detection + performDiscreteCollisionDetection(); + + calculateSimulationIslands(); + + + getSolverInfo().m_timeStep = timeStep; + + + + ///solve contact and other joint constraints + solveConstraints(getSolverInfo()); + + ///CallbackTriggers(); + calculateTimeOfImpacts(timeStep); + + btScalar toi = dispatchInfo.m_timeOfImpact; +// if (toi < 1.f) +// printf("toi = %f\n",toi); + if (toi < 0.f) + printf("toi = %f\n",toi); + + + ///integrate transforms + integrateTransforms(timeStep * toi); + + ///update vehicle simulation + updateActions(timeStep); + + updateActivationState( timeStep ); + + if(0 != m_internalTickCallback) { + (*m_internalTickCallback)(this, timeStep); + } +} + +void btContinuousDynamicsWorld::calculateTimeOfImpacts(btScalar timeStep) +{ + ///these should be 'temporal' aabbs! + updateTemporalAabbs(timeStep); + + ///'toi' is the global smallest time of impact. However, we just calculate the time of impact for each object individually. + ///so we handle the case moving versus static properly, and we cheat for moving versus moving + btScalar toi = 1.f; + + + btDispatcherInfo& dispatchInfo = getDispatchInfo(); + dispatchInfo.m_timeStep = timeStep; + dispatchInfo.m_timeOfImpact = 1.f; + dispatchInfo.m_stepCount = 0; + dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_CONTINUOUS; + + ///calculate time of impact for overlapping pairs + + + btDispatcher* dispatcher = getDispatcher(); + if (dispatcher) + dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1); + + toi = dispatchInfo.m_timeOfImpact; + + dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_DISCRETE; + +} + +void btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep) +{ + + btVector3 temporalAabbMin,temporalAabbMax; + + for ( int i=0;igetCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),temporalAabbMin,temporalAabbMax); + const btVector3& linvel = body->getLinearVelocity(); + + //make the AABB temporal + btScalar temporalAabbMaxx = temporalAabbMax.getX(); + btScalar temporalAabbMaxy = temporalAabbMax.getY(); + btScalar temporalAabbMaxz = temporalAabbMax.getZ(); + btScalar temporalAabbMinx = temporalAabbMin.getX(); + btScalar temporalAabbMiny = temporalAabbMin.getY(); + btScalar temporalAabbMinz = temporalAabbMin.getZ(); + + // add linear motion + btVector3 linMotion = linvel*timeStep; + + if (linMotion.x() > 0.f) + temporalAabbMaxx += linMotion.x(); + else + temporalAabbMinx += linMotion.x(); + if (linMotion.y() > 0.f) + temporalAabbMaxy += linMotion.y(); + else + temporalAabbMiny += linMotion.y(); + if (linMotion.z() > 0.f) + temporalAabbMaxz += linMotion.z(); + else + temporalAabbMinz += linMotion.z(); + + //add conservative angular motion + btScalar angularMotion(0);// = angvel.length() * GetAngularMotionDisc() * timeStep; + btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion); + temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz); + temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz); + + temporalAabbMin -= angularMotion3d; + temporalAabbMax += angularMotion3d; + + m_broadphasePairCache->setAabb(body->getBroadphaseHandle(),temporalAabbMin,temporalAabbMax,m_dispatcher1); + } + } + + //update aabb (of all moved objects) + + m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1); + + + +} + + + diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h new file mode 100644 index 0000000..61c8dea --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h @@ -0,0 +1,46 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_CONTINUOUS_DYNAMICS_WORLD_H +#define BT_CONTINUOUS_DYNAMICS_WORLD_H + +#include "btDiscreteDynamicsWorld.h" + +///btContinuousDynamicsWorld adds optional (per object) continuous collision detection for fast moving objects to the btDiscreteDynamicsWorld. +///This copes with fast moving objects that otherwise would tunnel/miss collisions. +///Under construction, don't use yet! Please use btDiscreteDynamicsWorld instead. +class btContinuousDynamicsWorld : public btDiscreteDynamicsWorld +{ + + void updateTemporalAabbs(btScalar timeStep); + + public: + + btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); + virtual ~btContinuousDynamicsWorld(); + + ///time stepping with calculation of time of impact for selected fast moving objects + virtual void internalSingleStepSimulation( btScalar timeStep); + + virtual void calculateTimeOfImpacts(btScalar timeStep); + + virtual btDynamicsWorldType getWorldType() const + { + return BT_CONTINUOUS_DYNAMICS_WORLD; + } + +}; + +#endif //BT_CONTINUOUS_DYNAMICS_WORLD_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h new file mode 100644 index 0000000..df47c29 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -0,0 +1,198 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + + +#ifndef BT_DISCRETE_DYNAMICS_WORLD_H +#define BT_DISCRETE_DYNAMICS_WORLD_H + +#include "btDynamicsWorld.h" + +class btDispatcher; +class btOverlappingPairCache; +class btConstraintSolver; +class btSimulationIslandManager; +class btTypedConstraint; +class btActionInterface; + +class btIDebugDraw; +#include "LinearMath/btAlignedObjectArray.h" + + +///btDiscreteDynamicsWorld provides discrete rigid body simulation +///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController +class btDiscreteDynamicsWorld : public btDynamicsWorld +{ +protected: + + btConstraintSolver* m_constraintSolver; + + btSimulationIslandManager* m_islandManager; + + btAlignedObjectArray m_constraints; + + btAlignedObjectArray m_nonStaticRigidBodies; + + btVector3 m_gravity; + + //for variable timesteps + btScalar m_localTime; + //for variable timesteps + + bool m_ownsIslandManager; + bool m_ownsConstraintSolver; + bool m_synchronizeAllMotionStates; + + btAlignedObjectArray m_actions; + + int m_profileTimings; + + virtual void predictUnconstraintMotion(btScalar timeStep); + + virtual void integrateTransforms(btScalar timeStep); + + virtual void calculateSimulationIslands(); + + virtual void solveConstraints(btContactSolverInfo& solverInfo); + + void updateActivationState(btScalar timeStep); + + void updateActions(btScalar timeStep); + + void startProfiling(btScalar timeStep); + + virtual void internalSingleStepSimulation( btScalar timeStep); + + + virtual void saveKinematicState(btScalar timeStep); + + void serializeRigidBodies(btSerializer* serializer); + +public: + + + ///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those + btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); + + virtual ~btDiscreteDynamicsWorld(); + + ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's + virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.)); + + + virtual void synchronizeMotionStates(); + + ///this can be useful to synchronize a single rigid body -> graphics object + void synchronizeSingleMotionState(btRigidBody* body); + + virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false); + + virtual void removeConstraint(btTypedConstraint* constraint); + + virtual void addAction(btActionInterface*); + + virtual void removeAction(btActionInterface*); + + btSimulationIslandManager* getSimulationIslandManager() + { + return m_islandManager; + } + + const btSimulationIslandManager* getSimulationIslandManager() const + { + return m_islandManager; + } + + btCollisionWorld* getCollisionWorld() + { + return this; + } + + virtual void setGravity(const btVector3& gravity); + + virtual btVector3 getGravity () const; + + virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); + + virtual void addRigidBody(btRigidBody* body); + + virtual void addRigidBody(btRigidBody* body, short group, short mask); + + virtual void removeRigidBody(btRigidBody* body); + + ///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject + virtual void removeCollisionObject(btCollisionObject* collisionObject); + + + void debugDrawConstraint(btTypedConstraint* constraint); + + virtual void debugDrawWorld(); + + virtual void setConstraintSolver(btConstraintSolver* solver); + + virtual btConstraintSolver* getConstraintSolver(); + + virtual int getNumConstraints() const; + + virtual btTypedConstraint* getConstraint(int index) ; + + virtual const btTypedConstraint* getConstraint(int index) const; + + + virtual btDynamicsWorldType getWorldType() const + { + return BT_DISCRETE_DYNAMICS_WORLD; + } + + ///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep. + virtual void clearForces(); + + ///apply gravity, call this once per timestep + virtual void applyGravity(); + + virtual void setNumTasks(int numTasks) + { + (void) numTasks; + } + + ///obsolete, use updateActions instead + virtual void updateVehicles(btScalar timeStep) + { + updateActions(timeStep); + } + + ///obsolete, use addAction instead + virtual void addVehicle(btActionInterface* vehicle); + ///obsolete, use removeAction instead + virtual void removeVehicle(btActionInterface* vehicle); + ///obsolete, use addAction instead + virtual void addCharacter(btActionInterface* character); + ///obsolete, use removeAction instead + virtual void removeCharacter(btActionInterface* character); + + void setSynchronizeAllMotionStates(bool synchronizeAll) + { + m_synchronizeAllMotionStates = synchronizeAll; + } + bool getSynchronizeAllMotionStates() const + { + return m_synchronizeAllMotionStates; + } + + ///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo) + virtual void serialize(btSerializer* serializer); + +}; + +#endif //BT_DISCRETE_DYNAMICS_WORLD_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h new file mode 100644 index 0000000..a7b85af --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h @@ -0,0 +1,148 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_DYNAMICS_WORLD_H +#define BT_DYNAMICS_WORLD_H + +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" +#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" + +class btTypedConstraint; +class btActionInterface; +class btConstraintSolver; +class btDynamicsWorld; + + +/// Type for the callback for each tick +typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep); + +enum btDynamicsWorldType +{ + BT_SIMPLE_DYNAMICS_WORLD=1, + BT_DISCRETE_DYNAMICS_WORLD=2, + BT_CONTINUOUS_DYNAMICS_WORLD=3 +}; + +///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. +class btDynamicsWorld : public btCollisionWorld +{ + +protected: + btInternalTickCallback m_internalTickCallback; + btInternalTickCallback m_internalPreTickCallback; + void* m_worldUserInfo; + + btContactSolverInfo m_solverInfo; + +public: + + + btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration) + :btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(0), m_worldUserInfo(0) + { + } + + virtual ~btDynamicsWorld() + { + } + + ///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds. + ///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'. + ///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'. + ///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant. + virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0; + + virtual void debugDrawWorld() = 0; + + virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) + { + (void)constraint; (void)disableCollisionsBetweenLinkedBodies; + } + + virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;} + + virtual void addAction(btActionInterface* action) = 0; + + virtual void removeAction(btActionInterface* action) = 0; + + //once a rigidbody is added to the dynamics world, it will get this gravity assigned + //existing rigidbodies in the world get gravity assigned too, during this method + virtual void setGravity(const btVector3& gravity) = 0; + virtual btVector3 getGravity () const = 0; + + virtual void synchronizeMotionStates() = 0; + + virtual void addRigidBody(btRigidBody* body) = 0; + + virtual void removeRigidBody(btRigidBody* body) = 0; + + virtual void setConstraintSolver(btConstraintSolver* solver) = 0; + + virtual btConstraintSolver* getConstraintSolver() = 0; + + virtual int getNumConstraints() const { return 0; } + + virtual btTypedConstraint* getConstraint(int index) { (void)index; return 0; } + + virtual const btTypedConstraint* getConstraint(int index) const { (void)index; return 0; } + + virtual btDynamicsWorldType getWorldType() const=0; + + virtual void clearForces() = 0; + + /// Set the callback for when an internal tick (simulation substep) happens, optional user info + void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0,bool isPreTick=false) + { + if (isPreTick) + { + m_internalPreTickCallback = cb; + } else + { + m_internalTickCallback = cb; + } + m_worldUserInfo = worldUserInfo; + } + + void setWorldUserInfo(void* worldUserInfo) + { + m_worldUserInfo = worldUserInfo; + } + + void* getWorldUserInfo() const + { + return m_worldUserInfo; + } + + btContactSolverInfo& getSolverInfo() + { + return m_solverInfo; + } + + + ///obsolete, use addAction instead. + virtual void addVehicle(btActionInterface* vehicle) {(void)vehicle;} + ///obsolete, use removeAction instead + virtual void removeVehicle(btActionInterface* vehicle) {(void)vehicle;} + ///obsolete, use addAction instead. + virtual void addCharacter(btActionInterface* character) {(void)character;} + ///obsolete, use removeAction instead + virtual void removeCharacter(btActionInterface* character) {(void)character;} + + +}; + +#endif //BT_DYNAMICS_WORLD_H + + diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btRigidBody.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btRigidBody.h new file mode 100644 index 0000000..2b05145 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btRigidBody.h @@ -0,0 +1,690 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef RIGIDBODY_H +#define RIGIDBODY_H + +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btTransform.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" + +class btCollisionShape; +class btMotionState; +class btTypedConstraint; + + +extern btScalar gDeactivationTime; +extern bool gDisableDeactivation; + +#ifdef BT_USE_DOUBLE_PRECISION +#define btRigidBodyData btRigidBodyDoubleData +#define btRigidBodyDataName "btRigidBodyDoubleData" +#else +#define btRigidBodyData btRigidBodyFloatData +#define btRigidBodyDataName "btRigidBodyFloatData" +#endif //BT_USE_DOUBLE_PRECISION + + +enum btRigidBodyFlags +{ + BT_DISABLE_WORLD_GRAVITY = 1 +}; + + +///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape. +///It is recommended for performance and memory use to share btCollisionShape objects whenever possible. +///There are 3 types of rigid bodies: +///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics. +///- B) Fixed objects with zero mass. They are not moving (basically collision objects) +///- C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform. +///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time. +///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects) +class btRigidBody : public btCollisionObject +{ + + btMatrix3x3 m_invInertiaTensorWorld; + btVector3 m_linearVelocity; + btVector3 m_angularVelocity; + btScalar m_inverseMass; + btVector3 m_linearFactor; + + btVector3 m_gravity; + btVector3 m_gravity_acceleration; + btVector3 m_invInertiaLocal; + btVector3 m_totalForce; + btVector3 m_totalTorque; + + btScalar m_linearDamping; + btScalar m_angularDamping; + + bool m_additionalDamping; + btScalar m_additionalDampingFactor; + btScalar m_additionalLinearDampingThresholdSqr; + btScalar m_additionalAngularDampingThresholdSqr; + btScalar m_additionalAngularDampingFactor; + + + btScalar m_linearSleepingThreshold; + btScalar m_angularSleepingThreshold; + + //m_optionalMotionState allows to automatic synchronize the world transform for active objects + btMotionState* m_optionalMotionState; + + //keep track of typed constraints referencing this rigid body + btAlignedObjectArray m_constraintRefs; + + int m_rigidbodyFlags; + + int m_debugBodyId; + + +protected: + + ATTRIBUTE_ALIGNED64(btVector3 m_deltaLinearVelocity); + btVector3 m_deltaAngularVelocity; + btVector3 m_angularFactor; + btVector3 m_invMass; + btVector3 m_pushVelocity; + btVector3 m_turnVelocity; + + +public: + + + ///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body. + ///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument) + ///You can use the motion state to synchronize the world transform between physics and graphics objects. + ///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state, + ///m_startWorldTransform is only used when you don't provide a motion state. + struct btRigidBodyConstructionInfo + { + btScalar m_mass; + + ///When a motionState is provided, the rigid body will initialize its world transform from the motion state + ///In this case, m_startWorldTransform is ignored. + btMotionState* m_motionState; + btTransform m_startWorldTransform; + + btCollisionShape* m_collisionShape; + btVector3 m_localInertia; + btScalar m_linearDamping; + btScalar m_angularDamping; + + ///best simulation results when friction is non-zero + btScalar m_friction; + ///best simulation results using zero restitution. + btScalar m_restitution; + + btScalar m_linearSleepingThreshold; + btScalar m_angularSleepingThreshold; + + //Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc. + //Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete + bool m_additionalDamping; + btScalar m_additionalDampingFactor; + btScalar m_additionalLinearDampingThresholdSqr; + btScalar m_additionalAngularDampingThresholdSqr; + btScalar m_additionalAngularDampingFactor; + + btRigidBodyConstructionInfo( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)): + m_mass(mass), + m_motionState(motionState), + m_collisionShape(collisionShape), + m_localInertia(localInertia), + m_linearDamping(btScalar(0.)), + m_angularDamping(btScalar(0.)), + m_friction(btScalar(0.5)), + m_restitution(btScalar(0.)), + m_linearSleepingThreshold(btScalar(0.8)), + m_angularSleepingThreshold(btScalar(1.f)), + m_additionalDamping(false), + m_additionalDampingFactor(btScalar(0.005)), + m_additionalLinearDampingThresholdSqr(btScalar(0.01)), + m_additionalAngularDampingThresholdSqr(btScalar(0.01)), + m_additionalAngularDampingFactor(btScalar(0.01)) + { + m_startWorldTransform.setIdentity(); + } + }; + + ///btRigidBody constructor using construction info + btRigidBody( const btRigidBodyConstructionInfo& constructionInfo); + + ///btRigidBody constructor for backwards compatibility. + ///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo) + btRigidBody( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)); + + + virtual ~btRigidBody() + { + //No constraints should point to this rigidbody + //Remove constraints from the dynamics world before you delete the related rigidbodies. + btAssert(m_constraintRefs.size()==0); + } + +protected: + + ///setupRigidBody is only used internally by the constructor + void setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo); + +public: + + void proceedToTransform(const btTransform& newTrans); + + ///to keep collision detection and dynamics separate we don't store a rigidbody pointer + ///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast + static const btRigidBody* upcast(const btCollisionObject* colObj) + { + if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY) + return (const btRigidBody*)colObj; + return 0; + } + static btRigidBody* upcast(btCollisionObject* colObj) + { + if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY) + return (btRigidBody*)colObj; + return 0; + } + + /// continuous collision detection needs prediction + void predictIntegratedTransform(btScalar step, btTransform& predictedTransform) ; + + void saveKinematicState(btScalar step); + + void applyGravity(); + + void setGravity(const btVector3& acceleration); + + const btVector3& getGravity() const + { + return m_gravity_acceleration; + } + + void setDamping(btScalar lin_damping, btScalar ang_damping); + + btScalar getLinearDamping() const + { + return m_linearDamping; + } + + btScalar getAngularDamping() const + { + return m_angularDamping; + } + + btScalar getLinearSleepingThreshold() const + { + return m_linearSleepingThreshold; + } + + btScalar getAngularSleepingThreshold() const + { + return m_angularSleepingThreshold; + } + + void applyDamping(btScalar timeStep); + + SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { + return m_collisionShape; + } + + SIMD_FORCE_INLINE btCollisionShape* getCollisionShape() { + return m_collisionShape; + } + + void setMassProps(btScalar mass, const btVector3& inertia); + + const btVector3& getLinearFactor() const + { + return m_linearFactor; + } + void setLinearFactor(const btVector3& linearFactor) + { + m_linearFactor = linearFactor; + m_invMass = m_linearFactor*m_inverseMass; + } + btScalar getInvMass() const { return m_inverseMass; } + const btMatrix3x3& getInvInertiaTensorWorld() const { + return m_invInertiaTensorWorld; + } + + void integrateVelocities(btScalar step); + + void setCenterOfMassTransform(const btTransform& xform); + + void applyCentralForce(const btVector3& force) + { + m_totalForce += force*m_linearFactor; + } + + const btVector3& getTotalForce() + { + return m_totalForce; + }; + + const btVector3& getTotalTorque() + { + return m_totalTorque; + }; + + const btVector3& getInvInertiaDiagLocal() const + { + return m_invInertiaLocal; + }; + + void setInvInertiaDiagLocal(const btVector3& diagInvInertia) + { + m_invInertiaLocal = diagInvInertia; + } + + void setSleepingThresholds(btScalar linear,btScalar angular) + { + m_linearSleepingThreshold = linear; + m_angularSleepingThreshold = angular; + } + + void applyTorque(const btVector3& torque) + { + m_totalTorque += torque*m_angularFactor; + } + + void applyForce(const btVector3& force, const btVector3& rel_pos) + { + applyCentralForce(force); + applyTorque(rel_pos.cross(force*m_linearFactor)); + } + + void applyCentralImpulse(const btVector3& impulse) + { + m_linearVelocity += impulse *m_linearFactor * m_inverseMass; + } + + void applyTorqueImpulse(const btVector3& torque) + { + m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; + } + + void applyImpulse(const btVector3& impulse, const btVector3& rel_pos) + { + if (m_inverseMass != btScalar(0.)) + { + applyCentralImpulse(impulse); + if (m_angularFactor) + { + applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor)); + } + } + } + + void clearForces() + { + m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + } + + void updateInertiaTensor(); + + const btVector3& getCenterOfMassPosition() const { + return m_worldTransform.getOrigin(); + } + btQuaternion getOrientation() const; + + const btTransform& getCenterOfMassTransform() const { + return m_worldTransform; + } + const btVector3& getLinearVelocity() const { + return m_linearVelocity; + } + const btVector3& getAngularVelocity() const { + return m_angularVelocity; + } + + + inline void setLinearVelocity(const btVector3& lin_vel) + { + m_linearVelocity = lin_vel; + } + + inline void setAngularVelocity(const btVector3& ang_vel) + { + m_angularVelocity = ang_vel; + } + + btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const + { + //we also calculate lin/ang velocity for kinematic objects + return m_linearVelocity + m_angularVelocity.cross(rel_pos); + + //for kinematic objects, we could also use use: + // return (m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep; + } + + void translate(const btVector3& v) + { + m_worldTransform.getOrigin() += v; + } + + + void getAabb(btVector3& aabbMin,btVector3& aabbMax) const; + + + + + + SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const + { + btVector3 r0 = pos - getCenterOfMassPosition(); + + btVector3 c0 = (r0).cross(normal); + + btVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0); + + return m_inverseMass + normal.dot(vec); + + } + + SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const + { + btVector3 vec = axis * getInvInertiaTensorWorld(); + return axis.dot(vec); + } + + SIMD_FORCE_INLINE void updateDeactivation(btScalar timeStep) + { + if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION)) + return; + + if ((getLinearVelocity().length2() < m_linearSleepingThreshold*m_linearSleepingThreshold) && + (getAngularVelocity().length2() < m_angularSleepingThreshold*m_angularSleepingThreshold)) + { + m_deactivationTime += timeStep; + } else + { + m_deactivationTime=btScalar(0.); + setActivationState(0); + } + + } + + SIMD_FORCE_INLINE bool wantsSleeping() + { + + if (getActivationState() == DISABLE_DEACTIVATION) + return false; + + //disable deactivation + if (gDisableDeactivation || (gDeactivationTime == btScalar(0.))) + return false; + + if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION)) + return true; + + if (m_deactivationTime> gDeactivationTime) + { + return true; + } + return false; + } + + + + const btBroadphaseProxy* getBroadphaseProxy() const + { + return m_broadphaseHandle; + } + btBroadphaseProxy* getBroadphaseProxy() + { + return m_broadphaseHandle; + } + void setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy) + { + m_broadphaseHandle = broadphaseProxy; + } + + //btMotionState allows to automatic synchronize the world transform for active objects + btMotionState* getMotionState() + { + return m_optionalMotionState; + } + const btMotionState* getMotionState() const + { + return m_optionalMotionState; + } + void setMotionState(btMotionState* motionState) + { + m_optionalMotionState = motionState; + if (m_optionalMotionState) + motionState->getWorldTransform(m_worldTransform); + } + + //for experimental overriding of friction/contact solver func + int m_contactSolverType; + int m_frictionSolverType; + + void setAngularFactor(const btVector3& angFac) + { + m_angularFactor = angFac; + } + + void setAngularFactor(btScalar angFac) + { + m_angularFactor.setValue(angFac,angFac,angFac); + } + const btVector3& getAngularFactor() const + { + return m_angularFactor; + } + + //is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase? + bool isInWorld() const + { + return (getBroadphaseProxy() != 0); + } + + virtual bool checkCollideWithOverride(btCollisionObject* co); + + void addConstraintRef(btTypedConstraint* c); + void removeConstraintRef(btTypedConstraint* c); + + btTypedConstraint* getConstraintRef(int index) + { + return m_constraintRefs[index]; + } + + int getNumConstraintRefs() + { + return m_constraintRefs.size(); + } + + void setFlags(int flags) + { + m_rigidbodyFlags = flags; + } + + int getFlags() const + { + return m_rigidbodyFlags; + } + + const btVector3& getDeltaLinearVelocity() const + { + return m_deltaLinearVelocity; + } + + const btVector3& getDeltaAngularVelocity() const + { + return m_deltaAngularVelocity; + } + + const btVector3& getPushVelocity() const + { + return m_pushVelocity; + } + + const btVector3& getTurnVelocity() const + { + return m_turnVelocity; + } + + + //////////////////////////////////////////////// + ///some internal methods, don't use them + + btVector3& internalGetDeltaLinearVelocity() + { + return m_deltaLinearVelocity; + } + + btVector3& internalGetDeltaAngularVelocity() + { + return m_deltaAngularVelocity; + } + + const btVector3& internalGetAngularFactor() const + { + return m_angularFactor; + } + + const btVector3& internalGetInvMass() const + { + return m_invMass; + } + + btVector3& internalGetPushVelocity() + { + return m_pushVelocity; + } + + btVector3& internalGetTurnVelocity() + { + return m_turnVelocity; + } + + SIMD_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const + { + velocity = getLinearVelocity()+m_deltaLinearVelocity + (getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos); + } + + SIMD_FORCE_INLINE void internalGetAngularVelocity(btVector3& angVel) const + { + angVel = getAngularVelocity()+m_deltaAngularVelocity; + } + + + //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position + SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude) + { + if (m_inverseMass) + { + m_deltaLinearVelocity += linearComponent*impulseMagnitude; + m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor); + } + } + + SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) + { + if (m_inverseMass) + { + m_pushVelocity += linearComponent*impulseMagnitude; + m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor); + } + } + + void internalWritebackVelocity() + { + if (m_inverseMass) + { + setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity); + setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity); + //m_deltaLinearVelocity.setZero(); + //m_deltaAngularVelocity .setZero(); + //m_originalBody->setCompanionId(-1); + } + } + + + void internalWritebackVelocity(btScalar timeStep); + + + /////////////////////////////////////////////// + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; + + virtual void serializeSingleObject(class btSerializer* serializer) const; + +}; + +//@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btRigidBodyFloatData +{ + btCollisionObjectFloatData m_collisionObjectData; + btMatrix3x3FloatData m_invInertiaTensorWorld; + btVector3FloatData m_linearVelocity; + btVector3FloatData m_angularVelocity; + btVector3FloatData m_angularFactor; + btVector3FloatData m_linearFactor; + btVector3FloatData m_gravity; + btVector3FloatData m_gravity_acceleration; + btVector3FloatData m_invInertiaLocal; + btVector3FloatData m_totalForce; + btVector3FloatData m_totalTorque; + float m_inverseMass; + float m_linearDamping; + float m_angularDamping; + float m_additionalDampingFactor; + float m_additionalLinearDampingThresholdSqr; + float m_additionalAngularDampingThresholdSqr; + float m_additionalAngularDampingFactor; + float m_linearSleepingThreshold; + float m_angularSleepingThreshold; + int m_additionalDamping; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btRigidBodyDoubleData +{ + btCollisionObjectDoubleData m_collisionObjectData; + btMatrix3x3DoubleData m_invInertiaTensorWorld; + btVector3DoubleData m_linearVelocity; + btVector3DoubleData m_angularVelocity; + btVector3DoubleData m_angularFactor; + btVector3DoubleData m_linearFactor; + btVector3DoubleData m_gravity; + btVector3DoubleData m_gravity_acceleration; + btVector3DoubleData m_invInertiaLocal; + btVector3DoubleData m_totalForce; + btVector3DoubleData m_totalTorque; + double m_inverseMass; + double m_linearDamping; + double m_angularDamping; + double m_additionalDampingFactor; + double m_additionalLinearDampingThresholdSqr; + double m_additionalAngularDampingThresholdSqr; + double m_additionalAngularDampingFactor; + double m_linearSleepingThreshold; + double m_angularSleepingThreshold; + int m_additionalDamping; + char m_padding[4]; +}; + + + +#endif + diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h new file mode 100644 index 0000000..ad1f541 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h @@ -0,0 +1,81 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SIMPLE_DYNAMICS_WORLD_H +#define BT_SIMPLE_DYNAMICS_WORLD_H + +#include "btDynamicsWorld.h" + +class btDispatcher; +class btOverlappingPairCache; +class btConstraintSolver; + +///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds. +///Please use btDiscreteDynamicsWorld instead (or btContinuousDynamicsWorld once it is finished). +class btSimpleDynamicsWorld : public btDynamicsWorld +{ +protected: + + btConstraintSolver* m_constraintSolver; + + bool m_ownsConstraintSolver; + + void predictUnconstraintMotion(btScalar timeStep); + + void integrateTransforms(btScalar timeStep); + + btVector3 m_gravity; + +public: + + + + ///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver + btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); + + virtual ~btSimpleDynamicsWorld(); + + ///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead + virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.)); + + virtual void setGravity(const btVector3& gravity); + + virtual btVector3 getGravity () const; + + virtual void addRigidBody(btRigidBody* body); + + virtual void removeRigidBody(btRigidBody* body); + + ///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject + virtual void removeCollisionObject(btCollisionObject* collisionObject); + + virtual void updateAabbs(); + + virtual void synchronizeMotionStates(); + + virtual void setConstraintSolver(btConstraintSolver* solver); + + virtual btConstraintSolver* getConstraintSolver(); + + virtual btDynamicsWorldType getWorldType() const + { + return BT_SIMPLE_DYNAMICS_WORLD; + } + + virtual void clearForces(); + +}; + +#endif //BT_SIMPLE_DYNAMICS_WORLD_H diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h new file mode 100644 index 0000000..5ce80f4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h @@ -0,0 +1,236 @@ +/* + * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/ + * + * Permission to use, copy, modify, distribute and sell this software + * and its documentation for any purpose is hereby granted without fee, + * provided that the above copyright notice appear in all copies. + * Erwin Coumans makes no representations about the suitability + * of this software for any purpose. + * It is provided "as is" without express or implied warranty. +*/ +#ifndef RAYCASTVEHICLE_H +#define RAYCASTVEHICLE_H + +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "btVehicleRaycaster.h" +class btDynamicsWorld; +#include "LinearMath/btAlignedObjectArray.h" +#include "btWheelInfo.h" +#include "BulletDynamics/Dynamics/btActionInterface.h" + +class btVehicleTuning; + +///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle. +class btRaycastVehicle : public btActionInterface +{ + + btAlignedObjectArray m_forwardWS; + btAlignedObjectArray m_axle; + btAlignedObjectArray m_forwardImpulse; + btAlignedObjectArray m_sideImpulse; + + ///backwards compatibility + int m_userConstraintType; + int m_userConstraintId; + +public: + class btVehicleTuning + { + public: + + btVehicleTuning() + :m_suspensionStiffness(btScalar(5.88)), + m_suspensionCompression(btScalar(0.83)), + m_suspensionDamping(btScalar(0.88)), + m_maxSuspensionTravelCm(btScalar(500.)), + m_frictionSlip(btScalar(10.5)), + m_maxSuspensionForce(btScalar(6000.)) + { + } + btScalar m_suspensionStiffness; + btScalar m_suspensionCompression; + btScalar m_suspensionDamping; + btScalar m_maxSuspensionTravelCm; + btScalar m_frictionSlip; + btScalar m_maxSuspensionForce; + + }; +private: + + btScalar m_tau; + btScalar m_damping; + btVehicleRaycaster* m_vehicleRaycaster; + btScalar m_pitchControl; + btScalar m_steeringValue; + btScalar m_currentVehicleSpeedKmHour; + + btRigidBody* m_chassisBody; + + int m_indexRightAxis; + int m_indexUpAxis; + int m_indexForwardAxis; + + void defaultInit(const btVehicleTuning& tuning); + +public: + + //constructor to create a car from an existing rigidbody + btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster ); + + virtual ~btRaycastVehicle() ; + + + ///btActionInterface interface + virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step) + { + (void) collisionWorld; + updateVehicle(step); + } + + + ///btActionInterface interface + void debugDraw(btIDebugDraw* debugDrawer); + + const btTransform& getChassisWorldTransform() const; + + btScalar rayCast(btWheelInfo& wheel); + + virtual void updateVehicle(btScalar step); + + + void resetSuspension(); + + btScalar getSteeringValue(int wheel) const; + + void setSteeringValue(btScalar steering,int wheel); + + + void applyEngineForce(btScalar force, int wheel); + + const btTransform& getWheelTransformWS( int wheelIndex ) const; + + void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true ); + + void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth); + + btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel); + + inline int getNumWheels() const { + return int (m_wheelInfo.size()); + } + + btAlignedObjectArray m_wheelInfo; + + + const btWheelInfo& getWheelInfo(int index) const; + + btWheelInfo& getWheelInfo(int index); + + void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true); + + + void setBrake(btScalar brake,int wheelIndex); + + void setPitchControl(btScalar pitch) + { + m_pitchControl = pitch; + } + + void updateSuspension(btScalar deltaTime); + + virtual void updateFriction(btScalar timeStep); + + + + inline btRigidBody* getRigidBody() + { + return m_chassisBody; + } + + const btRigidBody* getRigidBody() const + { + return m_chassisBody; + } + + inline int getRightAxis() const + { + return m_indexRightAxis; + } + inline int getUpAxis() const + { + return m_indexUpAxis; + } + + inline int getForwardAxis() const + { + return m_indexForwardAxis; + } + + + ///Worldspace forward vector + btVector3 getForwardVector() const + { + const btTransform& chassisTrans = getChassisWorldTransform(); + + btVector3 forwardW ( + chassisTrans.getBasis()[0][m_indexForwardAxis], + chassisTrans.getBasis()[1][m_indexForwardAxis], + chassisTrans.getBasis()[2][m_indexForwardAxis]); + + return forwardW; + } + + ///Velocity of vehicle (positive if velocity vector has same direction as foward vector) + btScalar getCurrentSpeedKmHour() const + { + return m_currentVehicleSpeedKmHour; + } + + virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex) + { + m_indexRightAxis = rightIndex; + m_indexUpAxis = upIndex; + m_indexForwardAxis = forwardIndex; + } + + + ///backwards compatibility + int getUserConstraintType() const + { + return m_userConstraintType ; + } + + void setUserConstraintType(int userConstraintType) + { + m_userConstraintType = userConstraintType; + }; + + void setUserConstraintId(int uid) + { + m_userConstraintId = uid; + } + + int getUserConstraintId() const + { + return m_userConstraintId; + } + +}; + +class btDefaultVehicleRaycaster : public btVehicleRaycaster +{ + btDynamicsWorld* m_dynamicsWorld; +public: + btDefaultVehicleRaycaster(btDynamicsWorld* world) + :m_dynamicsWorld(world) + { + } + + virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result); + +}; + + +#endif //RAYCASTVEHICLE_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h new file mode 100644 index 0000000..5112ce6 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h @@ -0,0 +1,35 @@ +/* + * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/ + * + * Permission to use, copy, modify, distribute and sell this software + * and its documentation for any purpose is hereby granted without fee, + * provided that the above copyright notice appear in all copies. + * Erwin Coumans makes no representations about the suitability + * of this software for any purpose. + * It is provided "as is" without express or implied warranty. +*/ +#ifndef VEHICLE_RAYCASTER_H +#define VEHICLE_RAYCASTER_H + +#include "LinearMath/btVector3.h" + +/// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting +struct btVehicleRaycaster +{ +virtual ~btVehicleRaycaster() +{ +} + struct btVehicleRaycasterResult + { + btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){}; + btVector3 m_hitPointInWorld; + btVector3 m_hitNormalInWorld; + btScalar m_distFraction; + }; + + virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0; + +}; + +#endif //VEHICLE_RAYCASTER_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletDynamics/Vehicle/btWheelInfo.h b/Mod Sources/Bullet/include/bullet/BulletDynamics/Vehicle/btWheelInfo.h new file mode 100644 index 0000000..b74f8c8 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletDynamics/Vehicle/btWheelInfo.h @@ -0,0 +1,119 @@ +/* + * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/ + * + * Permission to use, copy, modify, distribute and sell this software + * and its documentation for any purpose is hereby granted without fee, + * provided that the above copyright notice appear in all copies. + * Erwin Coumans makes no representations about the suitability + * of this software for any purpose. + * It is provided "as is" without express or implied warranty. +*/ +#ifndef WHEEL_INFO_H +#define WHEEL_INFO_H + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" + +class btRigidBody; + +struct btWheelInfoConstructionInfo +{ + btVector3 m_chassisConnectionCS; + btVector3 m_wheelDirectionCS; + btVector3 m_wheelAxleCS; + btScalar m_suspensionRestLength; + btScalar m_maxSuspensionTravelCm; + btScalar m_wheelRadius; + + btScalar m_suspensionStiffness; + btScalar m_wheelsDampingCompression; + btScalar m_wheelsDampingRelaxation; + btScalar m_frictionSlip; + btScalar m_maxSuspensionForce; + bool m_bIsFrontWheel; + +}; + +/// btWheelInfo contains information per wheel about friction and suspension. +struct btWheelInfo +{ + struct RaycastInfo + { + //set by raycaster + btVector3 m_contactNormalWS;//contactnormal + btVector3 m_contactPointWS;//raycast hitpoint + btScalar m_suspensionLength; + btVector3 m_hardPointWS;//raycast starting point + btVector3 m_wheelDirectionWS; //direction in worldspace + btVector3 m_wheelAxleWS; // axle in worldspace + bool m_isInContact; + void* m_groundObject; //could be general void* ptr + }; + + RaycastInfo m_raycastInfo; + + btTransform m_worldTransform; + + btVector3 m_chassisConnectionPointCS; //const + btVector3 m_wheelDirectionCS;//const + btVector3 m_wheelAxleCS; // const or modified by steering + btScalar m_suspensionRestLength1;//const + btScalar m_maxSuspensionTravelCm; + btScalar getSuspensionRestLength() const; + btScalar m_wheelsRadius;//const + btScalar m_suspensionStiffness;//const + btScalar m_wheelsDampingCompression;//const + btScalar m_wheelsDampingRelaxation;//const + btScalar m_frictionSlip; + btScalar m_steering; + btScalar m_rotation; + btScalar m_deltaRotation; + btScalar m_rollInfluence; + btScalar m_maxSuspensionForce; + + btScalar m_engineForce; + + btScalar m_brake; + + bool m_bIsFrontWheel; + + void* m_clientInfo;//can be used to store pointer to sync transforms... + + btWheelInfo(btWheelInfoConstructionInfo& ci) + + { + + m_suspensionRestLength1 = ci.m_suspensionRestLength; + m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm; + + m_wheelsRadius = ci.m_wheelRadius; + m_suspensionStiffness = ci.m_suspensionStiffness; + m_wheelsDampingCompression = ci.m_wheelsDampingCompression; + m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation; + m_chassisConnectionPointCS = ci.m_chassisConnectionCS; + m_wheelDirectionCS = ci.m_wheelDirectionCS; + m_wheelAxleCS = ci.m_wheelAxleCS; + m_frictionSlip = ci.m_frictionSlip; + m_steering = btScalar(0.); + m_engineForce = btScalar(0.); + m_rotation = btScalar(0.); + m_deltaRotation = btScalar(0.); + m_brake = btScalar(0.); + m_rollInfluence = btScalar(0.1); + m_bIsFrontWheel = ci.m_bIsFrontWheel; + m_maxSuspensionForce = ci.m_maxSuspensionForce; + + } + + void updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo); + + btScalar m_clippedInvContactDotSuspension; + btScalar m_suspensionRelativeVelocity; + //calculated by suspension + btScalar m_wheelsSuspensionForce; + btScalar m_skidInfo; + +}; + +#endif //WHEEL_INFO_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolverData.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolverData.h new file mode 100644 index 0000000..92e3943 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolverData.h @@ -0,0 +1,727 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFT_BODY_SOLVER_DATA_H +#define BT_SOFT_BODY_SOLVER_DATA_H + +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "vectormath/vmInclude.h" + + +class btSoftBodyLinkData +{ +public: + /** + * Class representing a link as a set of three indices into the vertex array. + */ + class LinkNodePair + { + public: + int vertex0; + int vertex1; + + LinkNodePair() + { + vertex0 = 0; + vertex1 = 0; + } + + LinkNodePair( int v0, int v1 ) + { + vertex0 = v0; + vertex1 = v1; + } + }; + + /** + * Class describing a link for input into the system. + */ + class LinkDescription + { + protected: + int m_vertex0; + int m_vertex1; + float m_linkLinearStiffness; + float m_linkStrength; + + public: + + LinkDescription() + { + m_vertex0 = 0; + m_vertex1 = 0; + m_linkLinearStiffness = 1.0; + m_linkStrength = 1.0; + } + + LinkDescription( int newVertex0, int newVertex1, float linkLinearStiffness ) + { + m_vertex0 = newVertex0; + m_vertex1 = newVertex1; + m_linkLinearStiffness = linkLinearStiffness; + m_linkStrength = 1.0; + } + + LinkNodePair getVertexPair() const + { + LinkNodePair nodes; + nodes.vertex0 = m_vertex0; + nodes.vertex1 = m_vertex1; + return nodes; + } + + void setVertex0( int vertex ) + { + m_vertex0 = vertex; + } + + void setVertex1( int vertex ) + { + m_vertex1 = vertex; + } + + void setLinkLinearStiffness( float linearStiffness ) + { + m_linkLinearStiffness = linearStiffness; + } + + void setLinkStrength( float strength ) + { + m_linkStrength = strength; + } + + int getVertex0() const + { + return m_vertex0; + } + + int getVertex1() const + { + return m_vertex1; + } + + float getLinkStrength() const + { + return m_linkStrength; + } + + float getLinkLinearStiffness() const + { + return m_linkLinearStiffness; + } + }; + + +protected: + // NOTE: + // Vertex reference data is stored relative to global array, not relative to individual cloth. + // Values must be correct if being passed into single-cloth VBOs or when migrating from one solver + // to another. + + btAlignedObjectArray< LinkNodePair > m_links; // Vertex pair for the link + btAlignedObjectArray< float > m_linkStrength; // Strength of each link + // (inverseMassA + inverseMassB)/ linear stiffness coefficient + btAlignedObjectArray< float > m_linksMassLSC; + btAlignedObjectArray< float > m_linksRestLengthSquared; + // Current vector length of link + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_linksCLength; + // 1/(current length * current length * massLSC) + btAlignedObjectArray< float > m_linksLengthRatio; + btAlignedObjectArray< float > m_linksRestLength; + btAlignedObjectArray< float > m_linksMaterialLinearStiffnessCoefficient; + +public: + btSoftBodyLinkData() + { + } + + virtual ~btSoftBodyLinkData() + { + } + + virtual void clear() + { + m_links.resize(0); + m_linkStrength.resize(0); + m_linksMassLSC.resize(0); + m_linksRestLengthSquared.resize(0); + m_linksLengthRatio.resize(0); + m_linksRestLength.resize(0); + m_linksMaterialLinearStiffnessCoefficient.resize(0); + } + + int getNumLinks() + { + return m_links.size(); + } + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createLinks( int numLinks ) + { + int previousSize = m_links.size(); + int newSize = previousSize + numLinks; + + // Resize all the arrays that store link data + m_links.resize( newSize ); + m_linkStrength.resize( newSize ); + m_linksMassLSC.resize( newSize ); + m_linksRestLengthSquared.resize( newSize ); + m_linksCLength.resize( newSize ); + m_linksLengthRatio.resize( newSize ); + m_linksRestLength.resize( newSize ); + m_linksMaterialLinearStiffnessCoefficient.resize( newSize ); + } + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setLinkAt( const LinkDescription &link, int linkIndex ) + { + m_links[linkIndex] = link.getVertexPair(); + m_linkStrength[linkIndex] = link.getLinkStrength(); + m_linksMassLSC[linkIndex] = 0.f; + m_linksRestLengthSquared[linkIndex] = 0.f; + m_linksCLength[linkIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f); + m_linksLengthRatio[linkIndex] = 0.f; + m_linksRestLength[linkIndex] = 0.f; + m_linksMaterialLinearStiffnessCoefficient[linkIndex] = link.getLinkLinearStiffness(); + } + + + /** + * Return true if data is on the accelerator. + * The CPU version of this class will return true here because + * the CPU is the same as the accelerator. + */ + virtual bool onAccelerator() + { + return true; + } + + /** + * Move data from host memory to the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveToAccelerator() + { + return true; + } + + /** + * Move data from host memory from the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveFromAccelerator() + { + return true; + } + + + + /** + * Return reference to the vertex index pair for link linkIndex as stored on the host. + */ + LinkNodePair &getVertexPair( int linkIndex ) + { + return m_links[linkIndex]; + } + + /** + * Return reference to strength of link linkIndex as stored on the host. + */ + float &getStrength( int linkIndex ) + { + return m_linkStrength[linkIndex]; + } + + /** + * Return a reference to the strength of the link corrected for link sorting. + * This is important if we are using data on an accelerator which has the data sorted in some fashion. + */ + virtual float &getStrengthCorrected( int linkIndex ) + { + return getStrength( linkIndex ); + } + + /** + * Return reference to the rest length of link linkIndex as stored on the host. + */ + float &getRestLength( int linkIndex ) + { + return m_linksRestLength[linkIndex]; + } + + /** + * Return reference to linear stiffness coefficient for link linkIndex as stored on the host. + */ + float &getLinearStiffnessCoefficient( int linkIndex ) + { + return m_linksMaterialLinearStiffnessCoefficient[linkIndex]; + } + + /** + * Return reference to the MassLSC value for link linkIndex as stored on the host. + */ + float &getMassLSC( int linkIndex ) + { + return m_linksMassLSC[linkIndex]; + } + + /** + * Return reference to rest length squared for link linkIndex as stored on the host. + */ + float &getRestLengthSquared( int linkIndex ) + { + return m_linksRestLengthSquared[linkIndex]; + } + + /** + * Return reference to current length of link linkIndex as stored on the host. + */ + Vectormath::Aos::Vector3 &getCurrentLength( int linkIndex ) + { + return m_linksCLength[linkIndex]; + } + + /** + * Return the link length ratio from for link linkIndex as stored on the host. + */ + float &getLinkLengthRatio( int linkIndex ) + { + return m_linksLengthRatio[linkIndex]; + } +}; + + + +/** + * Wrapper for vertex data information. + * By wrapping it like this we stand a good chance of being able to optimise for storage format easily. + * It should also help us make sure all the data structures remain consistent. + */ +class btSoftBodyVertexData +{ +public: + /** + * Class describing a vertex for input into the system. + */ + class VertexDescription + { + private: + Vectormath::Aos::Point3 m_position; + /** Inverse mass. If this is 0f then the mass was 0 because that simplifies calculations. */ + float m_inverseMass; + + public: + VertexDescription() + { + m_position = Vectormath::Aos::Point3( 0.f, 0.f, 0.f ); + m_inverseMass = 0.f; + } + + VertexDescription( const Vectormath::Aos::Point3 &position, float mass ) + { + m_position = position; + if( mass > 0.f ) + m_inverseMass = 1.0f/mass; + else + m_inverseMass = 0.f; + } + + void setPosition( const Vectormath::Aos::Point3 &position ) + { + m_position = position; + } + + void setInverseMass( float inverseMass ) + { + m_inverseMass = inverseMass; + } + + void setMass( float mass ) + { + if( mass > 0.f ) + m_inverseMass = 1.0f/mass; + else + m_inverseMass = 0.f; + } + + Vectormath::Aos::Point3 getPosition() const + { + return m_position; + } + + float getInverseMass() const + { + return m_inverseMass; + } + + float getMass() const + { + if( m_inverseMass == 0.f ) + return 0.f; + else + return 1.0f/m_inverseMass; + } + }; +protected: + + // identifier for the individual cloth + // For the CPU we don't really need this as we can grab the cloths and iterate over only their vertices + // For a parallel accelerator knowing on a per-vertex basis which cloth we're part of will help for obtaining + // per-cloth data + // For sorting etc it might also be helpful to be able to use in-array data such as this. + btAlignedObjectArray< int > m_clothIdentifier; + btAlignedObjectArray< Vectormath::Aos::Point3 > m_vertexPosition; // vertex positions + btAlignedObjectArray< Vectormath::Aos::Point3 > m_vertexPreviousPosition; // vertex positions + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_vertexVelocity; // Velocity + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_vertexForceAccumulator; // Force accumulator + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_vertexNormal; // Normals + btAlignedObjectArray< float > m_vertexInverseMass; // Inverse mass + btAlignedObjectArray< float > m_vertexArea; // Area controlled by the vertex + btAlignedObjectArray< int > m_vertexTriangleCount; // Number of triangles touching this vertex + +public: + btSoftBodyVertexData() + { + } + + virtual ~btSoftBodyVertexData() + { + } + + virtual void clear() + { + m_clothIdentifier.resize(0); + m_vertexPosition.resize(0); + m_vertexPreviousPosition.resize(0); + m_vertexVelocity.resize(0); + m_vertexForceAccumulator.resize(0); + m_vertexNormal.resize(0); + m_vertexInverseMass.resize(0); + m_vertexArea.resize(0); + m_vertexTriangleCount.resize(0); + } + + int getNumVertices() + { + return m_vertexPosition.size(); + } + + int getClothIdentifier( int vertexIndex ) + { + return m_clothIdentifier[vertexIndex]; + } + + void setVertexAt( const VertexDescription &vertex, int vertexIndex ) + { + m_vertexPosition[vertexIndex] = vertex.getPosition(); + m_vertexPreviousPosition[vertexIndex] = vertex.getPosition(); + m_vertexVelocity[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f); + m_vertexForceAccumulator[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f); + m_vertexNormal[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f); + m_vertexInverseMass[vertexIndex] = vertex.getInverseMass(); + m_vertexArea[vertexIndex] = 0.f; + m_vertexTriangleCount[vertexIndex] = 0; + } + + /** Create numVertices new vertices for cloth clothIdentifier */ + void createVertices( int numVertices, int clothIdentifier ) + { + int previousSize = m_vertexPosition.size(); + int newSize = previousSize + numVertices; + + // Resize all the arrays that store vertex data + m_clothIdentifier.resize( newSize ); + m_vertexPosition.resize( newSize ); + m_vertexPreviousPosition.resize( newSize ); + m_vertexVelocity.resize( newSize ); + m_vertexForceAccumulator.resize( newSize ); + m_vertexNormal.resize( newSize ); + m_vertexInverseMass.resize( newSize ); + m_vertexArea.resize( newSize ); + m_vertexTriangleCount.resize( newSize ); + + for( int vertexIndex = previousSize; vertexIndex < newSize; ++vertexIndex ) + m_clothIdentifier[vertexIndex] = clothIdentifier; + } + + // Get and set methods in header so they can be inlined + + /** + * Return a reference to the position of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Point3 &getPosition( int vertexIndex ) + { + return m_vertexPosition[vertexIndex]; + } + + /** + * Return a reference to the previous position of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Point3 &getPreviousPosition( int vertexIndex ) + { + return m_vertexPreviousPosition[vertexIndex]; + } + + /** + * Return a reference to the velocity of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Vector3 &getVelocity( int vertexIndex ) + { + return m_vertexVelocity[vertexIndex]; + } + + /** + * Return a reference to the force accumulator of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Vector3 &getForceAccumulator( int vertexIndex ) + { + return m_vertexForceAccumulator[vertexIndex]; + } + + /** + * Return a reference to the normal of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Vector3 &getNormal( int vertexIndex ) + { + return m_vertexNormal[vertexIndex]; + } + + /** + * Return a reference to the inverse mass of vertex vertexIndex as stored on the host. + */ + float &getInverseMass( int vertexIndex ) + { + return m_vertexInverseMass[vertexIndex]; + } + + /** + * Get access to the area controlled by this vertex. + */ + float &getArea( int vertexIndex ) + { + return m_vertexArea[vertexIndex]; + } + + /** + * Get access to the array of how many triangles touch each vertex. + */ + int &getTriangleCount( int vertexIndex ) + { + return m_vertexTriangleCount[vertexIndex]; + } + + + + /** + * Return true if data is on the accelerator. + * The CPU version of this class will return true here because + * the CPU is the same as the accelerator. + */ + virtual bool onAccelerator() + { + return true; + } + + /** + * Move data from host memory to the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveToAccelerator() + { + return true; + } + + /** + * Move data from host memory from the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveFromAccelerator() + { + return true; + } + + btAlignedObjectArray< Vectormath::Aos::Point3 > &getVertexPositions() + { + return m_vertexPosition; + } +}; + + +class btSoftBodyTriangleData +{ +public: + /** + * Class representing a triangle as a set of three indices into the + * vertex array. + */ + class TriangleNodeSet + { + public: + int vertex0; + int vertex1; + int vertex2; + int _padding; + + TriangleNodeSet( ) + { + vertex0 = 0; + vertex1 = 0; + vertex2 = 0; + _padding = -1; + } + + TriangleNodeSet( int newVertex0, int newVertex1, int newVertex2 ) + { + vertex0 = newVertex0; + vertex1 = newVertex1; + vertex2 = newVertex2; + } + }; + + class TriangleDescription + { + protected: + int m_vertex0; + int m_vertex1; + int m_vertex2; + + public: + TriangleDescription() + { + m_vertex0 = 0; + m_vertex1 = 0; + m_vertex2 = 0; + } + + TriangleDescription( int newVertex0, int newVertex1, int newVertex2 ) + { + m_vertex0 = newVertex0; + m_vertex1 = newVertex1; + m_vertex2 = newVertex2; + } + + TriangleNodeSet getVertexSet() const + { + btSoftBodyTriangleData::TriangleNodeSet nodes; + nodes.vertex0 = m_vertex0; + nodes.vertex1 = m_vertex1; + nodes.vertex2 = m_vertex2; + return nodes; + } + }; + +protected: + // NOTE: + // Vertex reference data is stored relative to global array, not relative to individual cloth. + // Values must be correct if being passed into single-cloth VBOs or when migrating from one solver + // to another. + btAlignedObjectArray< TriangleNodeSet > m_vertexIndices; + btAlignedObjectArray< float > m_area; + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_normal; + +public: + btSoftBodyTriangleData() + { + } + + virtual ~btSoftBodyTriangleData() + { + + } + + virtual void clear() + { + m_vertexIndices.resize(0); + m_area.resize(0); + m_normal.resize(0); + } + + int getNumTriangles() + { + return m_vertexIndices.size(); + } + + virtual void setTriangleAt( const TriangleDescription &triangle, int triangleIndex ) + { + m_vertexIndices[triangleIndex] = triangle.getVertexSet(); + } + + virtual void createTriangles( int numTriangles ) + { + int previousSize = m_vertexIndices.size(); + int newSize = previousSize + numTriangles; + + // Resize all the arrays that store triangle data + m_vertexIndices.resize( newSize ); + m_area.resize( newSize ); + m_normal.resize( newSize ); + } + + /** + * Return the vertex index set for triangle triangleIndex as stored on the host. + */ + const TriangleNodeSet &getVertexSet( int triangleIndex ) + { + return m_vertexIndices[triangleIndex]; + } + + /** + * Get access to the triangle area. + */ + float &getTriangleArea( int triangleIndex ) + { + return m_area[triangleIndex]; + } + + /** + * Get access to the normal vector for this triangle. + */ + Vectormath::Aos::Vector3 &getNormal( int triangleIndex ) + { + return m_normal[triangleIndex]; + } + + /** + * Return true if data is on the accelerator. + * The CPU version of this class will return true here because + * the CPU is the same as the accelerator. + */ + virtual bool onAccelerator() + { + return true; + } + + /** + * Move data from host memory to the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveToAccelerator() + { + return true; + } + + /** + * Move data from host memory from the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveFromAccelerator() + { + return true; + } +}; + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_DATA_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolver_CPU.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolver_CPU.h new file mode 100644 index 0000000..7e63b8a --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolver_CPU.h @@ -0,0 +1,344 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_ACCELERATED_SOFT_BODY_CPU_SOLVER_H +#define BT_ACCELERATED_SOFT_BODY_CPU_SOLVER_H + +#include "vectormath/vmInclude.h" +#include "BulletSoftBody/btSoftBodySolvers.h" +#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h" +#include "BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolverData.h" + + + +class btCPUSoftBodySolver : public btSoftBodySolver +{ +protected: + /** + * Entry in the collision shape array. + * Specifies the shape type, the transform matrix and the necessary details of the collisionShape. + */ + struct CollisionShapeDescription + { + int softBodyIdentifier; + int collisionShapeType; + Vectormath::Aos::Transform3 shapeTransform; + union + { + struct Sphere + { + float radius; + } sphere; + struct Capsule + { + float radius; + float halfHeight; + } capsule; + } shapeInformation; + + CollisionShapeDescription() + { + collisionShapeType = 0; + } + }; + + /** + * SoftBody class to maintain information about a soft body instance + * within a solver. + * This data addresses the main solver arrays. + */ + class btAcceleratedSoftBodyInterface + { + protected: + /** Current number of vertices that are part of this cloth */ + int m_numVertices; + /** Maximum number of vertices allocated to be part of this cloth */ + int m_maxVertices; + /** Current number of triangles that are part of this cloth */ + int m_numTriangles; + /** Maximum number of triangles allocated to be part of this cloth */ + int m_maxTriangles; + /** Index of first vertex in the world allocated to this cloth */ + int m_firstVertex; + /** Index of first triangle in the world allocated to this cloth */ + int m_firstTriangle; + /** Index of first link in the world allocated to this cloth */ + int m_firstLink; + /** Maximum number of links allocated to this cloth */ + int m_maxLinks; + /** Current number of links allocated to this cloth */ + int m_numLinks; + + /** The actual soft body this data represents */ + btSoftBody *m_softBody; + + + public: + btAcceleratedSoftBodyInterface( btSoftBody *softBody ) : + m_softBody( softBody ) + { + m_numVertices = 0; + m_maxVertices = 0; + m_numTriangles = 0; + m_maxTriangles = 0; + m_firstVertex = 0; + m_firstTriangle = 0; + m_firstLink = 0; + m_maxLinks = 0; + m_numLinks = 0; + } + int getNumVertices() + { + return m_numVertices; + } + + int getNumTriangles() + { + return m_numTriangles; + } + + int getMaxVertices() + { + return m_maxVertices; + } + + int getMaxTriangles() + { + return m_maxTriangles; + } + + int getFirstVertex() + { + return m_firstVertex; + } + + int getFirstTriangle() + { + return m_firstTriangle; + } + + // TODO: All of these set functions will have to do checks and + // update the world because restructuring of the arrays will be necessary + // Reasonable use of "friend"? + void setNumVertices( int numVertices ) + { + m_numVertices = numVertices; + } + + void setNumTriangles( int numTriangles ) + { + m_numTriangles = numTriangles; + } + + void setMaxVertices( int maxVertices ) + { + m_maxVertices = maxVertices; + } + + void setMaxTriangles( int maxTriangles ) + { + m_maxTriangles = maxTriangles; + } + + void setFirstVertex( int firstVertex ) + { + m_firstVertex = firstVertex; + } + + void setFirstTriangle( int firstTriangle ) + { + m_firstTriangle = firstTriangle; + } + + void setMaxLinks( int maxLinks ) + { + m_maxLinks = maxLinks; + } + + void setNumLinks( int numLinks ) + { + m_numLinks = numLinks; + } + + void setFirstLink( int firstLink ) + { + m_firstLink = firstLink; + } + + int getMaxLinks() + { + return m_maxLinks; + } + + int getNumLinks() + { + return m_numLinks; + } + + int getFirstLink() + { + return m_firstLink; + } + + btSoftBody* getSoftBody() + { + return m_softBody; + } + + #if 0 + void setAcceleration( Vectormath::Aos::Vector3 acceleration ) + { + m_currentSolver->setPerClothAcceleration( m_clothIdentifier, acceleration ); + } + + void setWindVelocity( Vectormath::Aos::Vector3 windVelocity ) + { + m_currentSolver->setPerClothWindVelocity( m_clothIdentifier, windVelocity ); + } + + /** + * Set the density of the air in which the cloth is situated. + */ + void setAirDensity( btScalar density ) + { + m_currentSolver->setPerClothMediumDensity( m_clothIdentifier, static_cast(density) ); + } + + /** + * Add a collision object to this soft body. + */ + void addCollisionObject( btCollisionObject *collisionObject ) + { + m_currentSolver->addCollisionObjectForSoftBody( m_clothIdentifier, collisionObject ); + } + #endif + }; + + + struct CollisionObjectIndices + { + int firstObject; + int endObject; + }; + + + + btSoftBodyLinkData m_linkData; + btSoftBodyVertexData m_vertexData; + btSoftBodyTriangleData m_triangleData; + + /** Variable to define whether we need to update solver constants on the next iteration */ + bool m_updateSolverConstants; + + /** + * Cloths owned by this solver. + * Only our cloths are in this array. + */ + btAlignedObjectArray< btAcceleratedSoftBodyInterface * > m_softBodySet; + + /** Acceleration value to be applied to all non-static vertices in the solver. + * Index n is cloth n, array sized by number of cloths in the world not the solver. + */ + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothAcceleration; + + /** Wind velocity to be applied normal to all non-static vertices in the solver. + * Index n is cloth n, array sized by number of cloths in the world not the solver. + */ + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothWindVelocity; + + /** Velocity damping factor */ + btAlignedObjectArray< float > m_perClothDampingFactor; + + /** Velocity correction coefficient */ + btAlignedObjectArray< float > m_perClothVelocityCorrectionCoefficient; + + /** Lift parameter for wind effect on cloth. */ + btAlignedObjectArray< float > m_perClothLiftFactor; + + /** Drag parameter for wind effect on cloth. */ + btAlignedObjectArray< float > m_perClothDragFactor; + + /** Density of the medium in which each cloth sits */ + btAlignedObjectArray< float > m_perClothMediumDensity; + + /** + * Collision shape details: pair of index of first collision shape for the cloth and number of collision objects. + */ + btAlignedObjectArray< CollisionObjectIndices > m_perClothCollisionObjects; + + /** + * Collision shapes being passed across to the cloths in this solver. + */ + btAlignedObjectArray< CollisionShapeDescription > m_collisionObjectDetails; + + + void prepareCollisionConstraints(); + + Vectormath::Aos::Vector3 ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a ); + + void ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce ); + + float computeTriangleArea( + const Vectormath::Aos::Point3 &vertex0, + const Vectormath::Aos::Point3 &vertex1, + const Vectormath::Aos::Point3 &vertex2 ); + + void applyForces( float solverdt ); + void integrate( float solverdt ); + void updateConstants( float timeStep ); + btAcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody ); + + +public: + btCPUSoftBodySolver(); + + virtual ~btCPUSoftBodySolver(); + + + virtual btSoftBodyLinkData &getLinkData(); + + virtual btSoftBodyVertexData &getVertexData(); + + virtual btSoftBodyTriangleData &getTriangleData(); + + + + + + /** + * Add a collision object to be used by the indicated softbody. + */ + virtual void addCollisionObjectForSoftBody( int clothIdentifier, btCollisionObject *collisionObject ); + + + + + + + + virtual bool checkInitialized(); + + virtual void updateSoftBodies( ); + + virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies ); + + virtual void solveConstraints( float solverdt ); + + virtual void predictMotion( float solverdt ); + + virtual void copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer ); +}; + +#endif // #ifndef BT_ACCELERATED_SOFT_BODY_CPU_SOLVER_H \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ApplyForces.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ApplyForces.hlsl new file mode 100644 index 0000000..37e2269 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ApplyForces.hlsl @@ -0,0 +1,95 @@ +MSTRINGIFY( + +cbuffer ApplyForcesCB : register( b0 ) +{ + unsigned int numNodes; + float solverdt; + float epsilon; + int padding3; +}; + + +StructuredBuffer g_vertexClothIdentifier : register( t0 ); +StructuredBuffer g_vertexNormal : register( t1 ); +StructuredBuffer g_vertexArea : register( t2 ); +StructuredBuffer g_vertexInverseMass : register( t3 ); +// TODO: These could be combined into a lift/drag factor array along with medium density +StructuredBuffer g_clothLiftFactor : register( t4 ); +StructuredBuffer g_clothDragFactor : register( t5 ); +StructuredBuffer g_clothWindVelocity : register( t6 ); +StructuredBuffer g_clothAcceleration : register( t7 ); +StructuredBuffer g_clothMediumDensity : register( t8 ); + +RWStructuredBuffer g_vertexForceAccumulator : register( u0 ); +RWStructuredBuffer g_vertexVelocity : register( u1 ); + +float3 projectOnAxis( float3 v, float3 a ) +{ + return (a*dot(v, a)); +} + +[numthreads(128, 1, 1)] +void +ApplyForcesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + unsigned int nodeID = DTid.x; + if( nodeID < numNodes ) + { + int clothId = g_vertexClothIdentifier[nodeID]; + float nodeIM = g_vertexInverseMass[nodeID]; + + if( nodeIM > 0.0f ) + { + float3 nodeV = g_vertexVelocity[nodeID].xyz; + float3 normal = g_vertexNormal[nodeID].xyz; + float area = g_vertexArea[nodeID]; + float3 nodeF = g_vertexForceAccumulator[nodeID].xyz; + + // Read per-cloth values + float3 clothAcceleration = g_clothAcceleration[clothId].xyz; + float3 clothWindVelocity = g_clothWindVelocity[clothId].xyz; + float liftFactor = g_clothLiftFactor[clothId]; + float dragFactor = g_clothDragFactor[clothId]; + float mediumDensity = g_clothMediumDensity[clothId]; + + // Apply the acceleration to the cloth rather than do this via a force + nodeV += (clothAcceleration*solverdt); + + g_vertexVelocity[nodeID] = float4(nodeV, 0.f); + + float3 relativeWindVelocity = nodeV - clothWindVelocity; + float relativeSpeedSquared = dot(relativeWindVelocity, relativeWindVelocity); + + if( relativeSpeedSquared > epsilon ) + { + // Correct direction of normal relative to wind direction and get dot product + normal = normal * (dot(normal, relativeWindVelocity) < 0 ? -1.f : 1.f); + float dvNormal = dot(normal, relativeWindVelocity); + if( dvNormal > 0 ) + { + float3 force = float3(0.f, 0.f, 0.f); + float c0 = area * dvNormal * relativeSpeedSquared / 2.f; + float c1 = c0 * mediumDensity; + force += normal * (-c1 * liftFactor); + force += normalize(relativeWindVelocity)*(-c1 * dragFactor); + + float dtim = solverdt * nodeIM; + float3 forceDTIM = force * dtim; + + float3 nodeFPlusForce = nodeF + force; + + // m_nodesf[i] -= ProjectOnAxis(m_nodesv[i], force.normalized())/dtim; + float3 nodeFMinus = nodeF - (projectOnAxis(nodeV, normalize(force))/dtim); + + nodeF = nodeFPlusForce; + if( dot(forceDTIM, forceDTIM) > dot(nodeV, nodeV) ) + nodeF = nodeFMinus; + + g_vertexForceAccumulator[nodeID] = float4(nodeF, 0.0f); + } + } + } + } +} + +); \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ComputeBounds.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ComputeBounds.hlsl new file mode 100644 index 0000000..65ae515 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ComputeBounds.hlsl @@ -0,0 +1,83 @@ +MSTRINGIFY( + +cbuffer ComputeBoundsCB : register( b0 ) +{ + int numNodes; + int numSoftBodies; + int padding1; + int padding2; +}; + +// Node indices for each link +StructuredBuffer g_vertexClothIdentifier : register( t0 ); +StructuredBuffer g_vertexPositions : register( t1 ); + +RWStructuredBuffer g_clothMinBounds : register( u0 ); +RWStructuredBuffer g_clothMaxBounds : register( u1 ); + +groupshared uint4 clothMinBounds[256]; +groupshared uint4 clothMaxBounds[256]; + +[numthreads(128, 1, 1)] +void +ComputeBoundsKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + const unsigned int UINT_MAX = 0xffffffff; + + // Init min and max bounds arrays + if( GTid.x < numSoftBodies ) + { + clothMinBounds[GTid.x] = uint4(UINT_MAX, UINT_MAX, UINT_MAX, UINT_MAX); + clothMaxBounds[GTid.x] = uint4(0,0,0,0); + } + + AllMemoryBarrierWithGroupSync(); + + int nodeID = DTid.x; + if( nodeID < numNodes ) + { + int clothIdentifier = g_vertexClothIdentifier[nodeID]; + if( clothIdentifier >= 0 ) + { + float3 position = g_vertexPositions[nodeID].xyz; + + // Reinterpret position as uint + uint3 positionUInt = uint3(asuint(position.x), asuint(position.y), asuint(position.z)); + + // Invert sign bit of positives and whole of negatives to allow comparison as unsigned ints + //positionUInt.x ^= uint((-int(positionUInt.x >> 31) | 0x80000000)); + //positionUInt.y ^= uint((-int(positionUInt.y >> 31) | 0x80000000)); + //positionUInt.z ^= uint((-int(positionUInt.z >> 31) | 0x80000000)); + positionUInt.x ^= (1+~(positionUInt.x >> 31) | 0x80000000); + positionUInt.y ^= (1+~(positionUInt.y >> 31) | 0x80000000); + positionUInt.z ^= (1+~(positionUInt.z >> 31) | 0x80000000); + + // Min/max with the LDS values + InterlockedMin(clothMinBounds[clothIdentifier].x, positionUInt.x); + InterlockedMin(clothMinBounds[clothIdentifier].y, positionUInt.y); + InterlockedMin(clothMinBounds[clothIdentifier].z, positionUInt.z); + + InterlockedMax(clothMaxBounds[clothIdentifier].x, positionUInt.x); + InterlockedMax(clothMaxBounds[clothIdentifier].y, positionUInt.y); + InterlockedMax(clothMaxBounds[clothIdentifier].z, positionUInt.z); + } + } + + AllMemoryBarrierWithGroupSync(); + + + // Use global atomics to update the global versions of the data + if( GTid.x < numSoftBodies ) + { + InterlockedMin(g_clothMinBounds[GTid.x].x, clothMinBounds[GTid.x].x); + InterlockedMin(g_clothMinBounds[GTid.x].y, clothMinBounds[GTid.x].y); + InterlockedMin(g_clothMinBounds[GTid.x].z, clothMinBounds[GTid.x].z); + + InterlockedMax(g_clothMaxBounds[GTid.x].x, clothMaxBounds[GTid.x].x); + InterlockedMax(g_clothMaxBounds[GTid.x].y, clothMaxBounds[GTid.x].y); + InterlockedMax(g_clothMaxBounds[GTid.x].z, clothMaxBounds[GTid.x].z); + } +} + + +); \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/Integrate.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/Integrate.hlsl new file mode 100644 index 0000000..f85fd11 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/Integrate.hlsl @@ -0,0 +1,41 @@ +MSTRINGIFY( + +cbuffer IntegrateCB : register( b0 ) +{ + int numNodes; + float solverdt; + int padding1; + int padding2; +}; + +// Node indices for each link +StructuredBuffer g_vertexInverseMasses : register( t0 ); + +RWStructuredBuffer g_vertexPositions : register( u0 ); +RWStructuredBuffer g_vertexVelocity : register( u1 ); +RWStructuredBuffer g_vertexPreviousPositions : register( u2 ); +RWStructuredBuffer g_vertexForceAccumulator : register( u3 ); + +[numthreads(128, 1, 1)] +void +IntegrateKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + if( nodeID < numNodes ) + { + float3 position = g_vertexPositions[nodeID].xyz; + float3 velocity = g_vertexVelocity[nodeID].xyz; + float3 force = g_vertexForceAccumulator[nodeID].xyz; + float inverseMass = g_vertexInverseMasses[nodeID]; + + g_vertexPreviousPositions[nodeID] = float4(position, 0.f); + velocity += force * inverseMass * solverdt; + position += velocity * solverdt; + + g_vertexForceAccumulator[nodeID] = float4(0.f, 0.f, 0.f, 0.0f); + g_vertexPositions[nodeID] = float4(position, 0.f); + g_vertexVelocity[nodeID] = float4(velocity, 0.f); + } +} + +); \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/OutputToVertexArray.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/OutputToVertexArray.hlsl new file mode 100644 index 0000000..a6fa7b9 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/OutputToVertexArray.hlsl @@ -0,0 +1,63 @@ +MSTRINGIFY( + +cbuffer OutputToVertexArrayCB : register( b0 ) +{ + int startNode; + int numNodes; + int positionOffset; + int positionStride; + + int normalOffset; + int normalStride; + int padding1; + int padding2; +}; + + +StructuredBuffer g_vertexPositions : register( t0 ); +StructuredBuffer g_vertexNormals : register( t1 ); + +RWBuffer g_vertexBuffer : register( u0 ); + + +[numthreads(128, 1, 1)] +void +OutputToVertexArrayWithNormalsKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + if( nodeID < numNodes ) + { + float4 position = g_vertexPositions[nodeID + startNode]; + float4 normal = g_vertexNormals[nodeID + startNode]; + + // Stride should account for the float->float4 conversion + int positionDestination = nodeID * positionStride + positionOffset; + g_vertexBuffer[positionDestination] = position.x; + g_vertexBuffer[positionDestination+1] = position.y; + g_vertexBuffer[positionDestination+2] = position.z; + + int normalDestination = nodeID * normalStride + normalOffset; + g_vertexBuffer[normalDestination] = normal.x; + g_vertexBuffer[normalDestination+1] = normal.y; + g_vertexBuffer[normalDestination+2] = normal.z; + } +} + +[numthreads(128, 1, 1)] +void +OutputToVertexArrayWithoutNormalsKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + if( nodeID < numNodes ) + { + float4 position = g_vertexPositions[nodeID + startNode]; + float4 normal = g_vertexNormals[nodeID + startNode]; + + // Stride should account for the float->float4 conversion + int positionDestination = nodeID * positionStride + positionOffset; + g_vertexBuffer[positionDestination] = position.x; + g_vertexBuffer[positionDestination+1] = position.y; + g_vertexBuffer[positionDestination+2] = position.z; + } +} +); \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/PrepareLinks.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/PrepareLinks.hlsl new file mode 100644 index 0000000..75db8d1 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/PrepareLinks.hlsl @@ -0,0 +1,44 @@ +MSTRINGIFY( + +cbuffer PrepareLinksCB : register( b0 ) +{ + int numLinks; + int padding0; + int padding1; + int padding2; +}; + +// Node indices for each link +StructuredBuffer g_linksVertexIndices : register( t0 ); +StructuredBuffer g_linksMassLSC : register( t1 ); +StructuredBuffer g_nodesPreviousPosition : register( t2 ); + +RWStructuredBuffer g_linksLengthRatio : register( u0 ); +RWStructuredBuffer g_linksCurrentLength : register( u1 ); + +[numthreads(128, 1, 1)] +void +PrepareLinksKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int linkID = DTid.x; + if( linkID < numLinks ) + { + int2 nodeIndices = g_linksVertexIndices[linkID]; + int node0 = nodeIndices.x; + int node1 = nodeIndices.y; + + float4 nodePreviousPosition0 = g_nodesPreviousPosition[node0]; + float4 nodePreviousPosition1 = g_nodesPreviousPosition[node1]; + + float massLSC = g_linksMassLSC[linkID]; + + float4 linkCurrentLength = nodePreviousPosition1 - nodePreviousPosition0; + + float linkLengthRatio = dot(linkCurrentLength, linkCurrentLength)*massLSC; + linkLengthRatio = 1./linkLengthRatio; + + g_linksCurrentLength[linkID] = linkCurrentLength; + g_linksLengthRatio[linkID] = linkLengthRatio; + } +} +); \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositions.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositions.hlsl new file mode 100644 index 0000000..de979d7 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositions.hlsl @@ -0,0 +1,55 @@ +MSTRINGIFY( + +cbuffer SolvePositionsFromLinksKernelCB : register( b0 ) +{ + int startLink; + int numLinks; + float kst; + float ti; +}; + +// Node indices for each link +StructuredBuffer g_linksVertexIndices : register( t0 ); + +StructuredBuffer g_linksMassLSC : register( t1 ); +StructuredBuffer g_linksRestLengthSquared : register( t2 ); +StructuredBuffer g_verticesInverseMass : register( t3 ); + +RWStructuredBuffer g_vertexPositions : register( u0 ); + +[numthreads(128, 1, 1)] +void +SolvePositionsFromLinksKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int linkID = DTid.x + startLink; + if( DTid.x < numLinks ) + { + float massLSC = g_linksMassLSC[linkID]; + float restLengthSquared = g_linksRestLengthSquared[linkID]; + + if( massLSC > 0.0f ) + { + int2 nodeIndices = g_linksVertexIndices[linkID]; + int node0 = nodeIndices.x; + int node1 = nodeIndices.y; + + float3 position0 = g_vertexPositions[node0].xyz; + float3 position1 = g_vertexPositions[node1].xyz; + + float inverseMass0 = g_verticesInverseMass[node0]; + float inverseMass1 = g_verticesInverseMass[node1]; + + float3 del = position1 - position0; + float len = dot(del, del); + float k = ((restLengthSquared - len)/(massLSC*(restLengthSquared+len)))*kst; + position0 = position0 - del*(k*inverseMass0); + position1 = position1 + del*(k*inverseMass1); + + g_vertexPositions[node0] = float4(position0, 0.f); + g_vertexPositions[node1] = float4(position1, 0.f); + + } + } +} + +); \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositionsSIMDBatched.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositionsSIMDBatched.hlsl new file mode 100644 index 0000000..4d01038 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositionsSIMDBatched.hlsl @@ -0,0 +1,139 @@ +MSTRINGIFY( + +cbuffer SolvePositionsFromLinksKernelCB : register( b0 ) +{ + int startWaveInBatch; + int numWaves; + float kst; + float ti; +}; + + +// Number of batches per wavefront stored one element per logical wavefront +StructuredBuffer g_wavefrontBatchCountsVertexCounts : register( t0 ); +// Set of up to maxNumVertices vertex addresses per wavefront +StructuredBuffer g_vertexAddressesPerWavefront : register( t1 ); + +StructuredBuffer g_verticesInverseMass : register( t2 ); + +// Per-link data layed out structured in terms of sub batches within wavefronts +StructuredBuffer g_linksVertexIndices : register( t3 ); +StructuredBuffer g_linksMassLSC : register( t4 ); +StructuredBuffer g_linksRestLengthSquared : register( t5 ); + +RWStructuredBuffer g_vertexPositions : register( u0 ); + +// Data loaded on a per-wave basis +groupshared int2 wavefrontBatchCountsVertexCounts[WAVEFRONT_BLOCK_MULTIPLIER]; +groupshared float4 vertexPositionSharedData[MAX_NUM_VERTICES_PER_WAVE*WAVEFRONT_BLOCK_MULTIPLIER]; +groupshared float vertexInverseMassSharedData[MAX_NUM_VERTICES_PER_WAVE*WAVEFRONT_BLOCK_MULTIPLIER]; + +// Storing the vertex addresses actually slowed things down a little +//groupshared int vertexAddressSharedData[MAX_NUM_VERTICES_PER_WAVE*WAVEFRONT_BLOCK_MULTIPLIER]; + + +[numthreads(BLOCK_SIZE, 1, 1)] +void +SolvePositionsFromLinksKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + const int laneInWavefront = (DTid.x & (WAVEFRONT_SIZE-1)); + const int wavefront = startWaveInBatch + (DTid.x / WAVEFRONT_SIZE); + const int firstWavefrontInBlock = startWaveInBatch + Gid.x * WAVEFRONT_BLOCK_MULTIPLIER; + const int localWavefront = wavefront - firstWavefrontInBlock; + + // Mask out in case there's a stray "wavefront" at the end that's been forced in through the multiplier + if( wavefront < (startWaveInBatch + numWaves) ) + { + + // Load the batch counts for the wavefronts + // Mask out in case there's a stray "wavefront" at the end that's been forced in through the multiplier + if( laneInWavefront == 0 ) + { + int2 batchesAndVertexCountsWithinWavefront = g_wavefrontBatchCountsVertexCounts[firstWavefrontInBlock + localWavefront]; + wavefrontBatchCountsVertexCounts[localWavefront] = batchesAndVertexCountsWithinWavefront; + } + + + int2 batchesAndVerticesWithinWavefront = wavefrontBatchCountsVertexCounts[localWavefront]; + int batchesWithinWavefront = batchesAndVerticesWithinWavefront.x; + int verticesUsedByWave = batchesAndVerticesWithinWavefront.y; + + // Load the vertices for the wavefronts + for( int vertex = laneInWavefront; vertex < verticesUsedByWave; vertex+=WAVEFRONT_SIZE ) + { + int vertexAddress = g_vertexAddressesPerWavefront[wavefront*MAX_NUM_VERTICES_PER_WAVE + vertex]; + + //vertexAddressSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = vertexAddress; + vertexPositionSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = g_vertexPositions[vertexAddress]; + vertexInverseMassSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = g_verticesInverseMass[vertexAddress]; + } + + // Ensure compiler does not re-order memory operations + AllMemoryBarrier(); + + + // Loop through the batches performing the solve on each in LDS + int baseDataLocationForWave = WAVEFRONT_SIZE * wavefront * MAX_BATCHES_PER_WAVE; + + //for( int batch = 0; batch < batchesWithinWavefront; ++batch ) + + int batch = 0; + do + { + int baseDataLocation = baseDataLocationForWave + WAVEFRONT_SIZE * batch; + int locationOfValue = baseDataLocation + laneInWavefront; + + + // These loads should all be perfectly linear across the WF + int2 localVertexIndices = g_linksVertexIndices[locationOfValue]; + float massLSC = g_linksMassLSC[locationOfValue]; + float restLengthSquared = g_linksRestLengthSquared[locationOfValue]; + + + // LDS vertex addresses based on logical wavefront number in block and loaded index + int vertexAddress0 = MAX_NUM_VERTICES_PER_WAVE * localWavefront + localVertexIndices.x; + int vertexAddress1 = MAX_NUM_VERTICES_PER_WAVE * localWavefront + localVertexIndices.y; + + float3 position0 = vertexPositionSharedData[vertexAddress0].xyz; + float3 position1 = vertexPositionSharedData[vertexAddress1].xyz; + + float inverseMass0 = vertexInverseMassSharedData[vertexAddress0]; + float inverseMass1 = vertexInverseMassSharedData[vertexAddress1]; + + float3 del = position1 - position0; + float len = dot(del, del); + + float k = 0; + if( massLSC > 0.0f ) + { + k = ((restLengthSquared - len)/(massLSC*(restLengthSquared+len)))*kst; + } + + position0 = position0 - del*(k*inverseMass0); + position1 = position1 + del*(k*inverseMass1); + + // Ensure compiler does not re-order memory operations + AllMemoryBarrier(); + + vertexPositionSharedData[vertexAddress0] = float4(position0, 0.f); + vertexPositionSharedData[vertexAddress1] = float4(position1, 0.f); + + // Ensure compiler does not re-order memory operations + AllMemoryBarrier(); + + + ++batch; + } while( batch < batchesWithinWavefront ); + + // Update the global memory vertices for the wavefronts + for( int vertex = laneInWavefront; vertex < verticesUsedByWave; vertex+=WAVEFRONT_SIZE ) + { + int vertexAddress = g_vertexAddressesPerWavefront[wavefront*MAX_NUM_VERTICES_PER_WAVE + vertex]; + + g_vertexPositions[vertexAddress] = vertexPositionSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex]; + } + } + +} + +); \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateConstants.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateConstants.hlsl new file mode 100644 index 0000000..fafd236 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateConstants.hlsl @@ -0,0 +1,48 @@ +MSTRINGIFY( + +cbuffer UpdateConstantsCB : register( b0 ) +{ + int numLinks; + int padding0; + int padding1; + int padding2; +}; + +// Node indices for each link +StructuredBuffer g_linksVertexIndices : register( t0 ); +StructuredBuffer g_vertexPositions : register( t1 ); +StructuredBuffer g_vertexInverseMasses : register( t2 ); +StructuredBuffer g_linksMaterialLSC : register( t3 ); + +RWStructuredBuffer g_linksMassLSC : register( u0 ); +RWStructuredBuffer g_linksRestLengthSquared : register( u1 ); +RWStructuredBuffer g_linksRestLengths : register( u2 ); + +[numthreads(128, 1, 1)] +void +UpdateConstantsKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int linkID = DTid.x; + if( linkID < numLinks ) + { + int2 nodeIndices = g_linksVertexIndices[linkID]; + int node0 = nodeIndices.x; + int node1 = nodeIndices.y; + float linearStiffnessCoefficient = g_linksMaterialLSC[ linkID ]; + + float3 position0 = g_vertexPositions[node0].xyz; + float3 position1 = g_vertexPositions[node1].xyz; + float inverseMass0 = g_vertexInverseMasses[node0]; + float inverseMass1 = g_vertexInverseMasses[node1]; + + float3 difference = position0 - position1; + float length2 = dot(difference, difference); + float length = sqrt(length2); + + g_linksRestLengths[linkID] = length; + g_linksMassLSC[linkID] = (inverseMass0 + inverseMass1)/linearStiffnessCoefficient; + g_linksRestLengthSquared[linkID] = length*length; + } +} + +); \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNodes.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNodes.hlsl new file mode 100644 index 0000000..a16d894 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNodes.hlsl @@ -0,0 +1,49 @@ +MSTRINGIFY( + +cbuffer UpdateVelocitiesFromPositionsWithVelocitiesCB : register( b0 ) +{ + int numNodes; + float isolverdt; + int padding1; + int padding2; +}; + + +StructuredBuffer g_vertexPositions : register( t0 ); +StructuredBuffer g_vertexPreviousPositions : register( t1 ); +StructuredBuffer g_vertexClothIndices : register( t2 ); +StructuredBuffer g_clothVelocityCorrectionCoefficients : register( t3 ); +StructuredBuffer g_clothDampingFactor : register( t4 ); + +RWStructuredBuffer g_vertexVelocities : register( u0 ); +RWStructuredBuffer g_vertexForces : register( u1 ); + + +[numthreads(128, 1, 1)] +void +updateVelocitiesFromPositionsWithVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + if( nodeID < numNodes ) + { + float3 position = g_vertexPositions[nodeID].xyz; + float3 previousPosition = g_vertexPreviousPositions[nodeID].xyz; + float3 velocity = g_vertexVelocities[nodeID].xyz; + int clothIndex = g_vertexClothIndices[nodeID]; + float velocityCorrectionCoefficient = g_clothVelocityCorrectionCoefficients[clothIndex]; + float dampingFactor = g_clothDampingFactor[clothIndex]; + float velocityCoefficient = (1.f - dampingFactor); + + float3 difference = position - previousPosition; + + velocity += difference*velocityCorrectionCoefficient*isolverdt; + + // Damp the velocity + velocity *= velocityCoefficient; + + g_vertexVelocities[nodeID] = float4(velocity, 0.f); + g_vertexForces[nodeID] = float4(0.f, 0.f, 0.f, 0.f); + } +} + +); \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNormals.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNormals.hlsl new file mode 100644 index 0000000..54ab3ed --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNormals.hlsl @@ -0,0 +1,98 @@ +MSTRINGIFY( + +cbuffer UpdateSoftBodiesCB : register( b0 ) +{ + unsigned int numNodes; + unsigned int startFace; + unsigned int numFaces; + float epsilon; +}; + + +// Node indices for each link +StructuredBuffer g_triangleVertexIndexSet : register( t0 ); +StructuredBuffer g_vertexPositions : register( t1 ); +StructuredBuffer g_vertexTriangleCount : register( t2 ); + +RWStructuredBuffer g_vertexNormals : register( u0 ); +RWStructuredBuffer g_vertexArea : register( u1 ); +RWStructuredBuffer g_triangleNormals : register( u2 ); +RWStructuredBuffer g_triangleArea : register( u3 ); + + +[numthreads(128, 1, 1)] +void +ResetNormalsAndAreasKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + if( DTid.x < numNodes ) + { + g_vertexNormals[DTid.x] = float4(0.0f, 0.0f, 0.0f, 0.0f); + g_vertexArea[DTid.x] = 0.0f; + } +} + + +[numthreads(128, 1, 1)] +void +UpdateSoftBodiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int faceID = DTid.x + startFace; + if( DTid.x < numFaces ) + { + int4 triangleIndexSet = g_triangleVertexIndexSet[ faceID ]; + int nodeIndex0 = triangleIndexSet.x; + int nodeIndex1 = triangleIndexSet.y; + int nodeIndex2 = triangleIndexSet.z; + + float3 node0 = g_vertexPositions[nodeIndex0].xyz; + float3 node1 = g_vertexPositions[nodeIndex1].xyz; + float3 node2 = g_vertexPositions[nodeIndex2].xyz; + float3 nodeNormal0 = g_vertexNormals[nodeIndex0].xyz; + float3 nodeNormal1 = g_vertexNormals[nodeIndex1].xyz; + float3 nodeNormal2 = g_vertexNormals[nodeIndex2].xyz; + float vertexArea0 = g_vertexArea[nodeIndex0]; + float vertexArea1 = g_vertexArea[nodeIndex1]; + float vertexArea2 = g_vertexArea[nodeIndex2]; + + float3 vector0 = node1 - node0; + float3 vector1 = node2 - node0; + + float3 faceNormal = cross(vector0.xyz, vector1.xyz); + float triangleArea = length(faceNormal); + + nodeNormal0 = nodeNormal0 + faceNormal; + nodeNormal1 = nodeNormal1 + faceNormal; + nodeNormal2 = nodeNormal2 + faceNormal; + vertexArea0 = vertexArea0 + triangleArea; + vertexArea1 = vertexArea1 + triangleArea; + vertexArea2 = vertexArea2 + triangleArea; + + g_triangleNormals[faceID] = float4(normalize(faceNormal), 0.f); + g_vertexNormals[nodeIndex0] = float4(nodeNormal0, 0.f); + g_vertexNormals[nodeIndex1] = float4(nodeNormal1, 0.f); + g_vertexNormals[nodeIndex2] = float4(nodeNormal2, 0.f); + g_triangleArea[faceID] = triangleArea; + g_vertexArea[nodeIndex0] = vertexArea0; + g_vertexArea[nodeIndex1] = vertexArea1; + g_vertexArea[nodeIndex2] = vertexArea2; + } +} + +[numthreads(128, 1, 1)] +void +NormalizeNormalsAndAreasKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + if( DTid.x < numNodes ) + { + float4 normal = g_vertexNormals[DTid.x]; + float area = g_vertexArea[DTid.x]; + int numTriangles = g_vertexTriangleCount[DTid.x]; + + float vectorLength = length(normal); + + g_vertexNormals[DTid.x] = normalize(normal); + g_vertexArea[DTid.x] = area/float(numTriangles); + } +} + +); \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositions.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositions.hlsl new file mode 100644 index 0000000..9685fa8 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositions.hlsl @@ -0,0 +1,44 @@ +MSTRINGIFY( + +cbuffer UpdateVelocitiesFromPositionsWithoutVelocitiesCB : register( b0 ) +{ + int numNodes; + float isolverdt; + int padding1; + int padding2; +}; + + +StructuredBuffer g_vertexPositions : register( t0 ); +StructuredBuffer g_vertexPreviousPositions : register( t1 ); +StructuredBuffer g_vertexClothIndices : register( t2 ); +StructuredBuffer g_clothDampingFactor : register( t3 ); + +RWStructuredBuffer g_vertexVelocities : register( u0 ); +RWStructuredBuffer g_vertexForces : register( u1 ); + + +[numthreads(128, 1, 1)] +void +updateVelocitiesFromPositionsWithoutVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + if( nodeID < numNodes ) + { + float3 position = g_vertexPositions[nodeID].xyz; + float3 previousPosition = g_vertexPreviousPositions[nodeID].xyz; + float3 velocity = g_vertexVelocities[nodeID].xyz; + int clothIndex = g_vertexClothIndices[nodeID]; + float dampingFactor = g_clothDampingFactor[clothIndex]; + float velocityCoefficient = (1.f - dampingFactor); + + float3 difference = position - previousPosition; + + velocity = difference*velocityCoefficient*isolverdt; + + g_vertexVelocities[nodeID] = float4(velocity, 0.f); + g_vertexForces[nodeID] = float4(0.f, 0.f, 0.f, 0.f); + } +} + +); \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositionsFromVelocities.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositionsFromVelocities.hlsl new file mode 100644 index 0000000..e816b1e --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositionsFromVelocities.hlsl @@ -0,0 +1,35 @@ +MSTRINGIFY( + +cbuffer UpdatePositionsFromVelocitiesCB : register( b0 ) +{ + int numNodes; + float solverSDT; + int padding1; + int padding2; +}; + + +StructuredBuffer g_vertexVelocities : register( t0 ); + +RWStructuredBuffer g_vertexPreviousPositions : register( u0 ); +RWStructuredBuffer g_vertexCurrentPosition : register( u1 ); + + +[numthreads(128, 1, 1)] +void +UpdatePositionsFromVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int vertexID = DTid.x; + if( vertexID < numNodes ) + { + float3 previousPosition = g_vertexPreviousPositions[vertexID].xyz; + float3 velocity = g_vertexVelocities[vertexID].xyz; + + float3 newPosition = previousPosition + velocity*solverSDT; + + g_vertexCurrentPosition[vertexID] = float4(newPosition, 0.f); + g_vertexPreviousPositions[vertexID] = float4(newPosition, 0.f); + } +} + +); \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/VSolveLinks.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/VSolveLinks.hlsl new file mode 100644 index 0000000..14afca6 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/VSolveLinks.hlsl @@ -0,0 +1,55 @@ +MSTRINGIFY( + +cbuffer VSolveLinksCB : register( b0 ) +{ + int startLink; + int numLinks; + float kst; + int padding; +}; + +// Node indices for each link +StructuredBuffer g_linksVertexIndices : register( t0 ); + +StructuredBuffer g_linksLengthRatio : register( t1 ); +StructuredBuffer g_linksCurrentLength : register( t2 ); +StructuredBuffer g_vertexInverseMass : register( t3 ); + +RWStructuredBuffer g_vertexVelocity : register( u0 ); + +[numthreads(128, 1, 1)] +void +VSolveLinksKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int linkID = DTid.x + startLink; + if( DTid.x < numLinks ) + { + int2 nodeIndices = g_linksVertexIndices[linkID]; + int node0 = nodeIndices.x; + int node1 = nodeIndices.y; + + float linkLengthRatio = g_linksLengthRatio[linkID]; + float3 linkCurrentLength = g_linksCurrentLength[linkID].xyz; + + float3 vertexVelocity0 = g_vertexVelocity[node0].xyz; + float3 vertexVelocity1 = g_vertexVelocity[node1].xyz; + + float vertexInverseMass0 = g_vertexInverseMass[node0]; + float vertexInverseMass1 = g_vertexInverseMass[node1]; + + float3 nodeDifference = vertexVelocity0 - vertexVelocity1; + float dotResult = dot(linkCurrentLength, nodeDifference); + float j = -dotResult*linkLengthRatio*kst; + + float3 velocityChange0 = linkCurrentLength*(j*vertexInverseMass0); + float3 velocityChange1 = linkCurrentLength*(j*vertexInverseMass1); + + vertexVelocity0 += velocityChange0; + vertexVelocity1 -= velocityChange1; + + g_vertexVelocity[node0] = float4(vertexVelocity0, 0.f); + g_vertexVelocity[node1] = float4(vertexVelocity1, 0.f); + } +} + +); \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocities.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocities.hlsl new file mode 100644 index 0000000..9d46a59 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocities.hlsl @@ -0,0 +1,170 @@ +MSTRINGIFY( + +cbuffer SolvePositionsFromLinksKernelCB : register( b0 ) +{ + unsigned int numNodes; + float isolverdt; + int padding0; + int padding1; +}; + +struct CollisionObjectIndices +{ + int firstObject; + int endObject; +}; + +struct CollisionShapeDescription +{ + float4x4 shapeTransform; + float4 linearVelocity; + float4 angularVelocity; + + int softBodyIdentifier; + int collisionShapeType; + + + // Shape information + // Compressed from the union + float radius; + float halfHeight; + + float margin; + float friction; + + int padding0; + int padding1; + +}; + +// From btBroadphaseProxy.h +static const int CAPSULE_SHAPE_PROXYTYPE = 10; + +// Node indices for each link +StructuredBuffer g_vertexClothIdentifier : register( t0 ); +StructuredBuffer g_vertexPreviousPositions : register( t1 ); +StructuredBuffer g_perClothFriction : register( t2 ); +StructuredBuffer g_clothDampingFactor : register( t3 ); +StructuredBuffer g_perClothCollisionObjectIndices : register( t4 ); +StructuredBuffer g_collisionObjectDetails : register( t5 ); + +RWStructuredBuffer g_vertexForces : register( u0 ); +RWStructuredBuffer g_vertexVelocities : register( u1 ); +RWStructuredBuffer g_vertexPositions : register( u2 ); + +[numthreads(128, 1, 1)] +void +SolveCollisionsAndUpdateVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + float3 forceOnVertex = float3(0.f, 0.f, 0.f); + if( DTid.x < numNodes ) + { + int clothIdentifier = g_vertexClothIdentifier[nodeID]; + float4 position = float4(g_vertexPositions[nodeID].xyz, 1.f); + float4 previousPosition = float4(g_vertexPreviousPositions[nodeID].xyz, 1.f); + float3 velocity; + float clothFriction = g_perClothFriction[clothIdentifier]; + float dampingFactor = g_clothDampingFactor[clothIdentifier]; + float velocityCoefficient = (1.f - dampingFactor); + CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier]; + + if( collisionObjectIndices.firstObject != collisionObjectIndices.endObject ) + { + velocity = float3(15, 0, 0); + + // We have some possible collisions to deal with + for( int collision = collisionObjectIndices.firstObject; collision < collisionObjectIndices.endObject; ++collision ) + { + CollisionShapeDescription shapeDescription = g_collisionObjectDetails[collision]; + float colliderFriction = shapeDescription.friction; + + if( shapeDescription.collisionShapeType == CAPSULE_SHAPE_PROXYTYPE ) + { + // Colliding with a capsule + + float capsuleHalfHeight = shapeDescription.halfHeight; + float capsuleRadius = shapeDescription.radius; + float capsuleMargin = shapeDescription.margin; + float4x4 worldTransform = shapeDescription.shapeTransform; + + float4 c1 = float4(0.f, -capsuleHalfHeight, 0.f, 1.f); + float4 c2 = float4(0.f, +capsuleHalfHeight, 0.f, 1.f); + float4 worldC1 = mul(worldTransform, c1); + float4 worldC2 = mul(worldTransform, c2); + float3 segment = (worldC2 - worldC1).xyz; + + // compute distance of tangent to vertex along line segment in capsule + float distanceAlongSegment = -( dot( (worldC1 - position).xyz, segment ) / dot(segment, segment) ); + + float4 closestPoint = (worldC1 + float4(segment * distanceAlongSegment, 0.f)); + float distanceFromLine = length(position - closestPoint); + float distanceFromC1 = length(worldC1 - position); + float distanceFromC2 = length(worldC2 - position); + + // Final distance from collision, point to push from, direction to push in + // for impulse force + float dist; + float3 normalVector; + if( distanceAlongSegment < 0 ) + { + dist = distanceFromC1; + normalVector = normalize(position - worldC1).xyz; + } else if( distanceAlongSegment > 1.f ) { + dist = distanceFromC2; + normalVector = normalize(position - worldC2).xyz; + } else { + dist = distanceFromLine; + normalVector = normalize(position - closestPoint).xyz; + } + + float3 colliderLinearVelocity = shapeDescription.linearVelocity.xyz; + float3 colliderAngularVelocity = shapeDescription.angularVelocity.xyz; + float3 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, position.xyz - worldTransform._m03_m13_m23); + + float minDistance = capsuleRadius + capsuleMargin; + + // In case of no collision, this is the value of velocity + velocity = (position - previousPosition).xyz * velocityCoefficient * isolverdt; + + + // Check for a collision + if( dist < minDistance ) + { + // Project back to surface along normal + position = position + float4((minDistance - dist)*normalVector*0.9, 0.f); + velocity = (position - previousPosition).xyz * velocityCoefficient * isolverdt; + float3 relativeVelocity = velocity - velocityOfSurfacePoint; + + float3 p1 = normalize(cross(normalVector, segment)); + float3 p2 = normalize(cross(p1, normalVector)); + // Full friction is sum of velocities in each direction of plane + float3 frictionVector = p1*dot(relativeVelocity, p1) + p2*dot(relativeVelocity, p2); + + // Real friction is peak friction corrected by friction coefficients + frictionVector = frictionVector * (colliderFriction*clothFriction); + + float approachSpeed = dot(relativeVelocity, normalVector); + + if( approachSpeed <= 0.0 ) + forceOnVertex -= frictionVector; + } + + } + } + } else { + // Update velocity + float3 difference = position.xyz - previousPosition.xyz; + velocity = difference*velocityCoefficient*isolverdt; + } + + g_vertexVelocities[nodeID] = float4(velocity, 0.f); + + // Update external force + g_vertexForces[nodeID] = float4(forceOnVertex, 0.f); + + g_vertexPositions[nodeID] = float4(position.xyz, 0.f); + } +} + +); diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocitiesSIMDBatched.hlsl b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocitiesSIMDBatched.hlsl new file mode 100644 index 0000000..0b2a027 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocitiesSIMDBatched.hlsl @@ -0,0 +1,191 @@ +MSTRINGIFY( + +cbuffer SolvePositionsFromLinksKernelCB : register( b0 ) +{ + unsigned int numNodes; + float isolverdt; + int padding0; + int padding1; +}; + +struct CollisionObjectIndices +{ + int firstObject; + int endObject; +}; + +struct CollisionShapeDescription +{ + float4x4 shapeTransform; + float4 linearVelocity; + float4 angularVelocity; + + int softBodyIdentifier; + int collisionShapeType; + + + // Shape information + // Compressed from the union + float radius; + float halfHeight; + + float margin; + float friction; + + int padding0; + int padding1; + +}; + +// From btBroadphaseProxy.h +static const int CAPSULE_SHAPE_PROXYTYPE = 10; + +// Node indices for each link +StructuredBuffer g_vertexClothIdentifier : register( t0 ); +StructuredBuffer g_vertexPreviousPositions : register( t1 ); +StructuredBuffer g_perClothFriction : register( t2 ); +StructuredBuffer g_clothDampingFactor : register( t3 ); +StructuredBuffer g_perClothCollisionObjectIndices : register( t4 ); +StructuredBuffer g_collisionObjectDetails : register( t5 ); + +RWStructuredBuffer g_vertexForces : register( u0 ); +RWStructuredBuffer g_vertexVelocities : register( u1 ); +RWStructuredBuffer g_vertexPositions : register( u2 ); + +// A buffer of local collision shapes +// TODO: Iterate to support more than 16 +groupshared CollisionShapeDescription localCollisionShapes[16]; + +[numthreads(128, 1, 1)] +void +SolveCollisionsAndUpdateVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + float3 forceOnVertex = float3(0.f, 0.f, 0.f); + + int clothIdentifier = g_vertexClothIdentifier[nodeID]; + float4 position = float4(g_vertexPositions[nodeID].xyz, 1.f); + float4 previousPosition = float4(g_vertexPreviousPositions[nodeID].xyz, 1.f); + float3 velocity; + float clothFriction = g_perClothFriction[clothIdentifier]; + float dampingFactor = g_clothDampingFactor[clothIdentifier]; + float velocityCoefficient = (1.f - dampingFactor); + CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier]; + + int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject; + if( numObjects > 0 ) + { + // We have some possible collisions to deal with + + // First load all of the collision objects into LDS + int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject; + if( GTid.x < numObjects ) + { + localCollisionShapes[GTid.x] = g_collisionObjectDetails[ collisionObjectIndices.firstObject + GTid.x ]; + } + } + + // Safe as the vertices are padded so that not more than one soft body is in a group + AllMemoryBarrierWithGroupSync(); + + // Annoyingly, even though I know the flow control is not varying, the compiler will not let me skip this + if( numObjects > 0 ) + { + velocity = float3(0, 0, 0); + + + // We have some possible collisions to deal with + for( int collision = 0; collision < numObjects; ++collision ) + { + CollisionShapeDescription shapeDescription = localCollisionShapes[collision]; + float colliderFriction = shapeDescription.friction; + + if( shapeDescription.collisionShapeType == CAPSULE_SHAPE_PROXYTYPE ) + { + // Colliding with a capsule + + float capsuleHalfHeight = localCollisionShapes[collision].halfHeight; + float capsuleRadius = localCollisionShapes[collision].radius; + float capsuleMargin = localCollisionShapes[collision].margin; + + float4x4 worldTransform = localCollisionShapes[collision].shapeTransform; + + float4 c1 = float4(0.f, -capsuleHalfHeight, 0.f, 1.f); + float4 c2 = float4(0.f, +capsuleHalfHeight, 0.f, 1.f); + float4 worldC1 = mul(worldTransform, c1); + float4 worldC2 = mul(worldTransform, c2); + float3 segment = (worldC2 - worldC1).xyz; + + // compute distance of tangent to vertex along line segment in capsule + float distanceAlongSegment = -( dot( (worldC1 - position).xyz, segment ) / dot(segment, segment) ); + + float4 closestPoint = (worldC1 + float4(segment * distanceAlongSegment, 0.f)); + float distanceFromLine = length(position - closestPoint); + float distanceFromC1 = length(worldC1 - position); + float distanceFromC2 = length(worldC2 - position); + + // Final distance from collision, point to push from, direction to push in + // for impulse force + float dist; + float3 normalVector; + if( distanceAlongSegment < 0 ) + { + dist = distanceFromC1; + normalVector = normalize(position - worldC1).xyz; + } else if( distanceAlongSegment > 1.f ) { + dist = distanceFromC2; + normalVector = normalize(position - worldC2).xyz; + } else { + dist = distanceFromLine; + normalVector = normalize(position - closestPoint).xyz; + } + + float3 colliderLinearVelocity = localCollisionShapes[collision].linearVelocity.xyz; + float3 colliderAngularVelocity = localCollisionShapes[collision].angularVelocity.xyz; + float3 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, position.xyz - worldTransform._m03_m13_m23); + + float minDistance = capsuleRadius + capsuleMargin; + + // In case of no collision, this is the value of velocity + velocity = (position - previousPosition).xyz * velocityCoefficient * isolverdt; + + + // Check for a collision + if( dist < minDistance ) + { + // Project back to surface along normal + position = position + float4((minDistance - dist)*normalVector*0.9, 0.f); + velocity = (position - previousPosition).xyz * velocityCoefficient * isolverdt; + float3 relativeVelocity = velocity - velocityOfSurfacePoint; + + float3 p1 = normalize(cross(normalVector, segment)); + float3 p2 = normalize(cross(p1, normalVector)); + // Full friction is sum of velocities in each direction of plane + float3 frictionVector = p1*dot(relativeVelocity, p1) + p2*dot(relativeVelocity, p2); + + // Real friction is peak friction corrected by friction coefficients + frictionVector = frictionVector * (colliderFriction*clothFriction); + + float approachSpeed = dot(relativeVelocity, normalVector); + + if( approachSpeed <= 0.0 ) + forceOnVertex -= frictionVector; + } + + } + } + } else { + // Update velocity + float3 difference = position.xyz - previousPosition.xyz; + velocity = difference*velocityCoefficient*isolverdt; + } + + g_vertexVelocities[nodeID] = float4(velocity, 0.f); + + // Update external force + g_vertexForces[nodeID] = float4(forceOnVertex, 0.f); + + g_vertexPositions[nodeID] = float4(position.xyz, 0.f); +} + +); diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverBuffer_DX11.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverBuffer_DX11.h new file mode 100644 index 0000000..d76fc8d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverBuffer_DX11.h @@ -0,0 +1,309 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +#ifndef BT_SOFT_BODY_SOLVER_BUFFER_DX11_H +#define BT_SOFT_BODY_SOLVER_BUFFER_DX11_H + +// DX11 support +#include +#include +#include +#include +#include + +#ifndef SAFE_RELEASE +#define SAFE_RELEASE(p) { if(p) { (p)->Release(); (p)=NULL; } } +#endif + +/** + * DX11 Buffer that tracks a host buffer on use to ensure size-correctness. + */ +template class btDX11Buffer +{ +protected: + ID3D11Device* m_d3dDevice; + ID3D11DeviceContext* m_d3dDeviceContext; + + ID3D11Buffer* m_Buffer; + ID3D11ShaderResourceView* m_SRV; + ID3D11UnorderedAccessView* m_UAV; + btAlignedObjectArray< ElementType >* m_CPUBuffer; + + // TODO: Separate this from the main class + // as read back buffers can be shared between buffers + ID3D11Buffer* m_readBackBuffer; + + int m_gpuSize; + bool m_onGPU; + + bool m_readOnlyOnGPU; + + bool createBuffer( ID3D11Buffer *preexistingBuffer = 0) + { + HRESULT hr = S_OK; + + // Create all CS buffers + if( preexistingBuffer ) + { + m_Buffer = preexistingBuffer; + } else { + D3D11_BUFFER_DESC buffer_desc; + ZeroMemory(&buffer_desc, sizeof(buffer_desc)); + buffer_desc.Usage = D3D11_USAGE_DEFAULT; + if( m_readOnlyOnGPU ) + buffer_desc.BindFlags = D3D11_BIND_SHADER_RESOURCE; + else + buffer_desc.BindFlags = D3D11_BIND_SHADER_RESOURCE | D3D11_BIND_UNORDERED_ACCESS; + buffer_desc.MiscFlags = D3D11_RESOURCE_MISC_BUFFER_STRUCTURED; + + buffer_desc.ByteWidth = m_CPUBuffer->size() * sizeof(ElementType); + buffer_desc.StructureByteStride = sizeof(ElementType); + hr = m_d3dDevice->CreateBuffer(&buffer_desc, NULL, &m_Buffer); + if( FAILED( hr ) ) + return (hr==S_OK); + } + + if( m_readOnlyOnGPU ) + { + D3D11_SHADER_RESOURCE_VIEW_DESC srvbuffer_desc; + ZeroMemory(&srvbuffer_desc, sizeof(srvbuffer_desc)); + srvbuffer_desc.Format = DXGI_FORMAT_UNKNOWN; + srvbuffer_desc.ViewDimension = D3D11_SRV_DIMENSION_BUFFER; + + srvbuffer_desc.Buffer.ElementWidth = m_CPUBuffer->size(); + hr = m_d3dDevice->CreateShaderResourceView(m_Buffer, &srvbuffer_desc, &m_SRV); + if( FAILED( hr ) ) + return (hr==S_OK); + } else { + // Create SRV + D3D11_SHADER_RESOURCE_VIEW_DESC srvbuffer_desc; + ZeroMemory(&srvbuffer_desc, sizeof(srvbuffer_desc)); + srvbuffer_desc.Format = DXGI_FORMAT_UNKNOWN; + srvbuffer_desc.ViewDimension = D3D11_SRV_DIMENSION_BUFFER; + + srvbuffer_desc.Buffer.ElementWidth = m_CPUBuffer->size(); + hr = m_d3dDevice->CreateShaderResourceView(m_Buffer, &srvbuffer_desc, &m_SRV); + if( FAILED( hr ) ) + return (hr==S_OK); + + // Create UAV + D3D11_UNORDERED_ACCESS_VIEW_DESC uavbuffer_desc; + ZeroMemory(&uavbuffer_desc, sizeof(uavbuffer_desc)); + uavbuffer_desc.Format = DXGI_FORMAT_UNKNOWN; + uavbuffer_desc.ViewDimension = D3D11_UAV_DIMENSION_BUFFER; + + uavbuffer_desc.Buffer.NumElements = m_CPUBuffer->size(); + hr = m_d3dDevice->CreateUnorderedAccessView(m_Buffer, &uavbuffer_desc, &m_UAV); + if( FAILED( hr ) ) + return (hr==S_OK); + + // Create read back buffer + D3D11_BUFFER_DESC readback_buffer_desc; + ZeroMemory(&readback_buffer_desc, sizeof(readback_buffer_desc)); + + readback_buffer_desc.ByteWidth = m_CPUBuffer->size() * sizeof(ElementType); + readback_buffer_desc.Usage = D3D11_USAGE_STAGING; + readback_buffer_desc.CPUAccessFlags = D3D11_CPU_ACCESS_READ; + readback_buffer_desc.StructureByteStride = sizeof(ElementType); + hr = m_d3dDevice->CreateBuffer(&readback_buffer_desc, NULL, &m_readBackBuffer); + if( FAILED( hr ) ) + return (hr==S_OK); + } + + m_gpuSize = m_CPUBuffer->size(); + return true; + } + + + +public: + btDX11Buffer( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext, btAlignedObjectArray< ElementType > *CPUBuffer, bool readOnly ) + { + m_d3dDevice = d3dDevice; + m_d3dDeviceContext = d3dDeviceContext; + m_Buffer = 0; + m_SRV = 0; + m_UAV = 0; + m_readBackBuffer = 0; + + m_CPUBuffer = CPUBuffer; + + m_gpuSize = 0; + m_onGPU = false; + + m_readOnlyOnGPU = readOnly; + } + + virtual ~btDX11Buffer() + { + SAFE_RELEASE(m_Buffer); + SAFE_RELEASE(m_SRV); + SAFE_RELEASE(m_UAV); + SAFE_RELEASE(m_readBackBuffer); + } + + ID3D11ShaderResourceView* &getSRV() + { + return m_SRV; + } + + ID3D11UnorderedAccessView* &getUAV() + { + return m_UAV; + } + + ID3D11Buffer* &getBuffer() + { + return m_Buffer; + } + + /** + * Move the data to the GPU if it is not there already. + */ + bool moveToGPU() + { + if( (m_CPUBuffer->size() != m_gpuSize) ) + m_onGPU = false; + if( !m_onGPU && m_CPUBuffer->size() > 0 ) + { + // If the buffer doesn't exist or the CPU-side buffer has changed size, create + // We should really delete the old one, too, but let's leave that for later + if( !m_Buffer || (m_CPUBuffer->size() != m_gpuSize) ) + { + SAFE_RELEASE(m_Buffer); + SAFE_RELEASE(m_SRV); + SAFE_RELEASE(m_UAV); + SAFE_RELEASE(m_readBackBuffer); + if( !createBuffer() ) + { + btAssert("Buffer creation failed."); + return false; + } + } + + D3D11_BOX destRegion; + destRegion.left = 0; + destRegion.front = 0; + destRegion.top = 0; + destRegion.bottom = 1; + destRegion.back = 1; + destRegion.right = (m_CPUBuffer->size())*sizeof(ElementType); + m_d3dDeviceContext->UpdateSubresource(m_Buffer, 0, &destRegion, &((*m_CPUBuffer)[0]), 0, 0); + + m_onGPU = true; + } + + return true; + } + + /** + * Move the data back from the GPU if it is on there and isn't read only. + */ + bool moveFromGPU() + { + if( m_CPUBuffer->size() > 0 ) + { + if( m_onGPU && !m_readOnlyOnGPU ) + { + // Copy back + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + //m_pd3dImmediateContext->CopyResource(m_phAngVelReadBackBuffer, m_phAngVel); + + D3D11_BOX destRegion; + destRegion.left = 0; + destRegion.front = 0; + destRegion.top = 0; + destRegion.bottom = 1; + destRegion.back = 1; + + destRegion.right = (m_CPUBuffer->size())*sizeof(ElementType); + m_d3dDeviceContext->CopySubresourceRegion( + m_readBackBuffer, + 0, + 0, + 0, + 0 , + m_Buffer, + 0, + &destRegion + ); + + m_d3dDeviceContext->Map(m_readBackBuffer, 0, D3D11_MAP_READ, 0, &MappedResource); + //memcpy(m_hAngVel, MappedResource.pData, (m_maxObjs * sizeof(float) )); + memcpy(&((*m_CPUBuffer)[0]), MappedResource.pData, ((m_CPUBuffer->size()) * sizeof(ElementType) )); + m_d3dDeviceContext->Unmap(m_readBackBuffer, 0); + + m_onGPU = false; + } + } + + return true; + } + + + /** + * Copy the data back from the GPU without changing its state to be CPU-side. + * Useful if we just want to view it on the host for visualization. + */ + bool copyFromGPU() + { + if( m_CPUBuffer->size() > 0 ) + { + if( m_onGPU && !m_readOnlyOnGPU ) + { + // Copy back + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + + D3D11_BOX destRegion; + destRegion.left = 0; + destRegion.front = 0; + destRegion.top = 0; + destRegion.bottom = 1; + destRegion.back = 1; + + destRegion.right = (m_CPUBuffer->size())*sizeof(ElementType); + m_d3dDeviceContext->CopySubresourceRegion( + m_readBackBuffer, + 0, + 0, + 0, + 0 , + m_Buffer, + 0, + &destRegion + ); + + m_d3dDeviceContext->Map(m_readBackBuffer, 0, D3D11_MAP_READ, 0, &MappedResource); + //memcpy(m_hAngVel, MappedResource.pData, (m_maxObjs * sizeof(float) )); + memcpy(&((*m_CPUBuffer)[0]), MappedResource.pData, ((m_CPUBuffer->size()) * sizeof(ElementType) )); + m_d3dDeviceContext->Unmap(m_readBackBuffer, 0); + } + } + + return true; + } + + /** + * Call if data has changed on the CPU. + * Can then trigger a move to the GPU as necessary. + */ + virtual void changedOnCPU() + { + m_onGPU = false; + } +}; // class btDX11Buffer + + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_BUFFER_DX11_H \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11.h new file mode 100644 index 0000000..48f5fa8 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11.h @@ -0,0 +1,103 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_DX11.h" + + +#ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_DX11_H +#define BT_SOFT_BODY_SOLVER_LINK_DATA_DX11_H + +struct ID3D11Device; +struct ID3D11DeviceContext; + + +class btSoftBodyLinkDataDX11 : public btSoftBodyLinkData +{ +public: + bool m_onGPU; + ID3D11Device *m_d3dDevice; + ID3D11DeviceContext *m_d3dDeviceContext; + + + btDX11Buffer m_dx11Links; + btDX11Buffer m_dx11LinkStrength; + btDX11Buffer m_dx11LinksMassLSC; + btDX11Buffer m_dx11LinksRestLengthSquared; + btDX11Buffer m_dx11LinksCLength; + btDX11Buffer m_dx11LinksLengthRatio; + btDX11Buffer m_dx11LinksRestLength; + btDX11Buffer m_dx11LinksMaterialLinearStiffnessCoefficient; + + struct BatchPair + { + int start; + int length; + + BatchPair() : + start(0), + length(0) + { + } + + BatchPair( int s, int l ) : + start( s ), + length( l ) + { + } + }; + + /** + * Link addressing information for each cloth. + * Allows link locations to be computed independently of data batching. + */ + btAlignedObjectArray< int > m_linkAddresses; + + /** + * Start and length values for computation batches over link data. + */ + btAlignedObjectArray< BatchPair > m_batchStartLengths; + + + //ID3D11Buffer* readBackBuffer; + + btSoftBodyLinkDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ); + + virtual ~btSoftBodyLinkDataDX11(); + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createLinks( int numLinks ); + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setLinkAt( const LinkDescription &link, int linkIndex ); + + virtual bool onAccelerator(); + + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); + + /** + * Generate (and later update) the batching for the entire link set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ + void generateBatches(); +}; + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_DX11_H diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11SIMDAware.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11SIMDAware.h new file mode 100644 index 0000000..8d2f654 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11SIMDAware.h @@ -0,0 +1,173 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_DX11.h" + +#ifndef BT_ACCELERATED_SOFT_BODY_LINK_DATA_DX11_SIMDAWARE_H +#define BT_ACCELERATED_SOFT_BODY_LINK_DATA_DX11_SIMDAWARE_H + +struct ID3D11Device; +struct ID3D11DeviceContext; + + +class btSoftBodyLinkDataDX11SIMDAware : public btSoftBodyLinkData +{ +public: + bool m_onGPU; + ID3D11Device *m_d3dDevice; + ID3D11DeviceContext *m_d3dDeviceContext; + + const int m_wavefrontSize; + const int m_linksPerWorkItem; + const int m_maxLinksPerWavefront; + int m_maxBatchesWithinWave; + int m_maxVerticesWithinWave; + int m_numWavefronts; + + int m_maxVertex; + + struct NumBatchesVerticesPair + { + int numBatches; + int numVertices; + }; + + // Array storing number of links in each wavefront + btAlignedObjectArray m_linksPerWavefront; + btAlignedObjectArray m_numBatchesAndVerticesWithinWaves; + btDX11Buffer< NumBatchesVerticesPair > m_dx11NumBatchesAndVerticesWithinWaves; + + // All arrays here will contain batches of m_maxLinksPerWavefront links + // ordered by wavefront. + // with either global vertex pairs or local vertex pairs + btAlignedObjectArray< int > m_wavefrontVerticesGlobalAddresses; // List of global vertices per wavefront + btDX11Buffer m_dx11WavefrontVerticesGlobalAddresses; + btAlignedObjectArray< LinkNodePair > m_linkVerticesLocalAddresses; // Vertex pair for the link + btDX11Buffer m_dx11LinkVerticesLocalAddresses; + btDX11Buffer m_dx11LinkStrength; + btDX11Buffer m_dx11LinksMassLSC; + btDX11Buffer m_dx11LinksRestLengthSquared; + btDX11Buffer m_dx11LinksRestLength; + btDX11Buffer m_dx11LinksMaterialLinearStiffnessCoefficient; + + struct BatchPair + { + int start; + int length; + + BatchPair() : + start(0), + length(0) + { + } + + BatchPair( int s, int l ) : + start( s ), + length( l ) + { + } + }; + + /** + * Link addressing information for each cloth. + * Allows link locations to be computed independently of data batching. + */ + btAlignedObjectArray< int > m_linkAddresses; + + /** + * Start and length values for computation batches over link data. + */ + btAlignedObjectArray< BatchPair > m_wavefrontBatchStartLengths; + + + //ID3D11Buffer* readBackBuffer; + + btSoftBodyLinkDataDX11SIMDAware( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ); + + virtual ~btSoftBodyLinkDataDX11SIMDAware(); + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createLinks( int numLinks ); + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setLinkAt( const LinkDescription &link, int linkIndex ); + + virtual bool onAccelerator(); + + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); + + /** + * Generate (and later update) the batching for the entire link set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ + void generateBatches(); + + int getMaxVerticesPerWavefront() + { + return m_maxVerticesWithinWave; + } + + int getWavefrontSize() + { + return m_wavefrontSize; + } + + int getLinksPerWorkItem() + { + return m_linksPerWorkItem; + } + + int getMaxLinksPerWavefront() + { + return m_maxLinksPerWavefront; + } + + int getMaxBatchesPerWavefront() + { + return m_maxBatchesWithinWave; + } + + int getNumWavefronts() + { + return m_numWavefronts; + } + + NumBatchesVerticesPair getNumBatchesAndVerticesWithinWavefront( int wavefront ) + { + return m_numBatchesAndVerticesWithinWaves[wavefront]; + } + + int getVertexGlobalAddresses( int vertexIndex ) + { + return m_wavefrontVerticesGlobalAddresses[vertexIndex]; + } + + /** + * Get post-batching local addresses of the vertex pair for a link assuming all vertices used by a wavefront are loaded locally. + */ + LinkNodePair getVertexPairLocalAddresses( int linkIndex ) + { + return m_linkVerticesLocalAddresses[linkIndex]; + } + +}; + + +#endif // #ifndef BT_ACCELERATED_SOFT_BODY_LINK_DATA_DX11_SIMDAWARE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverTriangleData_DX11.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverTriangleData_DX11.h new file mode 100644 index 0000000..9e73ee9 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverTriangleData_DX11.h @@ -0,0 +1,96 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_DX11.h" + + +#ifndef BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_DX11_H +#define BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_DX11_H + +struct ID3D11Device; +struct ID3D11DeviceContext; + +class btSoftBodyTriangleDataDX11 : public btSoftBodyTriangleData +{ +public: + bool m_onGPU; + ID3D11Device *m_d3dDevice; + ID3D11DeviceContext *m_d3dDeviceContext; + + btDX11Buffer m_dx11VertexIndices; + btDX11Buffer m_dx11Area; + btDX11Buffer m_dx11Normal; + + struct BatchPair + { + int start; + int length; + + BatchPair() : + start(0), + length(0) + { + } + + BatchPair( int s, int l ) : + start( s ), + length( l ) + { + } + }; + + + /** + * Link addressing information for each cloth. + * Allows link locations to be computed independently of data batching. + */ + btAlignedObjectArray< int > m_triangleAddresses; + + /** + * Start and length values for computation batches over link data. + */ + btAlignedObjectArray< BatchPair > m_batchStartLengths; + + //ID3D11Buffer* readBackBuffer; + +public: + btSoftBodyTriangleDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ); + + virtual ~btSoftBodyTriangleDataDX11(); + + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createTriangles( int numTriangles ); + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setTriangleAt( const btSoftBodyTriangleData::TriangleDescription &triangle, int triangleIndex ); + + virtual bool onAccelerator(); + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); + /** + * Generate (and later update) the batching for the entire triangle set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ + void generateBatches(); +}; + + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_DX11_H diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexBuffer_DX11.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexBuffer_DX11.h new file mode 100644 index 0000000..66bd90f --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexBuffer_DX11.h @@ -0,0 +1,107 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_DX11_H +#define BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_DX11_H + + +#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h" + +#include +#include +#include +#include +#include + +class btDX11VertexBufferDescriptor : public btVertexBufferDescriptor +{ +protected: + /** Context of the DX11 device on which the vertex buffer is stored. */ + ID3D11DeviceContext* m_context; + /** DX11 vertex buffer */ + ID3D11Buffer* m_vertexBuffer; + /** UAV for DX11 buffer */ + ID3D11UnorderedAccessView* m_vertexBufferUAV; + + +public: + /** + * buffer is a pointer to the DX11 buffer to place the vertex data in. + * UAV is a pointer to the UAV representation of the buffer laid out in floats. + * vertexOffset is the offset in floats to the first vertex. + * vertexStride is the stride in floats between vertices. + */ + btDX11VertexBufferDescriptor( ID3D11DeviceContext* context, ID3D11Buffer* buffer, ID3D11UnorderedAccessView *UAV, int vertexOffset, int vertexStride ) + { + m_context = context; + m_vertexBuffer = buffer; + m_vertexBufferUAV = UAV; + m_vertexOffset = vertexOffset; + m_vertexStride = vertexStride; + m_hasVertexPositions = true; + } + + /** + * buffer is a pointer to the DX11 buffer to place the vertex data in. + * UAV is a pointer to the UAV representation of the buffer laid out in floats. + * vertexOffset is the offset in floats to the first vertex. + * vertexStride is the stride in floats between vertices. + * normalOffset is the offset in floats to the first normal. + * normalStride is the stride in floats between normals. + */ + btDX11VertexBufferDescriptor( ID3D11DeviceContext* context, ID3D11Buffer* buffer, ID3D11UnorderedAccessView *UAV, int vertexOffset, int vertexStride, int normalOffset, int normalStride ) + { + m_context = context; + m_vertexBuffer = buffer; + m_vertexBufferUAV = UAV; + m_vertexOffset = vertexOffset; + m_vertexStride = vertexStride; + m_hasVertexPositions = true; + + m_normalOffset = normalOffset; + m_normalStride = normalStride; + m_hasNormals = true; + } + + virtual ~btDX11VertexBufferDescriptor() + { + + } + + /** + * Return the type of the vertex buffer descriptor. + */ + virtual BufferTypes getBufferType() const + { + return DX11_BUFFER; + } + + virtual ID3D11DeviceContext* getContext() const + { + return m_context; + } + + virtual ID3D11Buffer* getbtDX11Buffer() const + { + return m_vertexBuffer; + } + + virtual ID3D11UnorderedAccessView* getDX11UAV() const + { + return m_vertexBufferUAV; + } +}; + +#endif // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_DX11_H \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexData_DX11.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexData_DX11.h new file mode 100644 index 0000000..4d7f6c8 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexData_DX11.h @@ -0,0 +1,63 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_DX11.h" + + +#ifndef BT_SOFT_BHODY_SOLVER_VERTEX_DATA_DX11_H +#define BT_SOFT_BHODY_SOLVER_VERTEX_DATA_DX11_H + +class btSoftBodyLinkData; +class btSoftBodyLinkData::LinkDescription; + +struct ID3D11Device; +struct ID3D11DeviceContext; + +class btSoftBodyVertexDataDX11 : public btSoftBodyVertexData +{ +protected: + bool m_onGPU; + ID3D11Device *m_d3dDevice; + ID3D11DeviceContext *m_d3dDeviceContext; + +public: + btDX11Buffer m_dx11ClothIdentifier; + btDX11Buffer m_dx11VertexPosition; + btDX11Buffer m_dx11VertexPreviousPosition; + btDX11Buffer m_dx11VertexVelocity; + btDX11Buffer m_dx11VertexForceAccumulator; + btDX11Buffer m_dx11VertexNormal; + btDX11Buffer m_dx11VertexInverseMass; + btDX11Buffer m_dx11VertexArea; + btDX11Buffer m_dx11VertexTriangleCount; + + + //ID3D11Buffer* readBackBuffer; + +public: + btSoftBodyVertexDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ); + virtual ~btSoftBodyVertexDataDX11(); + + virtual bool onAccelerator(); + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); +}; + + +#endif // #ifndef BT_SOFT_BHODY_SOLVER_VERTEX_DATA_DX11_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h new file mode 100644 index 0000000..f566178 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h @@ -0,0 +1,481 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_ACCELERATED_SOFT_BODY_DX11_SOLVER_H +#define BT_ACCELERATED_SOFT_BODY_DX11_SOLVER_H + + +#include "vectormath/vmInclude.h" +#include "BulletSoftBody/btSoftBodySolvers.h" +#include "btSoftBodySolverVertexBuffer_DX11.h" +#include "btSoftBodySolverLinkData_DX11.h" +#include "btSoftBodySolverVertexData_DX11.h" +#include "btSoftBodySolverTriangleData_DX11.h" + + + +/** + * SoftBody class to maintain information about a soft body instance + * within a solver. + * This data addresses the main solver arrays. + */ +class btDX11AcceleratedSoftBodyInterface +{ +protected: + /** Current number of vertices that are part of this cloth */ + int m_numVertices; + /** Maximum number of vertices allocated to be part of this cloth */ + int m_maxVertices; + /** Current number of triangles that are part of this cloth */ + int m_numTriangles; + /** Maximum number of triangles allocated to be part of this cloth */ + int m_maxTriangles; + /** Index of first vertex in the world allocated to this cloth */ + int m_firstVertex; + /** Index of first triangle in the world allocated to this cloth */ + int m_firstTriangle; + /** Index of first link in the world allocated to this cloth */ + int m_firstLink; + /** Maximum number of links allocated to this cloth */ + int m_maxLinks; + /** Current number of links allocated to this cloth */ + int m_numLinks; + + /** The actual soft body this data represents */ + btSoftBody *m_softBody; + + +public: + btDX11AcceleratedSoftBodyInterface( btSoftBody *softBody ) : + m_softBody( softBody ) + { + m_numVertices = 0; + m_maxVertices = 0; + m_numTriangles = 0; + m_maxTriangles = 0; + m_firstVertex = 0; + m_firstTriangle = 0; + m_firstLink = 0; + m_maxLinks = 0; + m_numLinks = 0; + } + int getNumVertices() + { + return m_numVertices; + } + + int getNumTriangles() + { + return m_numTriangles; + } + + int getMaxVertices() + { + return m_maxVertices; + } + + int getMaxTriangles() + { + return m_maxTriangles; + } + + int getFirstVertex() + { + return m_firstVertex; + } + + int getFirstTriangle() + { + return m_firstTriangle; + } + + // TODO: All of these set functions will have to do checks and + // update the world because restructuring of the arrays will be necessary + // Reasonable use of "friend"? + void setNumVertices( int numVertices ) + { + m_numVertices = numVertices; + } + + void setNumTriangles( int numTriangles ) + { + m_numTriangles = numTriangles; + } + + void setMaxVertices( int maxVertices ) + { + m_maxVertices = maxVertices; + } + + void setMaxTriangles( int maxTriangles ) + { + m_maxTriangles = maxTriangles; + } + + void setFirstVertex( int firstVertex ) + { + m_firstVertex = firstVertex; + } + + void setFirstTriangle( int firstTriangle ) + { + m_firstTriangle = firstTriangle; + } + + void setMaxLinks( int maxLinks ) + { + m_maxLinks = maxLinks; + } + + void setNumLinks( int numLinks ) + { + m_numLinks = numLinks; + } + + void setFirstLink( int firstLink ) + { + m_firstLink = firstLink; + } + + int getMaxLinks() + { + return m_maxLinks; + } + + int getNumLinks() + { + return m_numLinks; + } + + int getFirstLink() + { + return m_firstLink; + } + + btSoftBody* getSoftBody() + { + return m_softBody; + } + +#if 0 + void setAcceleration( Vectormath::Aos::Vector3 acceleration ) + { + m_currentSolver->setPerClothAcceleration( m_clothIdentifier, acceleration ); + } + + void setWindVelocity( Vectormath::Aos::Vector3 windVelocity ) + { + m_currentSolver->setPerClothWindVelocity( m_clothIdentifier, windVelocity ); + } + + /** + * Set the density of the air in which the cloth is situated. + */ + void setAirDensity( btScalar density ) + { + m_currentSolver->setPerClothMediumDensity( m_clothIdentifier, static_cast(density) ); + } + + /** + * Add a collision object to this soft body. + */ + void addCollisionObject( btCollisionObject *collisionObject ) + { + m_currentSolver->addCollisionObjectForSoftBody( m_clothIdentifier, collisionObject ); + } +#endif +}; + + +class btDX11SoftBodySolver : public btSoftBodySolver +{ +public: + + + class KernelDesc + { + protected: + + + public: + ID3D11ComputeShader* kernel; + ID3D11Buffer* constBuffer; + + KernelDesc() + { + kernel = 0; + constBuffer = 0; + } + + virtual ~KernelDesc() + { + // TODO: this should probably destroy its kernel but we need to be careful + // in case KernelDescs are copied + } + }; + + + struct PrepareLinksCB + { + int numLinks; + int padding0; + int padding1; + int padding2; + }; + + struct SolvePositionsFromLinksKernelCB + { + int startLink; + int numLinks; + float kst; + float ti; + }; + + struct IntegrateCB + { + int numNodes; + float solverdt; + int padding1; + int padding2; + }; + + struct UpdatePositionsFromVelocitiesCB + { + int numNodes; + float solverSDT; + int padding1; + int padding2; + }; + + struct UpdateVelocitiesFromPositionsWithoutVelocitiesCB + { + int numNodes; + float isolverdt; + int padding1; + int padding2; + }; + + struct UpdateVelocitiesFromPositionsWithVelocitiesCB + { + int numNodes; + float isolverdt; + int padding1; + int padding2; + }; + + struct UpdateSoftBodiesCB + { + int numNodes; + int startFace; + int numFaces; + float epsilon; + }; + + + struct OutputToVertexArrayCB + { + int startNode; + int numNodes; + int positionOffset; + int positionStride; + + int normalOffset; + int normalStride; + int padding1; + int padding2; + }; + + + struct ApplyForcesCB + { + unsigned int numNodes; + float solverdt; + float epsilon; + int padding3; + }; + + struct AddVelocityCB + { + int startNode; + int lastNode; + float velocityX; + float velocityY; + float velocityZ; + int padding1; + int padding2; + int padding3; + }; + + struct VSolveLinksCB + { + int startLink; + int numLinks; + float kst; + int padding; + }; + + +private: + ID3D11Device * m_dx11Device; + ID3D11DeviceContext* m_dx11Context; + + + /** Link data for all cloths. Note that this will be sorted batch-wise for efficient computation and m_linkAddresses will maintain the addressing. */ + btSoftBodyLinkDataDX11 m_linkData; + btSoftBodyVertexDataDX11 m_vertexData; + btSoftBodyTriangleDataDX11 m_triangleData; + + /** Variable to define whether we need to update solver constants on the next iteration */ + bool m_updateSolverConstants; + + bool m_shadersInitialized; + + /** + * Cloths owned by this solver. + * Only our cloths are in this array. + */ + btAlignedObjectArray< btDX11AcceleratedSoftBodyInterface * > m_softBodySet; + + /** Acceleration value to be applied to all non-static vertices in the solver. + * Index n is cloth n, array sized by number of cloths in the world not the solver. + */ + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothAcceleration; + btDX11Buffer m_dx11PerClothAcceleration; + + /** Wind velocity to be applied normal to all non-static vertices in the solver. + * Index n is cloth n, array sized by number of cloths in the world not the solver. + */ + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothWindVelocity; + btDX11Buffer m_dx11PerClothWindVelocity; + + /** Velocity damping factor */ + btAlignedObjectArray< float > m_perClothDampingFactor; + btDX11Buffer m_dx11PerClothDampingFactor; + + /** Velocity correction coefficient */ + btAlignedObjectArray< float > m_perClothVelocityCorrectionCoefficient; + btDX11Buffer m_dx11PerClothVelocityCorrectionCoefficient; + + /** Lift parameter for wind effect on cloth. */ + btAlignedObjectArray< float > m_perClothLiftFactor; + btDX11Buffer m_dx11PerClothLiftFactor; + + /** Drag parameter for wind effect on cloth. */ + btAlignedObjectArray< float > m_perClothDragFactor; + btDX11Buffer m_dx11PerClothDragFactor; + + /** Density of the medium in which each cloth sits */ + btAlignedObjectArray< float > m_perClothMediumDensity; + btDX11Buffer m_dx11PerClothMediumDensity; + + KernelDesc prepareLinksKernel; + KernelDesc solvePositionsFromLinksKernel; + KernelDesc vSolveLinksKernel; + KernelDesc integrateKernel; + KernelDesc addVelocityKernel; + KernelDesc updatePositionsFromVelocitiesKernel; + KernelDesc updateVelocitiesFromPositionsWithoutVelocitiesKernel; + KernelDesc updateVelocitiesFromPositionsWithVelocitiesKernel; + KernelDesc resetNormalsAndAreasKernel; + KernelDesc normalizeNormalsAndAreasKernel; + KernelDesc updateSoftBodiesKernel; + KernelDesc outputToVertexArrayWithNormalsKernel; + KernelDesc outputToVertexArrayWithoutNormalsKernel; + + KernelDesc outputToVertexArrayKernel; + KernelDesc applyForcesKernel; + KernelDesc collideSphereKernel; + KernelDesc collideCylinderKernel; + + + /** + * Integrate motion on the solver. + */ + virtual void integrate( float solverdt ); + float computeTriangleArea( + const Vectormath::Aos::Point3 &vertex0, + const Vectormath::Aos::Point3 &vertex1, + const Vectormath::Aos::Point3 &vertex2 ); + + + /** + * Compile a compute shader kernel from a string and return the appropriate KernelDesc object. + */ + KernelDesc compileComputeShaderFromString( const char* shaderString, const char* shaderName, int constBufferSize ); + + bool buildShaders(); + + void resetNormalsAndAreas( int numVertices ); + + void normalizeNormalsAndAreas( int numVertices ); + + void executeUpdateSoftBodies( int firstTriangle, int numTriangles ); + + Vectormath::Aos::Vector3 ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a ); + + void ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce ); + + virtual void applyForces( float solverdt ); + + void updateConstants( float timeStep ); + + btDX11AcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody ); + + ////////////////////////////////////// + // Kernel dispatches + void prepareLinks(); + + void updatePositionsFromVelocities( float solverdt ); + void solveLinksForPosition( int startLink, int numLinks, float kst, float ti ); + void solveLinksForVelocity( int startLink, int numLinks, float kst ); + + void updateVelocitiesFromPositionsWithVelocities( float isolverdt ); + void updateVelocitiesFromPositionsWithoutVelocities( float isolverdt ); + + // End kernel dispatches + ///////////////////////////////////// + +public: + btDX11SoftBodySolver(ID3D11Device * dx11Device, ID3D11DeviceContext* dx11Context); + + virtual ~btDX11SoftBodySolver(); + + + virtual btSoftBodyLinkData &getLinkData(); + + virtual btSoftBodyVertexData &getVertexData(); + + virtual btSoftBodyTriangleData &getTriangleData(); + + + + + virtual bool checkInitialized(); + + virtual void updateSoftBodies( ); + + virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies ); + + virtual void solveConstraints( float solverdt ); + + virtual void predictMotion( float solverdt ); + + virtual void copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer ); + +}; + +#endif // #ifndef BT_ACCELERATED_SOFT_BODY_DX11_SOLVER_H + + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.h new file mode 100644 index 0000000..a1612c5 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.h @@ -0,0 +1,432 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "vectormath/vmInclude.h" +#include "BulletSoftBody/btSoftBodySolvers.h" +#include "btSoftBodySolverVertexBuffer_DX11.h" +#include "btSoftBodySolverLinkData_DX11SIMDAware.h" +#include "btSoftBodySolverVertexData_DX11.h" +#include "btSoftBodySolverTriangleData_DX11.h" + + +#ifndef BT_SOFT_BODY_DX11_SOLVER_SIMDAWARE_H +#define BT_SOFT_BODY_DX11_SOLVER_SIMDAWARE_H + +class btDX11SIMDAwareSoftBodySolver : public btSoftBodySolver +{ +public: + + /** + * SoftBody class to maintain information about a soft body instance + * within a solver. + * This data addresses the main solver arrays. + */ + class btAcceleratedSoftBodyInterface + { + protected: + /** Current number of vertices that are part of this cloth */ + int m_numVertices; + /** Maximum number of vertices allocated to be part of this cloth */ + int m_maxVertices; + /** Current number of triangles that are part of this cloth */ + int m_numTriangles; + /** Maximum number of triangles allocated to be part of this cloth */ + int m_maxTriangles; + /** Index of first vertex in the world allocated to this cloth */ + int m_firstVertex; + /** Index of first triangle in the world allocated to this cloth */ + int m_firstTriangle; + /** Index of first link in the world allocated to this cloth */ + int m_firstLink; + /** Maximum number of links allocated to this cloth */ + int m_maxLinks; + /** Current number of links allocated to this cloth */ + int m_numLinks; + + /** The actual soft body this data represents */ + btSoftBody *m_softBody; + + + public: + btAcceleratedSoftBodyInterface( btSoftBody *softBody ) : + m_softBody( softBody ) + { + m_numVertices = 0; + m_maxVertices = 0; + m_numTriangles = 0; + m_maxTriangles = 0; + m_firstVertex = 0; + m_firstTriangle = 0; + m_firstLink = 0; + m_maxLinks = 0; + m_numLinks = 0; + } + int getNumVertices() + { + return m_numVertices; + } + + int getNumTriangles() + { + return m_numTriangles; + } + + int getMaxVertices() + { + return m_maxVertices; + } + + int getMaxTriangles() + { + return m_maxTriangles; + } + + int getFirstVertex() + { + return m_firstVertex; + } + + int getFirstTriangle() + { + return m_firstTriangle; + } + + + void setNumVertices( int numVertices ) + { + m_numVertices = numVertices; + } + + void setNumTriangles( int numTriangles ) + { + m_numTriangles = numTriangles; + } + + void setMaxVertices( int maxVertices ) + { + m_maxVertices = maxVertices; + } + + void setMaxTriangles( int maxTriangles ) + { + m_maxTriangles = maxTriangles; + } + + void setFirstVertex( int firstVertex ) + { + m_firstVertex = firstVertex; + } + + void setFirstTriangle( int firstTriangle ) + { + m_firstTriangle = firstTriangle; + } + + void setMaxLinks( int maxLinks ) + { + m_maxLinks = maxLinks; + } + + void setNumLinks( int numLinks ) + { + m_numLinks = numLinks; + } + + void setFirstLink( int firstLink ) + { + m_firstLink = firstLink; + } + + int getMaxLinks() + { + return m_maxLinks; + } + + int getNumLinks() + { + return m_numLinks; + } + + int getFirstLink() + { + return m_firstLink; + } + + btSoftBody* getSoftBody() + { + return m_softBody; + } + + }; + + + class KernelDesc + { + protected: + + + public: + ID3D11ComputeShader* kernel; + ID3D11Buffer* constBuffer; + + KernelDesc() + { + kernel = 0; + constBuffer = 0; + } + + virtual ~KernelDesc() + { + // TODO: this should probably destroy its kernel but we need to be careful + // in case KernelDescs are copied + } + }; + + struct SolvePositionsFromLinksKernelCB + { + int startWave; + int numWaves; + float kst; + float ti; + }; + + struct IntegrateCB + { + int numNodes; + float solverdt; + int padding1; + int padding2; + }; + + struct UpdatePositionsFromVelocitiesCB + { + int numNodes; + float solverSDT; + int padding1; + int padding2; + }; + + struct UpdateVelocitiesFromPositionsWithoutVelocitiesCB + { + int numNodes; + float isolverdt; + int padding1; + int padding2; + }; + + struct UpdateVelocitiesFromPositionsWithVelocitiesCB + { + int numNodes; + float isolverdt; + int padding1; + int padding2; + }; + + struct UpdateSoftBodiesCB + { + int numNodes; + int startFace; + int numFaces; + float epsilon; + }; + + + struct OutputToVertexArrayCB + { + int startNode; + int numNodes; + int positionOffset; + int positionStride; + + int normalOffset; + int normalStride; + int padding1; + int padding2; + }; + + + struct ApplyForcesCB + { + unsigned int numNodes; + float solverdt; + float epsilon; + int padding3; + }; + + struct AddVelocityCB + { + int startNode; + int lastNode; + float velocityX; + float velocityY; + float velocityZ; + int padding1; + int padding2; + int padding3; + }; + + +private: + ID3D11Device * m_dx11Device; + ID3D11DeviceContext* m_dx11Context; + + + /** Link data for all cloths. Note that this will be sorted batch-wise for efficient computation and m_linkAddresses will maintain the addressing. */ + btSoftBodyLinkDataDX11SIMDAware m_linkData; + btSoftBodyVertexDataDX11 m_vertexData; + btSoftBodyTriangleDataDX11 m_triangleData; + + /** Variable to define whether we need to update solver constants on the next iteration */ + bool m_updateSolverConstants; + + bool m_shadersInitialized; + + /** + * Cloths owned by this solver. + * Only our cloths are in this array. + */ + btAlignedObjectArray< btAcceleratedSoftBodyInterface * > m_softBodySet; + + /** Acceleration value to be applied to all non-static vertices in the solver. + * Index n is cloth n, array sized by number of cloths in the world not the solver. + */ + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothAcceleration; + btDX11Buffer m_dx11PerClothAcceleration; + + /** Wind velocity to be applied normal to all non-static vertices in the solver. + * Index n is cloth n, array sized by number of cloths in the world not the solver. + */ + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothWindVelocity; + btDX11Buffer m_dx11PerClothWindVelocity; + + /** Velocity damping factor */ + btAlignedObjectArray< float > m_perClothDampingFactor; + btDX11Buffer m_dx11PerClothDampingFactor; + + /** Velocity correction coefficient */ + btAlignedObjectArray< float > m_perClothVelocityCorrectionCoefficient; + btDX11Buffer m_dx11PerClothVelocityCorrectionCoefficient; + + /** Lift parameter for wind effect on cloth. */ + btAlignedObjectArray< float > m_perClothLiftFactor; + btDX11Buffer m_dx11PerClothLiftFactor; + + /** Drag parameter for wind effect on cloth. */ + btAlignedObjectArray< float > m_perClothDragFactor; + btDX11Buffer m_dx11PerClothDragFactor; + + /** Density of the medium in which each cloth sits */ + btAlignedObjectArray< float > m_perClothMediumDensity; + btDX11Buffer m_dx11PerClothMediumDensity; + + KernelDesc solvePositionsFromLinksKernel; + KernelDesc integrateKernel; + KernelDesc addVelocityKernel; + KernelDesc updatePositionsFromVelocitiesKernel; + KernelDesc updateVelocitiesFromPositionsWithoutVelocitiesKernel; + KernelDesc updateVelocitiesFromPositionsWithVelocitiesKernel; + KernelDesc resetNormalsAndAreasKernel; + KernelDesc normalizeNormalsAndAreasKernel; + KernelDesc updateSoftBodiesKernel; + KernelDesc outputToVertexArrayWithNormalsKernel; + KernelDesc outputToVertexArrayWithoutNormalsKernel; + + KernelDesc outputToVertexArrayKernel; + KernelDesc applyForcesKernel; + KernelDesc collideSphereKernel; + KernelDesc collideCylinderKernel; + + + + /** + * Integrate motion on the solver. + */ + virtual void integrate( float solverdt ); + float computeTriangleArea( + const Vectormath::Aos::Point3 &vertex0, + const Vectormath::Aos::Point3 &vertex1, + const Vectormath::Aos::Point3 &vertex2 ); + + + /** + * Compile a compute shader kernel from a string and return the appropriate KernelDesc object. + */ + KernelDesc compileComputeShaderFromString( const char* shaderString, const char* shaderName, int constBufferSize, D3D10_SHADER_MACRO *compileMacros = 0 ); + + bool buildShaders(); + + void resetNormalsAndAreas( int numVertices ); + + void normalizeNormalsAndAreas( int numVertices ); + + void executeUpdateSoftBodies( int firstTriangle, int numTriangles ); + + Vectormath::Aos::Vector3 ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a ); + + void ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce ); + + virtual void applyForces( float solverdt ); + + void updateConstants( float timeStep ); + + btAcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody ); + + ////////////////////////////////////// + // Kernel dispatches + void prepareLinks(); + + void updatePositionsFromVelocities( float solverdt ); + void solveLinksForPosition( int startLink, int numLinks, float kst, float ti ); + void solveLinksForVelocity( int startLink, int numLinks, float kst ); + + void updateVelocitiesFromPositionsWithVelocities( float isolverdt ); + void updateVelocitiesFromPositionsWithoutVelocities( float isolverdt ); + + // End kernel dispatches + ///////////////////////////////////// + + void releaseKernels(); + + +public: + btDX11SIMDAwareSoftBodySolver(ID3D11Device * dx11Device, ID3D11DeviceContext* dx11Context); + + virtual ~btDX11SIMDAwareSoftBodySolver(); + + + + virtual btSoftBodyLinkData &getLinkData(); + + virtual btSoftBodyVertexData &getVertexData(); + + virtual btSoftBodyTriangleData &getTriangleData(); + + + + virtual bool checkInitialized(); + + virtual void updateSoftBodies( ); + + virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies ); + + virtual void solveConstraints( float solverdt ); + + virtual void predictMotion( float solverdt ); + + virtual void copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer ); +}; + +#endif // #ifndef BT_SOFT_BODY_DX11_SOLVER_SIMDAWARE_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/BulletSoftBodySolvers_OpenCL_Mini.vcxproj b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/BulletSoftBodySolvers_OpenCL_Mini.vcxproj new file mode 100644 index 0000000..12d2e52 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/BulletSoftBodySolvers_OpenCL_Mini.vcxproj @@ -0,0 +1,284 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + MinSizeRel + Win32 + + + RelWithDebInfo + Win32 + + + + {14266978-3E62-4DC3-AAEF-CB815EEB708D} + Win32Proj + Win32 + BulletSoftBodySolvers_OpenCL_Mini + + + + StaticLibrary + false + MultiByte + + + StaticLibrary + false + MultiByte + + + StaticLibrary + false + MultiByte + + + StaticLibrary + false + MultiByte + + + + + + + + + <_ProjectFileVersion>10.0.20506.1 + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\lib\Debug\ + BulletSoftBodySolvers_OpenCL_Mini.dir\Debug\ + BulletSoftBodySolvers_OpenCL_Mini + .lib + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\lib\Release\ + BulletSoftBodySolvers_OpenCL_Mini.dir\Release\ + BulletSoftBodySolvers_OpenCL_Mini + .lib + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\lib\MinSizeRel\ + BulletSoftBodySolvers_OpenCL_Mini.dir\MinSizeRel\ + BulletSoftBodySolvers_OpenCL_Mini + .lib + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\lib\RelWithDebInfo\ + BulletSoftBodySolvers_OpenCL_Mini.dir\RelWithDebInfo\ + BulletSoftBodySolvers_OpenCL_Mini + .lib + + + + /Zm1000 %(AdditionalOptions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + EnableFastChecks + CompileAsCpp + ProgramDatabase + StreamingSIMDExtensions + Sync + Fast + Disabled + Disabled + NotUsing + MultiThreadedDebugDLL + true + Level3 + WIN32;_DEBUG;_DEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;USE_MINICL;CMAKE_INTDIR="Debug";%(PreprocessorDefinitions) + Debug + $(IntDir) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/lib/Debug/BulletSoftBodySolvers_OpenCL_Mini.pdb + + + WIN32;_DEBUG;_DEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;USE_MINICL;CMAKE_INTDIR=\"Debug\";%(PreprocessorDefinitions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + + + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + /Zm1000 %(AdditionalOptions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + CompileAsCpp + StreamingSIMDExtensions + Sync + Fast + AnySuitable + MaxSpeed + NotUsing + MultiThreadedDLL + true + Level3 + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;USE_MINICL;CMAKE_INTDIR="Release";%(PreprocessorDefinitions) + Release + $(IntDir) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/lib/Release/BulletSoftBodySolvers_OpenCL_Mini.pdb + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;USE_MINICL;CMAKE_INTDIR=\"Release\";%(PreprocessorDefinitions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + + + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + /Zm1000 %(AdditionalOptions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + CompileAsCpp + StreamingSIMDExtensions + Sync + Fast + OnlyExplicitInline + MinSpace + NotUsing + MultiThreadedDLL + true + Level3 + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;USE_MINICL;CMAKE_INTDIR="MinSizeRel";%(PreprocessorDefinitions) + MinSizeRel + $(IntDir) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/lib/MinSizeRel/BulletSoftBodySolvers_OpenCL_Mini.pdb + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;USE_MINICL;CMAKE_INTDIR=\"MinSizeRel\";%(PreprocessorDefinitions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + + + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + /Zm1000 %(AdditionalOptions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + CompileAsCpp + ProgramDatabase + StreamingSIMDExtensions + Sync + Fast + OnlyExplicitInline + MaxSpeed + NotUsing + MultiThreadedDLL + true + Level3 + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;USE_MINICL;CMAKE_INTDIR="RelWithDebInfo";%(PreprocessorDefinitions) + RelWithDebInfo + $(IntDir) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/lib/RelWithDebInfo/BulletSoftBodySolvers_OpenCL_Mini.pdb + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;USE_MINICL;CMAKE_INTDIR=\"RelWithDebInfo\";%(PreprocessorDefinitions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + + + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + Building Custom Rule C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt + setlocal +"C:\Program Files\CMake 2.8\bin\cmake.exe" "-HC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" "-BC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" --check-stamp-file "C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeFiles\generate.stamp" +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeLists.txt;%(AdditionalInputs) + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeFiles\generate.stamp + Building Custom Rule C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt + setlocal +"C:\Program Files\CMake 2.8\bin\cmake.exe" "-HC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" "-BC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" --check-stamp-file "C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeFiles\generate.stamp" +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeLists.txt;%(AdditionalInputs) + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeFiles\generate.stamp + Building Custom Rule C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt + setlocal +"C:\Program Files\CMake 2.8\bin\cmake.exe" "-HC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" "-BC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" --check-stamp-file "C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeFiles\generate.stamp" +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeLists.txt;%(AdditionalInputs) + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeFiles\generate.stamp + Building Custom Rule C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt + setlocal +"C:\Program Files\CMake 2.8\bin\cmake.exe" "-HC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" "-BC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" --check-stamp-file "C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeFiles\generate.stamp" +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeLists.txt;%(AdditionalInputs) + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletMultiThreaded\GpuSoftBodySolvers\OpenCL\MiniCL\CMakeFiles\generate.stamp + + + + + + + + + + + + + + + + + + + + + + + C0E57694-ABCD-4C08-B9A4-F249AD836120 + + + + + + \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/BulletSoftBodySolvers_OpenCL_Mini.vcxproj.filters b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/BulletSoftBodySolvers_OpenCL_Mini.vcxproj.filters new file mode 100644 index 0000000..15dd714 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/BulletSoftBodySolvers_OpenCL_Mini.vcxproj.filters @@ -0,0 +1,50 @@ + + + + + Source Files + + + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + + + + + + + + + + + + + + + + + {C487BFC5-6BC8-47B3-88D6-C5D9B883A3BD} + + + {30F7A2E9-D73F-45A4-9CAC-B039D62294E1} + + + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/BulletSoftBodySolvers_OpenCL_Mini.vcxproj.user b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/BulletSoftBodySolvers_OpenCL_Mini.vcxproj.user new file mode 100644 index 0000000..ace9a86 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/BulletSoftBodySolvers_OpenCL_Mini.vcxproj.user @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/generate.stamp b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/generate.stamp new file mode 100644 index 0000000..3f2f30a --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/generate.stamp @@ -0,0 +1 @@ +# CMake generation timestamp file this directory. diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/generate.stamp.depend b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/generate.stamp.depend new file mode 100644 index 0000000..fac03a5 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/generate.stamp.depend @@ -0,0 +1,2 @@ +# CMake generation dependency list for this directory. +C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt new file mode 100644 index 0000000..f6af6f1 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt @@ -0,0 +1,75 @@ + +INCLUDE_DIRECTORIES( +${BULLET_PHYSICS_SOURCE_DIR}/src +) + +ADD_DEFINITIONS(-DUSE_MINICL) + + + + +SET(BulletSoftBodyOpenCLSolvers_SRCS + ../btSoftBodySolver_OpenCL.cpp +) + +SET(BulletSoftBodyOpenCLSolvers_HDRS + ../btSoftBodySolver_OpenCL.h + ../../CPU/btSoftBodySolverData.h + ../btSoftBodySolverVertexData_OpenCL.h + ../btSoftBodySolverTriangleData_OpenCL.h + ../btSoftBodySolverLinkData_OpenCL.h + ../btSoftBodySolverBuffer_OpenCL.h +) + +# OpenCL and HLSL Shaders. +# Build rules generated to stringify these into headers +# which are needed by some of the sources +SET(BulletSoftBodyOpenCLSolvers_Shaders +# OutputToVertexArray + UpdateNormals + Integrate + UpdatePositions + UpdateNodes + SolvePositions + UpdatePositionsFromVelocities + ApplyForces + PrepareLinks + VSolveLinks +) + +foreach(f ${BulletSoftBodyOpenCLSolvers_Shaders}) + LIST(APPEND BulletSoftBodyOpenCLSolvers_OpenCLC "../OpenCLC10/${f}.cl") +endforeach(f) + + + +ADD_LIBRARY(BulletSoftBodySolvers_OpenCL_Mini + ${BulletSoftBodyOpenCLSolvers_SRCS} + ${BulletSoftBodyOpenCLSolvers_HDRS} + ${BulletSoftBodyOpenCLSolvers_OpenCLC} +) + +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Mini PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Mini PROPERTIES SOVERSION ${BULLET_VERSION}) +IF (BUILD_SHARED_LIBS) + TARGET_LINK_LIBRARIES(BulletSoftBodySolvers_OpenCL_Mini MiniCL BulletMultiThreaded BulletSoftBody) +ENDIF (BUILD_SHARED_LIBS) + + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini DESTINATION lib${LIB_SUFFIX}) +#headers are already installed by BulletMultiThreaded library + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Mini PROPERTIES FRAMEWORK true) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Mini PROPERTIES PUBLIC_HEADER "${BulletSoftBodyOpenCLSolvers_HDRS}") + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/MiniCLTaskWrap.cpp b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/MiniCLTaskWrap.cpp new file mode 100644 index 0000000..4ecab35 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/MiniCLTaskWrap.cpp @@ -0,0 +1,40 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include + +#define MSTRINGIFY(A) A +#include "../OpenCLC10/ApplyForces.cl" +#include "../OpenCLC10/Integrate.cl" +#include "../OpenCLC10/PrepareLinks.cl" +#include "../OpenCLC10/SolvePositions.cl" +#include "../OpenCLC10/UpdateNodes.cl" +#include "../OpenCLC10/UpdateNormals.cl" +#include "../OpenCLC10/UpdatePositions.cl" +#include "../OpenCLC10/UpdatePositionsFromVelocities.cl" +//#include "../OpenCLC10/VSolveLinks.cl" + +MINICL_REGISTER(PrepareLinksKernel) +MINICL_REGISTER(UpdatePositionsFromVelocitiesKernel) +MINICL_REGISTER(SolvePositionsFromLinksKernel) +MINICL_REGISTER(updateVelocitiesFromPositionsWithVelocitiesKernel) +MINICL_REGISTER(updateVelocitiesFromPositionsWithoutVelocitiesKernel) +MINICL_REGISTER(IntegrateKernel) +MINICL_REGISTER(ApplyForcesKernel) +MINICL_REGISTER(ResetNormalsAndAreasKernel) +MINICL_REGISTER(NormalizeNormalsAndAreasKernel) +MINICL_REGISTER(UpdateSoftBodiesKernel) + + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/cmake_install.cmake b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/cmake_install.cmake new file mode 100644 index 0000000..31a094a --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/cmake_install.cmake @@ -0,0 +1,29 @@ +# Install script for directory: C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "C:/Program Files/BULLET_PHYSICS") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "Release") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverBuffer_OpenCL.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverBuffer_OpenCL.h new file mode 100644 index 0000000..59cc8f6 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverBuffer_OpenCL.h @@ -0,0 +1,194 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFT_BODY_SOLVER_BUFFER_OPENCL_H +#define BT_SOFT_BODY_SOLVER_BUFFER_OPENCL_H + +// OpenCL support + +#ifdef USE_MINICL + #include "MiniCL/cl.h" +#else //USE_MINICL + #ifdef __APPLE__ + #include + #else + #include + #endif //__APPLE__ +#endif//USE_MINICL + +#ifndef SAFE_RELEASE +#define SAFE_RELEASE(p) { if(p) { (p)->Release(); (p)=NULL; } } +#endif + +template class btOpenCLBuffer +{ +public: + + cl_command_queue m_cqCommandQue; + cl_context m_clContext; + cl_mem m_buffer; + + + + btAlignedObjectArray< ElementType > * m_CPUBuffer; + + int m_gpuSize; + bool m_onGPU; + bool m_readOnlyOnGPU; + bool m_allocated; + + + bool createBuffer( cl_mem* preexistingBuffer = 0) + { + + cl_int err; + + + if( preexistingBuffer ) + { + m_buffer = *preexistingBuffer; + } + else { + + cl_mem_flags flags= m_readOnlyOnGPU ? CL_MEM_READ_ONLY : CL_MEM_READ_WRITE; + + size_t size = m_CPUBuffer->size() * sizeof(ElementType); + m_buffer = clCreateBuffer(m_clContext, flags, size, 0, &err); + if( err != CL_SUCCESS ) + { + btAssert( "Buffer::Buffer(m_buffer)"); + } + } + + m_gpuSize = m_CPUBuffer->size(); + + return true; + } + +public: + btOpenCLBuffer( cl_command_queue commandQue,cl_context ctx, btAlignedObjectArray< ElementType >* CPUBuffer, bool readOnly) + :m_cqCommandQue(commandQue), + m_clContext(ctx), + m_CPUBuffer(CPUBuffer), + m_gpuSize(0), + m_onGPU(false), + m_readOnlyOnGPU(readOnly), + m_allocated(false) + { + } + + ~btOpenCLBuffer() + { + } + + + bool moveToGPU() + { + + + cl_int err; + + if( (m_CPUBuffer->size() != m_gpuSize) ) + { + m_onGPU = false; + } + + if( !m_onGPU && m_CPUBuffer->size() > 0 ) + { + if (!m_allocated || (m_CPUBuffer->size() != m_gpuSize)) { + if (!createBuffer()) { + return false; + } + m_allocated = true; + } + + size_t size = m_CPUBuffer->size() * sizeof(ElementType); + err = clEnqueueWriteBuffer(m_cqCommandQue,m_buffer, + CL_FALSE, + 0, + size, + &((*m_CPUBuffer)[0]),0,0,0); + if( err != CL_SUCCESS ) + { + btAssert( "CommandQueue::enqueueWriteBuffer(m_buffer)" ); + } + + m_onGPU = true; + } + + return true; + + } + + bool moveFromGPU() + { + + cl_int err; + + if (m_CPUBuffer->size() > 0) { + if (m_onGPU && !m_readOnlyOnGPU) { + size_t size = m_CPUBuffer->size() * sizeof(ElementType); + err = clEnqueueReadBuffer(m_cqCommandQue, + m_buffer, + CL_TRUE, + 0, + size, + &((*m_CPUBuffer)[0]),0,0,0); + + if( err != CL_SUCCESS ) + { + btAssert( "CommandQueue::enqueueReadBuffer(m_buffer)" ); + } + + m_onGPU = false; + } + } + + return true; + } + + bool copyFromGPU() + { + + cl_int err; + size_t size = m_CPUBuffer->size() * sizeof(ElementType); + + if (m_CPUBuffer->size() > 0) { + if (m_onGPU && !m_readOnlyOnGPU) { + err = clEnqueueReadBuffer(m_cqCommandQue, + m_buffer, + CL_TRUE, + 0,size, + &((*m_CPUBuffer)[0]),0,0,0); + + if( err != CL_SUCCESS ) + { + btAssert( "CommandQueue::enqueueReadBuffer(m_buffer)"); + } + + } + } + + return true; + } + + virtual void changedOnCPU() + { + m_onGPU = false; + } +}; // class btOpenCLBuffer + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_BUFFER_OPENCL_H \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCL.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCL.h new file mode 100644 index 0000000..f8987c3 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCL.h @@ -0,0 +1,99 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_OpenCL.h" + + +#ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_H +#define BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_H + + +class btSoftBodyLinkDataOpenCL : public btSoftBodyLinkData +{ +public: + bool m_onGPU; + + cl_command_queue m_cqCommandQue; + + + btOpenCLBuffer m_clLinks; + btOpenCLBuffer m_clLinkStrength; + btOpenCLBuffer m_clLinksMassLSC; + btOpenCLBuffer m_clLinksRestLengthSquared; + btOpenCLBuffer m_clLinksCLength; + btOpenCLBuffer m_clLinksLengthRatio; + btOpenCLBuffer m_clLinksRestLength; + btOpenCLBuffer m_clLinksMaterialLinearStiffnessCoefficient; + + struct BatchPair + { + int start; + int length; + + BatchPair() : + start(0), + length(0) + { + } + + BatchPair( int s, int l ) : + start( s ), + length( l ) + { + } + }; + + /** + * Link addressing information for each cloth. + * Allows link locations to be computed independently of data batching. + */ + btAlignedObjectArray< int > m_linkAddresses; + + /** + * Start and length values for computation batches over link data. + */ + btAlignedObjectArray< BatchPair > m_batchStartLengths; + + btSoftBodyLinkDataOpenCL(cl_command_queue queue, cl_context ctx); + + virtual ~btSoftBodyLinkDataOpenCL(); + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createLinks( int numLinks ); + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setLinkAt( + const LinkDescription &link, + int linkIndex ); + + virtual bool onAccelerator(); + + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); + + /** + * Generate (and later update) the batching for the entire link set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ + void generateBatches(); +}; + + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_H diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCLSIMDAware.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCLSIMDAware.h new file mode 100644 index 0000000..b20e805 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCLSIMDAware.h @@ -0,0 +1,169 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_OpenCL.h" + + +#ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_SIMDAWARE_H +#define BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_SIMDAWARE_H + + +class btSoftBodyLinkDataOpenCLSIMDAware : public btSoftBodyLinkData +{ +public: + bool m_onGPU; + + cl_command_queue m_cqCommandQue; + + const int m_wavefrontSize; + const int m_linksPerWorkItem; + const int m_maxLinksPerWavefront; + int m_maxBatchesWithinWave; + int m_maxVerticesWithinWave; + int m_numWavefronts; + + int m_maxVertex; + + struct NumBatchesVerticesPair + { + int numBatches; + int numVertices; + }; + + btAlignedObjectArray m_linksPerWavefront; + btAlignedObjectArray m_numBatchesAndVerticesWithinWaves; + btOpenCLBuffer< NumBatchesVerticesPair > m_clNumBatchesAndVerticesWithinWaves; + + // All arrays here will contain batches of m_maxLinksPerWavefront links + // ordered by wavefront. + // with either global vertex pairs or local vertex pairs + btAlignedObjectArray< int > m_wavefrontVerticesGlobalAddresses; // List of global vertices per wavefront + btOpenCLBuffer m_clWavefrontVerticesGlobalAddresses; + btAlignedObjectArray< LinkNodePair > m_linkVerticesLocalAddresses; // Vertex pair for the link + btOpenCLBuffer m_clLinkVerticesLocalAddresses; + btOpenCLBuffer m_clLinkStrength; + btOpenCLBuffer m_clLinksMassLSC; + btOpenCLBuffer m_clLinksRestLengthSquared; + btOpenCLBuffer m_clLinksRestLength; + btOpenCLBuffer m_clLinksMaterialLinearStiffnessCoefficient; + + struct BatchPair + { + int start; + int length; + + BatchPair() : + start(0), + length(0) + { + } + + BatchPair( int s, int l ) : + start( s ), + length( l ) + { + } + }; + + /** + * Link addressing information for each cloth. + * Allows link locations to be computed independently of data batching. + */ + btAlignedObjectArray< int > m_linkAddresses; + + /** + * Start and length values for computation batches over link data. + */ + btAlignedObjectArray< BatchPair > m_wavefrontBatchStartLengths; + + btSoftBodyLinkDataOpenCLSIMDAware(cl_command_queue queue, cl_context ctx); + + virtual ~btSoftBodyLinkDataOpenCLSIMDAware(); + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createLinks( int numLinks ); + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setLinkAt( + const LinkDescription &link, + int linkIndex ); + + virtual bool onAccelerator(); + + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); + + /** + * Generate (and later update) the batching for the entire link set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ + void generateBatches(); + + int getMaxVerticesPerWavefront() + { + return m_maxVerticesWithinWave; + } + + int getWavefrontSize() + { + return m_wavefrontSize; + } + + int getLinksPerWorkItem() + { + return m_linksPerWorkItem; + } + + int getMaxLinksPerWavefront() + { + return m_maxLinksPerWavefront; + } + + int getMaxBatchesPerWavefront() + { + return m_maxBatchesWithinWave; + } + + int getNumWavefronts() + { + return m_numWavefronts; + } + + NumBatchesVerticesPair getNumBatchesAndVerticesWithinWavefront( int wavefront ) + { + return m_numBatchesAndVerticesWithinWaves[wavefront]; + } + + int getVertexGlobalAddresses( int vertexIndex ) + { + return m_wavefrontVerticesGlobalAddresses[vertexIndex]; + } + + /** + * Get post-batching local addresses of the vertex pair for a link assuming all vertices used by a wavefront are loaded locally. + */ + LinkNodePair getVertexPairLocalAddresses( int linkIndex ) + { + return m_linkVerticesLocalAddresses[linkIndex]; + } +}; + + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_SIMDAWARE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.h new file mode 100644 index 0000000..ab3ea26 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.h @@ -0,0 +1,62 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFT_BODY_SOLVER_OUTPUT_CL_TO_GL_H +#define BT_SOFT_BODY_SOLVER_OUTPUT_CL_TO_GL_H + +#include "btSoftBodySolver_OpenCL.h" + +/** + * Class to manage movement of data from a solver to a given target. + * This version is the CL to GL interop version. + */ +class btSoftBodySolverOutputCLtoGL : public btSoftBodySolverOutput +{ +protected: + cl_command_queue m_cqCommandQue; + cl_context m_cxMainContext; + CLFunctions clFunctions; + + cl_kernel outputToVertexArrayWithNormalsKernel; + cl_kernel outputToVertexArrayWithoutNormalsKernel; + + bool m_shadersInitialized; + + virtual bool checkInitialized(); + virtual bool buildShaders(); + void releaseKernels(); +public: + btSoftBodySolverOutputCLtoGL(cl_command_queue cqCommandQue, cl_context cxMainContext) : + m_cqCommandQue( cqCommandQue ), + m_cxMainContext( cxMainContext ), + clFunctions(cqCommandQue, cxMainContext), + outputToVertexArrayWithNormalsKernel( 0 ), + outputToVertexArrayWithoutNormalsKernel( 0 ), + m_shadersInitialized( false ) + { + } + + virtual ~btSoftBodySolverOutputCLtoGL() + { + releaseKernels(); + } + + /** Output current computed vertex data to the vertex buffers for all cloths in the solver. */ + virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ); +}; + + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_OUTPUT_CL_TO_GL_H \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverTriangleData_OpenCL.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverTriangleData_OpenCL.h new file mode 100644 index 0000000..325000a --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverTriangleData_OpenCL.h @@ -0,0 +1,84 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_OpenCL.h" + + +#ifndef BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_OPENCL_H +#define BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_OPENCL_H + + +class btSoftBodyTriangleDataOpenCL : public btSoftBodyTriangleData +{ +public: + bool m_onGPU; + cl_command_queue m_queue; + + btOpenCLBuffer m_clVertexIndices; + btOpenCLBuffer m_clArea; + btOpenCLBuffer m_clNormal; + + /** + * Link addressing information for each cloth. + * Allows link locations to be computed independently of data batching. + */ + btAlignedObjectArray< int > m_triangleAddresses; + + /** + * Start and length values for computation batches over link data. + */ + struct btSomePair + { + btSomePair() {} + btSomePair(int f,int s) + :first(f),second(s) + { + } + int first; + int second; + }; + btAlignedObjectArray< btSomePair > m_batchStartLengths; + +public: + btSoftBodyTriangleDataOpenCL( cl_command_queue queue, cl_context ctx ); + + virtual ~btSoftBodyTriangleDataOpenCL(); + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createTriangles( int numTriangles ); + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setTriangleAt( const btSoftBodyTriangleData::TriangleDescription &triangle, int triangleIndex ); + + virtual bool onAccelerator(); + + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); + + /** + * Generate (and later update) the batching for the entire triangle set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ + void generateBatches(); +}; // class btSoftBodyTriangleDataOpenCL + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_OPENCL_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h new file mode 100644 index 0000000..7c223ec --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h @@ -0,0 +1,166 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_OPENGL_H +#define BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_OPENGL_H + + +#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h" +#ifdef USE_MINICL + #include "MiniCL/cl.h" +#else //USE_MINICL + #ifdef __APPLE__ + #include + #else + #include + #include + #endif //__APPLE__ +#endif//USE_MINICL + + +#ifdef _WIN32//for glut.h +#include +#endif + +//think different +#if defined(__APPLE__) && !defined (VMDMESA) +#include +#include +#include +#include +#else + + +#ifdef _WINDOWS +#include +#include +#include +#else +#include +#endif //_WINDOWS +#endif //APPLE + + + +class btOpenGLInteropVertexBufferDescriptor : public btVertexBufferDescriptor +{ +protected: + /** OpenCL context */ + cl_context m_context; + + /** OpenCL command queue */ + cl_command_queue m_commandQueue; + + /** OpenCL interop buffer */ + cl_mem m_buffer; + + /** VBO in GL that is the basis of the interop buffer */ + GLuint m_openGLVBO; + + +public: + /** + * context is the OpenCL context this interop buffer will work in. + * queue is the command queue that kernels and data movement will be enqueued into. + * openGLVBO is the OpenGL vertex buffer data will be copied into. + * vertexOffset is the offset in floats to the first vertex. + * vertexStride is the stride in floats between vertices. + */ + btOpenGLInteropVertexBufferDescriptor( cl_command_queue cqCommandQue, cl_context context, GLuint openGLVBO, int vertexOffset, int vertexStride ) + { +#ifndef USE_MINICL + cl_int ciErrNum = CL_SUCCESS; + m_context = context; + m_commandQueue = cqCommandQue; + + m_vertexOffset = vertexOffset; + m_vertexStride = vertexStride; + + m_openGLVBO = openGLVBO; + + m_buffer = clCreateFromGLBuffer(m_context, CL_MEM_WRITE_ONLY, openGLVBO, &ciErrNum); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "clEnqueueAcquireGLObjects(copySoftBodyToVertexBuffer)"); + } + + m_hasVertexPositions = true; +#else + btAssert(0);//MiniCL shouldn't get here +#endif + } + + /** + * context is the OpenCL context this interop buffer will work in. + * queue is the command queue that kernels and data movement will be enqueued into. + * openGLVBO is the OpenGL vertex buffer data will be copied into. + * vertexOffset is the offset in floats to the first vertex. + * vertexStride is the stride in floats between vertices. + * normalOffset is the offset in floats to the first normal. + * normalStride is the stride in floats between normals. + */ + btOpenGLInteropVertexBufferDescriptor( cl_command_queue cqCommandQue, cl_context context, GLuint openGLVBO, int vertexOffset, int vertexStride, int normalOffset, int normalStride ) + { +#ifndef USE_MINICL + cl_int ciErrNum = CL_SUCCESS; + m_context = context; + m_commandQueue = cqCommandQue; + + m_openGLVBO = openGLVBO; + + m_buffer = clCreateFromGLBuffer(m_context, CL_MEM_WRITE_ONLY, openGLVBO, &ciErrNum); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "clEnqueueAcquireGLObjects(copySoftBodyToVertexBuffer)"); + } + + m_vertexOffset = vertexOffset; + m_vertexStride = vertexStride; + m_hasVertexPositions = true; + + m_normalOffset = normalOffset; + m_normalStride = normalStride; + m_hasNormals = true; +#else + btAssert(0); +#endif //USE_MINICL + + } + + virtual ~btOpenGLInteropVertexBufferDescriptor() + { + clReleaseMemObject( m_buffer ); + } + + /** + * Return the type of the vertex buffer descriptor. + */ + virtual BufferTypes getBufferType() const + { + return OPENGL_BUFFER; + } + + virtual cl_context getContext() const + { + return m_context; + } + + virtual cl_mem getBuffer() const + { + return m_buffer; + } +}; + +#endif // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_OPENGL_H diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexData_OpenCL.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexData_OpenCL.h new file mode 100644 index 0000000..acbe8ff --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexData_OpenCL.h @@ -0,0 +1,52 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_OpenCL.h" + +#ifndef BT_SOFT_BODY_SOLVER_VERTEX_DATA_OPENCL_H +#define BT_SOFT_BODY_SOLVER_VERTEX_DATA_OPENCL_H + + +class btSoftBodyVertexDataOpenCL : public btSoftBodyVertexData +{ +protected: + bool m_onGPU; + cl_command_queue m_queue; + +public: + btOpenCLBuffer m_clClothIdentifier; + btOpenCLBuffer m_clVertexPosition; + btOpenCLBuffer m_clVertexPreviousPosition; + btOpenCLBuffer m_clVertexVelocity; + btOpenCLBuffer m_clVertexForceAccumulator; + btOpenCLBuffer m_clVertexNormal; + btOpenCLBuffer m_clVertexInverseMass; + btOpenCLBuffer m_clVertexArea; + btOpenCLBuffer m_clVertexTriangleCount; +public: + btSoftBodyVertexDataOpenCL( cl_command_queue queue, cl_context ctx); + + virtual ~btSoftBodyVertexDataOpenCL(); + + virtual bool onAccelerator(); + + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); +}; + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_DATA_OPENCL_H diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp new file mode 100644 index 0000000..c31c52c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp @@ -0,0 +1,1320 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "vectormath/vmInclude.h" +#include //@todo: remove the debugging printf at some stage +#include "btSoftBodySolver_OpenCL.h" +#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h" +#include "BulletSoftBody/btSoftBody.h" + +#define BT_DEFAULT_WORKGROUPSIZE 128 + + +//CL_VERSION_1_1 seems broken on NVidia SDK so just disable it + +#if (0)//CL_VERSION_1_1 == 1) + //OpenCL 1.1 kernels use float3 +#define MSTRINGIFY(A) #A +static char* PrepareLinksCLString = +#include "OpenCLC/PrepareLinks.cl" +static char* UpdatePositionsFromVelocitiesCLString = +#include "OpenCLC/UpdatePositionsFromVelocities.cl" +static char* SolvePositionsCLString = +#include "OpenCLC/SolvePositions.cl" +static char* UpdateNodesCLString = +#include "OpenCLC/UpdateNodes.cl" +static char* UpdatePositionsCLString = +#include "OpenCLC/UpdatePositions.cl" +static char* UpdateConstantsCLString = +#include "OpenCLC/UpdateConstants.cl" +static char* IntegrateCLString = +#include "OpenCLC/Integrate.cl" +static char* ApplyForcesCLString = +#include "OpenCLC/ApplyForces.cl" +static char* UpdateNormalsCLString = +#include "OpenCLC/UpdateNormals.cl" +static char* VSolveLinksCLString = +#include "OpenCLC/VSolveLinks.cl" +#else +////OpenCL 1.0 kernels don't use float3 +#define MSTRINGIFY(A) #A +static char* PrepareLinksCLString = +#include "OpenCLC10/PrepareLinks.cl" +static char* UpdatePositionsFromVelocitiesCLString = +#include "OpenCLC10/UpdatePositionsFromVelocities.cl" +static char* SolvePositionsCLString = +#include "OpenCLC10/SolvePositions.cl" +static char* UpdateNodesCLString = +#include "OpenCLC10/UpdateNodes.cl" +static char* UpdatePositionsCLString = +#include "OpenCLC10/UpdatePositions.cl" +static char* UpdateConstantsCLString = +#include "OpenCLC10/UpdateConstants.cl" +static char* IntegrateCLString = +#include "OpenCLC10/Integrate.cl" +static char* ApplyForcesCLString = +#include "OpenCLC10/ApplyForces.cl" +static char* UpdateNormalsCLString = +#include "OpenCLC10/UpdateNormals.cl" +static char* VSolveLinksCLString = +#include "OpenCLC10/VSolveLinks.cl" +#endif //CL_VERSION_1_1 + + +btSoftBodyVertexDataOpenCL::btSoftBodyVertexDataOpenCL( cl_command_queue queue, cl_context ctx) : + m_queue(queue), + m_clClothIdentifier( queue, ctx, &m_clothIdentifier, false ), + m_clVertexPosition( queue, ctx, &m_vertexPosition, false ), + m_clVertexPreviousPosition( queue, ctx, &m_vertexPreviousPosition, false ), + m_clVertexVelocity( queue, ctx, &m_vertexVelocity, false ), + m_clVertexForceAccumulator( queue, ctx, &m_vertexForceAccumulator, false ), + m_clVertexNormal( queue, ctx, &m_vertexNormal, false ), + m_clVertexInverseMass( queue, ctx, &m_vertexInverseMass, false ), + m_clVertexArea( queue, ctx, &m_vertexArea, false ), + m_clVertexTriangleCount( queue, ctx, &m_vertexTriangleCount, false ) +{ +} + +btSoftBodyVertexDataOpenCL::~btSoftBodyVertexDataOpenCL() +{ + +} + +bool btSoftBodyVertexDataOpenCL::onAccelerator() +{ + return m_onGPU; +} + +bool btSoftBodyVertexDataOpenCL::moveToAccelerator() +{ + bool success = true; + success = success && m_clClothIdentifier.moveToGPU(); + success = success && m_clVertexPosition.moveToGPU(); + success = success && m_clVertexPreviousPosition.moveToGPU(); + success = success && m_clVertexVelocity.moveToGPU(); + success = success && m_clVertexForceAccumulator.moveToGPU(); + success = success && m_clVertexNormal.moveToGPU(); + success = success && m_clVertexInverseMass.moveToGPU(); + success = success && m_clVertexArea.moveToGPU(); + success = success && m_clVertexTriangleCount.moveToGPU(); + + if( success ) + m_onGPU = true; + + return success; +} + +bool btSoftBodyVertexDataOpenCL::moveFromAccelerator() +{ + bool success = true; + success = success && m_clClothIdentifier.moveFromGPU(); + success = success && m_clVertexPosition.moveFromGPU(); + success = success && m_clVertexPreviousPosition.moveFromGPU(); + success = success && m_clVertexVelocity.moveFromGPU(); + success = success && m_clVertexForceAccumulator.moveFromGPU(); + success = success && m_clVertexNormal.moveFromGPU(); + success = success && m_clVertexInverseMass.moveFromGPU(); + success = success && m_clVertexArea.moveFromGPU(); + success = success && m_clVertexTriangleCount.moveFromGPU(); + + if( success ) + m_onGPU = true; + + return success; +} + + + + +btSoftBodyLinkDataOpenCL::btSoftBodyLinkDataOpenCL(cl_command_queue queue, cl_context ctx) +:m_cqCommandQue(queue), + m_clLinks( queue, ctx, &m_links, false ), + m_clLinkStrength( queue, ctx, &m_linkStrength, false ), + m_clLinksMassLSC( queue, ctx, &m_linksMassLSC, false ), + m_clLinksRestLengthSquared( queue, ctx, &m_linksRestLengthSquared, false ), + m_clLinksCLength( queue, ctx, &m_linksCLength, false ), + m_clLinksLengthRatio( queue, ctx, &m_linksLengthRatio, false ), + m_clLinksRestLength( queue, ctx, &m_linksRestLength, false ), + m_clLinksMaterialLinearStiffnessCoefficient( queue, ctx, &m_linksMaterialLinearStiffnessCoefficient, false ) +{ +} + +btSoftBodyLinkDataOpenCL::~btSoftBodyLinkDataOpenCL() +{ +} + +static Vectormath::Aos::Vector3 toVector3( const btVector3 &vec ) +{ + Vectormath::Aos::Vector3 outVec( vec.getX(), vec.getY(), vec.getZ() ); + return outVec; +} + +/** Allocate enough space in all link-related arrays to fit numLinks links */ +void btSoftBodyLinkDataOpenCL::createLinks( int numLinks ) +{ + int previousSize = m_links.size(); + int newSize = previousSize + numLinks; + + btSoftBodyLinkData::createLinks( numLinks ); + + // Resize the link addresses array as well + m_linkAddresses.resize( newSize ); +} + +/** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ +void btSoftBodyLinkDataOpenCL::setLinkAt( + const LinkDescription &link, + int linkIndex ) +{ + btSoftBodyLinkData::setLinkAt( link, linkIndex ); + + // Set the link index correctly for initialisation + m_linkAddresses[linkIndex] = linkIndex; +} + +bool btSoftBodyLinkDataOpenCL::onAccelerator() +{ + return m_onGPU; +} + +bool btSoftBodyLinkDataOpenCL::moveToAccelerator() +{ + bool success = true; + success = success && m_clLinks.moveToGPU(); + success = success && m_clLinkStrength.moveToGPU(); + success = success && m_clLinksMassLSC.moveToGPU(); + success = success && m_clLinksRestLengthSquared.moveToGPU(); + success = success && m_clLinksCLength.moveToGPU(); + success = success && m_clLinksLengthRatio.moveToGPU(); + success = success && m_clLinksRestLength.moveToGPU(); + success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveToGPU(); + + if( success ) { + m_onGPU = true; + } + + return success; +} + +bool btSoftBodyLinkDataOpenCL::moveFromAccelerator() +{ + bool success = true; + success = success && m_clLinks.moveFromGPU(); + success = success && m_clLinkStrength.moveFromGPU(); + success = success && m_clLinksMassLSC.moveFromGPU(); + success = success && m_clLinksRestLengthSquared.moveFromGPU(); + success = success && m_clLinksCLength.moveFromGPU(); + success = success && m_clLinksLengthRatio.moveFromGPU(); + success = success && m_clLinksRestLength.moveFromGPU(); + success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveFromGPU(); + + if( success ) { + m_onGPU = false; + } + + return success; +} + +/** + * Generate (and later update) the batching for the entire link set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ +void btSoftBodyLinkDataOpenCL::generateBatches() +{ + int numLinks = getNumLinks(); + + // Do the graph colouring here temporarily + btAlignedObjectArray< int > batchValues; + batchValues.resize( numLinks, 0 ); + + // Find the maximum vertex value internally for now + int maxVertex = 0; + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + int vertex0 = getVertexPair(linkIndex).vertex0; + int vertex1 = getVertexPair(linkIndex).vertex1; + if( vertex0 > maxVertex ) + maxVertex = vertex0; + if( vertex1 > maxVertex ) + maxVertex = vertex1; + } + int numVertices = maxVertex + 1; + + // Set of lists, one for each node, specifying which colours are connected + // to that node. + // No two edges into a node can share a colour. + btAlignedObjectArray< btAlignedObjectArray< int > > vertexConnectedColourLists; + vertexConnectedColourLists.resize(numVertices); + + // Simple algorithm that chooses the lowest batch number + // that none of the links attached to either of the connected + // nodes is in + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + int linkLocation = m_linkAddresses[linkIndex]; + + int vertex0 = getVertexPair(linkLocation).vertex0; + int vertex1 = getVertexPair(linkLocation).vertex1; + + // Get the two node colour lists + btAlignedObjectArray< int > &colourListVertex0( vertexConnectedColourLists[vertex0] ); + btAlignedObjectArray< int > &colourListVertex1( vertexConnectedColourLists[vertex1] ); + + // Choose the minimum colour that is in neither list + int colour = 0; + while( colourListVertex0.findLinearSearch(colour) != colourListVertex0.size() || colourListVertex1.findLinearSearch(colour) != colourListVertex1.size() ) + ++colour; + // i should now be the minimum colour in neither list + // Add to the two lists so that future edges don't share + // And store the colour against this edge + + colourListVertex0.push_back(colour); + colourListVertex1.push_back(colour); + batchValues[linkIndex] = colour; + } + + // Check the colour counts + btAlignedObjectArray< int > batchCounts; + for( int i = 0; i < numLinks; ++i ) + { + int batch = batchValues[i]; + if( batch >= batchCounts.size() ) + batchCounts.push_back(1); + else + ++(batchCounts[batch]); + } + + m_batchStartLengths.resize(batchCounts.size()); + if( m_batchStartLengths.size() > 0 ) + { + m_batchStartLengths.resize(batchCounts.size()); + m_batchStartLengths[0] = BatchPair(0, 0); + + int sum = 0; + for( int batchIndex = 0; batchIndex < batchCounts.size(); ++batchIndex ) + { + m_batchStartLengths[batchIndex].start = sum; + m_batchStartLengths[batchIndex].length = batchCounts[batchIndex]; + sum += batchCounts[batchIndex]; + } + } + + ///////////////////////////// + // Sort data based on batches + + // Create source arrays by copying originals + btAlignedObjectArray m_links_Backup(m_links); + btAlignedObjectArray m_linkStrength_Backup(m_linkStrength); + btAlignedObjectArray m_linksMassLSC_Backup(m_linksMassLSC); + btAlignedObjectArray m_linksRestLengthSquared_Backup(m_linksRestLengthSquared); + btAlignedObjectArray m_linksCLength_Backup(m_linksCLength); + btAlignedObjectArray m_linksLengthRatio_Backup(m_linksLengthRatio); + btAlignedObjectArray m_linksRestLength_Backup(m_linksRestLength); + btAlignedObjectArray m_linksMaterialLinearStiffnessCoefficient_Backup(m_linksMaterialLinearStiffnessCoefficient); + + + for( int batch = 0; batch < batchCounts.size(); ++batch ) + batchCounts[batch] = 0; + + // Do sort as single pass into destination arrays + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + // To maintain locations run off the original link locations rather than the current position. + // It's not cache efficient, but as we run this rarely that should not matter. + // It's faster than searching the link location array for the current location and then updating it. + // The other alternative would be to unsort before resorting, but this is equivalent to doing that. + int linkLocation = m_linkAddresses[linkIndex]; + + // Obtain batch and calculate target location for the + // next element in that batch, incrementing the batch counter + // afterwards + int batch = batchValues[linkIndex]; + int newLocation = m_batchStartLengths[batch].start + batchCounts[batch]; + + batchCounts[batch] = batchCounts[batch] + 1; + m_links[newLocation] = m_links_Backup[linkLocation]; +#if 1 + m_linkStrength[newLocation] = m_linkStrength_Backup[linkLocation]; + m_linksMassLSC[newLocation] = m_linksMassLSC_Backup[linkLocation]; + m_linksRestLengthSquared[newLocation] = m_linksRestLengthSquared_Backup[linkLocation]; + m_linksLengthRatio[newLocation] = m_linksLengthRatio_Backup[linkLocation]; + m_linksRestLength[newLocation] = m_linksRestLength_Backup[linkLocation]; + m_linksMaterialLinearStiffnessCoefficient[newLocation] = m_linksMaterialLinearStiffnessCoefficient_Backup[linkLocation]; +#endif + // Update the locations array to account for the moved entry + m_linkAddresses[linkIndex] = newLocation; + } + + +} // void generateBatches() + + + + + +btSoftBodyTriangleDataOpenCL::btSoftBodyTriangleDataOpenCL( cl_command_queue queue , cl_context ctx) : + m_queue( queue ), + m_clVertexIndices( queue, ctx, &m_vertexIndices, false ), + m_clArea( queue, ctx, &m_area, false ), + m_clNormal( queue, ctx, &m_normal, false ) +{ +} + +btSoftBodyTriangleDataOpenCL::~btSoftBodyTriangleDataOpenCL() +{ +} + +/** Allocate enough space in all link-related arrays to fit numLinks links */ +void btSoftBodyTriangleDataOpenCL::createTriangles( int numTriangles ) +{ + int previousSize = getNumTriangles(); + int newSize = previousSize + numTriangles; + + btSoftBodyTriangleData::createTriangles( numTriangles ); + + // Resize the link addresses array as well + m_triangleAddresses.resize( newSize ); +} + +/** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ +void btSoftBodyTriangleDataOpenCL::setTriangleAt( const btSoftBodyTriangleData::TriangleDescription &triangle, int triangleIndex ) +{ + btSoftBodyTriangleData::setTriangleAt( triangle, triangleIndex ); + + m_triangleAddresses[triangleIndex] = triangleIndex; +} + +bool btSoftBodyTriangleDataOpenCL::onAccelerator() +{ + return m_onGPU; +} + +bool btSoftBodyTriangleDataOpenCL::moveToAccelerator() +{ + bool success = true; + success = success && m_clVertexIndices.moveToGPU(); + success = success && m_clArea.moveToGPU(); + success = success && m_clNormal.moveToGPU(); + + if( success ) + m_onGPU = true; + + return success; +} + +bool btSoftBodyTriangleDataOpenCL::moveFromAccelerator() +{ + bool success = true; + success = success && m_clVertexIndices.moveFromGPU(); + success = success && m_clArea.moveFromGPU(); + success = success && m_clNormal.moveFromGPU(); + + if( success ) + m_onGPU = true; + + return success; +} + +/** + * Generate (and later update) the batching for the entire triangle set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ +void btSoftBodyTriangleDataOpenCL::generateBatches() +{ + int numTriangles = getNumTriangles(); + if( numTriangles == 0 ) + return; + + // Do the graph colouring here temporarily + btAlignedObjectArray< int > batchValues; + batchValues.resize( numTriangles ); + + // Find the maximum vertex value internally for now + int maxVertex = 0; + for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex ) + { + int vertex0 = getVertexSet(triangleIndex).vertex0; + int vertex1 = getVertexSet(triangleIndex).vertex1; + int vertex2 = getVertexSet(triangleIndex).vertex2; + + if( vertex0 > maxVertex ) + maxVertex = vertex0; + if( vertex1 > maxVertex ) + maxVertex = vertex1; + if( vertex2 > maxVertex ) + maxVertex = vertex2; + } + int numVertices = maxVertex + 1; + + // Set of lists, one for each node, specifying which colours are connected + // to that node. + // No two edges into a node can share a colour. + btAlignedObjectArray< btAlignedObjectArray< int > > vertexConnectedColourLists; + vertexConnectedColourLists.resize(numVertices); + + + //std::cout << "\n"; + // Simple algorithm that chooses the lowest batch number + // that none of the faces attached to either of the connected + // nodes is in + for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex ) + { + // To maintain locations run off the original link locations rather than the current position. + // It's not cache efficient, but as we run this rarely that should not matter. + // It's faster than searching the link location array for the current location and then updating it. + // The other alternative would be to unsort before resorting, but this is equivalent to doing that. + int triangleLocation = m_triangleAddresses[triangleIndex]; + + int vertex0 = getVertexSet(triangleLocation).vertex0; + int vertex1 = getVertexSet(triangleLocation).vertex1; + int vertex2 = getVertexSet(triangleLocation).vertex2; + + // Get the three node colour lists + btAlignedObjectArray< int > &colourListVertex0( vertexConnectedColourLists[vertex0] ); + btAlignedObjectArray< int > &colourListVertex1( vertexConnectedColourLists[vertex1] ); + btAlignedObjectArray< int > &colourListVertex2( vertexConnectedColourLists[vertex2] ); + + // Choose the minimum colour that is in none of the lists + int colour = 0; + while( + colourListVertex0.findLinearSearch(colour) != colourListVertex0.size() || + colourListVertex1.findLinearSearch(colour) != colourListVertex1.size() || + colourListVertex2.findLinearSearch(colour) != colourListVertex2.size() ) + { + ++colour; + } + // i should now be the minimum colour in neither list + // Add to the three lists so that future edges don't share + // And store the colour against this face + colourListVertex0.push_back(colour); + colourListVertex1.push_back(colour); + colourListVertex2.push_back(colour); + + batchValues[triangleIndex] = colour; + } + + + // Check the colour counts + btAlignedObjectArray< int > batchCounts; + for( int i = 0; i < numTriangles; ++i ) + { + int batch = batchValues[i]; + if( batch >= batchCounts.size() ) + batchCounts.push_back(1); + else + ++(batchCounts[batch]); + } + + + m_batchStartLengths.resize(batchCounts.size()); + m_batchStartLengths[0] = btSomePair(0,0); + + + int sum = 0; + for( int batchIndex = 0; batchIndex < batchCounts.size(); ++batchIndex ) + { + m_batchStartLengths[batchIndex].first = sum; + m_batchStartLengths[batchIndex].second = batchCounts[batchIndex]; + sum += batchCounts[batchIndex]; + } + + ///////////////////////////// + // Sort data based on batches + + // Create source arrays by copying originals + btAlignedObjectArray m_vertexIndices_Backup(m_vertexIndices); + btAlignedObjectArray m_area_Backup(m_area); + btAlignedObjectArray m_normal_Backup(m_normal); + + + for( int batch = 0; batch < batchCounts.size(); ++batch ) + batchCounts[batch] = 0; + + // Do sort as single pass into destination arrays + for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex ) + { + // To maintain locations run off the original link locations rather than the current position. + // It's not cache efficient, but as we run this rarely that should not matter. + // It's faster than searching the link location array for the current location and then updating it. + // The other alternative would be to unsort before resorting, but this is equivalent to doing that. + int triangleLocation = m_triangleAddresses[triangleIndex]; + + // Obtain batch and calculate target location for the + // next element in that batch, incrementing the batch counter + // afterwards + int batch = batchValues[triangleIndex]; + int newLocation = m_batchStartLengths[batch].first + batchCounts[batch]; + + batchCounts[batch] = batchCounts[batch] + 1; + m_vertexIndices[newLocation] = m_vertexIndices_Backup[triangleLocation]; + m_area[newLocation] = m_area_Backup[triangleLocation]; + m_normal[newLocation] = m_normal_Backup[triangleLocation]; + + // Update the locations array to account for the moved entry + m_triangleAddresses[triangleIndex] = newLocation; + } +} // btSoftBodyTriangleDataOpenCL::generateBatches + + + + + + + +btOpenCLSoftBodySolver::btOpenCLSoftBodySolver(cl_command_queue queue, cl_context ctx) : + m_linkData(queue, ctx), + m_vertexData(queue, ctx), + m_triangleData(queue, ctx), + m_clPerClothAcceleration(queue, ctx, &m_perClothAcceleration, true ), + m_clPerClothWindVelocity(queue, ctx, &m_perClothWindVelocity, true ), + m_clPerClothDampingFactor(queue,ctx, &m_perClothDampingFactor, true ), + m_clPerClothVelocityCorrectionCoefficient(queue, ctx,&m_perClothVelocityCorrectionCoefficient, true ), + m_clPerClothLiftFactor(queue, ctx,&m_perClothLiftFactor, true ), + m_clPerClothDragFactor(queue, ctx,&m_perClothDragFactor, true ), + m_clPerClothMediumDensity(queue, ctx,&m_perClothMediumDensity, true ), + m_cqCommandQue( queue ), + m_cxMainContext(ctx), + m_defaultWorkGroupSize(BT_DEFAULT_WORKGROUPSIZE) +{ + // Initial we will clearly need to update solver constants + // For now this is global for the cloths linked with this solver - we should probably make this body specific + // for performance in future once we understand more clearly when constants need to be updated + m_updateSolverConstants = true; + + m_shadersInitialized = false; +} + +btOpenCLSoftBodySolver::~btOpenCLSoftBodySolver() +{ +} + +void btOpenCLSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies ) +{ + if( m_softBodySet.size() != softBodies.size() ) + { + // Have a change in the soft body set so update, reloading all the data + getVertexData().clear(); + getTriangleData().clear(); + getLinkData().clear(); + m_softBodySet.resize(0); + + + for( int softBodyIndex = 0; softBodyIndex < softBodies.size(); ++softBodyIndex ) + { + btSoftBody *softBody = softBodies[ softBodyIndex ]; + using Vectormath::Aos::Matrix3; + using Vectormath::Aos::Point3; + + // Create SoftBody that will store the information within the solver + btOpenCLAcceleratedSoftBodyInterface *newSoftBody = new btOpenCLAcceleratedSoftBodyInterface( softBody ); + m_softBodySet.push_back( newSoftBody ); + + m_perClothAcceleration.push_back( toVector3(softBody->getWorldInfo()->m_gravity) ); + m_perClothDampingFactor.push_back(softBody->m_cfg.kDP); + m_perClothVelocityCorrectionCoefficient.push_back( softBody->m_cfg.kVCF ); + m_perClothLiftFactor.push_back( softBody->m_cfg.kLF ); + m_perClothDragFactor.push_back( softBody->m_cfg.kDG ); + m_perClothMediumDensity.push_back(softBody->getWorldInfo()->air_density); + + // Add space for new vertices and triangles in the default solver for now + // TODO: Include space here for tearing too later + int firstVertex = getVertexData().getNumVertices(); + int numVertices = softBody->m_nodes.size(); + int maxVertices = numVertices; + // Allocate space for new vertices in all the vertex arrays + getVertexData().createVertices( maxVertices, softBodyIndex ); + + int firstTriangle = getTriangleData().getNumTriangles(); + int numTriangles = softBody->m_faces.size(); + int maxTriangles = numTriangles; + getTriangleData().createTriangles( maxTriangles ); + + // Copy vertices from softbody into the solver + for( int vertex = 0; vertex < numVertices; ++vertex ) + { + Point3 multPoint(softBody->m_nodes[vertex].m_x.getX(), softBody->m_nodes[vertex].m_x.getY(), softBody->m_nodes[vertex].m_x.getZ()); + btSoftBodyVertexData::VertexDescription desc; + + // TODO: Position in the softbody might be pre-transformed + // or we may need to adapt for the pose. + //desc.setPosition( cloth.getMeshTransform()*multPoint ); + desc.setPosition( multPoint ); + + float vertexInverseMass = softBody->m_nodes[vertex].m_im; + desc.setInverseMass(vertexInverseMass); + getVertexData().setVertexAt( desc, firstVertex + vertex ); + } + + // Copy triangles similarly + // We're assuming here that vertex indices are based on the firstVertex rather than the entire scene + for( int triangle = 0; triangle < numTriangles; ++triangle ) + { + // Note that large array storage is relative to the array not to the cloth + // So we need to add firstVertex to each value + int vertexIndex0 = (softBody->m_faces[triangle].m_n[0] - &(softBody->m_nodes[0])); + int vertexIndex1 = (softBody->m_faces[triangle].m_n[1] - &(softBody->m_nodes[0])); + int vertexIndex2 = (softBody->m_faces[triangle].m_n[2] - &(softBody->m_nodes[0])); + btSoftBodyTriangleData::TriangleDescription newTriangle(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, vertexIndex2 + firstVertex); + getTriangleData().setTriangleAt( newTriangle, firstTriangle + triangle ); + + // Increase vertex triangle counts for this triangle + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex0)++; + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex1)++; + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex2)++; + } + + int firstLink = getLinkData().getNumLinks(); + int numLinks = softBody->m_links.size(); + int maxLinks = numLinks; + + // Allocate space for the links + getLinkData().createLinks( numLinks ); + + // Add the links + for( int link = 0; link < numLinks; ++link ) + { + int vertexIndex0 = softBody->m_links[link].m_n[0] - &(softBody->m_nodes[0]); + int vertexIndex1 = softBody->m_links[link].m_n[1] - &(softBody->m_nodes[0]); + + btSoftBodyLinkData::LinkDescription newLink(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, softBody->m_links[link].m_material->m_kLST); + newLink.setLinkStrength(1.f); + getLinkData().setLinkAt(newLink, firstLink + link); + } + + newSoftBody->setFirstVertex( firstVertex ); + newSoftBody->setFirstTriangle( firstTriangle ); + newSoftBody->setNumVertices( numVertices ); + newSoftBody->setMaxVertices( maxVertices ); + newSoftBody->setNumTriangles( numTriangles ); + newSoftBody->setMaxTriangles( maxTriangles ); + newSoftBody->setFirstLink( firstLink ); + newSoftBody->setNumLinks( numLinks ); + } + + + + updateConstants(0.f); + + + m_linkData.generateBatches(); + m_triangleData.generateBatches(); + } +} + + +btSoftBodyLinkData &btOpenCLSoftBodySolver::getLinkData() +{ + // TODO: Consider setting link data to "changed" here + return m_linkData; +} + +btSoftBodyVertexData &btOpenCLSoftBodySolver::getVertexData() +{ + // TODO: Consider setting vertex data to "changed" here + return m_vertexData; +} + +btSoftBodyTriangleData &btOpenCLSoftBodySolver::getTriangleData() +{ + // TODO: Consider setting triangle data to "changed" here + return m_triangleData; +} + + +bool btOpenCLSoftBodySolver::checkInitialized() +{ + return buildShaders(); +} + +void btOpenCLSoftBodySolver::resetNormalsAndAreas( int numVertices ) +{ + cl_int ciErrNum; + ciErrNum = clSetKernelArg(resetNormalsAndAreasKernel, 0, sizeof(numVertices), (void*)&numVertices); //oclCHECKERROR(ciErrNum, CL_SUCCESS); + ciErrNum = clSetKernelArg(resetNormalsAndAreasKernel, 1, sizeof(cl_mem), (void*)&m_vertexData.m_clVertexNormal.m_buffer);//oclCHECKERROR(ciErrNum, CL_SUCCESS); + ciErrNum = clSetKernelArg(resetNormalsAndAreasKernel, 2, sizeof(cl_mem), (void*)&m_vertexData.m_clVertexArea.m_buffer); //oclCHECKERROR(ciErrNum, CL_SUCCESS); + size_t numWorkItems = m_defaultWorkGroupSize*((numVertices + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, resetNormalsAndAreasKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0 ); + + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(resetNormalsAndAreasKernel)" ); + } + +} + +void btOpenCLSoftBodySolver::normalizeNormalsAndAreas( int numVertices ) +{ + + cl_int ciErrNum; + + ciErrNum = clSetKernelArg(normalizeNormalsAndAreasKernel, 0, sizeof(int),(void*) &numVertices); + ciErrNum = clSetKernelArg(normalizeNormalsAndAreasKernel, 1, sizeof(cl_mem), &m_vertexData.m_clVertexTriangleCount.m_buffer); + ciErrNum = clSetKernelArg(normalizeNormalsAndAreasKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer); + ciErrNum = clSetKernelArg(normalizeNormalsAndAreasKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer); + size_t numWorkItems = m_defaultWorkGroupSize*((numVertices + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, normalizeNormalsAndAreasKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(normalizeNormalsAndAreasKernel)"); + } + +} + +void btOpenCLSoftBodySolver::executeUpdateSoftBodies( int firstTriangle, int numTriangles ) +{ + + cl_int ciErrNum; + ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 0, sizeof(int), (void*) &firstTriangle); + ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 1, sizeof(int), &numTriangles); + ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 2, sizeof(cl_mem), &m_triangleData.m_clVertexIndices.m_buffer); + ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer); + ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer); + ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer); + ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 6, sizeof(cl_mem), &m_triangleData.m_clNormal.m_buffer); + ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 7, sizeof(cl_mem), &m_triangleData.m_clArea.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((numTriangles + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, updateSoftBodiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(normalizeNormalsAndAreasKernel)"); + } + +} + +void btOpenCLSoftBodySolver::updateSoftBodies() +{ + using namespace Vectormath::Aos; + + + int numVertices = m_vertexData.getNumVertices(); + int numTriangles = m_triangleData.getNumTriangles(); + + // Ensure data is on accelerator + m_vertexData.moveToAccelerator(); + m_triangleData.moveToAccelerator(); + + resetNormalsAndAreas( numVertices ); + + + // Go through triangle batches so updates occur correctly + for( int batchIndex = 0; batchIndex < m_triangleData.m_batchStartLengths.size(); ++batchIndex ) + { + + int startTriangle = m_triangleData.m_batchStartLengths[batchIndex].first; + int numTriangles = m_triangleData.m_batchStartLengths[batchIndex].second; + + executeUpdateSoftBodies( startTriangle, numTriangles ); + } + + + normalizeNormalsAndAreas( numVertices ); +} // updateSoftBodies + + +Vectormath::Aos::Vector3 btOpenCLSoftBodySolver::ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a ) +{ + return a*Vectormath::Aos::dot(v, a); +} + +void btOpenCLSoftBodySolver::ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce ) +{ + float dtInverseMass = solverdt*inverseMass; + if( Vectormath::Aos::lengthSqr(force * dtInverseMass) > Vectormath::Aos::lengthSqr(vertexVelocity) ) + { + vertexForce -= ProjectOnAxis( vertexVelocity, normalize( force ) )/dtInverseMass; + } else { + vertexForce += force; + } +} + +void btOpenCLSoftBodySolver::applyForces( float solverdt ) +{ + + // Ensure data is on accelerator + m_vertexData.moveToAccelerator(); + m_clPerClothAcceleration.moveToGPU(); + m_clPerClothLiftFactor.moveToGPU(); + m_clPerClothDragFactor.moveToGPU(); + m_clPerClothMediumDensity.moveToGPU(); + m_clPerClothWindVelocity.moveToGPU(); + + cl_int ciErrNum ; + int numVerts = m_vertexData.getNumVertices(); + ciErrNum = clSetKernelArg(applyForcesKernel, 0, sizeof(int), &numVerts); + ciErrNum = clSetKernelArg(applyForcesKernel, 1, sizeof(float), &solverdt); + float fl = FLT_EPSILON; + ciErrNum = clSetKernelArg(applyForcesKernel, 2, sizeof(float), &fl); + ciErrNum = clSetKernelArg(applyForcesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clClothIdentifier.m_buffer); + ciErrNum = clSetKernelArg(applyForcesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer); + ciErrNum = clSetKernelArg(applyForcesKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer); + ciErrNum = clSetKernelArg(applyForcesKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer); + ciErrNum = clSetKernelArg(applyForcesKernel, 7, sizeof(cl_mem), &m_clPerClothLiftFactor.m_buffer); + ciErrNum = clSetKernelArg(applyForcesKernel, 8 ,sizeof(cl_mem), &m_clPerClothDragFactor.m_buffer); + ciErrNum = clSetKernelArg(applyForcesKernel, 9, sizeof(cl_mem), &m_clPerClothWindVelocity.m_buffer); + ciErrNum = clSetKernelArg(applyForcesKernel,10, sizeof(cl_mem), &m_clPerClothAcceleration.m_buffer); + ciErrNum = clSetKernelArg(applyForcesKernel,11, sizeof(cl_mem), &m_clPerClothMediumDensity.m_buffer); + ciErrNum = clSetKernelArg(applyForcesKernel,12, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer); + ciErrNum = clSetKernelArg(applyForcesKernel,13, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer); + size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,applyForcesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(applyForcesKernel)"); + } + +} + +/** + * Integrate motion on the solver. + */ +void btOpenCLSoftBodySolver::integrate( float solverdt ) +{ + + + // Ensure data is on accelerator + m_vertexData.moveToAccelerator(); + + cl_int ciErrNum; + int numVerts = m_vertexData.getNumVertices(); + ciErrNum = clSetKernelArg(integrateKernel, 0, sizeof(int), &numVerts); + ciErrNum = clSetKernelArg(integrateKernel, 1, sizeof(float), &solverdt); + ciErrNum = clSetKernelArg(integrateKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer); + ciErrNum = clSetKernelArg(integrateKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer); + ciErrNum = clSetKernelArg(integrateKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer); + ciErrNum = clSetKernelArg(integrateKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer); + ciErrNum = clSetKernelArg(integrateKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,integrateKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(integrateKernel)"); + } + +} + +float btOpenCLSoftBodySolver::computeTriangleArea( + const Vectormath::Aos::Point3 &vertex0, + const Vectormath::Aos::Point3 &vertex1, + const Vectormath::Aos::Point3 &vertex2 ) +{ + Vectormath::Aos::Vector3 a = vertex1 - vertex0; + Vectormath::Aos::Vector3 b = vertex2 - vertex0; + Vectormath::Aos::Vector3 crossProduct = cross(a, b); + float area = length( crossProduct ); + return area; +} + +void btOpenCLSoftBodySolver::updateConstants( float timeStep ) +{ + + using namespace Vectormath::Aos; + + if( m_updateSolverConstants ) + { + m_updateSolverConstants = false; + + // Will have to redo this if we change the structure (tear, maybe) or various other possible changes + + // Initialise link constants + const int numLinks = m_linkData.getNumLinks(); + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + btSoftBodyLinkData::LinkNodePair &vertices( m_linkData.getVertexPair(linkIndex) ); + m_linkData.getRestLength(linkIndex) = length((m_vertexData.getPosition( vertices.vertex0 ) - m_vertexData.getPosition( vertices.vertex1 ))); + float invMass0 = m_vertexData.getInverseMass(vertices.vertex0); + float invMass1 = m_vertexData.getInverseMass(vertices.vertex1); + float linearStiffness = m_linkData.getLinearStiffnessCoefficient(linkIndex); + float massLSC = (invMass0 + invMass1)/linearStiffness; + m_linkData.getMassLSC(linkIndex) = massLSC; + float restLength = m_linkData.getRestLength(linkIndex); + float restLengthSquared = restLength*restLength; + m_linkData.getRestLengthSquared(linkIndex) = restLengthSquared; + } + } + +} + +void btOpenCLSoftBodySolver::solveConstraints( float solverdt ) +{ + + using Vectormath::Aos::Vector3; + using Vectormath::Aos::Point3; + using Vectormath::Aos::lengthSqr; + using Vectormath::Aos::dot; + + // Prepare links + int numLinks = m_linkData.getNumLinks(); + int numVertices = m_vertexData.getNumVertices(); + + float kst = 1.f; + float ti = 0.f; + + + m_clPerClothDampingFactor.moveToGPU(); + m_clPerClothVelocityCorrectionCoefficient.moveToGPU(); + + + // Ensure data is on accelerator + m_linkData.moveToAccelerator(); + m_vertexData.moveToAccelerator(); + + prepareLinks(); + + + + for( int iteration = 0; iteration < m_numberOfVelocityIterations ; ++iteration ) + { + for( int i = 0; i < m_linkData.m_batchStartLengths.size(); ++i ) + { + int startLink = m_linkData.m_batchStartLengths[i].start; + int numLinks = m_linkData.m_batchStartLengths[i].length; + + solveLinksForVelocity( startLink, numLinks, kst ); + } + } + + // Compute new positions from velocity + // Also update the previous position so that our position computation is now based on the new position from the velocity solution + // rather than based directly on the original positions + if( m_numberOfVelocityIterations > 0 ) + { + updateVelocitiesFromPositionsWithVelocities( 1.f/solverdt ); + } else { + updateVelocitiesFromPositionsWithoutVelocities( 1.f/solverdt ); + } + + // Solve drift + for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration ) + { + for( int i = 0; i < m_linkData.m_batchStartLengths.size(); ++i ) + { + int startLink = m_linkData.m_batchStartLengths[i].start; + int numLinks = m_linkData.m_batchStartLengths[i].length; + + solveLinksForPosition( startLink, numLinks, kst, ti ); + } + + } // for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration ) + + + updateVelocitiesFromPositionsWithoutVelocities( 1.f/solverdt ); + +} + + +////////////////////////////////////// +// Kernel dispatches +void btOpenCLSoftBodySolver::prepareLinks() +{ + + cl_int ciErrNum; + int numLinks = m_linkData.getNumLinks(); + ciErrNum = clSetKernelArg(prepareLinksKernel,0, sizeof(int), &numLinks); + ciErrNum = clSetKernelArg(prepareLinksKernel,1, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer); + ciErrNum = clSetKernelArg(prepareLinksKernel,2, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer); + ciErrNum = clSetKernelArg(prepareLinksKernel,3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer); + ciErrNum = clSetKernelArg(prepareLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clLinksLengthRatio.m_buffer); + ciErrNum = clSetKernelArg(prepareLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clLinksCLength.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((m_linkData.getNumLinks() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,prepareLinksKernel, 1 , NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(prepareLinksKernel)"); + } + +} + +void btOpenCLSoftBodySolver::updatePositionsFromVelocities( float solverdt ) +{ + + cl_int ciErrNum; + int numVerts = m_vertexData.getNumVertices(); + ciErrNum = clSetKernelArg(updatePositionsFromVelocitiesKernel,0, sizeof(int), &numVerts); + ciErrNum = clSetKernelArg(updatePositionsFromVelocitiesKernel,1, sizeof(float), &solverdt); + ciErrNum = clSetKernelArg(updatePositionsFromVelocitiesKernel,2, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer); + ciErrNum = clSetKernelArg(updatePositionsFromVelocitiesKernel,3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer); + ciErrNum = clSetKernelArg(updatePositionsFromVelocitiesKernel,4, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,updatePositionsFromVelocitiesKernel, 1, NULL, &numWorkItems,&m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(updatePositionsFromVelocitiesKernel)"); + } + +} + +void btOpenCLSoftBodySolver::solveLinksForPosition( int startLink, int numLinks, float kst, float ti ) +{ + + cl_int ciErrNum; + ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,0, sizeof(int), &startLink); + ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,1, sizeof(int), &numLinks); + ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,2, sizeof(float), &kst); + ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,3, sizeof(float), &ti); + ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer); + ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer); + ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,6, sizeof(cl_mem), &m_linkData.m_clLinksRestLengthSquared.m_buffer); + ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,7, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer); + ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,8, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((numLinks + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,solvePositionsFromLinksKernel,1,NULL,&numWorkItems,&m_defaultWorkGroupSize,0,0,0); + if( ciErrNum!= CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(solvePositionsFromLinksKernel)"); + } + +} // solveLinksForPosition + + +void btOpenCLSoftBodySolver::solveLinksForVelocity( int startLink, int numLinks, float kst ) +{ + + cl_int ciErrNum; + ciErrNum = clSetKernelArg(vSolveLinksKernel, 0, sizeof(int), &startLink); + ciErrNum = clSetKernelArg(vSolveLinksKernel, 1, sizeof(int), &numLinks); + ciErrNum = clSetKernelArg(vSolveLinksKernel, 2, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer); + ciErrNum = clSetKernelArg(vSolveLinksKernel, 3, sizeof(cl_mem), &m_linkData.m_clLinksLengthRatio.m_buffer); + ciErrNum = clSetKernelArg(vSolveLinksKernel, 4, sizeof(cl_mem), &m_linkData.m_clLinksCLength.m_buffer); + ciErrNum = clSetKernelArg(vSolveLinksKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer); + ciErrNum = clSetKernelArg(vSolveLinksKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((numLinks + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,vSolveLinksKernel,1,NULL,&numWorkItems, &m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(vSolveLinksKernel)"); + } + +} + +void btOpenCLSoftBodySolver::updateVelocitiesFromPositionsWithVelocities( float isolverdt ) +{ + + cl_int ciErrNum; + int numVerts = m_vertexData.getNumVertices(); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel,0, sizeof(int), &numVerts); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 1, sizeof(float), &isolverdt); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clClothIdentifier.m_buffer); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 5, sizeof(cl_mem), &m_clPerClothVelocityCorrectionCoefficient.m_buffer); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 6, sizeof(cl_mem), &m_clPerClothDampingFactor.m_buffer); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 7, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 8, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,updateVelocitiesFromPositionsWithVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(updateVelocitiesFromPositionsWithVelocitiesKernel)"); + } + + +} // updateVelocitiesFromPositionsWithVelocities + +void btOpenCLSoftBodySolver::updateVelocitiesFromPositionsWithoutVelocities( float isolverdt ) +{ + + cl_int ciErrNum; + int numVerts = m_vertexData.getNumVertices(); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 0, sizeof(int), &numVerts); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 1, sizeof(float), &isolverdt); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 4, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 6, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer); + ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 7, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,updateVelocitiesFromPositionsWithoutVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(updateVelocitiesFromPositionsWithoutVelocitiesKernel)"); + } + +} // updateVelocitiesFromPositionsWithoutVelocities + +// End kernel dispatches +///////////////////////////////////// + + +void btOpenCLSoftBodySolver::copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ) +{ + // Currently only support CPU output buffers + // TODO: check for DX11 buffers. Take all offsets into the same DX11 buffer + // and use them together on a single kernel call if possible by setting up a + // per-cloth target buffer array for the copy kernel. + + + btOpenCLAcceleratedSoftBodyInterface *currentCloth = findSoftBodyInterface( softBody ); + + const int firstVertex = currentCloth->getFirstVertex(); + const int lastVertex = firstVertex + currentCloth->getNumVertices(); + + if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER ) + { + const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast< btCPUVertexBufferDescriptor* >(vertexBuffer); + float *basePointer = cpuVertexBuffer->getBasePointer(); + + m_vertexData.m_clVertexPosition.copyFromGPU(); + m_vertexData.m_clVertexNormal.copyFromGPU(); + + if( vertexBuffer->hasVertexPositions() ) + { + const int vertexOffset = cpuVertexBuffer->getVertexOffset(); + const int vertexStride = cpuVertexBuffer->getVertexStride(); + float *vertexPointer = basePointer + vertexOffset; + + for( int vertexIndex = firstVertex; vertexIndex < lastVertex; ++vertexIndex ) + { + Vectormath::Aos::Point3 position = m_vertexData.getPosition(vertexIndex); + *(vertexPointer + 0) = position.getX(); + *(vertexPointer + 1) = position.getY(); + *(vertexPointer + 2) = position.getZ(); + vertexPointer += vertexStride; + } + } + if( vertexBuffer->hasNormals() ) + { + const int normalOffset = cpuVertexBuffer->getNormalOffset(); + const int normalStride = cpuVertexBuffer->getNormalStride(); + float *normalPointer = basePointer + normalOffset; + + for( int vertexIndex = firstVertex; vertexIndex < lastVertex; ++vertexIndex ) + { + Vectormath::Aos::Vector3 normal = m_vertexData.getNormal(vertexIndex); + *(normalPointer + 0) = normal.getX(); + *(normalPointer + 1) = normal.getY(); + *(normalPointer + 2) = normal.getZ(); + normalPointer += normalStride; + } + } + } + +} // btCPUSoftBodySolver::outputToVertexBuffers + + +cl_kernel btOpenCLSoftBodySolver::compileCLKernelFromString( const char* kernelSource, const char* kernelName ) +{ + printf("compiling kernelName: %s ",kernelName); + cl_kernel kernel; + cl_int ciErrNum; + size_t program_length = strlen(kernelSource); + + cl_program m_cpProgram = clCreateProgramWithSource(m_cxMainContext, 1, (const char**)&kernelSource, &program_length, &ciErrNum); +// oclCHECKERROR(ciErrNum, CL_SUCCESS); + + // Build the program with 'mad' Optimization option +#ifdef MAC + char* flags = "-cl-mad-enable -DMAC -DGUID_ARG"; +#else + const char* flags = "-DGUID_ARG="; +#endif + ciErrNum = clBuildProgram(m_cpProgram, 0, NULL, flags, NULL, NULL); + if (ciErrNum != CL_SUCCESS) + { + printf("Error in clBuildProgram, Line %u in file %s !!!\n\n", __LINE__, __FILE__); + btAssert(0); + exit(0); + } + + // Create the kernel + kernel = clCreateKernel(m_cpProgram, kernelName, &ciErrNum); + if (ciErrNum != CL_SUCCESS) + { + printf("Error in clCreateKernel, Line %u in file %s !!!\n\n", __LINE__, __FILE__); + btAssert(0); + exit(0); + } + + printf("ready. \n"); + return kernel; + +} + +void btOpenCLSoftBodySolver::predictMotion( float timeStep ) +{ + // Fill the force arrays with current acceleration data etc + m_perClothWindVelocity.resize( m_softBodySet.size() ); + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + btSoftBody *softBody = m_softBodySet[softBodyIndex]->getSoftBody(); + + m_perClothWindVelocity[softBodyIndex] = toVector3(softBody->getWindVelocity()); + } + m_clPerClothWindVelocity.changedOnCPU(); + + // Apply forces that we know about to the cloths + applyForces( timeStep * getTimeScale() ); + + // Itegrate motion for all soft bodies dealt with by the solver + integrate( timeStep * getTimeScale() ); + // End prediction work for solvers +} + + + +btOpenCLAcceleratedSoftBodyInterface *btOpenCLSoftBodySolver::findSoftBodyInterface( const btSoftBody* const softBody ) +{ + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + btOpenCLAcceleratedSoftBodyInterface *softBodyInterface = m_softBodySet[softBodyIndex]; + if( softBodyInterface->getSoftBody() == softBody ) + return softBodyInterface; + } + return 0; +} + + +bool btOpenCLSoftBodySolver::buildShaders() +{ + bool returnVal = true; + + if( m_shadersInitialized ) + return true; + + prepareLinksKernel = compileCLKernelFromString( PrepareLinksCLString, "PrepareLinksKernel" ); + updatePositionsFromVelocitiesKernel = compileCLKernelFromString( UpdatePositionsFromVelocitiesCLString, "UpdatePositionsFromVelocitiesKernel" ); + solvePositionsFromLinksKernel = compileCLKernelFromString( SolvePositionsCLString, "SolvePositionsFromLinksKernel" ); + updateVelocitiesFromPositionsWithVelocitiesKernel = compileCLKernelFromString( UpdateNodesCLString, "updateVelocitiesFromPositionsWithVelocitiesKernel" ); + updateVelocitiesFromPositionsWithoutVelocitiesKernel = compileCLKernelFromString( UpdatePositionsCLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel" ); + integrateKernel = compileCLKernelFromString( IntegrateCLString, "IntegrateKernel" ); + applyForcesKernel = compileCLKernelFromString( ApplyForcesCLString, "ApplyForcesKernel" ); + + // TODO: Rename to UpdateSoftBodies + resetNormalsAndAreasKernel = compileCLKernelFromString( UpdateNormalsCLString, "ResetNormalsAndAreasKernel" ); + normalizeNormalsAndAreasKernel = compileCLKernelFromString( UpdateNormalsCLString, "NormalizeNormalsAndAreasKernel" ); + updateSoftBodiesKernel = compileCLKernelFromString( UpdateNormalsCLString, "UpdateSoftBodiesKernel" ); + //outputToVertexArrayWithNormalsKernel = compileCLKernelFromString( OutputToVertexArrayCLString, "OutputToVertexArrayWithNormalsKernel" ); + //outputToVertexArrayWithoutNormalsKernel = compileCLKernelFromString( OutputToVertexArrayCLString, "OutputToVertexArrayWithoutNormalsKernel" ); + + + if( returnVal ) + m_shadersInitialized = true; + + return returnVal; +} diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h new file mode 100644 index 0000000..1814e2e --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h @@ -0,0 +1,344 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFT_BODY_SOLVER_OPENCL_H +#define BT_SOFT_BODY_SOLVER_OPENCL_H + +#include "stddef.h" //for size_t +#include "vectormath/vmInclude.h" + +#include "BulletSoftBody/btSoftBodySolvers.h" +#include "btSoftBodySolverBuffer_OpenCL.h" +#include "btSoftBodySolverLinkData_OpenCL.h" +#include "btSoftBodySolverVertexData_OpenCL.h" +#include "btSoftBodySolverTriangleData_OpenCL.h" + + +/** + * SoftBody class to maintain information about a soft body instance + * within a solver. + * This data addresses the main solver arrays. + */ +class btOpenCLAcceleratedSoftBodyInterface +{ +protected: + /** Current number of vertices that are part of this cloth */ + int m_numVertices; + /** Maximum number of vertices allocated to be part of this cloth */ + int m_maxVertices; + /** Current number of triangles that are part of this cloth */ + int m_numTriangles; + /** Maximum number of triangles allocated to be part of this cloth */ + int m_maxTriangles; + /** Index of first vertex in the world allocated to this cloth */ + int m_firstVertex; + /** Index of first triangle in the world allocated to this cloth */ + int m_firstTriangle; + /** Index of first link in the world allocated to this cloth */ + int m_firstLink; + /** Maximum number of links allocated to this cloth */ + int m_maxLinks; + /** Current number of links allocated to this cloth */ + int m_numLinks; + + /** The actual soft body this data represents */ + btSoftBody *m_softBody; + + +public: + btOpenCLAcceleratedSoftBodyInterface( btSoftBody *softBody ) : + m_softBody( softBody ) + { + m_numVertices = 0; + m_maxVertices = 0; + m_numTriangles = 0; + m_maxTriangles = 0; + m_firstVertex = 0; + m_firstTriangle = 0; + m_firstLink = 0; + m_maxLinks = 0; + m_numLinks = 0; + } + int getNumVertices() + { + return m_numVertices; + } + + int getNumTriangles() + { + return m_numTriangles; + } + + int getMaxVertices() + { + return m_maxVertices; + } + + int getMaxTriangles() + { + return m_maxTriangles; + } + + int getFirstVertex() + { + return m_firstVertex; + } + + int getFirstTriangle() + { + return m_firstTriangle; + } + + // TODO: All of these set functions will have to do checks and + // update the world because restructuring of the arrays will be necessary + // Reasonable use of "friend"? + void setNumVertices( int numVertices ) + { + m_numVertices = numVertices; + } + + void setNumTriangles( int numTriangles ) + { + m_numTriangles = numTriangles; + } + + void setMaxVertices( int maxVertices ) + { + m_maxVertices = maxVertices; + } + + void setMaxTriangles( int maxTriangles ) + { + m_maxTriangles = maxTriangles; + } + + void setFirstVertex( int firstVertex ) + { + m_firstVertex = firstVertex; + } + + void setFirstTriangle( int firstTriangle ) + { + m_firstTriangle = firstTriangle; + } + + void setMaxLinks( int maxLinks ) + { + m_maxLinks = maxLinks; + } + + void setNumLinks( int numLinks ) + { + m_numLinks = numLinks; + } + + void setFirstLink( int firstLink ) + { + m_firstLink = firstLink; + } + + int getMaxLinks() + { + return m_maxLinks; + } + + int getNumLinks() + { + return m_numLinks; + } + + int getFirstLink() + { + return m_firstLink; + } + + btSoftBody* getSoftBody() + { + return m_softBody; + } + +}; + + +class btOpenCLSoftBodySolver : public btSoftBodySolver +{ +private: + + btSoftBodyLinkDataOpenCL m_linkData; + btSoftBodyVertexDataOpenCL m_vertexData; + btSoftBodyTriangleDataOpenCL m_triangleData; + + /** Variable to define whether we need to update solver constants on the next iteration */ + bool m_updateSolverConstants; + + bool m_shadersInitialized; + + + /** + * Cloths owned by this solver. + * Only our cloths are in this array. + */ + btAlignedObjectArray< btOpenCLAcceleratedSoftBodyInterface * > m_softBodySet; + + /** Acceleration value to be applied to all non-static vertices in the solver. + * Index n is cloth n, array sized by number of cloths in the world not the solver. + */ + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothAcceleration; + btOpenCLBuffer m_clPerClothAcceleration; + + /** Wind velocity to be applied normal to all non-static vertices in the solver. + * Index n is cloth n, array sized by number of cloths in the world not the solver. + */ + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothWindVelocity; + btOpenCLBuffer m_clPerClothWindVelocity; + + /** Velocity damping factor */ + btAlignedObjectArray< float > m_perClothDampingFactor; + btOpenCLBuffer m_clPerClothDampingFactor; + + /** Velocity correction coefficient */ + btAlignedObjectArray< float > m_perClothVelocityCorrectionCoefficient; + btOpenCLBuffer m_clPerClothVelocityCorrectionCoefficient; + + /** Lift parameter for wind effect on cloth. */ + btAlignedObjectArray< float > m_perClothLiftFactor; + btOpenCLBuffer m_clPerClothLiftFactor; + + /** Drag parameter for wind effect on cloth. */ + btAlignedObjectArray< float > m_perClothDragFactor; + btOpenCLBuffer m_clPerClothDragFactor; + + /** Density of the medium in which each cloth sits */ + btAlignedObjectArray< float > m_perClothMediumDensity; + btOpenCLBuffer m_clPerClothMediumDensity; + + cl_kernel prepareLinksKernel; + cl_kernel solvePositionsFromLinksKernel; + cl_kernel updateConstantsKernel; + cl_kernel integrateKernel; + cl_kernel addVelocityKernel; + cl_kernel updatePositionsFromVelocitiesKernel; + cl_kernel updateVelocitiesFromPositionsWithoutVelocitiesKernel; + cl_kernel updateVelocitiesFromPositionsWithVelocitiesKernel; + cl_kernel vSolveLinksKernel; + cl_kernel resetNormalsAndAreasKernel; + cl_kernel normalizeNormalsAndAreasKernel; + cl_kernel updateSoftBodiesKernel; + cl_kernel outputToVertexArrayWithNormalsKernel; + cl_kernel outputToVertexArrayWithoutNormalsKernel; + + cl_kernel outputToVertexArrayKernel; + cl_kernel applyForcesKernel; + cl_kernel collideSphereKernel; + cl_kernel collideCylinderKernel; + + cl_command_queue m_cqCommandQue; + cl_context m_cxMainContext; + + size_t m_defaultWorkGroupSize; + + + /** + * Compile a compute shader kernel from a string and return the appropriate cl_kernel object. + */ + cl_kernel compileCLKernelFromString( const char *shaderString, const char *shaderName ); + + bool buildShaders(); + + void resetNormalsAndAreas( int numVertices ); + + void normalizeNormalsAndAreas( int numVertices ); + + void executeUpdateSoftBodies( int firstTriangle, int numTriangles ); + + Vectormath::Aos::Vector3 ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a ); + + void ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce ); + + btOpenCLAcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody ); + + virtual void applyForces( float solverdt ); + + /** + * Integrate motion on the solver. + */ + virtual void integrate( float solverdt ); + + void updateConstants( float timeStep ); + + float computeTriangleArea( + const Vectormath::Aos::Point3 &vertex0, + const Vectormath::Aos::Point3 &vertex1, + const Vectormath::Aos::Point3 &vertex2 ); + + + ////////////////////////////////////// + // Kernel dispatches + void prepareLinks(); + + void solveLinksForVelocity( int startLink, int numLinks, float kst ); + + void updatePositionsFromVelocities( float solverdt ); + + void solveLinksForPosition( int startLink, int numLinks, float kst, float ti ); + + void updateVelocitiesFromPositionsWithVelocities( float isolverdt ); + + void updateVelocitiesFromPositionsWithoutVelocities( float isolverdt ); + + // End kernel dispatches + ///////////////////////////////////// + + +public: + btOpenCLSoftBodySolver(cl_command_queue queue,cl_context ctx); + + virtual ~btOpenCLSoftBodySolver(); + + + + + virtual btSoftBodyLinkData &getLinkData(); + + virtual btSoftBodyVertexData &getVertexData(); + + virtual btSoftBodyTriangleData &getTriangleData(); + + + + + virtual bool checkInitialized(); + + virtual void updateSoftBodies( ); + + virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies ); + + virtual void solveConstraints( float solverdt ); + + virtual void predictMotion( float solverdt ); + + virtual void copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer ); + + virtual void setDefaultWorkgroupSize(size_t workGroupSize) + { + m_defaultWorkGroupSize = workGroupSize; + } + virtual size_t getDefaultWorkGroupSize() const + { + return m_defaultWorkGroupSize; + } +}; // btOpenCLSoftBodySolver + +#endif // #ifndef BT_SOFT_BODY_SOLVER_OPENCL_H diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h new file mode 100644 index 0000000..8cd838a --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h @@ -0,0 +1,81 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H +#define BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H + +#include "stddef.h" //for size_t +#include "vectormath/vmInclude.h" + +#include "btSoftBodySolver_OpenCL.h" +#include "btSoftBodySolverBuffer_OpenCL.h" +#include "btSoftBodySolverLinkData_OpenCLSIMDAware.h" +#include "btSoftBodySolverVertexData_OpenCL.h" +#include "btSoftBodySolverTriangleData_OpenCL.h" + + + + + +class btOpenCLSoftBodySolverSIMDAware : public btOpenCLSoftBodySolver +{ +protected: + + + btSoftBodyLinkDataOpenCLSIMDAware m_linkData; + + + + + virtual bool buildShaders(); + + + void updateConstants( float timeStep ); + + float computeTriangleArea( + const Vectormath::Aos::Point3 &vertex0, + const Vectormath::Aos::Point3 &vertex1, + const Vectormath::Aos::Point3 &vertex2 ); + + + ////////////////////////////////////// + // Kernel dispatches + void solveLinksForPosition( int startLink, int numLinks, float kst, float ti ); + + void solveCollisionsAndUpdateVelocities( float isolverdt ); + // End kernel dispatches + ///////////////////////////////////// + +public: + btOpenCLSoftBodySolverSIMDAware(cl_command_queue queue,cl_context ctx, bool bUpdateAchchoredNodePos = false); + + virtual ~btOpenCLSoftBodySolverSIMDAware(); + + virtual SolverTypes getSolverType() const + { + return CL_SIMD_SOLVER; + } + + + virtual btSoftBodyLinkData &getLinkData(); + + + virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false); + + virtual void solveConstraints( float solverdt ); + +}; // btOpenCLSoftBodySolverSIMDAware + +#endif // #ifndef BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h new file mode 100644 index 0000000..ab6721f --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h @@ -0,0 +1,748 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFT_BODY_SOLVER_DATA_H +#define BT_SOFT_BODY_SOLVER_DATA_H + +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "vectormath/vmInclude.h" + + +class btSoftBodyLinkData +{ +public: + /** + * Class representing a link as a set of three indices into the vertex array. + */ + class LinkNodePair + { + public: + int vertex0; + int vertex1; + + LinkNodePair() + { + vertex0 = 0; + vertex1 = 0; + } + + LinkNodePair( int v0, int v1 ) + { + vertex0 = v0; + vertex1 = v1; + } + }; + + /** + * Class describing a link for input into the system. + */ + class LinkDescription + { + protected: + int m_vertex0; + int m_vertex1; + float m_linkLinearStiffness; + float m_linkStrength; + + public: + + LinkDescription() + { + m_vertex0 = 0; + m_vertex1 = 0; + m_linkLinearStiffness = 1.0; + m_linkStrength = 1.0; + } + + LinkDescription( int newVertex0, int newVertex1, float linkLinearStiffness ) + { + m_vertex0 = newVertex0; + m_vertex1 = newVertex1; + m_linkLinearStiffness = linkLinearStiffness; + m_linkStrength = 1.0; + } + + LinkNodePair getVertexPair() const + { + LinkNodePair nodes; + nodes.vertex0 = m_vertex0; + nodes.vertex1 = m_vertex1; + return nodes; + } + + void setVertex0( int vertex ) + { + m_vertex0 = vertex; + } + + void setVertex1( int vertex ) + { + m_vertex1 = vertex; + } + + void setLinkLinearStiffness( float linearStiffness ) + { + m_linkLinearStiffness = linearStiffness; + } + + void setLinkStrength( float strength ) + { + m_linkStrength = strength; + } + + int getVertex0() const + { + return m_vertex0; + } + + int getVertex1() const + { + return m_vertex1; + } + + float getLinkStrength() const + { + return m_linkStrength; + } + + float getLinkLinearStiffness() const + { + return m_linkLinearStiffness; + } + }; + + +protected: + // NOTE: + // Vertex reference data is stored relative to global array, not relative to individual cloth. + // Values must be correct if being passed into single-cloth VBOs or when migrating from one solver + // to another. + + btAlignedObjectArray< LinkNodePair > m_links; // Vertex pair for the link + btAlignedObjectArray< float > m_linkStrength; // Strength of each link + // (inverseMassA + inverseMassB)/ linear stiffness coefficient + btAlignedObjectArray< float > m_linksMassLSC; + btAlignedObjectArray< float > m_linksRestLengthSquared; + // Current vector length of link + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_linksCLength; + // 1/(current length * current length * massLSC) + btAlignedObjectArray< float > m_linksLengthRatio; + btAlignedObjectArray< float > m_linksRestLength; + btAlignedObjectArray< float > m_linksMaterialLinearStiffnessCoefficient; + +public: + btSoftBodyLinkData() + { + } + + virtual ~btSoftBodyLinkData() + { + } + + virtual void clear() + { + m_links.resize(0); + m_linkStrength.resize(0); + m_linksMassLSC.resize(0); + m_linksRestLengthSquared.resize(0); + m_linksLengthRatio.resize(0); + m_linksRestLength.resize(0); + m_linksMaterialLinearStiffnessCoefficient.resize(0); + } + + int getNumLinks() + { + return m_links.size(); + } + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createLinks( int numLinks ) + { + int previousSize = m_links.size(); + int newSize = previousSize + numLinks; + + // Resize all the arrays that store link data + m_links.resize( newSize ); + m_linkStrength.resize( newSize ); + m_linksMassLSC.resize( newSize ); + m_linksRestLengthSquared.resize( newSize ); + m_linksCLength.resize( newSize ); + m_linksLengthRatio.resize( newSize ); + m_linksRestLength.resize( newSize ); + m_linksMaterialLinearStiffnessCoefficient.resize( newSize ); + } + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setLinkAt( const LinkDescription &link, int linkIndex ) + { + m_links[linkIndex] = link.getVertexPair(); + m_linkStrength[linkIndex] = link.getLinkStrength(); + m_linksMassLSC[linkIndex] = 0.f; + m_linksRestLengthSquared[linkIndex] = 0.f; + m_linksCLength[linkIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f); + m_linksLengthRatio[linkIndex] = 0.f; + m_linksRestLength[linkIndex] = 0.f; + m_linksMaterialLinearStiffnessCoefficient[linkIndex] = link.getLinkLinearStiffness(); + } + + + /** + * Return true if data is on the accelerator. + * The CPU version of this class will return true here because + * the CPU is the same as the accelerator. + */ + virtual bool onAccelerator() + { + return true; + } + + /** + * Move data from host memory to the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveToAccelerator() + { + return true; + } + + /** + * Move data from host memory from the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveFromAccelerator() + { + return true; + } + + + + /** + * Return reference to the vertex index pair for link linkIndex as stored on the host. + */ + LinkNodePair &getVertexPair( int linkIndex ) + { + return m_links[linkIndex]; + } + + /** + * Return reference to strength of link linkIndex as stored on the host. + */ + float &getStrength( int linkIndex ) + { + return m_linkStrength[linkIndex]; + } + + /** + * Return a reference to the strength of the link corrected for link sorting. + * This is important if we are using data on an accelerator which has the data sorted in some fashion. + */ + virtual float &getStrengthCorrected( int linkIndex ) + { + return getStrength( linkIndex ); + } + + /** + * Return reference to the rest length of link linkIndex as stored on the host. + */ + float &getRestLength( int linkIndex ) + { + return m_linksRestLength[linkIndex]; + } + + /** + * Return reference to linear stiffness coefficient for link linkIndex as stored on the host. + */ + float &getLinearStiffnessCoefficient( int linkIndex ) + { + return m_linksMaterialLinearStiffnessCoefficient[linkIndex]; + } + + /** + * Return reference to the MassLSC value for link linkIndex as stored on the host. + */ + float &getMassLSC( int linkIndex ) + { + return m_linksMassLSC[linkIndex]; + } + + /** + * Return reference to rest length squared for link linkIndex as stored on the host. + */ + float &getRestLengthSquared( int linkIndex ) + { + return m_linksRestLengthSquared[linkIndex]; + } + + /** + * Return reference to current length of link linkIndex as stored on the host. + */ + Vectormath::Aos::Vector3 &getCurrentLength( int linkIndex ) + { + return m_linksCLength[linkIndex]; + } + + /** + * Return the link length ratio from for link linkIndex as stored on the host. + */ + float &getLinkLengthRatio( int linkIndex ) + { + return m_linksLengthRatio[linkIndex]; + } +}; + + + +/** + * Wrapper for vertex data information. + * By wrapping it like this we stand a good chance of being able to optimise for storage format easily. + * It should also help us make sure all the data structures remain consistent. + */ +class btSoftBodyVertexData +{ +public: + /** + * Class describing a vertex for input into the system. + */ + class VertexDescription + { + private: + Vectormath::Aos::Point3 m_position; + /** Inverse mass. If this is 0f then the mass was 0 because that simplifies calculations. */ + float m_inverseMass; + + public: + VertexDescription() + { + m_position = Vectormath::Aos::Point3( 0.f, 0.f, 0.f ); + m_inverseMass = 0.f; + } + + VertexDescription( const Vectormath::Aos::Point3 &position, float mass ) + { + m_position = position; + if( mass > 0.f ) + m_inverseMass = 1.0f/mass; + else + m_inverseMass = 0.f; + } + + void setPosition( const Vectormath::Aos::Point3 &position ) + { + m_position = position; + } + + void setInverseMass( float inverseMass ) + { + m_inverseMass = inverseMass; + } + + void setMass( float mass ) + { + if( mass > 0.f ) + m_inverseMass = 1.0f/mass; + else + m_inverseMass = 0.f; + } + + Vectormath::Aos::Point3 getPosition() const + { + return m_position; + } + + float getInverseMass() const + { + return m_inverseMass; + } + + float getMass() const + { + if( m_inverseMass == 0.f ) + return 0.f; + else + return 1.0f/m_inverseMass; + } + }; +protected: + + // identifier for the individual cloth + // For the CPU we don't really need this as we can grab the cloths and iterate over only their vertices + // For a parallel accelerator knowing on a per-vertex basis which cloth we're part of will help for obtaining + // per-cloth data + // For sorting etc it might also be helpful to be able to use in-array data such as this. + btAlignedObjectArray< int > m_clothIdentifier; + btAlignedObjectArray< Vectormath::Aos::Point3 > m_vertexPosition; // vertex positions + btAlignedObjectArray< Vectormath::Aos::Point3 > m_vertexPreviousPosition; // vertex positions + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_vertexVelocity; // Velocity + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_vertexForceAccumulator; // Force accumulator + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_vertexNormal; // Normals + btAlignedObjectArray< float > m_vertexInverseMass; // Inverse mass + btAlignedObjectArray< float > m_vertexArea; // Area controlled by the vertex + btAlignedObjectArray< int > m_vertexTriangleCount; // Number of triangles touching this vertex + +public: + btSoftBodyVertexData() + { + } + + virtual ~btSoftBodyVertexData() + { + } + + virtual void clear() + { + m_clothIdentifier.resize(0); + m_vertexPosition.resize(0); + m_vertexPreviousPosition.resize(0); + m_vertexVelocity.resize(0); + m_vertexForceAccumulator.resize(0); + m_vertexNormal.resize(0); + m_vertexInverseMass.resize(0); + m_vertexArea.resize(0); + m_vertexTriangleCount.resize(0); + } + + int getNumVertices() + { + return m_vertexPosition.size(); + } + + int getClothIdentifier( int vertexIndex ) + { + return m_clothIdentifier[vertexIndex]; + } + + void setVertexAt( const VertexDescription &vertex, int vertexIndex ) + { + m_vertexPosition[vertexIndex] = vertex.getPosition(); + m_vertexPreviousPosition[vertexIndex] = vertex.getPosition(); + m_vertexVelocity[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f); + m_vertexForceAccumulator[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f); + m_vertexNormal[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f); + m_vertexInverseMass[vertexIndex] = vertex.getInverseMass(); + m_vertexArea[vertexIndex] = 0.f; + m_vertexTriangleCount[vertexIndex] = 0; + } + + /** + * Create numVertices new vertices for cloth clothIdentifier + * maxVertices allows a buffer zone of extra vertices for alignment or tearing reasons. + */ + void createVertices( int numVertices, int clothIdentifier, int maxVertices = 0 ) + { + int previousSize = m_vertexPosition.size(); + if( maxVertices == 0 ) + maxVertices = numVertices; + int newSize = previousSize + maxVertices; + + // Resize all the arrays that store vertex data + m_clothIdentifier.resize( newSize ); + m_vertexPosition.resize( newSize ); + m_vertexPreviousPosition.resize( newSize ); + m_vertexVelocity.resize( newSize ); + m_vertexForceAccumulator.resize( newSize ); + m_vertexNormal.resize( newSize ); + m_vertexInverseMass.resize( newSize ); + m_vertexArea.resize( newSize ); + m_vertexTriangleCount.resize( newSize ); + + for( int vertexIndex = previousSize; vertexIndex < newSize; ++vertexIndex ) + m_clothIdentifier[vertexIndex] = clothIdentifier; + for( int vertexIndex = (previousSize + numVertices); vertexIndex < newSize; ++vertexIndex ) + m_clothIdentifier[vertexIndex] = -1; + } + + // Get and set methods in header so they can be inlined + + /** + * Return a reference to the position of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Point3 &getPosition( int vertexIndex ) + { + return m_vertexPosition[vertexIndex]; + } + + Vectormath::Aos::Point3 getPosition( int vertexIndex ) const + { + return m_vertexPosition[vertexIndex]; + } + + /** + * Return a reference to the previous position of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Point3 &getPreviousPosition( int vertexIndex ) + { + return m_vertexPreviousPosition[vertexIndex]; + } + + /** + * Return a reference to the velocity of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Vector3 &getVelocity( int vertexIndex ) + { + return m_vertexVelocity[vertexIndex]; + } + + /** + * Return a reference to the force accumulator of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Vector3 &getForceAccumulator( int vertexIndex ) + { + return m_vertexForceAccumulator[vertexIndex]; + } + + /** + * Return a reference to the normal of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Vector3 &getNormal( int vertexIndex ) + { + return m_vertexNormal[vertexIndex]; + } + + Vectormath::Aos::Vector3 getNormal( int vertexIndex ) const + { + return m_vertexNormal[vertexIndex]; + } + + /** + * Return a reference to the inverse mass of vertex vertexIndex as stored on the host. + */ + float &getInverseMass( int vertexIndex ) + { + return m_vertexInverseMass[vertexIndex]; + } + + /** + * Get access to the area controlled by this vertex. + */ + float &getArea( int vertexIndex ) + { + return m_vertexArea[vertexIndex]; + } + + /** + * Get access to the array of how many triangles touch each vertex. + */ + int &getTriangleCount( int vertexIndex ) + { + return m_vertexTriangleCount[vertexIndex]; + } + + + + /** + * Return true if data is on the accelerator. + * The CPU version of this class will return true here because + * the CPU is the same as the accelerator. + */ + virtual bool onAccelerator() + { + return true; + } + + /** + * Move data from host memory to the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveToAccelerator() + { + return true; + } + + /** + * Move data to host memory from the accelerator if bCopy is false. + * If bCopy is true, copy data to host memory from the accelerator so that data + * won't be moved to accelerator when moveToAccelerator() is called next time. + * If bCopyMinimum is true, only vertex position and normal are copied. + * bCopyMinimum will be meaningful only if bCopy is true. + * The CPU version will always return that it has moved it. + */ + virtual bool moveFromAccelerator(bool bCopy = false, bool bCopyMinimum = true) + { + return true; + } + + btAlignedObjectArray< Vectormath::Aos::Point3 > &getVertexPositions() + { + return m_vertexPosition; + } +}; + + +class btSoftBodyTriangleData +{ +public: + /** + * Class representing a triangle as a set of three indices into the + * vertex array. + */ + class TriangleNodeSet + { + public: + int vertex0; + int vertex1; + int vertex2; + int _padding; + + TriangleNodeSet( ) + { + vertex0 = 0; + vertex1 = 0; + vertex2 = 0; + _padding = -1; + } + + TriangleNodeSet( int newVertex0, int newVertex1, int newVertex2 ) + { + vertex0 = newVertex0; + vertex1 = newVertex1; + vertex2 = newVertex2; + } + }; + + class TriangleDescription + { + protected: + int m_vertex0; + int m_vertex1; + int m_vertex2; + + public: + TriangleDescription() + { + m_vertex0 = 0; + m_vertex1 = 0; + m_vertex2 = 0; + } + + TriangleDescription( int newVertex0, int newVertex1, int newVertex2 ) + { + m_vertex0 = newVertex0; + m_vertex1 = newVertex1; + m_vertex2 = newVertex2; + } + + TriangleNodeSet getVertexSet() const + { + btSoftBodyTriangleData::TriangleNodeSet nodes; + nodes.vertex0 = m_vertex0; + nodes.vertex1 = m_vertex1; + nodes.vertex2 = m_vertex2; + return nodes; + } + }; + +protected: + // NOTE: + // Vertex reference data is stored relative to global array, not relative to individual cloth. + // Values must be correct if being passed into single-cloth VBOs or when migrating from one solver + // to another. + btAlignedObjectArray< TriangleNodeSet > m_vertexIndices; + btAlignedObjectArray< float > m_area; + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_normal; + +public: + btSoftBodyTriangleData() + { + } + + virtual ~btSoftBodyTriangleData() + { + + } + + virtual void clear() + { + m_vertexIndices.resize(0); + m_area.resize(0); + m_normal.resize(0); + } + + int getNumTriangles() + { + return m_vertexIndices.size(); + } + + virtual void setTriangleAt( const TriangleDescription &triangle, int triangleIndex ) + { + m_vertexIndices[triangleIndex] = triangle.getVertexSet(); + } + + virtual void createTriangles( int numTriangles ) + { + int previousSize = m_vertexIndices.size(); + int newSize = previousSize + numTriangles; + + // Resize all the arrays that store triangle data + m_vertexIndices.resize( newSize ); + m_area.resize( newSize ); + m_normal.resize( newSize ); + } + + /** + * Return the vertex index set for triangle triangleIndex as stored on the host. + */ + const TriangleNodeSet &getVertexSet( int triangleIndex ) + { + return m_vertexIndices[triangleIndex]; + } + + /** + * Get access to the triangle area. + */ + float &getTriangleArea( int triangleIndex ) + { + return m_area[triangleIndex]; + } + + /** + * Get access to the normal vector for this triangle. + */ + Vectormath::Aos::Vector3 &getNormal( int triangleIndex ) + { + return m_normal[triangleIndex]; + } + + /** + * Return true if data is on the accelerator. + * The CPU version of this class will return true here because + * the CPU is the same as the accelerator. + */ + virtual bool onAccelerator() + { + return true; + } + + /** + * Move data from host memory to the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveToAccelerator() + { + return true; + } + + /** + * Move data from host memory from the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveFromAccelerator() + { + return true; + } +}; + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_DATA_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/HeapManager.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/HeapManager.h new file mode 100644 index 0000000..7d0f499 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/HeapManager.h @@ -0,0 +1,116 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + +#ifndef __HEAP_MANAGER_H__ +#define __HEAP_MANAGER_H__ + +#ifdef __SPU__ + #define HEAP_STACK_SIZE 32 +#else + #define HEAP_STACK_SIZE 64 +#endif + +#define MIN_ALLOC_SIZE 16 + + +class HeapManager +{ +private: + ATTRIBUTE_ALIGNED16(unsigned char *mHeap); + ATTRIBUTE_ALIGNED16(unsigned int mHeapBytes); + ATTRIBUTE_ALIGNED16(unsigned char *mPoolStack[HEAP_STACK_SIZE]); + ATTRIBUTE_ALIGNED16(unsigned int mCurStack); + +public: + enum {ALIGN16,ALIGN128}; + + HeapManager(unsigned char *buf,int bytes) + { + mHeap = buf; + mHeapBytes = bytes; + clear(); + } + + ~HeapManager() + { + } + + int getAllocated() + { + return (int)(mPoolStack[mCurStack]-mHeap); + } + + int getRest() + { + return mHeapBytes-getAllocated(); + } + + void *allocate(size_t bytes,int alignment = ALIGN16) + { + if(bytes <= 0) bytes = MIN_ALLOC_SIZE; + btAssert(mCurStack < (HEAP_STACK_SIZE-1)); + + +#if defined(_WIN64) || defined(__LP64__) || defined(__x86_64__) + unsigned long long p = (unsigned long long )mPoolStack[mCurStack]; + if(alignment == ALIGN128) { + p = ((p+127) & 0xffffffffffffff80); + bytes = (bytes+127) & 0xffffffffffffff80; + } + else { + bytes = (bytes+15) & 0xfffffffffffffff0; + } + + btAssert(bytes <=(mHeapBytes-(p-(unsigned long long )mHeap)) ); + +#else + unsigned long p = (unsigned long )mPoolStack[mCurStack]; + if(alignment == ALIGN128) { + p = ((p+127) & 0xffffff80); + bytes = (bytes+127) & 0xffffff80; + } + else { + bytes = (bytes+15) & 0xfffffff0; + } + btAssert(bytes <=(mHeapBytes-(p-(unsigned long)mHeap)) ); +#endif + unsigned char * bla = (unsigned char *)(p + bytes); + mPoolStack[++mCurStack] = bla; + return (void*)p; + } + + void deallocate(void *p) + { + (void) p; + mCurStack--; + } + + void clear() + { + mPoolStack[0] = mHeap; + mCurStack = 0; + } + +// void printStack() +// { +// for(unsigned int i=0;i<=mCurStack;i++) { +// PRINTF("memStack %2d 0x%x\n",i,(uint32_t)mPoolStack[i]); +// } +// } + +}; + +#endif diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/PlatformDefinitions.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/PlatformDefinitions.h new file mode 100644 index 0000000..6e8ee0d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/PlatformDefinitions.h @@ -0,0 +1,90 @@ +#ifndef TYPE_DEFINITIONS_H +#define TYPE_DEFINITIONS_H + +///This file provides some platform/compiler checks for common definitions +#include "LinearMath/btScalar.h" +#include "LinearMath/btMinMax.h" + +#include "vectormath/vmInclude.h" + + + + + +#ifdef _WIN32 + +typedef union +{ + unsigned int u; + void *p; +} addr64; + +#define USE_WIN32_THREADING 1 + + #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) + #else + #endif //__MINGW32__ + + typedef unsigned char uint8_t; +#ifndef __PHYSICS_COMMON_H__ +#ifndef __PFX_COMMON_H__ +#ifndef __BT_SKIP_UINT64_H + typedef unsigned long int uint64_t; +#endif //__BT_SKIP_UINT64_H +#endif //__PFX_COMMON_H__ + typedef unsigned int uint32_t; +#endif //__PHYSICS_COMMON_H__ + typedef unsigned short uint16_t; + + #include + #define memalign(alignment, size) malloc(size); + +#include //memcpy + + + + #include + #define spu_printf printf + +#else + #include + #include + #include //for memcpy + +#if defined (__CELLOS_LV2__) + // Playstation 3 Cell SDK +#include + +#else + // posix system + +#define USE_PTHREADS (1) + +#ifdef USE_LIBSPE2 +#include +#define spu_printf printf +#define DWORD unsigned int + typedef union + { + unsigned long long ull; + unsigned int ui[2]; + void *p; + } addr64; +#endif // USE_LIBSPE2 + +#endif //__CELLOS_LV2__ + +#endif + +#ifdef __SPU__ +#include +#define printf spu_printf +#endif + +/* Included here because we need uint*_t typedefs */ +#include "PpuAddressSpace.h" + +#endif //TYPE_DEFINITIONS_H + + + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/PosixThreadSupport.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/PosixThreadSupport.h new file mode 100644 index 0000000..13e519b --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/PosixThreadSupport.h @@ -0,0 +1,137 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + + +#include "LinearMath/btScalar.h" +#include "PlatformDefinitions.h" + +#ifdef USE_PTHREADS //platform specific defines are defined in PlatformDefinitions.h +#ifndef _XOPEN_SOURCE +#define _XOPEN_SOURCE 600 //for definition of pthread_barrier_t, see http://pages.cs.wisc.edu/~travitch/pthreads_primer.html +#endif //_XOPEN_SOURCE +#include +#include + +#ifndef POSIX_THREAD_SUPPORT_H +#define POSIX_THREAD_SUPPORT_H + +#include "LinearMath/btAlignedObjectArray.h" + +#include "btThreadSupportInterface.h" + + +typedef void (*PosixThreadFunc)(void* userPtr,void* lsMemory); +typedef void* (*PosixlsMemorySetupFunc)(); + +// PosixThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication +class PosixThreadSupport : public btThreadSupportInterface +{ +public: + typedef enum sStatus { + STATUS_BUSY, + STATUS_READY, + STATUS_FINISHED + } Status; + + // placeholder, until libspe2 support is there + struct btSpuStatus + { + uint32_t m_taskId; + uint32_t m_commandId; + uint32_t m_status; + + PosixThreadFunc m_userThreadFunc; + void* m_userPtr; //for taskDesc etc + void* m_lsMemory; //initialized using PosixLocalStoreMemorySetupFunc + + pthread_t thread; + sem_t* startSemaphore; + + unsigned long threadUsed; + }; +private: + + btAlignedObjectArray m_activeSpuStatus; +public: + ///Setup and initialize SPU/CELL/Libspe2 + + + + struct ThreadConstructionInfo + { + ThreadConstructionInfo(char* uniqueName, + PosixThreadFunc userThreadFunc, + PosixlsMemorySetupFunc lsMemoryFunc, + int numThreads=1, + int threadStackSize=65535 + ) + :m_uniqueName(uniqueName), + m_userThreadFunc(userThreadFunc), + m_lsMemoryFunc(lsMemoryFunc), + m_numThreads(numThreads), + m_threadStackSize(threadStackSize) + { + + } + + char* m_uniqueName; + PosixThreadFunc m_userThreadFunc; + PosixlsMemorySetupFunc m_lsMemoryFunc; + int m_numThreads; + int m_threadStackSize; + + }; + + PosixThreadSupport(ThreadConstructionInfo& threadConstructionInfo); + +///cleanup/shutdown Libspe2 + virtual ~PosixThreadSupport(); + + void startThreads(ThreadConstructionInfo& threadInfo); + + +///send messages to SPUs + virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1); + +///check for messages from SPUs + virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1); + +///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) + virtual void startSPU(); + +///tell the task scheduler we are done with the SPU tasks + virtual void stopSPU(); + + virtual void setNumTasks(int numTasks) {} + + virtual int getNumTasks() const + { + return m_activeSpuStatus.size(); + } + + virtual btBarrier* createBarrier(); + + virtual btCriticalSection* createCriticalSection(); + + virtual void* getThreadLocalMemory(int taskId) + { + return m_activeSpuStatus[taskId].m_lsMemory; + } + +}; + +#endif // POSIX_THREAD_SUPPORT_H + +#endif // USE_PTHREADS diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/PpuAddressSpace.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/PpuAddressSpace.h new file mode 100644 index 0000000..be0a621 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/PpuAddressSpace.h @@ -0,0 +1,37 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2010 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, +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. +*/ + + +#ifndef __PPU_ADDRESS_SPACE_H +#define __PPU_ADDRESS_SPACE_H + + +#ifdef _WIN32 +//stop those casting warnings until we have a better solution for ppu_address_t / void* / uint64 conversions +#pragma warning (disable: 4311) +#pragma warning (disable: 4312) +#endif //_WIN32 + + +#if defined(_WIN64) + typedef unsigned __int64 ppu_address_t; +#elif defined(__LP64__) || defined(__x86_64__) + typedef uint64_t ppu_address_t; +#else + typedef uint32_t ppu_address_t; +#endif //defined(_WIN64) + +#endif //__PPU_ADDRESS_SPACE_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SequentialThreadSupport.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SequentialThreadSupport.h new file mode 100644 index 0000000..2b65a48 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SequentialThreadSupport.h @@ -0,0 +1,96 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include "LinearMath/btScalar.h" +#include "PlatformDefinitions.h" + + +#ifndef SEQUENTIAL_THREAD_SUPPORT_H +#define SEQUENTIAL_THREAD_SUPPORT_H + +#include "LinearMath/btAlignedObjectArray.h" + +#include "btThreadSupportInterface.h" + +typedef void (*SequentialThreadFunc)(void* userPtr,void* lsMemory); +typedef void* (*SequentiallsMemorySetupFunc)(); + + + +///The SequentialThreadSupport is a portable non-parallel implementation of the btThreadSupportInterface +///This is useful for debugging and porting SPU Tasks to other platforms. +class SequentialThreadSupport : public btThreadSupportInterface +{ +public: + struct btSpuStatus + { + uint32_t m_taskId; + uint32_t m_commandId; + uint32_t m_status; + + SequentialThreadFunc m_userThreadFunc; + + void* m_userPtr; //for taskDesc etc + void* m_lsMemory; //initialized using SequentiallsMemorySetupFunc + }; +private: + btAlignedObjectArray m_activeSpuStatus; + btAlignedObjectArray m_completeHandles; +public: + struct SequentialThreadConstructionInfo + { + SequentialThreadConstructionInfo (char* uniqueName, + SequentialThreadFunc userThreadFunc, + SequentiallsMemorySetupFunc lsMemoryFunc + ) + :m_uniqueName(uniqueName), + m_userThreadFunc(userThreadFunc), + m_lsMemoryFunc(lsMemoryFunc) + { + + } + + char* m_uniqueName; + SequentialThreadFunc m_userThreadFunc; + SequentiallsMemorySetupFunc m_lsMemoryFunc; + }; + + SequentialThreadSupport(SequentialThreadConstructionInfo& threadConstructionInfo); + virtual ~SequentialThreadSupport(); + void startThreads(SequentialThreadConstructionInfo& threadInfo); +///send messages to SPUs + virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1); +///check for messages from SPUs + virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1); +///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) + virtual void startSPU(); +///tell the task scheduler we are done with the SPU tasks + virtual void stopSPU(); + + virtual void setNumTasks(int numTasks); + + virtual int getNumTasks() const + { + return 1; + } + virtual btBarrier* createBarrier(); + + virtual btCriticalSection* createCriticalSection(); + + +}; + +#endif //SEQUENTIAL_THREAD_SUPPORT_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuCollisionObjectWrapper.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuCollisionObjectWrapper.h new file mode 100644 index 0000000..36ea492 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuCollisionObjectWrapper.h @@ -0,0 +1,40 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#ifndef SPU_COLLISION_OBJECT_WRAPPER_H +#define SPU_COLLISION_OBJECT_WRAPPER_H + +#include "PlatformDefinitions.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" + +ATTRIBUTE_ALIGNED16(class) SpuCollisionObjectWrapper +{ +protected: + int m_shapeType; + float m_margin; + ppu_address_t m_collisionObjectPtr; + +public: + SpuCollisionObjectWrapper (); + + SpuCollisionObjectWrapper (const btCollisionObject* collisionObject); + + int getShapeType () const; + float getCollisionMargin () const; + ppu_address_t getCollisionObjectPtr () const; +}; + + +#endif //SPU_COLLISION_OBJECT_WRAPPER_H diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.h new file mode 100644 index 0000000..2614be6 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.h @@ -0,0 +1,163 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#ifndef SPU_COLLISION_TASK_PROCESS_H +#define SPU_COLLISION_TASK_PROCESS_H + +#include + +#include "LinearMath/btScalar.h" + +#include "PlatformDefinitions.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h" // for definitions processCollisionTask and createCollisionLocalStoreMemory + +#include "btThreadSupportInterface.h" + + +//#include "SPUAssert.h" +#include + + +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" + +#include "LinearMath/btAlignedAllocator.h" + +#include + + +#define DEBUG_SpuCollisionTaskProcess 1 + + +#define CMD_GATHER_AND_PROCESS_PAIRLIST 1 + +class btCollisionObject; +class btPersistentManifold; +class btDispatcher; + + +/////Task Description for SPU collision detection +//struct SpuGatherAndProcessPairsTaskDesc +//{ +// uint64_t inPtr;//m_pairArrayPtr; +// //mutex variable +// uint32_t m_someMutexVariableInMainMemory; +// +// uint64_t m_dispatcher; +// +// uint32_t numOnLastPage; +// +// uint16_t numPages; +// uint16_t taskId; +// +// struct CollisionTask_LocalStoreMemory* m_lsMemory; +//} +// +//#if defined(__CELLOS_LV2__) || defined(USE_LIBSPE2) +//__attribute__ ((aligned (16))) +//#endif +//; + + +///MidphaseWorkUnitInput stores individual primitive versus mesh collision detection input, to be processed by the SPU. +ATTRIBUTE_ALIGNED16(struct) SpuGatherAndProcessWorkUnitInput +{ + uint64_t m_pairArrayPtr; + int m_startIndex; + int m_endIndex; +}; + + + + +/// SpuCollisionTaskProcess handles SPU processing of collision pairs. +/// Maintains a set of task buffers. +/// When the task is full, the task is issued for SPUs to process. Contact output goes into btPersistentManifold +/// associated with each task. +/// When PPU issues a task, it will look for completed task buffers +/// PPU will do postprocessing, dependent on workunit output (not likely) +class SpuCollisionTaskProcess +{ + + unsigned char *m_workUnitTaskBuffers; + + + // track task buffers that are being used, and total busy tasks + btAlignedObjectArray m_taskBusy; + btAlignedObjectArray m_spuGatherTaskDesc; + + class btThreadSupportInterface* m_threadInterface; + + unsigned int m_maxNumOutstandingTasks; + + unsigned int m_numBusyTasks; + + // the current task and the current entry to insert a new work unit + unsigned int m_currentTask; + unsigned int m_currentPage; + unsigned int m_currentPageEntry; + + bool m_useEpa; + +#ifdef DEBUG_SpuCollisionTaskProcess + bool m_initialized; +#endif + void issueTask2(); + //void postProcess(unsigned int taskId, int outputSize); + +public: + SpuCollisionTaskProcess(btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks); + + ~SpuCollisionTaskProcess(); + + ///call initialize in the beginning of the frame, before addCollisionPairToTask + void initialize2(bool useEpa = false); + + ///batch up additional work to a current task for SPU processing. When batch is full, it issues the task. + void addWorkToTask(void* pairArrayPtr,int startIndex,int endIndex); + + ///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished + void flush2(); + + /// set the maximum number of SPU tasks allocated + void setNumTasks(int maxNumTasks); + + int getNumTasks() const + { + return m_maxNumOutstandingTasks; + } +}; + + + +#define MIDPHASE_TASK_PTR(task) (&m_workUnitTaskBuffers[0] + MIDPHASE_WORKUNIT_TASK_SIZE*task) +#define MIDPHASE_ENTRY_PTR(task,page,entry) (MIDPHASE_TASK_PTR(task) + MIDPHASE_WORKUNIT_PAGE_SIZE*page + sizeof(SpuGatherAndProcessWorkUnitInput)*entry) +#define MIDPHASE_OUTPUT_PTR(task) (&m_contactOutputBuffers[0] + MIDPHASE_MAX_CONTACT_BUFFER_SIZE*task) +#define MIDPHASE_TREENODES_PTR(task) (&m_complexShapeBuffers[0] + MIDPHASE_COMPLEX_SHAPE_BUFFER_SIZE*task) + + +#define MIDPHASE_WORKUNIT_PAGE_SIZE (16) +//#define MIDPHASE_WORKUNIT_PAGE_SIZE (128) + +#define MIDPHASE_NUM_WORKUNIT_PAGES 1 +#define MIDPHASE_WORKUNIT_TASK_SIZE (MIDPHASE_WORKUNIT_PAGE_SIZE*MIDPHASE_NUM_WORKUNIT_PAGES) +#define MIDPHASE_NUM_WORKUNITS_PER_PAGE (MIDPHASE_WORKUNIT_PAGE_SIZE / sizeof(SpuGatherAndProcessWorkUnitInput)) +#define MIDPHASE_NUM_WORKUNITS_PER_TASK (MIDPHASE_NUM_WORKUNITS_PER_PAGE*MIDPHASE_NUM_WORKUNIT_PAGES) + + +#endif // SPU_COLLISION_TASK_PROCESS_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h new file mode 100644 index 0000000..151cb2c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h @@ -0,0 +1,120 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#ifndef SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H +#define SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "LinearMath/btTransformUtil.h" + +class btPersistentManifold; + +//#define USE_SEPDISTANCE_UTIL 1 + +/// SpuContactManifoldCollisionAlgorithm provides contact manifold and should be processed on SPU. +ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btCollisionAlgorithm +{ + btVector3 m_shapeDimensions0; + btVector3 m_shapeDimensions1; + btPersistentManifold* m_manifoldPtr; + int m_shapeType0; + int m_shapeType1; + float m_collisionMargin0; + float m_collisionMargin1; + + btCollisionObject* m_collisionObject0; + btCollisionObject* m_collisionObject1; + + + + +public: + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + + SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); +#ifdef USE_SEPDISTANCE_UTIL + btConvexSeparatingDistanceUtil m_sepDistance; +#endif //USE_SEPDISTANCE_UTIL + + virtual ~SpuContactManifoldCollisionAlgorithm(); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr) + manifoldArray.push_back(m_manifoldPtr); + } + + btPersistentManifold* getContactManifoldPtr() + { + return m_manifoldPtr; + } + + btCollisionObject* getCollisionObject0() + { + return m_collisionObject0; + } + + btCollisionObject* getCollisionObject1() + { + return m_collisionObject1; + } + + int getShapeType0() const + { + return m_shapeType0; + } + + int getShapeType1() const + { + return m_shapeType1; + } + float getCollisionMargin0() const + { + return m_collisionMargin0; + } + float getCollisionMargin1() const + { + return m_collisionMargin1; + } + + const btVector3& getShapeDimensions0() const + { + return m_shapeDimensions0; + } + + const btVector3& getShapeDimensions1() const + { + return m_shapeDimensions1; + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(SpuContactManifoldCollisionAlgorithm)); + return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0,body1); + } + }; + +}; + +#endif //SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuDoubleBuffer.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuDoubleBuffer.h new file mode 100644 index 0000000..a069574 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuDoubleBuffer.h @@ -0,0 +1,110 @@ +#ifndef DOUBLE_BUFFER_H +#define DOUBLE_BUFFER_H + +#include "SpuFakeDma.h" +#include "LinearMath/btScalar.h" + + +///DoubleBuffer +template +class DoubleBuffer +{ +#if defined(__SPU__) || defined(USE_LIBSPE2) + ATTRIBUTE_ALIGNED128( T m_buffer0[size] ) ; + ATTRIBUTE_ALIGNED128( T m_buffer1[size] ) ; +#else + T m_buffer0[size]; + T m_buffer1[size]; +#endif + + T *m_frontBuffer; + T *m_backBuffer; + + unsigned int m_dmaTag; + bool m_dmaPending; +public: + bool isPending() const { return m_dmaPending;} + DoubleBuffer(); + + void init (); + + // dma get and put commands + void backBufferDmaGet(uint64_t ea, unsigned int numBytes, unsigned int tag); + void backBufferDmaPut(uint64_t ea, unsigned int numBytes, unsigned int tag); + + // gets pointer to a buffer + T *getFront(); + T *getBack(); + + // if back buffer dma was started, wait for it to complete + // then move back to front and vice versa + T *swapBuffers(); +}; + +template +DoubleBuffer::DoubleBuffer() +{ + init (); +} + +template +void DoubleBuffer::init() +{ + this->m_dmaPending = false; + this->m_frontBuffer = &this->m_buffer0[0]; + this->m_backBuffer = &this->m_buffer1[0]; +} + +template +void +DoubleBuffer::backBufferDmaGet(uint64_t ea, unsigned int numBytes, unsigned int tag) +{ + m_dmaPending = true; + m_dmaTag = tag; + if (numBytes) + { + m_backBuffer = (T*)cellDmaLargeGetReadOnly(m_backBuffer, ea, numBytes, tag, 0, 0); + } +} + +template +void +DoubleBuffer::backBufferDmaPut(uint64_t ea, unsigned int numBytes, unsigned int tag) +{ + m_dmaPending = true; + m_dmaTag = tag; + cellDmaLargePut(m_backBuffer, ea, numBytes, tag, 0, 0); +} + +template +T * +DoubleBuffer::getFront() +{ + return m_frontBuffer; +} + +template +T * +DoubleBuffer::getBack() +{ + return m_backBuffer; +} + +template +T * +DoubleBuffer::swapBuffers() +{ + if (m_dmaPending) + { + cellDmaWaitTagStatusAll(1< +#include + +#define DMA_TAG(xfer) (xfer + 1) +#define DMA_MASK(xfer) (1 << DMA_TAG(xfer)) + +#else // !USE_LIBSPE2 + +#define DMA_TAG(xfer) (xfer + 1) +#define DMA_MASK(xfer) (1 << DMA_TAG(xfer)) + +#include + +#define DEBUG_DMA +#ifdef DEBUG_DMA +#define dUASSERT(a,b) if (!(a)) { printf(b);} +#define uintsize ppu_address_t + +#define cellDmaLargeGet(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \ + dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \ + dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \ + dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \ + dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \ + dUASSERT(size < 16384, "size too big: "); \ + dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \ + dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\ + printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\ + } \ + mfc_get(ls, ea, size, tag, tid, rid) +#define cellDmaGet(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \ + dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \ + dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \ + dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \ + dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \ + dUASSERT(size < 16384, "size too big: "); \ + dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \ + dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\ + printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\ + } \ + mfc_get(ls, ea, size, tag, tid, rid) +#define cellDmaLargePut(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \ + dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \ + dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \ + dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \ + dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \ + dUASSERT(size < 16384, "size too big: "); \ + dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \ + dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\ + printf("PUT %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ls,(unsigned int)ea,(unsigned int)size); \ + } \ + mfc_put(ls, ea, size, tag, tid, rid) +#define cellDmaSmallGet(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \ + dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \ + dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \ + dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \ + dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \ + dUASSERT(size < 16384, "size too big: "); \ + dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \ + dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\ + printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\ + } \ + mfc_get(ls, ea, size, tag, tid, rid) +#define cellDmaWaitTagStatusAll(ignore) mfc_write_tag_mask(ignore) ; mfc_read_tag_status_all() + +#else +#define cellDmaLargeGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid) +#define cellDmaGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid) +#define cellDmaLargePut(ls, ea, size, tag, tid, rid) mfc_put(ls, ea, size, tag, tid, rid) +#define cellDmaSmallGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid) +#define cellDmaWaitTagStatusAll(ignore) mfc_write_tag_mask(ignore) ; mfc_read_tag_status_all() +#endif // DEBUG_DMA + + + + + + + + +#endif // USE_LIBSPE2 +#else // !__SPU__ +//Simulate DMA using memcpy or direct access on non-CELL platforms that don't have DMAs and SPUs (Win32, Mac, Linux etc) +//Potential to add networked simulation using this interface + +#define DMA_TAG(a) (a) +#define DMA_MASK(a) (a) + + /// cellDmaLargeGet Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy) + int cellDmaLargeGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid); + int cellDmaGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid); + /// cellDmaLargePut Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy) + int cellDmaLargePut(const void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid); + /// cellDmaWaitTagStatusAll Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy) + void cellDmaWaitTagStatusAll(int ignore); + + +#endif //__CELLOS_LV2__ + +///stallingUnalignedDmaSmallGet internally uses DMA_TAG(1) +int stallingUnalignedDmaSmallGet(void *ls, uint64_t ea, uint32_t size); + + +void* cellDmaLargeGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid); +void* cellDmaGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid); +void* cellDmaSmallGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid); + + +#endif //FAKE_DMA_H diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h new file mode 100644 index 0000000..7d5be88 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h @@ -0,0 +1,72 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ +#ifndef SPU_GATHERING_COLLISION__DISPATCHER_H +#define SPU_GATHERING_COLLISION__DISPATCHER_H + +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" + + +///Tuning value to optimized SPU utilization +///Too small value means Task overhead is large compared to computation (too fine granularity) +///Too big value might render some SPUs are idle, while a few other SPUs are doing all work. +//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 8 +//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 16 +//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 64 +#define SPU_BATCHSIZE_BROADPHASE_PAIRS 128 +//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 256 +//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 512 +//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 1024 + + + +class SpuCollisionTaskProcess; + +///SpuGatheringCollisionDispatcher can use SPU to gather and calculate collision detection +///Time of Impact, Closest Points and Penetration Depth. +class SpuGatheringCollisionDispatcher : public btCollisionDispatcher +{ + + SpuCollisionTaskProcess* m_spuCollisionTaskProcess; + +protected: + + class btThreadSupportInterface* m_threadInterface; + + unsigned int m_maxNumOutstandingTasks; + + +public: + + //can be used by SPU collision algorithms + SpuCollisionTaskProcess* getSpuCollisionTaskProcess() + { + return m_spuCollisionTaskProcess; + } + + SpuGatheringCollisionDispatcher (class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks,btCollisionConfiguration* collisionConfiguration); + + virtual ~SpuGatheringCollisionDispatcher(); + + bool supportsDispatchPairOnSpu(int proxyType0,int proxyType1); + + virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ; + +}; + + + +#endif //SPU_GATHERING_COLLISION__DISPATCHER_H + + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuLibspe2Support.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuLibspe2Support.h new file mode 100644 index 0000000..a6d6bac --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuLibspe2Support.h @@ -0,0 +1,180 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + + +#ifndef SPU_LIBSPE2_SUPPORT_H +#define SPU_LIBSPE2_SUPPORT_H + +#include //for uint32_t etc. + +#ifdef USE_LIBSPE2 + +#include +#include +//#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h" +#include "PlatformDefinitions.h" + + +//extern struct SpuGatherAndProcessPairsTaskDesc; + +enum +{ + Spu_Mailbox_Event_Nothing = 0, + Spu_Mailbox_Event_Task = 1, + Spu_Mailbox_Event_Shutdown = 2, + + Spu_Mailbox_Event_ForceDword = 0xFFFFFFFF + +}; + +enum +{ + Spu_Status_Free = 0, + Spu_Status_Occupied = 1, + Spu_Status_Startup = 2, + + Spu_Status_ForceDword = 0xFFFFFFFF + +}; + + +struct btSpuStatus +{ + uint32_t m_taskId; + uint32_t m_commandId; + uint32_t m_status; + + addr64 m_taskDesc; + addr64 m_lsMemory; + +} +__attribute__ ((aligned (128))) +; + + + +#ifndef __SPU__ + +#include "LinearMath/btAlignedObjectArray.h" +#include "SpuCollisionTaskProcess.h" +#include "SpuSampleTaskProcess.h" +#include "btThreadSupportInterface.h" +#include +#include +#include + +#define MAX_SPUS 4 + +typedef struct ppu_pthread_data +{ + spe_context_ptr_t context; + pthread_t pthread; + unsigned int entry; + unsigned int flags; + addr64 argp; + addr64 envp; + spe_stop_info_t stopinfo; +} ppu_pthread_data_t; + + +static void *ppu_pthread_function(void *arg) +{ + ppu_pthread_data_t * datap = (ppu_pthread_data_t *)arg; + /* + int rc; + do + {*/ + spe_context_run(datap->context, &datap->entry, datap->flags, datap->argp.p, datap->envp.p, &datap->stopinfo); + if (datap->stopinfo.stop_reason == SPE_EXIT) + { + if (datap->stopinfo.result.spe_exit_code != 0) + { + perror("FAILED: SPE returned a non-zero exit status: \n"); + exit(1); + } + } + else + { + perror("FAILED: SPE abnormally terminated\n"); + exit(1); + } + + + //} while (rc > 0); // loop until exit or error, and while any stop & signal + pthread_exit(NULL); +} + + + + + + +///SpuLibspe2Support helps to initialize/shutdown libspe2, start/stop SPU tasks and communication +class SpuLibspe2Support : public btThreadSupportInterface +{ + + btAlignedObjectArray m_activeSpuStatus; + +public: + //Setup and initialize SPU/CELL/Libspe2 + SpuLibspe2Support(spe_program_handle_t *speprog,int numThreads); + + // SPE program handle ptr. + spe_program_handle_t *program; + + // SPE program data + ppu_pthread_data_t data[MAX_SPUS]; + + //cleanup/shutdown Libspe2 + ~SpuLibspe2Support(); + + ///send messages to SPUs + void sendRequest(uint32_t uiCommand, uint32_t uiArgument0, uint32_t uiArgument1=0); + + //check for messages from SPUs + void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1); + + //start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) + virtual void startSPU(); + + //tell the task scheduler we are done with the SPU tasks + virtual void stopSPU(); + + virtual void setNumTasks(int numTasks) + { + //changing the number of tasks after initialization is not implemented (yet) + } + +private: + + ///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) + void internal_startSPU(); + + + + + int numThreads; + +}; + +#endif // NOT __SPU__ + +#endif //USE_LIBSPE2 + +#endif //SPU_LIBSPE2_SUPPORT_H + + + + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h new file mode 100644 index 0000000..eecee00 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h @@ -0,0 +1,167 @@ +/* + Copyright (C) 2006, 2008 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + +#ifndef __BOX_H__ +#define __BOX_H__ + + +#ifndef PE_REF +#define PE_REF(a) a& +#endif + +#include + +#include "vectormath/vmInclude.h" +#include "../PlatformDefinitions.h" + + + + +enum FeatureType { F, E, V }; + +//---------------------------------------------------------------------------- +// Box +//---------------------------------------------------------------------------- +///The Box is an internal class used by the boxBoxDistance calculation. +class Box +{ +public: + vmVector3 mHalf; + + inline Box() + {} + inline Box(PE_REF(vmVector3) half_); + inline Box(float hx, float hy, float hz); + + inline void Set(PE_REF(vmVector3) half_); + inline void Set(float hx, float hy, float hz); + + inline vmVector3 GetAABB(const vmMatrix3& rotation) const; +}; + +inline +Box::Box(PE_REF(vmVector3) half_) +{ + Set(half_); +} + +inline +Box::Box(float hx, float hy, float hz) +{ + Set(hx, hy, hz); +} + +inline +void +Box::Set(PE_REF(vmVector3) half_) +{ + mHalf = half_; +} + +inline +void +Box::Set(float hx, float hy, float hz) +{ + mHalf = vmVector3(hx, hy, hz); +} + +inline +vmVector3 +Box::GetAABB(const vmMatrix3& rotation) const +{ + return absPerElem(rotation) * mHalf; +} + +//------------------------------------------------------------------------------------------------- +// BoxPoint +//------------------------------------------------------------------------------------------------- + +///The BoxPoint class is an internally used class to contain feature information for boxBoxDistance calculation. +class BoxPoint +{ +public: + BoxPoint() : localPoint(0.0f) {} + + vmPoint3 localPoint; + FeatureType featureType; + int featureIdx; + + inline void setVertexFeature(int plusX, int plusY, int plusZ); + inline void setEdgeFeature(int dim0, int plus0, int dim1, int plus1); + inline void setFaceFeature(int dim, int plus); + + inline void getVertexFeature(int & plusX, int & plusY, int & plusZ) const; + inline void getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const; + inline void getFaceFeature(int & dim, int & plus) const; +}; + +inline +void +BoxPoint::setVertexFeature(int plusX, int plusY, int plusZ) +{ + featureType = V; + featureIdx = plusX << 2 | plusY << 1 | plusZ; +} + +inline +void +BoxPoint::setEdgeFeature(int dim0, int plus0, int dim1, int plus1) +{ + featureType = E; + + if (dim0 > dim1) { + featureIdx = plus1 << 5 | dim1 << 3 | plus0 << 2 | dim0; + } else { + featureIdx = plus0 << 5 | dim0 << 3 | plus1 << 2 | dim1; + } +} + +inline +void +BoxPoint::setFaceFeature(int dim, int plus) +{ + featureType = F; + featureIdx = plus << 2 | dim; +} + +inline +void +BoxPoint::getVertexFeature(int & plusX, int & plusY, int & plusZ) const +{ + plusX = featureIdx >> 2; + plusY = featureIdx >> 1 & 1; + plusZ = featureIdx & 1; +} + +inline +void +BoxPoint::getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const +{ + plus0 = featureIdx >> 5; + dim0 = featureIdx >> 3 & 3; + plus1 = featureIdx >> 2 & 1; + dim1 = featureIdx & 3; +} + +inline +void +BoxPoint::getFaceFeature(int & dim, int & plus) const +{ + plus = featureIdx >> 2; + dim = featureIdx & 3; +} + +#endif /* __BOX_H__ */ diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h new file mode 100644 index 0000000..aa8a291 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h @@ -0,0 +1,128 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +#ifndef __SPU_COLLISION_SHAPES_H +#define __SPU_COLLISION_SHAPES_H + +#include "../SpuDoubleBuffer.h" + +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionShapes/btConvexInternalShape.h" +#include "BulletCollision/CollisionShapes/btCylinderShape.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" + +#include "BulletCollision/CollisionShapes/btOptimizedBvh.h" +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" + +#include "BulletCollision/CollisionShapes/btCapsuleShape.h" + +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btConvexHullShape.h" +#include "BulletCollision/CollisionShapes/btCompoundShape.h" + +#define MAX_NUM_SPU_CONVEX_POINTS 128 //@fallback to PPU if a btConvexHullShape has more than MAX_NUM_SPU_CONVEX_POINTS points +#define MAX_SPU_COMPOUND_SUBSHAPES 16 //@fallback on PPU if compound has more than MAX_SPU_COMPOUND_SUBSHAPES child shapes +#define MAX_SHAPE_SIZE 256 //@todo: assert on this + +ATTRIBUTE_ALIGNED16(struct) SpuConvexPolyhedronVertexData +{ + void* gSpuConvexShapePtr; + btVector3* gConvexPoints; + int gNumConvexPoints; + int unused; + ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]); +}; + + + +ATTRIBUTE_ALIGNED16(struct) CollisionShape_LocalStoreMemory +{ + ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]); +}; + +ATTRIBUTE_ALIGNED16(struct) CompoundShape_LocalStoreMemory +{ + // Compound data + + ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES]); + ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]); +}; + +ATTRIBUTE_ALIGNED16(struct) bvhMeshShape_LocalStoreMemory +{ + //ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh); + ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]); + btOptimizedBvh* getOptimizedBvh() + { + return (btOptimizedBvh*) gOptimizedBvh; + } + + ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray gTriangleMeshInterfaceStorage); + btTriangleIndexVertexArray* gTriangleMeshInterfacePtr; + ///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment + ATTRIBUTE_ALIGNED16(btIndexedMesh gIndexMesh); + #define MAX_SPU_SUBTREE_HEADERS 32 + //1024 + ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]); + ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]); +}; + + +void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform); +void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape); +void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag); +void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag); +void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag); + +int getShapeTypeSize(int shapeType); +void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU); +void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType); +void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag); +void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag); + + +#define USE_BRANCHFREE_TEST 1 +#ifdef USE_BRANCHFREE_TEST +SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) +{ +#if defined(__CELLOS_LV2__) && defined (__SPU__) + vec_ushort8 vecMin = {aabbMin1[0],aabbMin2[0],aabbMin1[2],aabbMin2[2],aabbMin1[1],aabbMin2[1],0,0}; + vec_ushort8 vecMax = {aabbMax2[0],aabbMax1[0],aabbMax2[2],aabbMax1[2],aabbMax2[1],aabbMax1[1],0,0}; + vec_ushort8 isGt = spu_cmpgt(vecMin,vecMax); + return spu_extract(spu_gather(isGt),0)==0; + +#else + return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0]) + & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2]) + & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])), + 1, 0); +#endif +} +#else + +SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) +{ + unsigned int overlap = 1; + overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap; + overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap; + overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap; + return overlap; +} +#endif + +void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex); + +#endif diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h new file mode 100644 index 0000000..394f56d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h @@ -0,0 +1,106 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SPU_CONTACT_RESULT2_H +#define SPU_CONTACT_RESULT2_H + + +#ifndef _WIN32 +#include +#endif + + + +#include "../SpuDoubleBuffer.h" + + +#include "LinearMath/btTransform.h" + + +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" + +class btCollisionShape; + + +struct SpuCollisionPairInput +{ + ppu_address_t m_collisionShapes[2]; + btCollisionShape* m_spuCollisionShapes[2]; + + ppu_address_t m_persistentManifoldPtr; + btVector3 m_primitiveDimensions0; + btVector3 m_primitiveDimensions1; + int m_shapeType0; + int m_shapeType1; + float m_collisionMargin0; + float m_collisionMargin1; + + btTransform m_worldTransform0; + btTransform m_worldTransform1; + + bool m_isSwapped; + bool m_useEpa; +}; + + +struct SpuClosestPointInput : public btDiscreteCollisionDetectorInterface::ClosestPointInput +{ + struct SpuConvexPolyhedronVertexData* m_convexVertexData[2]; +}; + +///SpuContactResult exports the contact points using double-buffered DMA transfers, only when needed +///So when an existing contact point is duplicated, no transfer/refresh is performed. +class SpuContactResult : public btDiscreteCollisionDetectorInterface::Result +{ + btTransform m_rootWorldTransform0; + btTransform m_rootWorldTransform1; + ppu_address_t m_manifoldAddress; + + btPersistentManifold* m_spuManifold; + bool m_RequiresWriteBack; + btScalar m_combinedFriction; + btScalar m_combinedRestitution; + + bool m_isSwapped; + + DoubleBuffer g_manifoldDmaExport; + + public: + SpuContactResult(); + virtual ~SpuContactResult(); + + btPersistentManifold* GetSpuManifold() const + { + return m_spuManifold; + } + + virtual void setShapeIdentifiersA(int partId0,int index0); + virtual void setShapeIdentifiersB(int partId1,int index1); + + void setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction01, bool isSwapped); + + + void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold); + + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth); + + void flush(); +}; + + + +#endif //SPU_CONTACT_RESULT2_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h new file mode 100644 index 0000000..449f192 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h @@ -0,0 +1,51 @@ + +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#ifndef SPU_CONVEX_PENETRATION_DEPTH_H +#define SPU_CONVEX_PENETRATION_DEPTH_H + + + +class btStackAlloc; +class btIDebugDraw; +#include "BulletCollision/NarrowphaseCollision/btConvexPenetrationDepthSolver.h" + +#include "LinearMath/btTransform.h" + + +///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation. +class SpuConvexPenetrationDepthSolver : public btConvexPenetrationDepthSolver +{ +public: + + virtual ~SpuConvexPenetrationDepthSolver() {}; + virtual bool calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver, + void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB, + btTransform& transA,const btTransform& transB, + btVector3& v, btVector3& pa, btVector3& pb, + class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc, + struct SpuConvexPolyhedronVertexData* convexVertexDataA, + struct SpuConvexPolyhedronVertexData* convexVertexDataB + ) const = 0; + + +}; + + + +#endif //SPU_CONVEX_PENETRATION_DEPTH_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h new file mode 100644 index 0000000..bbaa555 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h @@ -0,0 +1,140 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SPU_GATHERING_COLLISION_TASK_H +#define SPU_GATHERING_COLLISION_TASK_H + +#include "../PlatformDefinitions.h" +//#define DEBUG_SPU_COLLISION_DETECTION 1 + + +///Task Description for SPU collision detection +struct SpuGatherAndProcessPairsTaskDesc +{ + ppu_address_t m_inPairPtr;//m_pairArrayPtr; + //mutex variable + uint32_t m_someMutexVariableInMainMemory; + + ppu_address_t m_dispatcher; + + uint32_t numOnLastPage; + + uint16_t numPages; + uint16_t taskId; + bool m_useEpa; + + struct CollisionTask_LocalStoreMemory* m_lsMemory; +} + +#if defined(__CELLOS_LV2__) || defined(USE_LIBSPE2) +__attribute__ ((aligned (128))) +#endif +; + + +void processCollisionTask(void* userPtr, void* lsMemory); + +void* createCollisionLocalStoreMemory(); + + +#if defined(USE_LIBSPE2) && defined(__SPU__) +#include "../SpuLibspe2Support.h" +#include +#include +#include + +//#define DEBUG_LIBSPE2_SPU_TASK + + + +int main(unsigned long long speid, addr64 argp, addr64 envp) +{ + printf("SPU: hello \n"); + + ATTRIBUTE_ALIGNED128(btSpuStatus status); + ATTRIBUTE_ALIGNED16( SpuGatherAndProcessPairsTaskDesc taskDesc ) ; + unsigned int received_message = Spu_Mailbox_Event_Nothing; + bool shutdown = false; + + cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + status.m_status = Spu_Status_Free; + status.m_lsMemory.p = createCollisionLocalStoreMemory(); + + cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + + while ( btLikely( !shutdown ) ) + { + + received_message = spu_read_in_mbox(); + + if( btLikely( received_message == Spu_Mailbox_Event_Task )) + { +#ifdef DEBUG_LIBSPE2_SPU_TASK + printf("SPU: received Spu_Mailbox_Event_Task\n"); +#endif //DEBUG_LIBSPE2_SPU_TASK + + // refresh the status + cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + btAssert(status.m_status==Spu_Status_Occupied); + + cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuGatherAndProcessPairsTaskDesc), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); +#ifdef DEBUG_LIBSPE2_SPU_TASK + printf("SPU:processCollisionTask\n"); +#endif //DEBUG_LIBSPE2_SPU_TASK + processCollisionTask((void*)&taskDesc, taskDesc.m_lsMemory); + +#ifdef DEBUG_LIBSPE2_SPU_TASK + printf("SPU:finished processCollisionTask\n"); +#endif //DEBUG_LIBSPE2_SPU_TASK + } + else + { +#ifdef DEBUG_LIBSPE2_SPU_TASK + printf("SPU: received ShutDown\n"); +#endif //DEBUG_LIBSPE2_SPU_TASK + if( btLikely( received_message == Spu_Mailbox_Event_Shutdown ) ) + { + shutdown = true; + } + else + { + //printf("SPU - Sth. recieved\n"); + } + } + + // set to status free and wait for next task + status.m_status = Spu_Status_Free; + cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + + } + + printf("SPU: shutdown\n"); + return 0; +} +#endif // USE_LIBSPE2 + + +#endif //SPU_GATHERING_COLLISION_TASK_H + + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h new file mode 100644 index 0000000..8b89de0 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h @@ -0,0 +1,19 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + + + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h new file mode 100644 index 0000000..18ad223 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h @@ -0,0 +1,48 @@ + +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H +#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H + + +#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h" + +class btStackAlloc; +class btIDebugDraw; +class btVoronoiSimplexSolver; +class btConvexShape; + +///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation. +///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points. +class SpuMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver +{ +public: + SpuMinkowskiPenetrationDepthSolver() {} + virtual ~SpuMinkowskiPenetrationDepthSolver() {}; + + virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver, + const btConvexShape* convexA,const btConvexShape* convexB, + const btTransform& transA,const btTransform& transB, + btVector3& v, btVector3& pa, btVector3& pb, + class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc + ); + + +}; + + +#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h new file mode 100644 index 0000000..774a0cb --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h @@ -0,0 +1,70 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef _SPU_PREFERRED_PENETRATION_DIRECTIONS_H +#define _SPU_PREFERRED_PENETRATION_DIRECTIONS_H + + +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" + +int spuGetNumPreferredPenetrationDirections(int shapeType, void* shape) +{ + switch (shapeType) + { + case TRIANGLE_SHAPE_PROXYTYPE: + { + return 2; + //spu_printf("2\n"); + break; + } + default: + { +#if __ASSERT + spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType); +#endif // __ASSERT + } + } + + return 0; +} + +void spuGetPreferredPenetrationDirection(int shapeType, void* shape, int index, btVector3& penetrationVector) +{ + + + switch (shapeType) + { + case TRIANGLE_SHAPE_PROXYTYPE: + { + btVector3* vertices = (btVector3*)shape; + ///calcNormal + penetrationVector = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]); + penetrationVector.normalize(); + if (index) + penetrationVector *= btScalar(-1.); + break; + } + default: + { + +#if __ASSERT + spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType); +#endif // __ASSERT + } + } + +} + +#endif //_SPU_PREFERRED_PENETRATION_DIRECTIONS_H diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h new file mode 100644 index 0000000..0d4957d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h @@ -0,0 +1,65 @@ +/* + Copyright (C) 2006, 2008 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + + +#ifndef __BOXBOXDISTANCE_H__ +#define __BOXBOXDISTANCE_H__ + + +#include "Box.h" + + +//--------------------------------------------------------------------------- +// boxBoxDistance: +// +// description: +// this computes info that can be used for the collision response of two boxes. when the boxes +// do not overlap, the points are set to the closest points of the boxes, and a positive +// distance between them is returned. if the boxes do overlap, a negative distance is returned +// and the points are set to two points that would touch after the boxes are translated apart. +// the contact normal gives the direction to repel or separate the boxes when they touch or +// overlap (it's being approximated here as one of the 15 "separating axis" directions). +// +// returns: +// positive or negative distance between two boxes. +// +// args: +// vmVector3& normal: set to a unit contact normal pointing from box A to box B. +// +// BoxPoint& boxPointA, BoxPoint& boxPointB: +// set to a closest point or point of penetration on each box. +// +// Box boxA, Box boxB: +// boxes, represented as 3 half-widths +// +// const vmTransform3& transformA, const vmTransform3& transformB: +// box transformations, in world coordinates +// +// float distanceThreshold: +// the algorithm will exit early if it finds that the boxes are more distant than this +// threshold, and not compute a contact normal or points. if this distance returned +// exceeds the threshold, all the other output data may not have been computed. by +// default, this is set to MAX_FLOAT so it will have no effect. +// +//--------------------------------------------------------------------------- + +float +boxBoxDistance(vmVector3& normal, BoxPoint& boxPointA, BoxPoint& boxPointB, + PE_REF(Box) boxA, const vmTransform3 & transformA, PE_REF(Box) boxB, + const vmTransform3 & transformB, + float distanceThreshold = FLT_MAX ); + +#endif /* __BOXBOXDISTANCE_H__ */ diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h new file mode 100644 index 0000000..c8ebdfd --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h @@ -0,0 +1,54 @@ +/* +Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans + +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. + +*/ + +#ifndef SPU_SAMPLE_TASK_H +#define SPU_SAMPLE_TASK_H + +#include "../PlatformDefinitions.h" +#include "LinearMath/btScalar.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btMatrix3x3.h" + +#include "LinearMath/btAlignedAllocator.h" + + +enum +{ + CMD_SAMPLE_INTEGRATE_BODIES = 1, + CMD_SAMPLE_PREDICT_MOTION_BODIES +}; + + + +ATTRIBUTE_ALIGNED16(struct) SpuSampleTaskDesc +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + uint32_t m_sampleCommand; + uint32_t m_taskId; + + uint64_t m_mainMemoryPtr; + int m_sampleValue; + + +}; + + +void processSampleTask(void* userPtr, void* lsMemory); +void* createSampleLocalStoreMemory(); + + +#endif //SPU_SAMPLE_TASK_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuSampleTaskProcess.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuSampleTaskProcess.h new file mode 100644 index 0000000..d733a9a --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuSampleTaskProcess.h @@ -0,0 +1,153 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#ifndef SPU_SAMPLE_TASK_PROCESS_H +#define SPU_SAMPLE_TASK_PROCESS_H + +#include + + +#include "PlatformDefinitions.h" + +#include + +#include "LinearMath/btAlignedObjectArray.h" + + +#include "SpuSampleTask/SpuSampleTask.h" + + +//just add your commands here, try to keep them globally unique for debugging purposes +#define CMD_SAMPLE_TASK_COMMAND 10 + + + +/// SpuSampleTaskProcess handles SPU processing of collision pairs. +/// When PPU issues a task, it will look for completed task buffers +/// PPU will do postprocessing, dependent on workunit output (not likely) +class SpuSampleTaskProcess +{ + // track task buffers that are being used, and total busy tasks + btAlignedObjectArray m_taskBusy; + btAlignedObjectArraym_spuSampleTaskDesc; + + int m_numBusyTasks; + + // the current task and the current entry to insert a new work unit + int m_currentTask; + + bool m_initialized; + + void postProcess(int taskId, int outputSize); + + class btThreadSupportInterface* m_threadInterface; + + int m_maxNumOutstandingTasks; + + + +public: + SpuSampleTaskProcess(btThreadSupportInterface* threadInterface, int maxNumOutstandingTasks); + + ~SpuSampleTaskProcess(); + + ///call initialize in the beginning of the frame, before addCollisionPairToTask + void initialize(); + + void issueTask(void* sampleMainMemPtr,int sampleValue,int sampleCommand); + + ///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished + void flush(); +}; + + +#if defined(USE_LIBSPE2) && defined(__SPU__) +////////////////////MAIN///////////////////////////// +#include "../SpuLibspe2Support.h" +#include +#include +#include + +void * SamplelsMemoryFunc(); +void SampleThreadFunc(void* userPtr,void* lsMemory); + +//#define DEBUG_LIBSPE2_MAINLOOP + +int main(unsigned long long speid, addr64 argp, addr64 envp) +{ + printf("SPU is up \n"); + + ATTRIBUTE_ALIGNED128(btSpuStatus status); + ATTRIBUTE_ALIGNED16( SpuSampleTaskDesc taskDesc ) ; + unsigned int received_message = Spu_Mailbox_Event_Nothing; + bool shutdown = false; + + cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + status.m_status = Spu_Status_Free; + status.m_lsMemory.p = SamplelsMemoryFunc(); + + cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + + while (!shutdown) + { + received_message = spu_read_in_mbox(); + + + + switch(received_message) + { + case Spu_Mailbox_Event_Shutdown: + shutdown = true; + break; + case Spu_Mailbox_Event_Task: + // refresh the status +#ifdef DEBUG_LIBSPE2_MAINLOOP + printf("SPU recieved Task \n"); +#endif //DEBUG_LIBSPE2_MAINLOOP + cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + btAssert(status.m_status==Spu_Status_Occupied); + + cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuSampleTaskDesc), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + SampleThreadFunc((void*)&taskDesc, reinterpret_cast (taskDesc.m_mainMemoryPtr) ); + break; + case Spu_Mailbox_Event_Nothing: + default: + break; + } + + // set to status free and wait for next task + status.m_status = Spu_Status_Free; + cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + + } + return 0; +} +////////////////////////////////////////////////////// +#endif + + + +#endif // SPU_SAMPLE_TASK_PROCESS_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuSync.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuSync.h new file mode 100644 index 0000000..b90d0fc --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/SpuSync.h @@ -0,0 +1,148 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2007 Starbreeze Studios + +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. + +Written by: Marten Svanfeldt +*/ + +#ifndef SPU_SYNC_H +#define SPU_SYNC_H + + +#include "PlatformDefinitions.h" + + +#if defined(WIN32) + +#define WIN32_LEAN_AND_MEAN +#ifdef _XBOX +#include +#else +#include +#endif + +///The btSpinlock is a structure to allow multi-platform synchronization. This allows to port the SPU tasks to other platforms. +class btSpinlock +{ +public: + //typedef volatile LONG SpinVariable; + typedef CRITICAL_SECTION SpinVariable; + + btSpinlock (SpinVariable* var) + : spinVariable (var) + {} + + void Init () + { + //*spinVariable = 0; + InitializeCriticalSection(spinVariable); + } + + void Lock () + { + EnterCriticalSection(spinVariable); + } + + void Unlock () + { + LeaveCriticalSection(spinVariable); + } + +private: + SpinVariable* spinVariable; +}; + + +#elif defined (__CELLOS_LV2__) + +//#include +#include + +///The btSpinlock is a structure to allow multi-platform synchronization. This allows to port the SPU tasks to other platforms. +class btSpinlock +{ +public: + typedef CellSyncMutex SpinVariable; + + btSpinlock (SpinVariable* var) + : spinVariable (var) + {} + + void Init () + { +#ifndef __SPU__ + //*spinVariable = 1; + cellSyncMutexInitialize(spinVariable); +#endif + } + + + + void Lock () + { +#ifdef __SPU__ + // lock semaphore + /*while (cellAtomicTestAndDecr32(atomic_buf, (uint64_t)spinVariable) == 0) + { + + };*/ + cellSyncMutexLock((uint64_t)spinVariable); +#endif + } + + void Unlock () + { +#ifdef __SPU__ + //cellAtomicIncr32(atomic_buf, (uint64_t)spinVariable); + cellSyncMutexUnlock((uint64_t)spinVariable); +#endif + } + + +private: + SpinVariable* spinVariable; + ATTRIBUTE_ALIGNED128(uint32_t atomic_buf[32]); +}; + +#else +//create a dummy implementation (without any locking) useful for serial processing +class btSpinlock +{ +public: + typedef int SpinVariable; + + btSpinlock (SpinVariable* var) + : spinVariable (var) + {} + + void Init () + { + } + + void Lock () + { + } + + void Unlock () + { + } + +private: + SpinVariable* spinVariable; +}; + + +#endif + + +#endif diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/TrbDynBody.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/TrbDynBody.h new file mode 100644 index 0000000..faa990d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/TrbDynBody.h @@ -0,0 +1,78 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + +#ifndef __T_RB_DYN_BODY_H__ +#define __T_RB_DYN_BODY_H__ + +#include "vectormath/vmInclude.h" +using namespace Vectormath::Aos; + +#include "TrbStateVec.h" + +class CollObject; + +class TrbDynBody +{ +public: + TrbDynBody() + { + fMass = 0.0f; + fCollObject = NULL; + fElasticity = 0.2f; + fFriction = 0.8f; + } + + // Get methods + float getMass() const {return fMass;}; + float getElasticity() const {return fElasticity;} + float getFriction() const {return fFriction;} + CollObject* getCollObject() const {return fCollObject;} + const Matrix3 &getBodyInertia() const {return fIBody;} + const Matrix3 &getBodyInertiaInv() const {return fIBodyInv;} + float getMassInv() const {return fMassInv;} + + // Set methods + void setMass(float mass) {fMass=mass;fMassInv=mass>0.0f?1.0f/mass:0.0f;} + void setBodyInertia(const Matrix3 bodyInertia) {fIBody = bodyInertia;fIBodyInv = inverse(bodyInertia);} + void setElasticity(float elasticity) {fElasticity = elasticity;} + void setFriction(float friction) {fFriction = friction;} + void setCollObject(CollObject *collObj) {fCollObject = collObj;} + + void setBodyInertiaInv(const Matrix3 bodyInertiaInv) + { + fIBody = inverse(bodyInertiaInv); + fIBodyInv = bodyInertiaInv; + } + void setMassInv(float invMass) { + fMass= invMass>0.0f ? 1.0f/invMass :0.0f; + fMassInv=invMass; + } + + +private: + // Rigid Body constants + float fMass; // Rigid Body mass + float fMassInv; // Inverse of mass + Matrix3 fIBody; // Inertia matrix in body's coords + Matrix3 fIBodyInv; // Inertia matrix inverse in body's coords + float fElasticity; // Coefficient of restitution + float fFriction; // Coefficient of friction + +public: + CollObject* fCollObject; // Collision object corresponding the RB +} __attribute__ ((aligned(16))); + +#endif /* __T_RB_DYN_BODY_H__ */ diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/TrbStateVec.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/TrbStateVec.h new file mode 100644 index 0000000..634ed79 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/TrbStateVec.h @@ -0,0 +1,334 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + +#ifndef __TRBSTATEVEC_H__ +#define __TRBSTATEVEC_H__ + +#include +#include "vectormath/vmInclude.h" + + +#include "PlatformDefinitions.h" + + +static inline vmVector3 read_Vector3(const float* p) +{ + vmVector3 v; + loadXYZ(v, p); + return v; +} + +static inline vmQuat read_Quat(const float* p) +{ + vmQuat vq; + loadXYZW(vq, p); + return vq; +} + +static inline void store_Vector3(const vmVector3 &src, float* p) +{ + vmVector3 v = src; + storeXYZ(v, p); +} + +static inline void store_Quat(const vmQuat &src, float* p) +{ + vmQuat vq = src; + storeXYZW(vq, p); +} + +// Motion Type +enum { + PfxMotionTypeFixed = 0, + PfxMotionTypeActive, + PfxMotionTypeKeyframe, + PfxMotionTypeOneWay, + PfxMotionTypeTrigger, + PfxMotionTypeCount +}; + +#define PFX_MOTION_MASK_DYNAMIC 0x0a // Active,OneWay +#define PFX_MOTION_MASK_STATIC 0x95 // Fixed,Keyframe,Trigger,Sleeping +#define PFX_MOTION_MASK_SLEEP 0x0e // Can sleep +#define PFX_MOTION_MASK_TYPE 0x7f + +// +// Rigid Body state +// + +#ifdef __CELLOS_LV2__ +ATTRIBUTE_ALIGNED128(class) TrbState +#else +ATTRIBUTE_ALIGNED16(class) TrbState +#endif + +{ +public: + TrbState() + { + setMotionType(PfxMotionTypeActive); + contactFilterSelf=contactFilterTarget=0xffffffff; + deleted = 0; + mSleeping = 0; + useSleep = 1; + trbBodyIdx=0; + mSleepCount=0; + useCcd = 0; + useContactCallback = 0; + useSleepCallback = 0; + linearDamping = 1.0f; + angularDamping = 0.99f; + } + + TrbState(const uint8_t m, const vmVector3& x, const vmQuat& q, const vmVector3& v, const vmVector3& omega ); + + uint16_t mSleepCount; + uint8_t mMotionType; + uint8_t deleted : 1; + uint8_t mSleeping : 1; + uint8_t useSleep : 1; + uint8_t useCcd : 1; + uint8_t useContactCallback : 1; + uint8_t useSleepCallback : 1; + + uint16_t trbBodyIdx; + uint32_t contactFilterSelf; + uint32_t contactFilterTarget; + + float center[3]; // AABB center(World) + float half[3]; // AABB half(World) + + float linearDamping; + float angularDamping; + + float deltaLinearVelocity[3]; + float deltaAngularVelocity[3]; + + float fX[3]; // position + float fQ[4]; // orientation + float fV[3]; // velocity + float fOmega[3]; // angular velocity + + inline void setZero(); // Zeroes out the elements + inline void setIdentity(); // Sets the rotation to identity and zeroes out the other elements + + bool isDeleted() const {return deleted==1;} + + uint16_t getRigidBodyId() const {return trbBodyIdx;} + void setRigidBodyId(uint16_t i) {trbBodyIdx = i;} + + + uint32_t getContactFilterSelf() const {return contactFilterSelf;} + void setContactFilterSelf(uint32_t filter) {contactFilterSelf = filter;} + + uint32_t getContactFilterTarget() const {return contactFilterTarget;} + void setContactFilterTarget(uint32_t filter) {contactFilterTarget = filter;} + + float getLinearDamping() const {return linearDamping;} + float getAngularDamping() const {return angularDamping;} + + void setLinearDamping(float damping) {linearDamping=damping;} + void setAngularDamping(float damping) {angularDamping=damping;} + + + uint8_t getMotionType() const {return mMotionType;} + void setMotionType(uint8_t t) {mMotionType = t;mSleeping=0;mSleepCount=0;} + + uint8_t getMotionMask() const {return (1< m_activeSpuStatus; + btAlignedObjectArray m_completeHandles; + + int m_maxNumTasks; +public: + ///Setup and initialize SPU/CELL/Libspe2 + + struct Win32ThreadConstructionInfo + { + Win32ThreadConstructionInfo(char* uniqueName, + Win32ThreadFunc userThreadFunc, + Win32lsMemorySetupFunc lsMemoryFunc, + int numThreads=1, + int threadStackSize=65535 + ) + :m_uniqueName(uniqueName), + m_userThreadFunc(userThreadFunc), + m_lsMemoryFunc(lsMemoryFunc), + m_numThreads(numThreads), + m_threadStackSize(threadStackSize) + { + + } + + char* m_uniqueName; + Win32ThreadFunc m_userThreadFunc; + Win32lsMemorySetupFunc m_lsMemoryFunc; + int m_numThreads; + int m_threadStackSize; + + }; + + + + Win32ThreadSupport(const Win32ThreadConstructionInfo& threadConstructionInfo); + +///cleanup/shutdown Libspe2 + virtual ~Win32ThreadSupport(); + + void startThreads(const Win32ThreadConstructionInfo& threadInfo); + + +///send messages to SPUs + virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1); + +///check for messages from SPUs + virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1); + + virtual bool isTaskCompleted(unsigned int *puiArgument0, unsigned int *puiArgument1, int timeOutInMilliseconds); + +///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) + virtual void startSPU(); + +///tell the task scheduler we are done with the SPU tasks + virtual void stopSPU(); + + virtual void setNumTasks(int numTasks) + { + m_maxNumTasks = numTasks; + } + + virtual int getNumTasks() const + { + return m_maxNumTasks; + } + + virtual void* getThreadLocalMemory(int taskId) + { + return m_activeSpuStatus[taskId].m_lsMemory; + } + virtual btBarrier* createBarrier(); + + virtual btCriticalSection* createCriticalSection(); + +}; + +#endif //WIN32_THREAD_SUPPORT_H + +#endif //USE_WIN32_THREADING diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphase.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphase.h new file mode 100644 index 0000000..1d49a05 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphase.h @@ -0,0 +1,138 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. + +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. +*/ + +//---------------------------------------------------------------------------------------- + +#ifndef BTGPU3DGRIDBROADPHASE_H +#define BTGPU3DGRIDBROADPHASE_H + +//---------------------------------------------------------------------------------------- + +#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" + +#include "btGpu3DGridBroadphaseSharedTypes.h" + +//---------------------------------------------------------------------------------------- + +///The btGpu3DGridBroadphase uses GPU-style code compiled for CPU to compute overlapping pairs + +class btGpu3DGridBroadphase : public btSimpleBroadphase +{ +protected: + bool m_bInitialized; + unsigned int m_numBodies; + unsigned int m_numCells; + unsigned int m_maxPairsPerBody; + btScalar m_cellFactorAABB; + unsigned int m_maxBodiesPerCell; + bt3DGridBroadphaseParams m_params; + btScalar m_maxRadius; + // CPU data + unsigned int* m_hBodiesHash; + unsigned int* m_hCellStart; + unsigned int* m_hPairBuffStartCurr; + bt3DGrid3F1U* m_hAABB; + unsigned int* m_hPairBuff; + unsigned int* m_hPairScan; + unsigned int* m_hPairOut; +// large proxies + int m_numLargeHandles; + int m_maxLargeHandles; + int m_LastLargeHandleIndex; + btSimpleBroadphaseProxy* m_pLargeHandles; + void* m_pLargeHandlesRawPtr; + int m_firstFreeLargeHandle; + int allocLargeHandle() + { + btAssert(m_numLargeHandles < m_maxLargeHandles); + int freeLargeHandle = m_firstFreeLargeHandle; + m_firstFreeLargeHandle = m_pLargeHandles[freeLargeHandle].GetNextFree(); + m_numLargeHandles++; + if(freeLargeHandle > m_LastLargeHandleIndex) + { + m_LastLargeHandleIndex = freeLargeHandle; + } + return freeLargeHandle; + } + void freeLargeHandle(btSimpleBroadphaseProxy* proxy) + { + int handle = int(proxy - m_pLargeHandles); + btAssert((handle >= 0) && (handle < m_maxHandles)); + if(handle == m_LastLargeHandleIndex) + { + m_LastLargeHandleIndex--; + } + proxy->SetNextFree(m_firstFreeLargeHandle); + m_firstFreeLargeHandle = handle; + proxy->m_clientObject = 0; + m_numLargeHandles--; + } + bool isLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax); + bool isLargeProxy(btBroadphaseProxy* proxy); +// debug + unsigned int m_numPairsAdded; + unsigned int m_numPairsRemoved; + unsigned int m_numOverflows; +// +public: + btGpu3DGridBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax, + int gridSizeX, int gridSizeY, int gridSizeZ, + int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody, + int maxBodiesPerCell = 8, + btScalar cellFactorAABB = btScalar(1.0f)); + btGpu3DGridBroadphase( btOverlappingPairCache* overlappingPairCache, + const btVector3& worldAabbMin,const btVector3& worldAabbMax, + int gridSizeX, int gridSizeY, int gridSizeZ, + int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody, + int maxBodiesPerCell = 8, + btScalar cellFactorAABB = btScalar(1.0f)); + virtual ~btGpu3DGridBroadphase(); + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); + + virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy); + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback); + virtual void resetPool(btDispatcher* dispatcher); + +protected: + void _initialize( const btVector3& worldAabbMin,const btVector3& worldAabbMax, + int gridSizeX, int gridSizeY, int gridSizeZ, + int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody, + int maxBodiesPerCell = 8, + btScalar cellFactorAABB = btScalar(1.0f)); + void _finalize(); + void addPairsToCache(btDispatcher* dispatcher); + void addLarge2LargePairsToCache(btDispatcher* dispatcher); + +// overrides for CPU version + virtual void setParameters(bt3DGridBroadphaseParams* hostParams); + virtual void prepareAABB(); + virtual void calcHashAABB(); + virtual void sortHash(); + virtual void findCellStart(); + virtual void findOverlappingPairs(); + virtual void findPairsLarge(); + virtual void computePairCacheChanges(); + virtual void scanOverlappingPairBuff(); + virtual void squeezeOverlappingPairBuff(); +}; + +//---------------------------------------------------------------------------------------- + +#endif //BTGPU3DGRIDBROADPHASE_H + +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h new file mode 100644 index 0000000..e0afb87 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h @@ -0,0 +1,430 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. + +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. +*/ + +//---------------------------------------------------------------------------------------- + +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +// K E R N E L F U N C T I O N S +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- + +// calculate position in uniform grid +BT_GPU___device__ int3 bt3DGrid_calcGridPos(float4 p) +{ + int3 gridPos; + gridPos.x = (int)floor((p.x - BT_GPU_params.m_worldOriginX) / BT_GPU_params.m_cellSizeX); + gridPos.y = (int)floor((p.y - BT_GPU_params.m_worldOriginY) / BT_GPU_params.m_cellSizeY); + gridPos.z = (int)floor((p.z - BT_GPU_params.m_worldOriginZ) / BT_GPU_params.m_cellSizeZ); + return gridPos; +} // bt3DGrid_calcGridPos() + +//---------------------------------------------------------------------------------------- + +// calculate address in grid from position (clamping to edges) +BT_GPU___device__ uint bt3DGrid_calcGridHash(int3 gridPos) +{ + gridPos.x = BT_GPU_max(0, BT_GPU_min(gridPos.x, (int)BT_GPU_params.m_gridSizeX - 1)); + gridPos.y = BT_GPU_max(0, BT_GPU_min(gridPos.y, (int)BT_GPU_params.m_gridSizeY - 1)); + gridPos.z = BT_GPU_max(0, BT_GPU_min(gridPos.z, (int)BT_GPU_params.m_gridSizeZ - 1)); + return BT_GPU___mul24(BT_GPU___mul24(gridPos.z, BT_GPU_params.m_gridSizeY), BT_GPU_params.m_gridSizeX) + BT_GPU___mul24(gridPos.y, BT_GPU_params.m_gridSizeX) + gridPos.x; +} // bt3DGrid_calcGridHash() + +//---------------------------------------------------------------------------------------- + +// calculate grid hash value for each body using its AABB +BT_GPU___global__ void calcHashAABBD(bt3DGrid3F1U* pAABB, uint2* pHash, uint numBodies) +{ + int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x; + if(index >= (int)numBodies) + { + return; + } + bt3DGrid3F1U bbMin = pAABB[index*2]; + bt3DGrid3F1U bbMax = pAABB[index*2 + 1]; + float4 pos; + pos.x = (bbMin.fx + bbMax.fx) * 0.5f; + pos.y = (bbMin.fy + bbMax.fy) * 0.5f; + pos.z = (bbMin.fz + bbMax.fz) * 0.5f; + // get address in grid + int3 gridPos = bt3DGrid_calcGridPos(pos); + uint gridHash = bt3DGrid_calcGridHash(gridPos); + // store grid hash and body index + pHash[index] = BT_GPU_make_uint2(gridHash, index); +} // calcHashAABBD() + +//---------------------------------------------------------------------------------------- + +BT_GPU___global__ void findCellStartD(uint2* pHash, uint* cellStart, uint numBodies) +{ + int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x; + if(index >= (int)numBodies) + { + return; + } + uint2 sortedData = pHash[index]; + // Load hash data into shared memory so that we can look + // at neighboring body's hash value without loading + // two hash values per thread + BT_GPU___shared__ uint sharedHash[257]; + sharedHash[BT_GPU_threadIdx.x+1] = sortedData.x; + if((index > 0) && (BT_GPU_threadIdx.x == 0)) + { + // first thread in block must load neighbor body hash + volatile uint2 prevData = pHash[index-1]; + sharedHash[0] = prevData.x; + } + BT_GPU___syncthreads(); + if((index == 0) || (sortedData.x != sharedHash[BT_GPU_threadIdx.x])) + { + cellStart[sortedData.x] = index; + } +} // findCellStartD() + +//---------------------------------------------------------------------------------------- + +BT_GPU___device__ uint cudaTestAABBOverlap(bt3DGrid3F1U min0, bt3DGrid3F1U max0, bt3DGrid3F1U min1, bt3DGrid3F1U max1) +{ + return (min0.fx <= max1.fx)&& (min1.fx <= max0.fx) && + (min0.fy <= max1.fy)&& (min1.fy <= max0.fy) && + (min0.fz <= max1.fz)&& (min1.fz <= max0.fz); +} // cudaTestAABBOverlap() + +//---------------------------------------------------------------------------------------- + +BT_GPU___device__ void findPairsInCell( int3 gridPos, + uint index, + uint2* pHash, + uint* pCellStart, + bt3DGrid3F1U* pAABB, + uint* pPairBuff, + uint2* pPairBuffStartCurr, + uint numBodies) +{ + if ( (gridPos.x < 0) || (gridPos.x > (int)BT_GPU_params.m_gridSizeX - 1) + || (gridPos.y < 0) || (gridPos.y > (int)BT_GPU_params.m_gridSizeY - 1) + || (gridPos.z < 0) || (gridPos.z > (int)BT_GPU_params.m_gridSizeZ - 1)) + { + return; + } + uint gridHash = bt3DGrid_calcGridHash(gridPos); + // get start of bucket for this cell + uint bucketStart = pCellStart[gridHash]; + if (bucketStart == 0xffffffff) + { + return; // cell empty + } + // iterate over bodies in this cell + uint2 sortedData = pHash[index]; + uint unsorted_indx = sortedData.y; + bt3DGrid3F1U min0 = BT_GPU_FETCH(pAABB, unsorted_indx*2); + bt3DGrid3F1U max0 = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1); + uint handleIndex = min0.uw; + uint2 start_curr = pPairBuffStartCurr[handleIndex]; + uint start = start_curr.x; + uint curr = start_curr.y; + uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1]; + uint curr_max = start_curr_next.x - start - 1; + uint bucketEnd = bucketStart + BT_GPU_params.m_maxBodiesPerCell; + bucketEnd = (bucketEnd > numBodies) ? numBodies : bucketEnd; + for(uint index2 = bucketStart; index2 < bucketEnd; index2++) + { + uint2 cellData = pHash[index2]; + if (cellData.x != gridHash) + { + break; // no longer in same bucket + } + uint unsorted_indx2 = cellData.y; + if (unsorted_indx2 < unsorted_indx) // check not colliding with self + { + bt3DGrid3F1U min1 = BT_GPU_FETCH(pAABB, unsorted_indx2*2); + bt3DGrid3F1U max1 = BT_GPU_FETCH(pAABB, unsorted_indx2*2 + 1); + if(cudaTestAABBOverlap(min0, max0, min1, max1)) + { + uint handleIndex2 = min1.uw; + uint k; + for(k = 0; k < curr; k++) + { + uint old_pair = pPairBuff[start+k] & (~BT_3DGRID_PAIR_ANY_FLG); + if(old_pair == handleIndex2) + { + pPairBuff[start+k] |= BT_3DGRID_PAIR_FOUND_FLG; + break; + } + } + if(k == curr) + { + if(curr >= curr_max) + { // not a good solution, but let's avoid crash + break; + } + pPairBuff[start+curr] = handleIndex2 | BT_3DGRID_PAIR_NEW_FLG; + curr++; + } + } + } + } + pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, curr); + return; +} // findPairsInCell() + +//---------------------------------------------------------------------------------------- + +BT_GPU___global__ void findOverlappingPairsD( bt3DGrid3F1U* pAABB, uint2* pHash, uint* pCellStart, + uint* pPairBuff, uint2* pPairBuffStartCurr, uint numBodies) +{ + int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x; + if(index >= (int)numBodies) + { + return; + } + uint2 sortedData = pHash[index]; + uint unsorted_indx = sortedData.y; + bt3DGrid3F1U bbMin = BT_GPU_FETCH(pAABB, unsorted_indx*2); + bt3DGrid3F1U bbMax = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1); + float4 pos; + pos.x = (bbMin.fx + bbMax.fx) * 0.5f; + pos.y = (bbMin.fy + bbMax.fy) * 0.5f; + pos.z = (bbMin.fz + bbMax.fz) * 0.5f; + // get address in grid + int3 gridPos = bt3DGrid_calcGridPos(pos); + // examine only neighbouring cells + for(int z=-1; z<=1; z++) { + for(int y=-1; y<=1; y++) { + for(int x=-1; x<=1; x++) { + findPairsInCell(gridPos + BT_GPU_make_int3(x, y, z), index, pHash, pCellStart, pAABB, pPairBuff, pPairBuffStartCurr, numBodies); + } + } + } +} // findOverlappingPairsD() + +//---------------------------------------------------------------------------------------- + +BT_GPU___global__ void findPairsLargeD( bt3DGrid3F1U* pAABB, uint2* pHash, uint* pCellStart, uint* pPairBuff, + uint2* pPairBuffStartCurr, uint numBodies, uint numLarge) +{ + int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x; + if(index >= (int)numBodies) + { + return; + } + uint2 sortedData = pHash[index]; + uint unsorted_indx = sortedData.y; + bt3DGrid3F1U min0 = BT_GPU_FETCH(pAABB, unsorted_indx*2); + bt3DGrid3F1U max0 = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1); + uint handleIndex = min0.uw; + uint2 start_curr = pPairBuffStartCurr[handleIndex]; + uint start = start_curr.x; + uint curr = start_curr.y; + uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1]; + uint curr_max = start_curr_next.x - start - 1; + for(uint i = 0; i < numLarge; i++) + { + uint indx2 = numBodies + i; + bt3DGrid3F1U min1 = BT_GPU_FETCH(pAABB, indx2*2); + bt3DGrid3F1U max1 = BT_GPU_FETCH(pAABB, indx2*2 + 1); + if(cudaTestAABBOverlap(min0, max0, min1, max1)) + { + uint k; + uint handleIndex2 = min1.uw; + for(k = 0; k < curr; k++) + { + uint old_pair = pPairBuff[start+k] & (~BT_3DGRID_PAIR_ANY_FLG); + if(old_pair == handleIndex2) + { + pPairBuff[start+k] |= BT_3DGRID_PAIR_FOUND_FLG; + break; + } + } + if(k == curr) + { + pPairBuff[start+curr] = handleIndex2 | BT_3DGRID_PAIR_NEW_FLG; + if(curr >= curr_max) + { // not a good solution, but let's avoid crash + break; + } + curr++; + } + } + } + pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, curr); + return; +} // findPairsLargeD() + +//---------------------------------------------------------------------------------------- + +BT_GPU___global__ void computePairCacheChangesD(uint* pPairBuff, uint2* pPairBuffStartCurr, + uint* pPairScan, bt3DGrid3F1U* pAABB, uint numBodies) +{ + int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x; + if(index >= (int)numBodies) + { + return; + } + bt3DGrid3F1U bbMin = pAABB[index * 2]; + uint handleIndex = bbMin.uw; + uint2 start_curr = pPairBuffStartCurr[handleIndex]; + uint start = start_curr.x; + uint curr = start_curr.y; + uint *pInp = pPairBuff + start; + uint num_changes = 0; + for(uint k = 0; k < curr; k++, pInp++) + { + if(!((*pInp) & BT_3DGRID_PAIR_FOUND_FLG)) + { + num_changes++; + } + } + pPairScan[index+1] = num_changes; +} // computePairCacheChangesD() + +//---------------------------------------------------------------------------------------- + +BT_GPU___global__ void squeezeOverlappingPairBuffD(uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan, + uint* pPairOut, bt3DGrid3F1U* pAABB, uint numBodies) +{ + int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x; + if(index >= (int)numBodies) + { + return; + } + bt3DGrid3F1U bbMin = pAABB[index * 2]; + uint handleIndex = bbMin.uw; + uint2 start_curr = pPairBuffStartCurr[handleIndex]; + uint start = start_curr.x; + uint curr = start_curr.y; + uint* pInp = pPairBuff + start; + uint* pOut = pPairOut + pPairScan[index]; + uint* pOut2 = pInp; + uint num = 0; + for(uint k = 0; k < curr; k++, pInp++) + { + if(!((*pInp) & BT_3DGRID_PAIR_FOUND_FLG)) + { + *pOut = *pInp; + pOut++; + } + if((*pInp) & BT_3DGRID_PAIR_ANY_FLG) + { + *pOut2 = (*pInp) & (~BT_3DGRID_PAIR_ANY_FLG); + pOut2++; + num++; + } + } + pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, num); +} // squeezeOverlappingPairBuffD() + + +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +// E N D O F K E R N E L F U N C T I O N S +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- + +extern "C" +{ + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(calcHashAABB)(bt3DGrid3F1U* pAABB, unsigned int* hash, unsigned int numBodies) +{ + int numThreads, numBlocks; + BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads); + // execute the kernel + BT_GPU_EXECKERNEL(numBlocks, numThreads, calcHashAABBD, (pAABB, (uint2*)hash, numBodies)); + // check if kernel invocation generated an error + BT_GPU_CHECK_ERROR("calcHashAABBD kernel execution failed"); +} // calcHashAABB() + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(findCellStart(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells)) +{ + int numThreads, numBlocks; + BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads); + BT_GPU_SAFE_CALL(BT_GPU_Memset(cellStart, 0xffffffff, numCells*sizeof(uint))); + BT_GPU_EXECKERNEL(numBlocks, numThreads, findCellStartD, ((uint2*)hash, (uint*)cellStart, numBodies)); + BT_GPU_CHECK_ERROR("Kernel execution failed: findCellStartD"); +} // findCellStart() + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(findOverlappingPairs(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies)) +{ +#if B_CUDA_USE_TEX + BT_GPU_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, numBodies * 2 * sizeof(bt3DGrid3F1U))); +#endif + int numThreads, numBlocks; + BT_GPU_PREF(computeGridSize)(numBodies, 64, numBlocks, numThreads); + BT_GPU_EXECKERNEL(numBlocks, numThreads, findOverlappingPairsD, (pAABB,(uint2*)pHash,(uint*)pCellStart,(uint*)pPairBuff,(uint2*)pPairBuffStartCurr,numBodies)); + BT_GPU_CHECK_ERROR("Kernel execution failed: bt_CudaFindOverlappingPairsD"); +#if B_CUDA_USE_TEX + BT_GPU_SAFE_CALL(cudaUnbindTexture(pAABBTex)); +#endif +} // findOverlappingPairs() + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(findPairsLarge(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies, unsigned int numLarge)) +{ +#if B_CUDA_USE_TEX + BT_GPU_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, (numBodies+numLarge) * 2 * sizeof(bt3DGrid3F1U))); +#endif + int numThreads, numBlocks; + BT_GPU_PREF(computeGridSize)(numBodies, 64, numBlocks, numThreads); + BT_GPU_EXECKERNEL(numBlocks, numThreads, findPairsLargeD, (pAABB,(uint2*)pHash,(uint*)pCellStart,(uint*)pPairBuff,(uint2*)pPairBuffStartCurr,numBodies,numLarge)); + BT_GPU_CHECK_ERROR("Kernel execution failed: btCuda_findPairsLargeD"); +#if B_CUDA_USE_TEX + BT_GPU_SAFE_CALL(cudaUnbindTexture(pAABBTex)); +#endif +} // findPairsLarge() + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(computePairCacheChanges(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, bt3DGrid3F1U* pAABB, unsigned int numBodies)) +{ + int numThreads, numBlocks; + BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads); + BT_GPU_EXECKERNEL(numBlocks, numThreads, computePairCacheChangesD, ((uint*)pPairBuff,(uint2*)pPairBuffStartCurr,(uint*)pPairScan,pAABB,numBodies)); + BT_GPU_CHECK_ERROR("Kernel execution failed: btCudaComputePairCacheChangesD"); +} // computePairCacheChanges() + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(squeezeOverlappingPairBuff(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, unsigned int* pPairOut, bt3DGrid3F1U* pAABB, unsigned int numBodies)) +{ + int numThreads, numBlocks; + BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads); + BT_GPU_EXECKERNEL(numBlocks, numThreads, squeezeOverlappingPairBuffD, ((uint*)pPairBuff,(uint2*)pPairBuffStartCurr,(uint*)pPairScan,(uint*)pPairOut,pAABB,numBodies)); + BT_GPU_CHECK_ERROR("Kernel execution failed: btCudaSqueezeOverlappingPairBuffD"); +} // btCuda_squeezeOverlappingPairBuff() + +//------------------------------------------------------------------------------------------------ + +} // extern "C" + +//------------------------------------------------------------------------------------------------ +//------------------------------------------------------------------------------------------------ +//------------------------------------------------------------------------------------------------ diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h new file mode 100644 index 0000000..607bda7 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h @@ -0,0 +1,61 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. + +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. +*/ + +//---------------------------------------------------------------------------------------- + +// Shared definitions for GPU-based 3D Grid collision detection broadphase + +//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! +// Keep this file free from Bullet headers +// it is included into both CUDA and CPU code +//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +//---------------------------------------------------------------------------------------- + +#ifndef BTGPU3DGRIDBROADPHASESHAREDDEFS_H +#define BTGPU3DGRIDBROADPHASESHAREDDEFS_H + +//---------------------------------------------------------------------------------------- + +#include "btGpu3DGridBroadphaseSharedTypes.h" + +//---------------------------------------------------------------------------------------- + +extern "C" +{ + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(calcHashAABB)(bt3DGrid3F1U* pAABB, unsigned int* hash, unsigned int numBodies); + +void BT_GPU_PREF(findCellStart)(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells); + +void BT_GPU_PREF(findOverlappingPairs)(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies); + +void BT_GPU_PREF(findPairsLarge)(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies, unsigned int numLarge); + +void BT_GPU_PREF(computePairCacheChanges)(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, bt3DGrid3F1U* pAABB, unsigned int numBodies); + +void BT_GPU_PREF(squeezeOverlappingPairBuff)(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, unsigned int* pPairOut, bt3DGrid3F1U* pAABB, unsigned int numBodies); + + +//---------------------------------------------------------------------------------------- + +} // extern "C" + +//---------------------------------------------------------------------------------------- + +#endif // BTGPU3DGRIDBROADPHASESHAREDDEFS_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedTypes.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedTypes.h new file mode 100644 index 0000000..616a400 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedTypes.h @@ -0,0 +1,67 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. + +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. +*/ + +//---------------------------------------------------------------------------------------- + +// Shared definitions for GPU-based 3D Grid collision detection broadphase + +//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! +// Keep this file free from Bullet headers +// it is included into both CUDA and CPU code +//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +//---------------------------------------------------------------------------------------- + +#ifndef BTGPU3DGRIDBROADPHASESHAREDTYPES_H +#define BTGPU3DGRIDBROADPHASESHAREDTYPES_H + +//---------------------------------------------------------------------------------------- + +#define BT_3DGRID_PAIR_FOUND_FLG (0x40000000) +#define BT_3DGRID_PAIR_NEW_FLG (0x20000000) +#define BT_3DGRID_PAIR_ANY_FLG (BT_3DGRID_PAIR_FOUND_FLG | BT_3DGRID_PAIR_NEW_FLG) + +//---------------------------------------------------------------------------------------- + +struct bt3DGridBroadphaseParams +{ + unsigned int m_gridSizeX; + unsigned int m_gridSizeY; + unsigned int m_gridSizeZ; + unsigned int m_numCells; + float m_worldOriginX; + float m_worldOriginY; + float m_worldOriginZ; + float m_cellSizeX; + float m_cellSizeY; + float m_cellSizeZ; + unsigned int m_numBodies; + unsigned int m_maxBodiesPerCell; +}; + +//---------------------------------------------------------------------------------------- + +struct bt3DGrid3F1U +{ + float fx; + float fy; + float fz; + unsigned int uw; +}; + +//---------------------------------------------------------------------------------------- + +#endif // BTGPU3DGRIDBROADPHASESHAREDTYPES_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpuDefines.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpuDefines.h new file mode 100644 index 0000000..f9315ab --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btGpuDefines.h @@ -0,0 +1,211 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. + +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. +*/ + + + +// definitions for "GPU on CPU" code + + +#ifndef BT_GPU_DEFINES_H +#define BT_GPU_DEFINES_H + +typedef unsigned int uint; + +struct int2 +{ + int x, y; +}; + +struct uint2 +{ + unsigned int x, y; +}; + +struct int3 +{ + int x, y, z; +}; + +struct uint3 +{ + unsigned int x, y, z; +}; + +struct float4 +{ + float x, y, z, w; +}; + +struct float3 +{ + float x, y, z; +}; + + +#define BT_GPU___device__ inline +#define BT_GPU___devdata__ +#define BT_GPU___constant__ +#define BT_GPU_max(a, b) ((a) > (b) ? (a) : (b)) +#define BT_GPU_min(a, b) ((a) < (b) ? (a) : (b)) +#define BT_GPU_params s3DGridBroadphaseParams +#define BT_GPU___mul24(a, b) ((a)*(b)) +#define BT_GPU___global__ inline +#define BT_GPU___shared__ static +#define BT_GPU___syncthreads() +#define CUDART_PI_F SIMD_PI + +static inline uint2 bt3dGrid_make_uint2(unsigned int x, unsigned int y) +{ + uint2 t; t.x = x; t.y = y; return t; +} +#define BT_GPU_make_uint2(x, y) bt3dGrid_make_uint2(x, y) + +static inline int3 bt3dGrid_make_int3(int x, int y, int z) +{ + int3 t; t.x = x; t.y = y; t.z = z; return t; +} +#define BT_GPU_make_int3(x, y, z) bt3dGrid_make_int3(x, y, z) + +static inline float3 bt3dGrid_make_float3(float x, float y, float z) +{ + float3 t; t.x = x; t.y = y; t.z = z; return t; +} +#define BT_GPU_make_float3(x, y, z) bt3dGrid_make_float3(x, y, z) + +static inline float3 bt3dGrid_make_float34(float4 f) +{ + float3 t; t.x = f.x; t.y = f.y; t.z = f.z; return t; +} +#define BT_GPU_make_float34(f) bt3dGrid_make_float34(f) + +static inline float3 bt3dGrid_make_float31(float f) +{ + float3 t; t.x = t.y = t.z = f; return t; +} +#define BT_GPU_make_float31(x) bt3dGrid_make_float31(x) + +static inline float4 bt3dGrid_make_float42(float3 v, float f) +{ + float4 t; t.x = v.x; t.y = v.y; t.z = v.z; t.w = f; return t; +} +#define BT_GPU_make_float42(a, b) bt3dGrid_make_float42(a, b) + +static inline float4 bt3dGrid_make_float44(float a, float b, float c, float d) +{ + float4 t; t.x = a; t.y = b; t.z = c; t.w = d; return t; +} +#define BT_GPU_make_float44(a, b, c, d) bt3dGrid_make_float44(a, b, c, d) + +inline int3 operator+(int3 a, int3 b) +{ + return bt3dGrid_make_int3(a.x + b.x, a.y + b.y, a.z + b.z); +} + +inline float4 operator+(const float4& a, const float4& b) +{ + float4 r; r.x = a.x+b.x; r.y = a.y+b.y; r.z = a.z+b.z; r.w = a.w+b.w; return r; +} +inline float4 operator*(const float4& a, float fact) +{ + float4 r; r.x = a.x*fact; r.y = a.y*fact; r.z = a.z*fact; r.w = a.w*fact; return r; +} +inline float4 operator*(float fact, float4& a) +{ + return (a * fact); +} +inline float4& operator*=(float4& a, float fact) +{ + a = fact * a; + return a; +} +inline float4& operator+=(float4& a, const float4& b) +{ + a = a + b; + return a; +} + +inline float3 operator+(const float3& a, const float3& b) +{ + float3 r; r.x = a.x+b.x; r.y = a.y+b.y; r.z = a.z+b.z; return r; +} +inline float3 operator-(const float3& a, const float3& b) +{ + float3 r; r.x = a.x-b.x; r.y = a.y-b.y; r.z = a.z-b.z; return r; +} +static inline float bt3dGrid_dot(float3& a, float3& b) +{ + return a.x*b.x+a.y*b.y+a.z*b.z; +} +#define BT_GPU_dot(a,b) bt3dGrid_dot(a,b) + +static inline float bt3dGrid_dot4(float4& a, float4& b) +{ + return a.x*b.x+a.y*b.y+a.z*b.z+a.w*b.w; +} +#define BT_GPU_dot4(a,b) bt3dGrid_dot4(a,b) + +static inline float3 bt3dGrid_cross(const float3& a, const float3& b) +{ + float3 r; r.x = a.y*b.z-a.z*b.y; r.y = -a.x*b.z+a.z*b.x; r.z = a.x*b.y-a.y*b.x; return r; +} +#define BT_GPU_cross(a,b) bt3dGrid_cross(a,b) + + +inline float3 operator*(const float3& a, float fact) +{ + float3 r; r.x = a.x*fact; r.y = a.y*fact; r.z = a.z*fact; return r; +} + + +inline float3& operator+=(float3& a, const float3& b) +{ + a = a + b; + return a; +} +inline float3& operator-=(float3& a, const float3& b) +{ + a = a - b; + return a; +} +inline float3& operator*=(float3& a, float fact) +{ + a = a * fact; + return a; +} +inline float3 operator-(const float3& v) +{ + float3 r; r.x = -v.x; r.y = -v.y; r.z = -v.z; return r; +} + + +#define BT_GPU_FETCH(a, b) a[b] +#define BT_GPU_FETCH4(a, b) a[b] +#define BT_GPU_PREF(func) btGpu_##func +#define BT_GPU_SAFE_CALL(func) func +#define BT_GPU_Memset memset +#define BT_GPU_MemcpyToSymbol(a, b, c) memcpy(&a, b, c) +#define BT_GPU_BindTexture(a, b, c, d) +#define BT_GPU_UnbindTexture(a) + +static uint2 s_blockIdx, s_blockDim, s_threadIdx; +#define BT_GPU_blockIdx s_blockIdx +#define BT_GPU_blockDim s_blockDim +#define BT_GPU_threadIdx s_threadIdx +#define BT_GPU_EXECKERNEL(numb, numt, kfunc, args) {s_blockDim.x=numt;for(int nb=0;nb>4)!=0;} +SIMD_FORCE_INLINE uint32_t pfxGetContactId1(const PfxBroadphasePair &pair) {return pair.get32(2);} + + + +#if defined(__PPU__) || defined (__SPU__) +ATTRIBUTE_ALIGNED128(struct) PfxSolverBody { +#else +ATTRIBUTE_ALIGNED16(struct) PfxSolverBody { +#endif + vmVector3 mDeltaLinearVelocity; + vmVector3 mDeltaAngularVelocity; + vmMatrix3 mInertiaInv; + vmQuat mOrientation; + float mMassInv; + float friction; + float restitution; + float unused; + float unused2; + float unused3; + float unused4; + float unused5; +}; + + +#ifdef __PPU__ +#include "SpuDispatch/BulletPE2ConstraintSolverSpursSupport.h" +#endif + +static SIMD_FORCE_INLINE vmVector3 btReadVector3(const double* p) +{ + float tmp[3] = {float(p[0]),float(p[1]),float(p[2])}; + vmVector3 v; + loadXYZ(v, tmp); + return v; +} + +static SIMD_FORCE_INLINE vmQuat btReadQuat(const double* p) +{ + float tmp[4] = {float(p[0]),float(p[1]),float(p[2]),float(p[4])}; + vmQuat vq; + loadXYZW(vq, tmp); + return vq; +} + +static SIMD_FORCE_INLINE void btStoreVector3(const vmVector3 &src, double* p) +{ + float tmp[3]; + vmVector3 v = src; + storeXYZ(v, tmp); + p[0] = tmp[0]; + p[1] = tmp[1]; + p[2] = tmp[2]; +} + + +static SIMD_FORCE_INLINE vmVector3 btReadVector3(const float* p) +{ + vmVector3 v; + loadXYZ(v, p); + return v; +} + +static SIMD_FORCE_INLINE vmQuat btReadQuat(const float* p) +{ + vmQuat vq; + loadXYZW(vq, p); + return vq; +} + +static SIMD_FORCE_INLINE void btStoreVector3(const vmVector3 &src, float* p) +{ + vmVector3 v = src; + storeXYZ(v, p); +} + + + + +class btPersistentManifold; + +enum { + PFX_CONSTRAINT_SOLVER_CMD_SETUP_SOLVER_BODIES, + PFX_CONSTRAINT_SOLVER_CMD_SETUP_CONTACT_CONSTRAINTS, + PFX_CONSTRAINT_SOLVER_CMD_SETUP_JOINT_CONSTRAINTS, + PFX_CONSTRAINT_SOLVER_CMD_SOLVE_CONSTRAINTS, + PFX_CONSTRAINT_SOLVER_CMD_POST_SOLVER +}; + + +struct PfxSetupContactConstraintsIO { + PfxConstraintPair *offsetContactPairs; + uint32_t numContactPairs1; + class TrbState *offsetRigStates; + struct PfxSolverBody *offsetSolverBodies; + uint32_t numRigidBodies; + float separateBias; + float timeStep; + class btCriticalSection* criticalSection; +}; + + + +struct PfxSolveConstraintsIO { + PfxParallelGroup *contactParallelGroup; + PfxParallelBatch *contactParallelBatches; + PfxConstraintPair *contactPairs; + uint32_t numContactPairs; + btPersistentManifold *offsetContactManifolds; + PfxParallelGroup *jointParallelGroup; + PfxParallelBatch *jointParallelBatches; + PfxConstraintPair *jointPairs; + uint32_t numJointPairs; + TrbState *offsetRigStates; + PfxSolverBody *offsetSolverBodies; + uint32_t numRigidBodies; + uint32_t iteration; + + uint32_t taskId; + + class btBarrier* barrier; + +}; + +struct PfxPostSolverIO { + TrbState *states; + PfxSolverBody *solverBodies; + uint32_t numRigidBodies; +}; + +ATTRIBUTE_ALIGNED16(struct) btConstraintSolverIO { + uint8_t cmd; + union { + PfxSetupContactConstraintsIO setupContactConstraints; + PfxSolveConstraintsIO solveConstraints; + PfxPostSolverIO postSolver; + }; + + //SPU only + uint32_t barrierAddr2; + uint32_t criticalsectionAddr2; + uint32_t maxTasks1; +}; + + + + +void SolverThreadFunc(void* userPtr,void* lsMemory); +void* SolverlsMemoryFunc(); +///The btParallelConstraintSolver performs computations on constraint rows in parallel +///Using the cross-platform threading it supports Windows, Linux, Mac OSX and PlayStation 3 Cell SPUs +class btParallelConstraintSolver : public btSequentialImpulseConstraintSolver +{ + +protected: + struct btParallelSolverMemoryCache* m_memoryCache; + + class btThreadSupportInterface* m_solverThreadSupport; + + struct btConstraintSolverIO* m_solverIO; + class btBarrier* m_barrier; + class btCriticalSection* m_criticalSection; + + +public: + + btParallelConstraintSolver(class btThreadSupportInterface* solverThreadSupport); + + virtual ~btParallelConstraintSolver(); + + virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher); + +}; + + + +#endif //__BT_PARALLEL_CONSTRAINT_SOLVER_H \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btThreadSupportInterface.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btThreadSupportInterface.h new file mode 100644 index 0000000..d9ee292 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/btThreadSupportInterface.h @@ -0,0 +1,85 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#ifndef THREAD_SUPPORT_INTERFACE_H +#define THREAD_SUPPORT_INTERFACE_H + + +#include //for ATTRIBUTE_ALIGNED16 +#include "PlatformDefinitions.h" +#include "PpuAddressSpace.h" + +class btBarrier { +public: + btBarrier() {} + virtual ~btBarrier() {} + + virtual void sync() = 0; + virtual void setMaxCount(int n) = 0; + virtual int getMaxCount() = 0; +}; + +class btCriticalSection { +public: + btCriticalSection() {} + virtual ~btCriticalSection() {} + + ATTRIBUTE_ALIGNED16(unsigned int mCommonBuff[32]); + + virtual unsigned int getSharedParam(int i) = 0; + virtual void setSharedParam(int i,unsigned int p) = 0; + + virtual void lock() = 0; + virtual void unlock() = 0; +}; + + +class btThreadSupportInterface +{ +public: + + virtual ~btThreadSupportInterface(); + +///send messages to SPUs + virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1) =0; + +///check for messages from SPUs + virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1) =0; + + + ///non-blocking test if a task is completed. First implement all versions, and then enable this API + ///virtual bool isTaskCompleted(unsigned int *puiArgument0, unsigned int *puiArgument1, int timeOutInMilliseconds)=0; + +///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) + virtual void startSPU() =0; + +///tell the task scheduler we are done with the SPU tasks + virtual void stopSPU()=0; + + ///tell the task scheduler to use no more than numTasks tasks + virtual void setNumTasks(int numTasks)=0; + + virtual int getNumTasks() const = 0; + + virtual btBarrier* createBarrier() = 0; + + virtual btCriticalSection* createCriticalSection() = 0; + + virtual void* getThreadLocalMemory(int taskId) { return 0; } + +}; + +#endif //THREAD_SUPPORT_INTERFACE_H + diff --git a/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/vectormath2bullet.h b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/vectormath2bullet.h new file mode 100644 index 0000000..16e7301 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletMultiThreaded/vectormath2bullet.h @@ -0,0 +1,74 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef AOS_VECTORMATH_BULLET_CONVERT_H +#define AOS_VECTORMATH_BULLET_CONVERT_H + + +#include "vectormath/vmInclude.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btQuaternion.h" +#include "LinearMath/btMatrix3x3.h" + +inline Vectormath::Aos::Vector3 getVmVector3(const btVector3& bulletVec) +{ + return Vectormath::Aos::Vector3(bulletVec.getX(),bulletVec.getY(),bulletVec.getZ()); +} + +inline btVector3 getBtVector3(const Vectormath::Aos::Vector3& vmVec) +{ + return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ()); +} +inline btVector3 getBtVector3(const Vectormath::Aos::Point3& vmVec) +{ + return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ()); +} + +inline Vectormath::Aos::Quat getVmQuat(const btQuaternion& bulletQuat) +{ + Vectormath::Aos::Quat vmQuat(bulletQuat.getX(),bulletQuat.getY(),bulletQuat.getZ(),bulletQuat.getW()); + return vmQuat; +} + +inline btQuaternion getBtQuat(const Vectormath::Aos::Quat& vmQuat) +{ + return btQuaternion (vmQuat.getX(),vmQuat.getY(),vmQuat.getZ(),vmQuat.getW()); +} + +inline Vectormath::Aos::Matrix3 getVmMatrix3(const btMatrix3x3& btMat) +{ + Vectormath::Aos::Matrix3 mat( + getVmVector3(btMat.getColumn(0)), + getVmVector3(btMat.getColumn(1)), + getVmVector3(btMat.getColumn(2))); + return mat; +} + + +#endif //AOS_VECTORMATH_BULLET_CONVERT_H diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/BulletSoftBody.vcxproj b/Mod Sources/Bullet/include/bullet/BulletSoftBody/BulletSoftBody.vcxproj new file mode 100644 index 0000000..cf4b1c3 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/BulletSoftBody.vcxproj @@ -0,0 +1,287 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + MinSizeRel + Win32 + + + RelWithDebInfo + Win32 + + + + {22D04CA3-8380-4F14-9C57-C75321207A60} + Win32Proj + Win32 + BulletSoftBody + + + + StaticLibrary + false + MultiByte + + + StaticLibrary + false + MultiByte + + + StaticLibrary + false + MultiByte + + + StaticLibrary + false + MultiByte + + + + + + + + + <_ProjectFileVersion>10.0.20506.1 + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\lib\Debug\ + BulletSoftBody.dir\Debug\ + BulletSoftBody + .lib + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\lib\Release\ + BulletSoftBody.dir\Release\ + BulletSoftBody + .lib + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\lib\MinSizeRel\ + BulletSoftBody.dir\MinSizeRel\ + BulletSoftBody + .lib + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\lib\RelWithDebInfo\ + BulletSoftBody.dir\RelWithDebInfo\ + BulletSoftBody + .lib + + + + /Zm1000 %(AdditionalOptions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + EnableFastChecks + CompileAsCpp + ProgramDatabase + StreamingSIMDExtensions + Sync + Fast + Disabled + Disabled + NotUsing + MultiThreadedDebugDLL + true + Level3 + WIN32;_DEBUG;_DEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="Debug";%(PreprocessorDefinitions) + Debug + $(IntDir) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/lib/Debug/BulletSoftBody.pdb + + + WIN32;_DEBUG;_DEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"Debug\";%(PreprocessorDefinitions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + + + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + /Zm1000 %(AdditionalOptions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + CompileAsCpp + StreamingSIMDExtensions + Sync + Fast + AnySuitable + MaxSpeed + NotUsing + MultiThreadedDLL + true + Level3 + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="Release";%(PreprocessorDefinitions) + Release + $(IntDir) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/lib/Release/BulletSoftBody.pdb + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"Release\";%(PreprocessorDefinitions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + + + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + /Zm1000 %(AdditionalOptions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + CompileAsCpp + StreamingSIMDExtensions + Sync + Fast + OnlyExplicitInline + MinSpace + NotUsing + MultiThreadedDLL + true + Level3 + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="MinSizeRel";%(PreprocessorDefinitions) + MinSizeRel + $(IntDir) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/lib/MinSizeRel/BulletSoftBody.pdb + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"MinSizeRel\";%(PreprocessorDefinitions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + + + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + /Zm1000 %(AdditionalOptions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + CompileAsCpp + ProgramDatabase + StreamingSIMDExtensions + Sync + Fast + OnlyExplicitInline + MaxSpeed + NotUsing + MultiThreadedDLL + true + Level3 + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="RelWithDebInfo";%(PreprocessorDefinitions) + RelWithDebInfo + $(IntDir) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/lib/RelWithDebInfo/BulletSoftBody.pdb + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"RelWithDebInfo\";%(PreprocessorDefinitions) + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + + + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/Glut;C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + Building Custom Rule C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletSoftBody/CMakeLists.txt + setlocal +"C:\Program Files\CMake 2.8\bin\cmake.exe" "-HC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" "-BC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" --check-stamp-file "C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeFiles\generate.stamp" +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletSoftBody/CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeLists.txt;%(AdditionalInputs) + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeFiles\generate.stamp + Building Custom Rule C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletSoftBody/CMakeLists.txt + setlocal +"C:\Program Files\CMake 2.8\bin\cmake.exe" "-HC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" "-BC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" --check-stamp-file "C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeFiles\generate.stamp" +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletSoftBody/CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeLists.txt;%(AdditionalInputs) + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeFiles\generate.stamp + Building Custom Rule C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletSoftBody/CMakeLists.txt + setlocal +"C:\Program Files\CMake 2.8\bin\cmake.exe" "-HC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" "-BC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" --check-stamp-file "C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeFiles\generate.stamp" +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletSoftBody/CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeLists.txt;%(AdditionalInputs) + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeFiles\generate.stamp + Building Custom Rule C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletSoftBody/CMakeLists.txt + setlocal +"C:\Program Files\CMake 2.8\bin\cmake.exe" "-HC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" "-BC:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77" --check-stamp-file "C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeFiles\generate.stamp" +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletSoftBody/CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeLists.txt;C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeLists.txt;%(AdditionalInputs) + C:\Documents and Settings\Robert MacGregor\Desktop\bullet-2.77\src\BulletSoftBody\CMakeFiles\generate.stamp + + + + + + + + + + + + + + + + + + + + + + + + + + C0E57694-ABCD-4C08-B9A4-F249AD836120 + + + + + + \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/BulletSoftBody.vcxproj.filters b/Mod Sources/Bullet/include/bullet/BulletSoftBody/BulletSoftBody.vcxproj.filters new file mode 100644 index 0000000..5cd615c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/BulletSoftBody.vcxproj.filters @@ -0,0 +1,75 @@ + + + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + + + + + + {C487BFC5-6BC8-47B3-88D6-C5D9B883A3BD} + + + {30F7A2E9-D73F-45A4-9CAC-B039D62294E1} + + + diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/BulletSoftBody.vcxproj.user b/Mod Sources/Bullet/include/bullet/BulletSoftBody/BulletSoftBody.vcxproj.user new file mode 100644 index 0000000..ace9a86 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/BulletSoftBody.vcxproj.user @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/CMakeLists.txt b/Mod Sources/Bullet/include/bullet/BulletSoftBody/CMakeLists.txt new file mode 100644 index 0000000..466e40b --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/CMakeLists.txt @@ -0,0 +1,64 @@ + +INCLUDE_DIRECTORIES( +${BULLET_PHYSICS_SOURCE_DIR}/src + +) + +#SUBDIRS( Solvers ) + +SET(BulletSoftBody_SRCS + btSoftBody.cpp + btSoftBodyConcaveCollisionAlgorithm.cpp + btSoftBodyHelpers.cpp + btSoftBodyRigidBodyCollisionConfiguration.cpp + btSoftRigidCollisionAlgorithm.cpp + btSoftRigidDynamicsWorld.cpp + btSoftSoftCollisionAlgorithm.cpp + btDefaultSoftBodySolver.cpp + +) + +SET(BulletSoftBody_HDRS + btSoftBody.h + btSoftBodyConcaveCollisionAlgorithm.h + btSoftBodyHelpers.h + btSoftBodyRigidBodyCollisionConfiguration.h + btSoftRigidCollisionAlgorithm.h + btSoftRigidDynamicsWorld.h + btSoftSoftCollisionAlgorithm.h + btSparseSDF.h + + btSoftBodySolvers.h + btDefaultSoftBodySolver.h + + btSoftBodySolverVertexBuffer.h +) + + + +ADD_LIBRARY(BulletSoftBody ${BulletSoftBody_SRCS} ${BulletSoftBody_HDRS}) +SET_TARGET_PROPERTIES(BulletSoftBody PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(BulletSoftBody PROPERTIES SOVERSION ${BULLET_VERSION}) +IF (BUILD_SHARED_LIBS) + TARGET_LINK_LIBRARIES(BulletSoftBody BulletDynamics) +ENDIF (BUILD_SHARED_LIBS) + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBody DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBody DESTINATION lib${LIB_SUFFIX}) + INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} +DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN +".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE) + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(BulletSoftBody PROPERTIES FRAMEWORK true) + SET_TARGET_PROPERTIES(BulletSoftBody PROPERTIES PUBLIC_HEADER "${BulletSoftBody_HDRS}") + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/btDefaultSoftBodySolver.h b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btDefaultSoftBodySolver.h new file mode 100644 index 0000000..93c1ff0 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btDefaultSoftBodySolver.h @@ -0,0 +1,51 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFT_BODY_DEFAULT_SOLVER_H +#define BT_SOFT_BODY_DEFAULT_SOLVER_H + + +#include "BulletSoftBody/btSoftBodySolvers.h" +#include "btSoftBodySolverVertexBuffer.h" + + +class btDefaultSoftBodySolver : public btSoftBodySolver +{ +protected: + /** Variable to define whether we need to update solver constants on the next iteration */ + bool m_updateSolverConstants; + + btAlignedObjectArray< btSoftBody * > m_softBodySet; + + +public: + btDefaultSoftBodySolver(); + + virtual ~btDefaultSoftBodySolver(); + + virtual bool checkInitialized(); + + virtual void updateSoftBodies( ); + + virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies ); + + virtual void solveConstraints( float solverdt ); + + virtual void predictMotion( float solverdt ); + + virtual void copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer ); +}; + +#endif // #ifndef BT_ACCELERATED_SOFT_BODY_CPU_SOLVER_H diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBody.h b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBody.h new file mode 100644 index 0000000..4d975b7 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBody.h @@ -0,0 +1,911 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +///btSoftBody implementation by Nathanael Presson + +#ifndef _BT_SOFT_BODY_H +#define _BT_SOFT_BODY_H + +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btIDebugDraw.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" + +#include "BulletCollision/CollisionShapes/btConcaveShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "btSparseSDF.h" +#include "BulletCollision/BroadphaseCollision/btDbvt.h" + +class btBroadphaseInterface; +class btDispatcher; + + +/* btSoftBodyWorldInfo */ +struct btSoftBodyWorldInfo +{ + btScalar air_density; + btScalar water_density; + btScalar water_offset; + btVector3 water_normal; + btBroadphaseInterface* m_broadphase; + btDispatcher* m_dispatcher; + btVector3 m_gravity; + btSparseSdf<3> m_sparsesdf; +}; + + +///The btSoftBody is an class to simulate cloth and volumetric soft bodies. +///There is two-way interaction between btSoftBody and btRigidBody/btCollisionObject. +class btSoftBody : public btCollisionObject +{ +public: + btAlignedObjectArray m_collisionDisabledObjects; + + // + // Enumerations + // + + ///eAeroModel + struct eAeroModel { enum _ { + V_Point, ///Vertex normals are oriented toward velocity + V_TwoSided, ///Vertex normals are fliped to match velocity + V_OneSided, ///Vertex normals are taken as it is + F_TwoSided, ///Face normals are fliped to match velocity + F_OneSided, ///Face normals are taken as it is + END + };}; + + ///eVSolver : velocities solvers + struct eVSolver { enum _ { + Linear, ///Linear solver + END + };}; + + ///ePSolver : positions solvers + struct ePSolver { enum _ { + Linear, ///Linear solver + Anchors, ///Anchor solver + RContacts, ///Rigid contacts solver + SContacts, ///Soft contacts solver + END + };}; + + ///eSolverPresets + struct eSolverPresets { enum _ { + Positions, + Velocities, + Default = Positions, + END + };}; + + ///eFeature + struct eFeature { enum _ { + None, + Node, + Link, + Face, + END + };}; + + typedef btAlignedObjectArray tVSolverArray; + typedef btAlignedObjectArray tPSolverArray; + + // + // Flags + // + + ///fCollision + struct fCollision { enum _ { + RVSmask = 0x000f, ///Rigid versus soft mask + SDF_RS = 0x0001, ///SDF based rigid vs soft + CL_RS = 0x0002, ///Cluster vs convex rigid vs soft + + SVSmask = 0x0030, ///Rigid versus soft mask + VF_SS = 0x0010, ///Vertex vs face soft vs soft handling + CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling + CL_SELF = 0x0040, ///Cluster soft body self collision + /* presets */ + Default = SDF_RS, + END + };}; + + ///fMaterial + struct fMaterial { enum _ { + DebugDraw = 0x0001, /// Enable debug draw + /* presets */ + Default = DebugDraw, + END + };}; + + // + // API Types + // + + /* sRayCast */ + struct sRayCast + { + btSoftBody* body; /// soft body + eFeature::_ feature; /// feature type + int index; /// feature index + btScalar fraction; /// time of impact fraction (rayorg+(rayto-rayfrom)*fraction) + }; + + /* ImplicitFn */ + struct ImplicitFn + { + virtual btScalar Eval(const btVector3& x)=0; + }; + + // + // Internal types + // + + typedef btAlignedObjectArray tScalarArray; + typedef btAlignedObjectArray tVector3Array; + + /* sCti is Softbody contact info */ + struct sCti + { + btCollisionObject* m_colObj; /* Rigid body */ + btVector3 m_normal; /* Outward normal */ + btScalar m_offset; /* Offset from origin */ + }; + + /* sMedium */ + struct sMedium + { + btVector3 m_velocity; /* Velocity */ + btScalar m_pressure; /* Pressure */ + btScalar m_density; /* Density */ + }; + + /* Base type */ + struct Element + { + void* m_tag; // User data + Element() : m_tag(0) {} + }; + /* Material */ + struct Material : Element + { + btScalar m_kLST; // Linear stiffness coefficient [0,1] + btScalar m_kAST; // Area/Angular stiffness coefficient [0,1] + btScalar m_kVST; // Volume stiffness coefficient [0,1] + int m_flags; // Flags + }; + + /* Feature */ + struct Feature : Element + { + Material* m_material; // Material + }; + /* Node */ + struct Node : Feature + { + btVector3 m_x; // Position + btVector3 m_q; // Previous step position + btVector3 m_v; // Velocity + btVector3 m_f; // Force accumulator + btVector3 m_n; // Normal + btScalar m_im; // 1/mass + btScalar m_area; // Area + btDbvtNode* m_leaf; // Leaf data + int m_battach:1; // Attached + }; + /* Link */ + struct Link : Feature + { + Node* m_n[2]; // Node pointers + btScalar m_rl; // Rest length + int m_bbending:1; // Bending link + btScalar m_c0; // (ima+imb)*kLST + btScalar m_c1; // rl^2 + btScalar m_c2; // |gradient|^2/c0 + btVector3 m_c3; // gradient + }; + /* Face */ + struct Face : Feature + { + Node* m_n[3]; // Node pointers + btVector3 m_normal; // Normal + btScalar m_ra; // Rest area + btDbvtNode* m_leaf; // Leaf data + }; + /* Tetra */ + struct Tetra : Feature + { + Node* m_n[4]; // Node pointers + btScalar m_rv; // Rest volume + btDbvtNode* m_leaf; // Leaf data + btVector3 m_c0[4]; // gradients + btScalar m_c1; // (4*kVST)/(im0+im1+im2+im3) + btScalar m_c2; // m_c1/sum(|g0..3|^2) + }; + /* RContact */ + struct RContact + { + sCti m_cti; // Contact infos + Node* m_node; // Owner node + btMatrix3x3 m_c0; // Impulse matrix + btVector3 m_c1; // Relative anchor + btScalar m_c2; // ima*dt + btScalar m_c3; // Friction + btScalar m_c4; // Hardness + }; + /* SContact */ + struct SContact + { + Node* m_node; // Node + Face* m_face; // Face + btVector3 m_weights; // Weigths + btVector3 m_normal; // Normal + btScalar m_margin; // Margin + btScalar m_friction; // Friction + btScalar m_cfm[2]; // Constraint force mixing + }; + /* Anchor */ + struct Anchor + { + Node* m_node; // Node pointer + btVector3 m_local; // Anchor position in body space + btRigidBody* m_body; // Body + btMatrix3x3 m_c0; // Impulse matrix + btVector3 m_c1; // Relative anchor + btScalar m_c2; // ima*dt + }; + /* Note */ + struct Note : Element + { + const char* m_text; // Text + btVector3 m_offset; // Offset + int m_rank; // Rank + Node* m_nodes[4]; // Nodes + btScalar m_coords[4]; // Coordinates + }; + /* Pose */ + struct Pose + { + bool m_bvolume; // Is valid + bool m_bframe; // Is frame + btScalar m_volume; // Rest volume + tVector3Array m_pos; // Reference positions + tScalarArray m_wgh; // Weights + btVector3 m_com; // COM + btMatrix3x3 m_rot; // Rotation + btMatrix3x3 m_scl; // Scale + btMatrix3x3 m_aqq; // Base scaling + }; + /* Cluster */ + struct Cluster + { + btAlignedObjectArray m_nodes; + tScalarArray m_masses; + tVector3Array m_framerefs; + btTransform m_framexform; + btScalar m_idmass; + btScalar m_imass; + btMatrix3x3 m_locii; + btMatrix3x3 m_invwi; + btVector3 m_com; + btVector3 m_vimpulses[2]; + btVector3 m_dimpulses[2]; + int m_nvimpulses; + int m_ndimpulses; + btVector3 m_lv; + btVector3 m_av; + btDbvtNode* m_leaf; + btScalar m_ndamping; /* Node damping */ + btScalar m_ldamping; /* Linear damping */ + btScalar m_adamping; /* Angular damping */ + btScalar m_matching; + btScalar m_maxSelfCollisionImpulse; + btScalar m_selfCollisionImpulseFactor; + bool m_containsAnchor; + bool m_collide; + int m_clusterIndex; + Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0) + ,m_maxSelfCollisionImpulse(100.f), + m_selfCollisionImpulseFactor(0.01f), + m_containsAnchor(false) + {} + }; + /* Impulse */ + struct Impulse + { + btVector3 m_velocity; + btVector3 m_drift; + int m_asVelocity:1; + int m_asDrift:1; + Impulse() : m_velocity(0,0,0),m_drift(0,0,0),m_asVelocity(0),m_asDrift(0) {} + Impulse operator -() const + { + Impulse i=*this; + i.m_velocity=-i.m_velocity; + i.m_drift=-i.m_drift; + return(i); + } + Impulse operator*(btScalar x) const + { + Impulse i=*this; + i.m_velocity*=x; + i.m_drift*=x; + return(i); + } + }; + /* Body */ + struct Body + { + Cluster* m_soft; + btRigidBody* m_rigid; + btCollisionObject* m_collisionObject; + + Body() : m_soft(0),m_rigid(0),m_collisionObject(0) {} + Body(Cluster* p) : m_soft(p),m_rigid(0),m_collisionObject(0) {} + Body(btCollisionObject* colObj) : m_soft(0),m_collisionObject(colObj) + { + m_rigid = btRigidBody::upcast(m_collisionObject); + } + + void activate() const + { + if(m_rigid) m_rigid->activate(); + } + const btMatrix3x3& invWorldInertia() const + { + static const btMatrix3x3 iwi(0,0,0,0,0,0,0,0,0); + if(m_rigid) return(m_rigid->getInvInertiaTensorWorld()); + if(m_soft) return(m_soft->m_invwi); + return(iwi); + } + btScalar invMass() const + { + if(m_rigid) return(m_rigid->getInvMass()); + if(m_soft) return(m_soft->m_imass); + return(0); + } + const btTransform& xform() const + { + static const btTransform identity=btTransform::getIdentity(); + if(m_collisionObject) return(m_collisionObject->getInterpolationWorldTransform()); + if(m_soft) return(m_soft->m_framexform); + return(identity); + } + btVector3 linearVelocity() const + { + if(m_rigid) return(m_rigid->getLinearVelocity()); + if(m_soft) return(m_soft->m_lv); + return(btVector3(0,0,0)); + } + btVector3 angularVelocity(const btVector3& rpos) const + { + if(m_rigid) return(btCross(m_rigid->getAngularVelocity(),rpos)); + if(m_soft) return(btCross(m_soft->m_av,rpos)); + return(btVector3(0,0,0)); + } + btVector3 angularVelocity() const + { + if(m_rigid) return(m_rigid->getAngularVelocity()); + if(m_soft) return(m_soft->m_av); + return(btVector3(0,0,0)); + } + btVector3 velocity(const btVector3& rpos) const + { + return(linearVelocity()+angularVelocity(rpos)); + } + void applyVImpulse(const btVector3& impulse,const btVector3& rpos) const + { + if(m_rigid) m_rigid->applyImpulse(impulse,rpos); + if(m_soft) btSoftBody::clusterVImpulse(m_soft,rpos,impulse); + } + void applyDImpulse(const btVector3& impulse,const btVector3& rpos) const + { + if(m_rigid) m_rigid->applyImpulse(impulse,rpos); + if(m_soft) btSoftBody::clusterDImpulse(m_soft,rpos,impulse); + } + void applyImpulse(const Impulse& impulse,const btVector3& rpos) const + { + if(impulse.m_asVelocity) + { +// printf("impulse.m_velocity = %f,%f,%f\n",impulse.m_velocity.getX(),impulse.m_velocity.getY(),impulse.m_velocity.getZ()); + applyVImpulse(impulse.m_velocity,rpos); + } + if(impulse.m_asDrift) + { +// printf("impulse.m_drift = %f,%f,%f\n",impulse.m_drift.getX(),impulse.m_drift.getY(),impulse.m_drift.getZ()); + applyDImpulse(impulse.m_drift,rpos); + } + } + void applyVAImpulse(const btVector3& impulse) const + { + if(m_rigid) m_rigid->applyTorqueImpulse(impulse); + if(m_soft) btSoftBody::clusterVAImpulse(m_soft,impulse); + } + void applyDAImpulse(const btVector3& impulse) const + { + if(m_rigid) m_rigid->applyTorqueImpulse(impulse); + if(m_soft) btSoftBody::clusterDAImpulse(m_soft,impulse); + } + void applyAImpulse(const Impulse& impulse) const + { + if(impulse.m_asVelocity) applyVAImpulse(impulse.m_velocity); + if(impulse.m_asDrift) applyDAImpulse(impulse.m_drift); + } + void applyDCImpulse(const btVector3& impulse) const + { + if(m_rigid) m_rigid->applyCentralImpulse(impulse); + if(m_soft) btSoftBody::clusterDCImpulse(m_soft,impulse); + } + }; + /* Joint */ + struct Joint + { + struct eType { enum _ { + Linear, + Angular, + Contact + };}; + struct Specs + { + Specs() : erp(1),cfm(1),split(1) {} + btScalar erp; + btScalar cfm; + btScalar split; + }; + Body m_bodies[2]; + btVector3 m_refs[2]; + btScalar m_cfm; + btScalar m_erp; + btScalar m_split; + btVector3 m_drift; + btVector3 m_sdrift; + btMatrix3x3 m_massmatrix; + bool m_delete; + virtual ~Joint() {} + Joint() : m_delete(false) {} + virtual void Prepare(btScalar dt,int iterations); + virtual void Solve(btScalar dt,btScalar sor)=0; + virtual void Terminate(btScalar dt)=0; + virtual eType::_ Type() const=0; + }; + /* LJoint */ + struct LJoint : Joint + { + struct Specs : Joint::Specs + { + btVector3 position; + }; + btVector3 m_rpos[2]; + void Prepare(btScalar dt,int iterations); + void Solve(btScalar dt,btScalar sor); + void Terminate(btScalar dt); + eType::_ Type() const { return(eType::Linear); } + }; + /* AJoint */ + struct AJoint : Joint + { + struct IControl + { + virtual void Prepare(AJoint*) {} + virtual btScalar Speed(AJoint*,btScalar current) { return(current); } + static IControl* Default() { static IControl def;return(&def); } + }; + struct Specs : Joint::Specs + { + Specs() : icontrol(IControl::Default()) {} + btVector3 axis; + IControl* icontrol; + }; + btVector3 m_axis[2]; + IControl* m_icontrol; + void Prepare(btScalar dt,int iterations); + void Solve(btScalar dt,btScalar sor); + void Terminate(btScalar dt); + eType::_ Type() const { return(eType::Angular); } + }; + /* CJoint */ + struct CJoint : Joint + { + int m_life; + int m_maxlife; + btVector3 m_rpos[2]; + btVector3 m_normal; + btScalar m_friction; + void Prepare(btScalar dt,int iterations); + void Solve(btScalar dt,btScalar sor); + void Terminate(btScalar dt); + eType::_ Type() const { return(eType::Contact); } + }; + /* Config */ + struct Config + { + eAeroModel::_ aeromodel; // Aerodynamic model (default: V_Point) + btScalar kVCF; // Velocities correction factor (Baumgarte) + btScalar kDP; // Damping coefficient [0,1] + btScalar kDG; // Drag coefficient [0,+inf] + btScalar kLF; // Lift coefficient [0,+inf] + btScalar kPR; // Pressure coefficient [-inf,+inf] + btScalar kVC; // Volume conversation coefficient [0,+inf] + btScalar kDF; // Dynamic friction coefficient [0,1] + btScalar kMT; // Pose matching coefficient [0,1] + btScalar kCHR; // Rigid contacts hardness [0,1] + btScalar kKHR; // Kinetic contacts hardness [0,1] + btScalar kSHR; // Soft contacts hardness [0,1] + btScalar kAHR; // Anchors hardness [0,1] + btScalar kSRHR_CL; // Soft vs rigid hardness [0,1] (cluster only) + btScalar kSKHR_CL; // Soft vs kinetic hardness [0,1] (cluster only) + btScalar kSSHR_CL; // Soft vs soft hardness [0,1] (cluster only) + btScalar kSR_SPLT_CL; // Soft vs rigid impulse split [0,1] (cluster only) + btScalar kSK_SPLT_CL; // Soft vs rigid impulse split [0,1] (cluster only) + btScalar kSS_SPLT_CL; // Soft vs rigid impulse split [0,1] (cluster only) + btScalar maxvolume; // Maximum volume ratio for pose + btScalar timescale; // Time scale + int viterations; // Velocities solver iterations + int piterations; // Positions solver iterations + int diterations; // Drift solver iterations + int citerations; // Cluster solver iterations + int collisions; // Collisions flags + tVSolverArray m_vsequence; // Velocity solvers sequence + tPSolverArray m_psequence; // Position solvers sequence + tPSolverArray m_dsequence; // Drift solvers sequence + }; + /* SolverState */ + struct SolverState + { + btScalar sdt; // dt*timescale + btScalar isdt; // 1/sdt + btScalar velmrg; // velocity margin + btScalar radmrg; // radial margin + btScalar updmrg; // Update margin + }; + /// RayFromToCaster takes a ray from, ray to (instead of direction!) + struct RayFromToCaster : btDbvt::ICollide + { + btVector3 m_rayFrom; + btVector3 m_rayTo; + btVector3 m_rayNormalizedDirection; + btScalar m_mint; + Face* m_face; + int m_tests; + RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt); + void Process(const btDbvtNode* leaf); + + static inline btScalar rayFromToTriangle(const btVector3& rayFrom, + const btVector3& rayTo, + const btVector3& rayNormalizedDirection, + const btVector3& a, + const btVector3& b, + const btVector3& c, + btScalar maxt=SIMD_INFINITY); + }; + + // + // Typedefs + // + + typedef void (*psolver_t)(btSoftBody*,btScalar,btScalar); + typedef void (*vsolver_t)(btSoftBody*,btScalar); + typedef btAlignedObjectArray tClusterArray; + typedef btAlignedObjectArray tNoteArray; + typedef btAlignedObjectArray tNodeArray; + typedef btAlignedObjectArray tLeafArray; + typedef btAlignedObjectArray tLinkArray; + typedef btAlignedObjectArray tFaceArray; + typedef btAlignedObjectArray tTetraArray; + typedef btAlignedObjectArray tAnchorArray; + typedef btAlignedObjectArray tRContactArray; + typedef btAlignedObjectArray tSContactArray; + typedef btAlignedObjectArray tMaterialArray; + typedef btAlignedObjectArray tJointArray; + typedef btAlignedObjectArray tSoftBodyArray; + + // + // Fields + // + + Config m_cfg; // Configuration + SolverState m_sst; // Solver state + Pose m_pose; // Pose + void* m_tag; // User data + btSoftBodyWorldInfo* m_worldInfo; // World info + tNoteArray m_notes; // Notes + tNodeArray m_nodes; // Nodes + tLinkArray m_links; // Links + tFaceArray m_faces; // Faces + tTetraArray m_tetras; // Tetras + tAnchorArray m_anchors; // Anchors + tRContactArray m_rcontacts; // Rigid contacts + tSContactArray m_scontacts; // Soft contacts + tJointArray m_joints; // Joints + tMaterialArray m_materials; // Materials + btScalar m_timeacc; // Time accumulator + btVector3 m_bounds[2]; // Spatial bounds + bool m_bUpdateRtCst; // Update runtime constants + btDbvt m_ndbvt; // Nodes tree + btDbvt m_fdbvt; // Faces tree + btDbvt m_cdbvt; // Clusters tree + tClusterArray m_clusters; // Clusters + + btAlignedObjectArraym_clusterConnectivity;//cluster connectivity, for self-collision + + btTransform m_initialWorldTransform; + + btVector3 m_windVelocity; + // + // Api + // + + /* ctor */ + btSoftBody( btSoftBodyWorldInfo* worldInfo,int node_count, + const btVector3* x, + const btScalar* m); + /* dtor */ + virtual ~btSoftBody(); + /* Check for existing link */ + + btAlignedObjectArray m_userIndexMapping; + + btSoftBodyWorldInfo* getWorldInfo() + { + return m_worldInfo; + } + + ///@todo: avoid internal softbody shape hack and move collision code to collision library + virtual void setCollisionShape(btCollisionShape* collisionShape) + { + + } + + bool checkLink( int node0, + int node1) const; + bool checkLink( const Node* node0, + const Node* node1) const; + /* Check for existring face */ + bool checkFace( int node0, + int node1, + int node2) const; + /* Append material */ + Material* appendMaterial(); + /* Append note */ + void appendNote( const char* text, + const btVector3& o, + const btVector4& c=btVector4(1,0,0,0), + Node* n0=0, + Node* n1=0, + Node* n2=0, + Node* n3=0); + void appendNote( const char* text, + const btVector3& o, + Node* feature); + void appendNote( const char* text, + const btVector3& o, + Link* feature); + void appendNote( const char* text, + const btVector3& o, + Face* feature); + /* Append node */ + void appendNode( const btVector3& x,btScalar m); + /* Append link */ + void appendLink(int model=-1,Material* mat=0); + void appendLink( int node0, + int node1, + Material* mat=0, + bool bcheckexist=false); + void appendLink( Node* node0, + Node* node1, + Material* mat=0, + bool bcheckexist=false); + /* Append face */ + void appendFace(int model=-1,Material* mat=0); + void appendFace( int node0, + int node1, + int node2, + Material* mat=0); + void appendTetra(int model,Material* mat); + // + void appendTetra(int node0, + int node1, + int node2, + int node3, + Material* mat=0); + + + /* Append anchor */ + void appendAnchor( int node, + btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false); + /* Append linear joint */ + void appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1); + void appendLinearJoint(const LJoint::Specs& specs,Body body=Body()); + void appendLinearJoint(const LJoint::Specs& specs,btSoftBody* body); + /* Append linear joint */ + void appendAngularJoint(const AJoint::Specs& specs,Cluster* body0,Body body1); + void appendAngularJoint(const AJoint::Specs& specs,Body body=Body()); + void appendAngularJoint(const AJoint::Specs& specs,btSoftBody* body); + /* Add force (or gravity) to the entire body */ + void addForce( const btVector3& force); + /* Add force (or gravity) to a node of the body */ + void addForce( const btVector3& force, + int node); + /* Add velocity to the entire body */ + void addVelocity( const btVector3& velocity); + + /* Set velocity for the entire body */ + void setVelocity( const btVector3& velocity); + + /* Add velocity to a node of the body */ + void addVelocity( const btVector3& velocity, + int node); + /* Set mass */ + void setMass( int node, + btScalar mass); + /* Get mass */ + btScalar getMass( int node) const; + /* Get total mass */ + btScalar getTotalMass() const; + /* Set total mass (weighted by previous masses) */ + void setTotalMass( btScalar mass, + bool fromfaces=false); + /* Set total density */ + void setTotalDensity(btScalar density); + /* Set volume mass (using tetrahedrons) */ + void setVolumeMass( btScalar mass); + /* Set volume density (using tetrahedrons) */ + void setVolumeDensity( btScalar density); + /* Transform */ + void transform( const btTransform& trs); + /* Translate */ + void translate( const btVector3& trs); + /* Rotate */ + void rotate( const btQuaternion& rot); + /* Scale */ + void scale( const btVector3& scl); + /* Set current state as pose */ + void setPose( bool bvolume, + bool bframe); + /* Return the volume */ + btScalar getVolume() const; + /* Cluster count */ + int clusterCount() const; + /* Cluster center of mass */ + static btVector3 clusterCom(const Cluster* cluster); + btVector3 clusterCom(int cluster) const; + /* Cluster velocity at rpos */ + static btVector3 clusterVelocity(const Cluster* cluster,const btVector3& rpos); + /* Cluster impulse */ + static void clusterVImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse); + static void clusterDImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse); + static void clusterImpulse(Cluster* cluster,const btVector3& rpos,const Impulse& impulse); + static void clusterVAImpulse(Cluster* cluster,const btVector3& impulse); + static void clusterDAImpulse(Cluster* cluster,const btVector3& impulse); + static void clusterAImpulse(Cluster* cluster,const Impulse& impulse); + static void clusterDCImpulse(Cluster* cluster,const btVector3& impulse); + /* Generate bending constraints based on distance in the adjency graph */ + int generateBendingConstraints( int distance, + Material* mat=0); + /* Randomize constraints to reduce solver bias */ + void randomizeConstraints(); + /* Release clusters */ + void releaseCluster(int index); + void releaseClusters(); + /* Generate clusters (K-mean) */ + ///generateClusters with k=0 will create a convex cluster for each tetrahedron or triangle + ///otherwise an approximation will be used (better performance) + int generateClusters(int k,int maxiterations=8192); + /* Refine */ + void refine(ImplicitFn* ifn,btScalar accurary,bool cut); + /* CutLink */ + bool cutLink(int node0,int node1,btScalar position); + bool cutLink(const Node* node0,const Node* node1,btScalar position); + + ///Ray casting using rayFrom and rayTo in worldspace, (not direction!) + bool rayTest(const btVector3& rayFrom, + const btVector3& rayTo, + sRayCast& results); + /* Solver presets */ + void setSolver(eSolverPresets::_ preset); + /* predictMotion */ + void predictMotion(btScalar dt); + /* solveConstraints */ + void solveConstraints(); + /* staticSolve */ + void staticSolve(int iterations); + /* solveCommonConstraints */ + static void solveCommonConstraints(btSoftBody** bodies,int count,int iterations); + /* solveClusters */ + static void solveClusters(const btAlignedObjectArray& bodies); + /* integrateMotion */ + void integrateMotion(); + /* defaultCollisionHandlers */ + void defaultCollisionHandler(btCollisionObject* pco); + void defaultCollisionHandler(btSoftBody* psb); + + + + // + // Functionality to deal with new accelerated solvers. + // + + /** + * Set a wind velocity for interaction with the air. + */ + void setWindVelocity( const btVector3 &velocity ); + + + /** + * Return the wind velocity for interaction with the air. + */ + const btVector3& getWindVelocity(); + + + // + // Cast + // + + static const btSoftBody* upcast(const btCollisionObject* colObj) + { + if (colObj->getInternalType()==CO_SOFT_BODY) + return (const btSoftBody*)colObj; + return 0; + } + static btSoftBody* upcast(btCollisionObject* colObj) + { + if (colObj->getInternalType()==CO_SOFT_BODY) + return (btSoftBody*)colObj; + return 0; + } + + // + // ::btCollisionObject + // + + virtual void getAabb(btVector3& aabbMin,btVector3& aabbMax) const + { + aabbMin = m_bounds[0]; + aabbMax = m_bounds[1]; + } + // + // Private + // + void pointersToIndices(); + void indicesToPointers(const int* map=0); + + int rayTest(const btVector3& rayFrom,const btVector3& rayTo, + btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const; + void initializeFaceTree(); + btVector3 evaluateCom() const; + bool checkContact(btCollisionObject* colObj,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const; + void updateNormals(); + void updateBounds(); + void updatePose(); + void updateConstants(); + void initializeClusters(); + void updateClusters(); + void cleanupClusters(); + void prepareClusters(int iterations); + void solveClusters(btScalar sor); + void applyClusters(bool drift); + void dampClusters(); + void applyForces(); + static void PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti); + static void PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti); + static void PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti); + static void PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti); + static void VSolve_Links(btSoftBody* psb,btScalar kst); + static psolver_t getSolver(ePSolver::_ solver); + static vsolver_t getSolver(eVSolver::_ solver); + +}; + + + +#endif //_BT_SOFT_BODY_H diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h new file mode 100644 index 0000000..a6ea337 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h @@ -0,0 +1,153 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H +#define SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/CollisionShapes/btTriangleCallback.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btDispatcher; +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +class btSoftBody; +class btCollisionShape; + +#include "LinearMath/btHashMap.h" + +#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS + +struct btTriIndex +{ + int m_PartIdTriangleIndex; + class btCollisionShape* m_childShape; + + btTriIndex(int partId,int triangleIndex,btCollisionShape* shape) + { + m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex; + m_childShape = shape; + } + + int getTriangleIndex() const + { + // Get only the lower bits where the triangle index is stored + return (m_PartIdTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS))); + } + int getPartId() const + { + // Get only the highest bits where the part index is stored + return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS)); + } + int getUid() const + { + return m_PartIdTriangleIndex; + } +}; + + +///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called. +class btSoftBodyTriangleCallback : public btTriangleCallback +{ + btSoftBody* m_softBody; + btCollisionObject* m_triBody; + + btVector3 m_aabbMin; + btVector3 m_aabbMax ; + + btManifoldResult* m_resultOut; + + btDispatcher* m_dispatcher; + const btDispatcherInfo* m_dispatchInfoPtr; + btScalar m_collisionMarginTriangle; + + btHashMap,btTriIndex> m_shapeCache; + +public: + int m_triangleCount; + + // btPersistentManifold* m_manifoldPtr; + + btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped); + + void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual ~btSoftBodyTriangleCallback(); + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex); + + void clearCache(); + + SIMD_FORCE_INLINE const btVector3& getAabbMin() const + { + return m_aabbMin; + } + SIMD_FORCE_INLINE const btVector3& getAabbMax() const + { + return m_aabbMax; + } + +}; + + + + +/// btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) trianges meshes. +class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm +{ + + bool m_isSwapped; + + btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback; + +public: + + btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped); + + virtual ~btSoftBodyConcaveCollisionAlgorithm(); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + //we don't add any manifolds + } + + void clearCache(); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm)); + return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,false); + } + }; + + struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm)); + return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,true); + } + }; + +}; + +#endif //SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyData.h b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyData.h new file mode 100644 index 0000000..87d8841 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyData.h @@ -0,0 +1,217 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFTBODY_FLOAT_DATA +#define BT_SOFTBODY_FLOAT_DATA + +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" + + +struct SoftBodyMaterialData +{ + float m_linearStiffness; + float m_angularStiffness; + float m_volumeStiffness; + int m_flags; +}; + +struct SoftBodyNodeData +{ + SoftBodyMaterialData *m_material; + btVector3FloatData m_position; + btVector3FloatData m_previousPosition; + btVector3FloatData m_velocity; + btVector3FloatData m_accumulatedForce; + btVector3FloatData m_normal; + float m_inverseMass; + float m_area; + int m_attach; + int m_pad; +}; + +struct SoftBodyLinkData +{ + SoftBodyMaterialData *m_material; + int m_nodeIndices[2]; // Node pointers + float m_restLength; // Rest length + int m_bbending; // Bending link +}; + +struct SoftBodyFaceData +{ + btVector3FloatData m_normal; // Normal + SoftBodyMaterialData *m_material; + int m_nodeIndices[3]; // Node pointers + float m_restArea; // Rest area +}; + +struct SoftBodyTetraData +{ + btVector3FloatData m_c0[4]; // gradients + SoftBodyMaterialData *m_material; + int m_nodeIndices[4]; // Node pointers + float m_restVolume; // Rest volume + float m_c1; // (4*kVST)/(im0+im1+im2+im3) + float m_c2; // m_c1/sum(|g0..3|^2) + int m_pad; +}; + +struct SoftRigidAnchorData +{ + btMatrix3x3FloatData m_c0; // Impulse matrix + btVector3FloatData m_c1; // Relative anchor + btVector3FloatData m_localFrame; // Anchor position in body space + btRigidBodyData *m_rigidBody; + int m_nodeIndex; // Node pointer + float m_c2; // ima*dt +}; + + + +struct SoftBodyConfigData +{ + int m_aeroModel; // Aerodynamic model (default: V_Point) + float m_baumgarte; // Velocities correction factor (Baumgarte) + float m_damping; // Damping coefficient [0,1] + float m_drag; // Drag coefficient [0,+inf] + float m_lift; // Lift coefficient [0,+inf] + float m_pressure; // Pressure coefficient [-inf,+inf] + float m_volume; // Volume conversation coefficient [0,+inf] + float m_dynamicFriction; // Dynamic friction coefficient [0,1] + float m_poseMatch; // Pose matching coefficient [0,1] + float m_rigidContactHardness; // Rigid contacts hardness [0,1] + float m_kineticContactHardness; // Kinetic contacts hardness [0,1] + float m_softContactHardness; // Soft contacts hardness [0,1] + float m_anchorHardness; // Anchors hardness [0,1] + float m_softRigidClusterHardness; // Soft vs rigid hardness [0,1] (cluster only) + float m_softKineticClusterHardness; // Soft vs kinetic hardness [0,1] (cluster only) + float m_softSoftClusterHardness; // Soft vs soft hardness [0,1] (cluster only) + float m_softRigidClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only) + float m_softKineticClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only) + float m_softSoftClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only) + float m_maxVolume; // Maximum volume ratio for pose + float m_timeScale; // Time scale + int m_velocityIterations; // Velocities solver iterations + int m_positionIterations; // Positions solver iterations + int m_driftIterations; // Drift solver iterations + int m_clusterIterations; // Cluster solver iterations + int m_collisionFlags; // Collisions flags +}; + +struct SoftBodyPoseData +{ + btMatrix3x3FloatData m_rot; // Rotation + btMatrix3x3FloatData m_scale; // Scale + btMatrix3x3FloatData m_aqq; // Base scaling + btVector3FloatData m_com; // COM + + btVector3FloatData *m_positions; // Reference positions + float *m_weights; // Weights + int m_numPositions; + int m_numWeigts; + + int m_bvolume; // Is valid + int m_bframe; // Is frame + float m_restVolume; // Rest volume + int m_pad; +}; + +struct SoftBodyClusterData +{ + btTransformFloatData m_framexform; + btMatrix3x3FloatData m_locii; + btMatrix3x3FloatData m_invwi; + btVector3FloatData m_com; + btVector3FloatData m_vimpulses[2]; + btVector3FloatData m_dimpulses[2]; + btVector3FloatData m_lv; + btVector3FloatData m_av; + + btVector3FloatData *m_framerefs; + int *m_nodeIndices; + float *m_masses; + + int m_numFrameRefs; + int m_numNodes; + int m_numMasses; + + float m_idmass; + float m_imass; + int m_nvimpulses; + int m_ndimpulses; + float m_ndamping; + float m_ldamping; + float m_adamping; + float m_matching; + float m_maxSelfCollisionImpulse; + float m_selfCollisionImpulseFactor; + int m_containsAnchor; + int m_collide; + int m_clusterIndex; +}; + + +enum btSoftJointBodyType +{ + BT_JOINT_SOFT_BODY_CLUSTER=1, + BT_JOINT_RIGID_BODY, + BT_JOINT_COLLISION_OBJECT +}; + +struct btSoftBodyJointData +{ + void *m_bodyA; + void *m_bodyB; + btVector3FloatData m_refs[2]; + float m_cfm; + float m_erp; + float m_split; + int m_delete; + btVector3FloatData m_relPosition[2];//linear + int m_bodyAtype; + int m_bodyBtype; + int m_jointType; + int m_pad; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btSoftBodyFloatData +{ + btCollisionObjectFloatData m_collisionObjectData; + + SoftBodyPoseData *m_pose; + SoftBodyMaterialData **m_materials; + SoftBodyNodeData *m_nodes; + SoftBodyLinkData *m_links; + SoftBodyFaceData *m_faces; + SoftBodyTetraData *m_tetrahedra; + SoftRigidAnchorData *m_anchors; + SoftBodyClusterData *m_clusters; + btSoftBodyJointData *m_joints; + + int m_numMaterials; + int m_numNodes; + int m_numLinks; + int m_numFaces; + int m_numTetrahedra; + int m_numAnchors; + int m_numClusters; + int m_numJoints; + SoftBodyConfigData m_config; +}; + +#endif //BT_SOFTBODY_FLOAT_DATA + diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyHelpers.h b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyHelpers.h new file mode 100644 index 0000000..9675d67 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyHelpers.h @@ -0,0 +1,143 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SOFT_BODY_HELPERS_H +#define SOFT_BODY_HELPERS_H + +#include "btSoftBody.h" + +// +// Helpers +// + +/* fDrawFlags */ +struct fDrawFlags { enum _ { + Nodes = 0x0001, + Links = 0x0002, + Faces = 0x0004, + Tetras = 0x0008, + Normals = 0x0010, + Contacts = 0x0020, + Anchors = 0x0040, + Notes = 0x0080, + Clusters = 0x0100, + NodeTree = 0x0200, + FaceTree = 0x0400, + ClusterTree = 0x0800, + Joints = 0x1000, + /* presets */ + Std = Links+Faces+Tetras+Anchors+Notes+Joints, + StdTetra = Std-Faces+Tetras +};}; + +struct btSoftBodyHelpers +{ + /* Draw body */ + static void Draw( btSoftBody* psb, + btIDebugDraw* idraw, + int drawflags=fDrawFlags::Std); + /* Draw body infos */ + static void DrawInfos( btSoftBody* psb, + btIDebugDraw* idraw, + bool masses, + bool areas, + bool stress); + /* Draw node tree */ + static void DrawNodeTree( btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth=0, + int maxdepth=-1); + /* Draw face tree */ + static void DrawFaceTree( btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth=0, + int maxdepth=-1); + /* Draw cluster tree */ + static void DrawClusterTree(btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth=0, + int maxdepth=-1); + /* Draw rigid frame */ + static void DrawFrame( btSoftBody* psb, + btIDebugDraw* idraw); + /* Create a rope */ + static btSoftBody* CreateRope( btSoftBodyWorldInfo& worldInfo, + const btVector3& from, + const btVector3& to, + int res, + int fixeds); + /* Create a patch */ + static btSoftBody* CreatePatch(btSoftBodyWorldInfo& worldInfo, + const btVector3& corner00, + const btVector3& corner10, + const btVector3& corner01, + const btVector3& corner11, + int resx, + int resy, + int fixeds, + bool gendiags); + /* Create a patch with UV Texture Coordinates */ + static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo, + const btVector3& corner00, + const btVector3& corner10, + const btVector3& corner01, + const btVector3& corner11, + int resx, + int resy, + int fixeds, + bool gendiags, + float* tex_coords=0); + static float CalculateUV(int resx,int resy,int ix,int iy,int id); + /* Create an ellipsoid */ + static btSoftBody* CreateEllipsoid(btSoftBodyWorldInfo& worldInfo, + const btVector3& center, + const btVector3& radius, + int res); + /* Create from trimesh */ + static btSoftBody* CreateFromTriMesh( btSoftBodyWorldInfo& worldInfo, + const btScalar* vertices, + const int* triangles, + int ntriangles, + bool randomizeConstraints = true); + /* Create from convex-hull */ + static btSoftBody* CreateFromConvexHull( btSoftBodyWorldInfo& worldInfo, + const btVector3* vertices, + int nvertices, + bool randomizeConstraints = true); + + + /* Export TetGen compatible .smesh file */ + static void ExportAsSMeshFile( btSoftBody* psb, + const char* filename); + /* Create from TetGen .ele, .face, .node files */ + static btSoftBody* CreateFromTetGenFile( btSoftBodyWorldInfo& worldInfo, + const char* ele, + const char* face, + const char* node, + bool bfacelinks, + bool btetralinks, + bool bfacesfromtetras); + /* Create from TetGen .ele, .face, .node data */ + static btSoftBody* CreateFromTetGenData( btSoftBodyWorldInfo& worldInfo, + const char* ele, + const char* face, + const char* node, + bool bfacelinks, + bool btetralinks, + bool bfacesfromtetras); + +}; + +#endif //SOFT_BODY_HELPERS_H diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyInternals.h b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyInternals.h new file mode 100644 index 0000000..2cb7744 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyInternals.h @@ -0,0 +1,931 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +///btSoftBody implementation by Nathanael Presson + +#ifndef _BT_SOFT_BODY_INTERNALS_H +#define _BT_SOFT_BODY_INTERNALS_H + +#include "btSoftBody.h" + + +#include "LinearMath/btQuickprof.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btConvexInternalShape.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" + +// +// btSymMatrix +// +template +struct btSymMatrix +{ + btSymMatrix() : dim(0) {} + btSymMatrix(int n,const T& init=T()) { resize(n,init); } + void resize(int n,const T& init=T()) { dim=n;store.resize((n*(n+1))/2,init); } + int index(int c,int r) const { if(c>r) btSwap(c,r);btAssert(r store; + int dim; +}; + +// +// btSoftBodyCollisionShape +// +class btSoftBodyCollisionShape : public btConcaveShape +{ +public: + btSoftBody* m_body; + + btSoftBodyCollisionShape(btSoftBody* backptr) + { + m_shapeType = SOFTBODY_SHAPE_PROXYTYPE; + m_body=backptr; + } + + virtual ~btSoftBodyCollisionShape() + { + + } + + void processAllTriangles(btTriangleCallback* /*callback*/,const btVector3& /*aabbMin*/,const btVector3& /*aabbMax*/) const + { + //not yet + btAssert(0); + } + + ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + /* t should be identity, but better be safe than...fast? */ + const btVector3 mins=m_body->m_bounds[0]; + const btVector3 maxs=m_body->m_bounds[1]; + const btVector3 crns[]={t*btVector3(mins.x(),mins.y(),mins.z()), + t*btVector3(maxs.x(),mins.y(),mins.z()), + t*btVector3(maxs.x(),maxs.y(),mins.z()), + t*btVector3(mins.x(),maxs.y(),mins.z()), + t*btVector3(mins.x(),mins.y(),maxs.z()), + t*btVector3(maxs.x(),mins.y(),maxs.z()), + t*btVector3(maxs.x(),maxs.y(),maxs.z()), + t*btVector3(mins.x(),maxs.y(),maxs.z())}; + aabbMin=aabbMax=crns[0]; + for(int i=1;i<8;++i) + { + aabbMin.setMin(crns[i]); + aabbMax.setMax(crns[i]); + } + } + + + virtual void setLocalScaling(const btVector3& /*scaling*/) + { + ///na + } + virtual const btVector3& getLocalScaling() const + { + static const btVector3 dummy(1,1,1); + return dummy; + } + virtual void calculateLocalInertia(btScalar /*mass*/,btVector3& /*inertia*/) const + { + ///not yet + btAssert(0); + } + virtual const char* getName()const + { + return "SoftBody"; + } + +}; + +// +// btSoftClusterCollisionShape +// +class btSoftClusterCollisionShape : public btConvexInternalShape +{ +public: + const btSoftBody::Cluster* m_cluster; + + btSoftClusterCollisionShape (const btSoftBody::Cluster* cluster) : m_cluster(cluster) { setMargin(0); } + + + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const + { + btSoftBody::Node* const * n=&m_cluster->m_nodes[0]; + btScalar d=btDot(vec,n[0]->m_x); + int j=0; + for(int i=1,ni=m_cluster->m_nodes.size();im_x); + if(k>d) { d=k;j=i; } + } + return(n[j]->m_x); + } + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const + { + return(localGetSupportingVertex(vec)); + } + //notice that the vectors should be unit length + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const + {} + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const + {} + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + {} + + virtual int getShapeType() const { return SOFTBODY_SHAPE_PROXYTYPE; } + + //debugging + virtual const char* getName()const {return "SOFTCLUSTER";} + + virtual void setMargin(btScalar margin) + { + btConvexInternalShape::setMargin(margin); + } + virtual btScalar getMargin() const + { + return getMargin(); + } +}; + +// +// Inline's +// + +// +template +static inline void ZeroInitialize(T& value) +{ + static const T zerodummy; + value=zerodummy; +} +// +template +static inline bool CompLess(const T& a,const T& b) +{ return(a +static inline bool CompGreater(const T& a,const T& b) +{ return(a>b); } +// +template +static inline T Lerp(const T& a,const T& b,btScalar t) +{ return(a+(b-a)*t); } +// +template +static inline T InvLerp(const T& a,const T& b,btScalar t) +{ return((b+a*t-b*t)/(a*b)); } +// +static inline btMatrix3x3 Lerp( const btMatrix3x3& a, + const btMatrix3x3& b, + btScalar t) +{ + btMatrix3x3 r; + r[0]=Lerp(a[0],b[0],t); + r[1]=Lerp(a[1],b[1],t); + r[2]=Lerp(a[2],b[2],t); + return(r); +} +// +static inline btVector3 Clamp(const btVector3& v,btScalar maxlength) +{ + const btScalar sql=v.length2(); + if(sql>(maxlength*maxlength)) + return((v*maxlength)/btSqrt(sql)); + else + return(v); +} +// +template +static inline T Clamp(const T& x,const T& l,const T& h) +{ return(xh?h:x); } +// +template +static inline T Sq(const T& x) +{ return(x*x); } +// +template +static inline T Cube(const T& x) +{ return(x*x*x); } +// +template +static inline T Sign(const T& x) +{ return((T)(x<0?-1:+1)); } +// +template +static inline bool SameSign(const T& x,const T& y) +{ return((x*y)>0); } +// +static inline btScalar ClusterMetric(const btVector3& x,const btVector3& y) +{ + const btVector3 d=x-y; + return(btFabs(d[0])+btFabs(d[1])+btFabs(d[2])); +} +// +static inline btMatrix3x3 ScaleAlongAxis(const btVector3& a,btScalar s) +{ + const btScalar xx=a.x()*a.x(); + const btScalar yy=a.y()*a.y(); + const btScalar zz=a.z()*a.z(); + const btScalar xy=a.x()*a.y(); + const btScalar yz=a.y()*a.z(); + const btScalar zx=a.z()*a.x(); + btMatrix3x3 m; + m[0]=btVector3(1-xx+xx*s,xy*s-xy,zx*s-zx); + m[1]=btVector3(xy*s-xy,1-yy+yy*s,yz*s-yz); + m[2]=btVector3(zx*s-zx,yz*s-yz,1-zz+zz*s); + return(m); +} +// +static inline btMatrix3x3 Cross(const btVector3& v) +{ + btMatrix3x3 m; + m[0]=btVector3(0,-v.z(),+v.y()); + m[1]=btVector3(+v.z(),0,-v.x()); + m[2]=btVector3(-v.y(),+v.x(),0); + return(m); +} +// +static inline btMatrix3x3 Diagonal(btScalar x) +{ + btMatrix3x3 m; + m[0]=btVector3(x,0,0); + m[1]=btVector3(0,x,0); + m[2]=btVector3(0,0,x); + return(m); +} +// +static inline btMatrix3x3 Add(const btMatrix3x3& a, + const btMatrix3x3& b) +{ + btMatrix3x3 r; + for(int i=0;i<3;++i) r[i]=a[i]+b[i]; + return(r); +} +// +static inline btMatrix3x3 Sub(const btMatrix3x3& a, + const btMatrix3x3& b) +{ + btMatrix3x3 r; + for(int i=0;i<3;++i) r[i]=a[i]-b[i]; + return(r); +} +// +static inline btMatrix3x3 Mul(const btMatrix3x3& a, + btScalar b) +{ + btMatrix3x3 r; + for(int i=0;i<3;++i) r[i]=a[i]*b; + return(r); +} +// +static inline void Orthogonalize(btMatrix3x3& m) +{ + m[2]=btCross(m[0],m[1]).normalized(); + m[1]=btCross(m[2],m[0]).normalized(); + m[0]=btCross(m[1],m[2]).normalized(); +} +// +static inline btMatrix3x3 MassMatrix(btScalar im,const btMatrix3x3& iwi,const btVector3& r) +{ + const btMatrix3x3 cr=Cross(r); + return(Sub(Diagonal(im),cr*iwi*cr)); +} + +// +static inline btMatrix3x3 ImpulseMatrix( btScalar dt, + btScalar ima, + btScalar imb, + const btMatrix3x3& iwi, + const btVector3& r) +{ + return(Diagonal(1/dt)*Add(Diagonal(ima),MassMatrix(imb,iwi,r)).inverse()); +} + +// +static inline btMatrix3x3 ImpulseMatrix( btScalar ima,const btMatrix3x3& iia,const btVector3& ra, + btScalar imb,const btMatrix3x3& iib,const btVector3& rb) +{ + return(Add(MassMatrix(ima,iia,ra),MassMatrix(imb,iib,rb)).inverse()); +} + +// +static inline btMatrix3x3 AngularImpulseMatrix( const btMatrix3x3& iia, + const btMatrix3x3& iib) +{ + return(Add(iia,iib).inverse()); +} + +// +static inline btVector3 ProjectOnAxis( const btVector3& v, + const btVector3& a) +{ + return(a*btDot(v,a)); +} +// +static inline btVector3 ProjectOnPlane( const btVector3& v, + const btVector3& a) +{ + return(v-ProjectOnAxis(v,a)); +} + +// +static inline void ProjectOrigin( const btVector3& a, + const btVector3& b, + btVector3& prj, + btScalar& sqd) +{ + const btVector3 d=b-a; + const btScalar m2=d.length2(); + if(m2>SIMD_EPSILON) + { + const btScalar t=Clamp(-btDot(a,d)/m2,0,1); + const btVector3 p=a+d*t; + const btScalar l2=p.length2(); + if(l2SIMD_EPSILON) + { + const btVector3 n=q/btSqrt(m2); + const btScalar k=btDot(a,n); + const btScalar k2=k*k; + if(k20)&& + (btDot(btCross(b-p,c-p),q)>0)&& + (btDot(btCross(c-p,a-p),q)>0)) + { + prj=p; + sqd=k2; + } + else + { + ProjectOrigin(a,b,prj,sqd); + ProjectOrigin(b,c,prj,sqd); + ProjectOrigin(c,a,prj,sqd); + } + } + } +} + +// +template +static inline T BaryEval( const T& a, + const T& b, + const T& c, + const btVector3& coord) +{ + return(a*coord.x()+b*coord.y()+c*coord.z()); +} +// +static inline btVector3 BaryCoord( const btVector3& a, + const btVector3& b, + const btVector3& c, + const btVector3& p) +{ + const btScalar w[]={ btCross(a-p,b-p).length(), + btCross(b-p,c-p).length(), + btCross(c-p,a-p).length()}; + const btScalar isum=1/(w[0]+w[1]+w[2]); + return(btVector3(w[1]*isum,w[2]*isum,w[0]*isum)); +} + +// +static btScalar ImplicitSolve( btSoftBody::ImplicitFn* fn, + const btVector3& a, + const btVector3& b, + const btScalar accuracy, + const int maxiterations=256) +{ + btScalar span[2]={0,1}; + btScalar values[2]={fn->Eval(a),fn->Eval(b)}; + if(values[0]>values[1]) + { + btSwap(span[0],span[1]); + btSwap(values[0],values[1]); + } + if(values[0]>-accuracy) return(-1); + if(values[1]<+accuracy) return(-1); + for(int i=0;iEval(Lerp(a,b,t)); + if((t<=0)||(t>=1)) break; + if(btFabs(v)SIMD_EPSILON) + return(v/l); + else + return(btVector3(0,0,0)); +} + +// +static inline btDbvtVolume VolumeOf( const btSoftBody::Face& f, + btScalar margin) +{ + const btVector3* pts[]={ &f.m_n[0]->m_x, + &f.m_n[1]->m_x, + &f.m_n[2]->m_x}; + btDbvtVolume vol=btDbvtVolume::FromPoints(pts,3); + vol.Expand(btVector3(margin,margin,margin)); + return(vol); +} + +// +static inline btVector3 CenterOf( const btSoftBody::Face& f) +{ + return((f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3); +} + +// +static inline btScalar AreaOf( const btVector3& x0, + const btVector3& x1, + const btVector3& x2) +{ + const btVector3 a=x1-x0; + const btVector3 b=x2-x0; + const btVector3 cr=btCross(a,b); + const btScalar area=cr.length(); + return(area); +} + +// +static inline btScalar VolumeOf( const btVector3& x0, + const btVector3& x1, + const btVector3& x2, + const btVector3& x3) +{ + const btVector3 a=x1-x0; + const btVector3 b=x2-x0; + const btVector3 c=x3-x0; + return(btDot(a,btCross(b,c))); +} + +// +static void EvaluateMedium( const btSoftBodyWorldInfo* wfi, + const btVector3& x, + btSoftBody::sMedium& medium) +{ + medium.m_velocity = btVector3(0,0,0); + medium.m_pressure = 0; + medium.m_density = wfi->air_density; + if(wfi->water_density>0) + { + const btScalar depth=-(btDot(x,wfi->water_normal)+wfi->water_offset); + if(depth>0) + { + medium.m_density = wfi->water_density; + medium.m_pressure = depth*wfi->water_density*wfi->m_gravity.length(); + } + } +} + +// +static inline void ApplyClampedForce( btSoftBody::Node& n, + const btVector3& f, + btScalar dt) +{ + const btScalar dtim=dt*n.m_im; + if((f*dtim).length2()>n.m_v.length2()) + {/* Clamp */ + n.m_f-=ProjectOnAxis(n.m_v,f.normalized())/dtim; + } + else + {/* Apply */ + n.m_f+=f; + } +} + +// +static inline int MatchEdge( const btSoftBody::Node* a, + const btSoftBody::Node* b, + const btSoftBody::Node* ma, + const btSoftBody::Node* mb) +{ + if((a==ma)&&(b==mb)) return(0); + if((a==mb)&&(b==ma)) return(1); + return(-1); +} + +// +// btEigen : Extract eigen system, +// straitforward implementation of http://math.fullerton.edu/mathews/n2003/JacobiMethodMod.html +// outputs are NOT sorted. +// +struct btEigen +{ + static int system(btMatrix3x3& a,btMatrix3x3* vectors,btVector3* values=0) + { + static const int maxiterations=16; + static const btScalar accuracy=(btScalar)0.0001; + btMatrix3x3& v=*vectors; + int iterations=0; + vectors->setIdentity(); + do { + int p=0,q=1; + if(btFabs(a[p][q])accuracy) + { + const btScalar w=(a[q][q]-a[p][p])/(2*a[p][q]); + const btScalar z=btFabs(w); + const btScalar t=w/(z*(btSqrt(1+w*w)+z)); + if(t==t)/* [WARNING] let hope that one does not get thrown aways by some compilers... */ + { + const btScalar c=1/btSqrt(t*t+1); + const btScalar s=c*t; + mulPQ(a,c,s,p,q); + mulTPQ(a,c,s,p,q); + mulPQ(v,c,s,p,q); + } else break; + } else break; + } while((++iterations)accuracy) det=ndet; else break; + } + /* Final orthogonalization */ + Orthogonalize(q); + /* Compute 'S' */ + s=q.transpose()*m; + } + else + { + q.setIdentity(); + s.setIdentity(); + } + return(i); +} + +// +// btSoftColliders +// +struct btSoftColliders +{ + // + // ClusterBase + // + struct ClusterBase : btDbvt::ICollide + { + btScalar erp; + btScalar idt; + btScalar m_margin; + btScalar friction; + btScalar threshold; + ClusterBase() + { + erp =(btScalar)1; + idt =0; + m_margin =0; + friction =0; + threshold =(btScalar)0; + } + bool SolveContact( const btGjkEpaSolver2::sResults& res, + btSoftBody::Body ba,btSoftBody::Body bb, + btSoftBody::CJoint& joint) + { + if(res.distancedata; + btSoftClusterCollisionShape cshape(cluster); + + const btConvexShape* rshape=(const btConvexShape*)m_colObj->getCollisionShape(); + + ///don't collide an anchored cluster with a static/kinematic object + if(m_colObj->isStaticOrKinematicObject() && cluster->m_containsAnchor) + return; + + btGjkEpaSolver2::sResults res; + if(btGjkEpaSolver2::SignedDistance( &cshape,btTransform::getIdentity(), + rshape,m_colObj->getInterpolationWorldTransform(), + btVector3(1,0,0),res)) + { + btSoftBody::CJoint joint; + if(SolveContact(res,cluster,m_colObj,joint))//prb,joint)) + { + btSoftBody::CJoint* pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint(); + *pj=joint;psb->m_joints.push_back(pj); + if(m_colObj->isStaticOrKinematicObject()) + { + pj->m_erp *= psb->m_cfg.kSKHR_CL; + pj->m_split *= psb->m_cfg.kSK_SPLT_CL; + } + else + { + pj->m_erp *= psb->m_cfg.kSRHR_CL; + pj->m_split *= psb->m_cfg.kSR_SPLT_CL; + } + } + } + } + void Process(btSoftBody* ps,btCollisionObject* colOb) + { + psb = ps; + m_colObj = colOb; + idt = ps->m_sst.isdt; + m_margin = m_colObj->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin(); + ///Bullet rigid body uses multiply instead of minimum to determine combined friction. Some customization would be useful. + friction = btMin(psb->m_cfg.kDF,m_colObj->getFriction()); + btVector3 mins; + btVector3 maxs; + + ATTRIBUTE_ALIGNED16(btDbvtVolume) volume; + colOb->getCollisionShape()->getAabb(colOb->getInterpolationWorldTransform(),mins,maxs); + volume=btDbvtVolume::FromMM(mins,maxs); + volume.Expand(btVector3(1,1,1)*m_margin); + ps->m_cdbvt.collideTV(ps->m_cdbvt.m_root,volume,*this); + } + }; + // + // CollideCL_SS + // + struct CollideCL_SS : ClusterBase + { + btSoftBody* bodies[2]; + void Process(const btDbvtNode* la,const btDbvtNode* lb) + { + btSoftBody::Cluster* cla=(btSoftBody::Cluster*)la->data; + btSoftBody::Cluster* clb=(btSoftBody::Cluster*)lb->data; + + + bool connected=false; + if ((bodies[0]==bodies[1])&&(bodies[0]->m_clusterConnectivity.size())) + { + connected = bodies[0]->m_clusterConnectivity[cla->m_clusterIndex+bodies[0]->m_clusters.size()*clb->m_clusterIndex]; + } + + if (!connected) + { + btSoftClusterCollisionShape csa(cla); + btSoftClusterCollisionShape csb(clb); + btGjkEpaSolver2::sResults res; + if(btGjkEpaSolver2::SignedDistance( &csa,btTransform::getIdentity(), + &csb,btTransform::getIdentity(), + cla->m_com-clb->m_com,res)) + { + btSoftBody::CJoint joint; + if(SolveContact(res,cla,clb,joint)) + { + btSoftBody::CJoint* pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint(); + *pj=joint;bodies[0]->m_joints.push_back(pj); + pj->m_erp *= btMax(bodies[0]->m_cfg.kSSHR_CL,bodies[1]->m_cfg.kSSHR_CL); + pj->m_split *= (bodies[0]->m_cfg.kSS_SPLT_CL+bodies[1]->m_cfg.kSS_SPLT_CL)/2; + } + } + } else + { + static int count=0; + count++; + //printf("count=%d\n",count); + + } + } + void Process(btSoftBody* psa,btSoftBody* psb) + { + idt = psa->m_sst.isdt; + //m_margin = (psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin())/2; + m_margin = (psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin()); + friction = btMin(psa->m_cfg.kDF,psb->m_cfg.kDF); + bodies[0] = psa; + bodies[1] = psb; + psa->m_cdbvt.collideTT(psa->m_cdbvt.m_root,psb->m_cdbvt.m_root,*this); + } + }; + // + // CollideSDF_RS + // + struct CollideSDF_RS : btDbvt::ICollide + { + void Process(const btDbvtNode* leaf) + { + btSoftBody::Node* node=(btSoftBody::Node*)leaf->data; + DoNode(*node); + } + void DoNode(btSoftBody::Node& n) const + { + const btScalar m=n.m_im>0?dynmargin:stamargin; + btSoftBody::RContact c; + if( (!n.m_battach)&& + psb->checkContact(m_colObj1,n.m_x,m,c.m_cti)) + { + const btScalar ima=n.m_im; + const btScalar imb= m_rigidBody? m_rigidBody->getInvMass() : 0.f; + const btScalar ms=ima+imb; + if(ms>0) + { + const btTransform& wtr=m_rigidBody?m_rigidBody->getInterpolationWorldTransform() : m_colObj1->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0,0,0,0,0,0,0,0,0); + const btMatrix3x3& iwi=m_rigidBody?m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra=n.m_x-wtr.getOrigin(); + const btVector3 va=m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra)*psb->m_sst.sdt : btVector3(0,0,0); + const btVector3 vb=n.m_x-n.m_q; + const btVector3 vr=vb-va; + const btScalar dn=btDot(vr,c.m_cti.m_normal); + const btVector3 fv=vr-c.m_cti.m_normal*dn; + const btScalar fc=psb->m_cfg.kDF*m_colObj1->getFriction(); + c.m_node = &n; + c.m_c0 = ImpulseMatrix(psb->m_sst.sdt,ima,imb,iwi,ra); + c.m_c1 = ra; + c.m_c2 = ima*psb->m_sst.sdt; + c.m_c3 = fv.length2()<(btFabs(dn)*fc)?0:1-fc; + c.m_c4 = m_colObj1->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR; + psb->m_rcontacts.push_back(c); + if (m_rigidBody) + m_rigidBody->activate(); + } + } + } + btSoftBody* psb; + btCollisionObject* m_colObj1; + btRigidBody* m_rigidBody; + btScalar dynmargin; + btScalar stamargin; + }; + // + // CollideVF_SS + // + struct CollideVF_SS : btDbvt::ICollide + { + void Process(const btDbvtNode* lnode, + const btDbvtNode* lface) + { + btSoftBody::Node* node=(btSoftBody::Node*)lnode->data; + btSoftBody::Face* face=(btSoftBody::Face*)lface->data; + btVector3 o=node->m_x; + btVector3 p; + btScalar d=SIMD_INFINITY; + ProjectOrigin( face->m_n[0]->m_x-o, + face->m_n[1]->m_x-o, + face->m_n[2]->m_x-o, + p,d); + const btScalar m=mrg+(o-node->m_q).length()*2; + if(d<(m*m)) + { + const btSoftBody::Node* n[]={face->m_n[0],face->m_n[1],face->m_n[2]}; + const btVector3 w=BaryCoord(n[0]->m_x,n[1]->m_x,n[2]->m_x,p+o); + const btScalar ma=node->m_im; + btScalar mb=BaryEval(n[0]->m_im,n[1]->m_im,n[2]->m_im,w); + if( (n[0]->m_im<=0)|| + (n[1]->m_im<=0)|| + (n[2]->m_im<=0)) + { + mb=0; + } + const btScalar ms=ma+mb; + if(ms>0) + { + btSoftBody::SContact c; + c.m_normal = p/-btSqrt(d); + c.m_margin = m; + c.m_node = node; + c.m_face = face; + c.m_weights = w; + c.m_friction = btMax(psb[0]->m_cfg.kDF,psb[1]->m_cfg.kDF); + c.m_cfm[0] = ma/ms*psb[0]->m_cfg.kSHR; + c.m_cfm[1] = mb/ms*psb[1]->m_cfg.kSHR; + psb[0]->m_scontacts.push_back(c); + } + } + } + btSoftBody* psb[2]; + btScalar mrg; + }; +}; + +#endif //_BT_SOFT_BODY_INTERNALS_H diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h new file mode 100644 index 0000000..21addcf --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h @@ -0,0 +1,48 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION +#define BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION + +#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h" + +class btVoronoiSimplexSolver; +class btGjkEpaPenetrationDepthSolver; + + +///btSoftBodyRigidBodyCollisionConfiguration add softbody interaction on top of btDefaultCollisionConfiguration +class btSoftBodyRigidBodyCollisionConfiguration : public btDefaultCollisionConfiguration +{ + + //default CreationFunctions, filling the m_doubleDispatch table + btCollisionAlgorithmCreateFunc* m_softSoftCreateFunc; + btCollisionAlgorithmCreateFunc* m_softRigidConvexCreateFunc; + btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConvexCreateFunc; + btCollisionAlgorithmCreateFunc* m_softRigidConcaveCreateFunc; + btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConcaveCreateFunc; + +public: + + btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo()); + + virtual ~btSoftBodyRigidBodyCollisionConfiguration(); + + ///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation + virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1); + +}; + +#endif //BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION + diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodySolverVertexBuffer.h b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodySolverVertexBuffer.h new file mode 100644 index 0000000..c4733d6 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodySolverVertexBuffer.h @@ -0,0 +1,165 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_H +#define BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_H + + +class btVertexBufferDescriptor +{ +public: + enum BufferTypes + { + CPU_BUFFER, + DX11_BUFFER, + OPENGL_BUFFER + }; + +protected: + + bool m_hasVertexPositions; + bool m_hasNormals; + + int m_vertexOffset; + int m_vertexStride; + + int m_normalOffset; + int m_normalStride; + +public: + btVertexBufferDescriptor() + { + m_hasVertexPositions = false; + m_hasNormals = false; + m_vertexOffset = 0; + m_vertexStride = 0; + m_normalOffset = 0; + m_normalStride = 0; + } + + virtual ~btVertexBufferDescriptor() + { + + } + + virtual bool hasVertexPositions() const + { + return m_hasVertexPositions; + } + + virtual bool hasNormals() const + { + return m_hasNormals; + } + + /** + * Return the type of the vertex buffer descriptor. + */ + virtual BufferTypes getBufferType() const = 0; + + /** + * Return the vertex offset in floats from the base pointer. + */ + virtual int getVertexOffset() const + { + return m_vertexOffset; + } + + /** + * Return the vertex stride in number of floats between vertices. + */ + virtual int getVertexStride() const + { + return m_vertexStride; + } + + /** + * Return the vertex offset in floats from the base pointer. + */ + virtual int getNormalOffset() const + { + return m_normalOffset; + } + + /** + * Return the vertex stride in number of floats between vertices. + */ + virtual int getNormalStride() const + { + return m_normalStride; + } +}; + + +class btCPUVertexBufferDescriptor : public btVertexBufferDescriptor +{ +protected: + float *m_basePointer; + +public: + /** + * vertexBasePointer is pointer to beginning of the buffer. + * vertexOffset is the offset in floats to the first vertex. + * vertexStride is the stride in floats between vertices. + */ + btCPUVertexBufferDescriptor( float *basePointer, int vertexOffset, int vertexStride ) + { + m_basePointer = basePointer; + m_vertexOffset = vertexOffset; + m_vertexStride = vertexStride; + m_hasVertexPositions = true; + } + + /** + * vertexBasePointer is pointer to beginning of the buffer. + * vertexOffset is the offset in floats to the first vertex. + * vertexStride is the stride in floats between vertices. + */ + btCPUVertexBufferDescriptor( float *basePointer, int vertexOffset, int vertexStride, int normalOffset, int normalStride ) + { + m_basePointer = basePointer; + + m_vertexOffset = vertexOffset; + m_vertexStride = vertexStride; + m_hasVertexPositions = true; + + m_normalOffset = normalOffset; + m_normalStride = normalStride; + m_hasNormals = true; + } + + virtual ~btCPUVertexBufferDescriptor() + { + + } + + /** + * Return the type of the vertex buffer descriptor. + */ + virtual BufferTypes getBufferType() const + { + return CPU_BUFFER; + } + + /** + * Return the base pointer in memory to the first vertex. + */ + virtual float *getBasePointer() const + { + return m_basePointer; + } +}; + +#endif // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_H diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodySolvers.h b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodySolvers.h new file mode 100644 index 0000000..79a55f7 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftBodySolvers.h @@ -0,0 +1,142 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFT_BODY_SOLVERS_H +#define BT_SOFT_BODY_SOLVERS_H + +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" + + +class btSoftBodyTriangleData; +class btSoftBodyLinkData; +class btSoftBodyVertexData; +class btVertexBufferDescriptor; +class btCollisionObject; +class btSoftBody; + + +class btSoftBodySolver +{ + +protected: + int m_numberOfPositionIterations; + int m_numberOfVelocityIterations; + // Simulation timescale + float m_timeScale; + +public: + btSoftBodySolver() : + m_numberOfPositionIterations( 10 ), + m_timeScale( 1 ) + { + m_numberOfVelocityIterations = 0; + m_numberOfPositionIterations = 5; + } + + virtual ~btSoftBodySolver() + { + } + +#if 0 + /** Acceleration for all cloths in the solver. Can be used to efficiently apply gravity. */ + virtual void setPerClothAcceleration( int clothIdentifier, Vectormath::Aos::Vector3 acceleration ) = 0; + + /** A wind velocity applied normal to the cloth for all cloths in the solver. */ + virtual void setPerClothWindVelocity( int clothIdentifier, Vectormath::Aos::Vector3 windVelocity ) = 0; + + /** Set the density of the medium a given cloth is situated in. This could be air or possibly water. */ + virtual void setPerClothMediumDensity( int clothIdentifier, float mediumDensity ) = 0; + + /** A damping factor specific to each cloth applied for all cloths. */ + virtual void setPerClothDampingFactor( int clothIdentifier, float dampingFactor ) = 0; + + /** A damping factor specific to each cloth applied for all cloths. */ + virtual void setPerClothVelocityCorrectionCoefficient( int clothIdentifier, float velocityCorrectionCoefficient ) = 0; + + /** Lift parameter for wind action on cloth. */ + virtual void setPerClothLiftFactor( int clothIdentifier, float liftFactor ) = 0; + + /** Drag parameter for wind action on cloth. */ + virtual void setPerClothDragFactor( int clothIdentifier, float dragFactor ) = 0; + + /** + * Add a velocity to all soft bodies in the solver - useful for doing world-wide velocities such as a change due to gravity + * Only add a velocity to nodes with a non-zero inverse mass. + */ + virtual void addVelocity( Vectormath::Aos::Vector3 velocity ) = 0; +#endif + + + + /** Ensure that this solver is initialized. */ + virtual bool checkInitialized() = 0; + + /** Optimize soft bodies in this solver. */ + virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies ) = 0; + + /** Predict motion of soft bodies into next timestep */ + virtual void predictMotion( float solverdt ) = 0; + + /** Solve constraints for a set of soft bodies */ + virtual void solveConstraints( float solverdt ) = 0; + + /** Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes */ + virtual void updateSoftBodies() = 0; + + /** Output current computed vertex data to the vertex buffers for all cloths in the solver. */ + virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ) = 0; + + + + /** Set the number of velocity constraint solver iterations this solver uses. */ + virtual void setNumberOfPositionIterations( int iterations ) + { + m_numberOfPositionIterations = iterations; + } + + /** Get the number of velocity constraint solver iterations this solver uses. */ + virtual int getNumberOfPositionIterations() + { + return m_numberOfPositionIterations; + } + + /** Set the number of velocity constraint solver iterations this solver uses. */ + virtual void setNumberOfVelocityIterations( int iterations ) + { + m_numberOfVelocityIterations = iterations; + } + + /** Get the number of velocity constraint solver iterations this solver uses. */ + virtual int getNumberOfVelocityIterations() + { + return m_numberOfVelocityIterations; + } + + /** Return the timescale that the simulation is using */ + float getTimeScale() + { + return m_timeScale; + } + +#if 0 + /** + * Add a collision object to be used by the indicated softbody. + */ + virtual void addCollisionObjectForSoftBody( int clothIdentifier, btCollisionObject *collisionObject ) = 0; +#endif +}; + + +#endif // #ifndef BT_SOFT_BODY_SOLVERS_H diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.h new file mode 100644 index 0000000..adc3844 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.h @@ -0,0 +1,75 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SOFT_RIGID_COLLISION_ALGORITHM_H +#define SOFT_RIGID_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +class btPersistentManifold; +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" + +#include "LinearMath/btVector3.h" +class btSoftBody; + +/// btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody +class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm +{ + // bool m_ownManifold; + // btPersistentManifold* m_manifoldPtr; + + btSoftBody* m_softBody; + btCollisionObject* m_rigidCollisionObject; + + ///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean + bool m_isSwapped; + +public: + + btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped); + + virtual ~btSoftRigidCollisionAlgorithm(); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + //we don't add any manifolds + } + + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm)); + if (!m_swapped) + { + return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,false); + } else + { + return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,true); + } + } + }; + +}; + +#endif //SOFT_RIGID_COLLISION_ALGORITHM_H + + diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h new file mode 100644 index 0000000..d2153f2 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h @@ -0,0 +1,101 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H +#define BT_SOFT_RIGID_DYNAMICS_WORLD_H + +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#include "btSoftBody.h" + +typedef btAlignedObjectArray btSoftBodyArray; + +class btSoftBodySolver; + +class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld +{ + + btSoftBodyArray m_softBodies; + int m_drawFlags; + bool m_drawNodeTree; + bool m_drawFaceTree; + bool m_drawClusterTree; + btSoftBodyWorldInfo m_sbi; + ///Solver classes that encapsulate multiple soft bodies for solving + btSoftBodySolver *m_softBodySolver; + bool m_ownsSolver; + +protected: + + virtual void predictUnconstraintMotion(btScalar timeStep); + + virtual void internalSingleStepSimulation( btScalar timeStep); + + void solveSoftBodiesConstraints( btScalar timeStep ); + + +public: + + btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver *softBodySolver = 0 ); + + virtual ~btSoftRigidDynamicsWorld(); + + virtual void debugDrawWorld(); + + void addSoftBody(btSoftBody* body,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter); + + void removeSoftBody(btSoftBody* body); + + ///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject + virtual void removeCollisionObject(btCollisionObject* collisionObject); + + int getDrawFlags() const { return(m_drawFlags); } + void setDrawFlags(int f) { m_drawFlags=f; } + + btSoftBodyWorldInfo& getWorldInfo() + { + return m_sbi; + } + const btSoftBodyWorldInfo& getWorldInfo() const + { + return m_sbi; + } + + + btSoftBodyArray& getSoftBodyArray() + { + return m_softBodies; + } + + const btSoftBodyArray& getSoftBodyArray() const + { + return m_softBodies; + } + + + virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; + + /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. + /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. + /// This allows more customization. + static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + RayResultCallback& resultCallback); + + +}; + +#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.h b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.h new file mode 100644 index 0000000..1b34e0a --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.h @@ -0,0 +1,69 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef SOFT_SOFT_COLLISION_ALGORITHM_H +#define SOFT_SOFT_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" + +class btPersistentManifold; +class btSoftBody; + +///collision detection between two btSoftBody shapes +class btSoftSoftCollisionAlgorithm : public btCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + + btSoftBody* m_softBody0; + btSoftBody* m_softBody1; + + +public: + btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) + : btCollisionAlgorithm(ci) {} + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + manifoldArray.push_back(m_manifoldPtr); + } + + btSoftSoftCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); + + virtual ~btSoftSoftCollisionAlgorithm(); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + int bbsize = sizeof(btSoftSoftCollisionAlgorithm); + void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize); + return new(ptr) btSoftSoftCollisionAlgorithm(0,ci,body0,body1); + } + }; + +}; + +#endif //SOFT_SOFT_COLLISION_ALGORITHM_H + + diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSparseSDF.h b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSparseSDF.h new file mode 100644 index 0000000..cc42667 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/btSparseSDF.h @@ -0,0 +1,306 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +///btSparseSdf implementation by Nathanael Presson + +#ifndef _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_ +#define _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_ + +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" + +// Modified Paul Hsieh hash +template +unsigned int HsiehHash(const void* pdata) +{ + const unsigned short* data=(const unsigned short*)pdata; + unsigned hash=DWORDLEN<<2,tmp; + for(int i=0;i>11; + } + hash^=hash<<3;hash+=hash>>5; + hash^=hash<<4;hash+=hash>>17; + hash^=hash<<25;hash+=hash>>6; + return(hash); +} + +template +struct btSparseSdf +{ + // + // Inner types + // + struct IntFrac + { + int b; + int i; + btScalar f; + }; + struct Cell + { + btScalar d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1]; + int c[3]; + int puid; + unsigned hash; + btCollisionShape* pclient; + Cell* next; + }; + // + // Fields + // + + btAlignedObjectArray cells; + btScalar voxelsz; + int puid; + int ncells; + int nprobes; + int nqueries; + + // + // Methods + // + + // + void Initialize(int hashsize=2383) + { + cells.resize(hashsize,0); + Reset(); + } + // + void Reset() + { + for(int i=0,ni=cells.size();inext; + delete pc; + pc=pn; + } + } + voxelsz =0.25; + puid =0; + ncells =0; + nprobes =1; + nqueries =1; + } + // + void GarbageCollect(int lifetime=256) + { + const int life=puid-lifetime; + for(int i=0;inext; + if(pc->puidnext=pn; else root=pn; + delete pc;pc=pp;--ncells; + } + pp=pc;pc=pn; + } + } + //printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries); + nqueries=1; + nprobes=1; + ++puid; ///@todo: Reset puid's when int range limit is reached */ + /* else setup a priority list... */ + } + // + int RemoveReferences(btCollisionShape* pcs) + { + int refcount=0; + for(int i=0;inext; + if(pc->pclient==pcs) + { + if(pp) pp->next=pn; else root=pn; + delete pc;pc=pp;++refcount; + } + pp=pc;pc=pn; + } + } + return(refcount); + } + // + btScalar Evaluate( const btVector3& x, + btCollisionShape* shape, + btVector3& normal, + btScalar margin) + { + /* Lookup cell */ + const btVector3 scx=x/voxelsz; + const IntFrac ix=Decompose(scx.x()); + const IntFrac iy=Decompose(scx.y()); + const IntFrac iz=Decompose(scx.z()); + const unsigned h=Hash(ix.b,iy.b,iz.b,shape); + Cell*& root=cells[static_cast(h%cells.size())]; + Cell* c=root; + ++nqueries; + while(c) + { + ++nprobes; + if( (c->hash==h) && + (c->c[0]==ix.b) && + (c->c[1]==iy.b) && + (c->c[2]==iz.b) && + (c->pclient==shape)) + { break; } + else + { c=c->next; } + } + if(!c) + { + ++nprobes; + ++ncells; + c=new Cell(); + c->next=root;root=c; + c->pclient=shape; + c->hash=h; + c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b; + BuildCell(*c); + } + c->puid=puid; + /* Extract infos */ + const int o[]={ ix.i,iy.i,iz.i}; + const btScalar d[]={ c->d[o[0]+0][o[1]+0][o[2]+0], + c->d[o[0]+1][o[1]+0][o[2]+0], + c->d[o[0]+1][o[1]+1][o[2]+0], + c->d[o[0]+0][o[1]+1][o[2]+0], + c->d[o[0]+0][o[1]+0][o[2]+1], + c->d[o[0]+1][o[1]+0][o[2]+1], + c->d[o[0]+1][o[1]+1][o[2]+1], + c->d[o[0]+0][o[1]+1][o[2]+1]}; + /* Normal */ +#if 1 + const btScalar gx[]={ d[1]-d[0],d[2]-d[3], + d[5]-d[4],d[6]-d[7]}; + const btScalar gy[]={ d[3]-d[0],d[2]-d[1], + d[7]-d[4],d[6]-d[5]}; + const btScalar gz[]={ d[4]-d[0],d[5]-d[1], + d[7]-d[3],d[6]-d[2]}; + normal.setX(Lerp( Lerp(gx[0],gx[1],iy.f), + Lerp(gx[2],gx[3],iy.f),iz.f)); + normal.setY(Lerp( Lerp(gy[0],gy[1],ix.f), + Lerp(gy[2],gy[3],ix.f),iz.f)); + normal.setZ(Lerp( Lerp(gz[0],gz[1],ix.f), + Lerp(gz[2],gz[3],ix.f),iy.f)); + normal = normal.normalized(); +#else + normal = btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized(); +#endif + /* Distance */ + const btScalar d0=Lerp(Lerp(d[0],d[1],ix.f), + Lerp(d[3],d[2],ix.f),iy.f); + const btScalar d1=Lerp(Lerp(d[4],d[5],ix.f), + Lerp(d[7],d[6],ix.f),iy.f); + return(Lerp(d0,d1,iz.f)-margin); + } + // + void BuildCell(Cell& c) + { + const btVector3 org=btVector3( (btScalar)c.c[0], + (btScalar)c.c[1], + (btScalar)c.c[2]) * + CELLSIZE*voxelsz; + for(int k=0;k<=CELLSIZE;++k) + { + const btScalar z=voxelsz*k+org.z(); + for(int j=0;j<=CELLSIZE;++j) + { + const btScalar y=voxelsz*j+org.y(); + for(int i=0;i<=CELLSIZE;++i) + { + const btScalar x=voxelsz*i+org.x(); + c.d[i][j][k]=DistanceToShape( btVector3(x,y,z), + c.pclient); + } + } + } + } + // + static inline btScalar DistanceToShape(const btVector3& x, + btCollisionShape* shape) + { + btTransform unit; + unit.setIdentity(); + if(shape->isConvex()) + { + btGjkEpaSolver2::sResults res; + btConvexShape* csh=static_cast(shape); + return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res)); + } + return(0); + } + // + static inline IntFrac Decompose(btScalar x) + { + /* That one need a lot of improvements... */ + /* Remove test, faster floor... */ + IntFrac r; + x/=CELLSIZE; + const int o=x<0?(int)(-x+1):0; + x+=o;r.b=(int)x; + const btScalar k=(x-r.b)*CELLSIZE; + r.i=(int)k;r.f=k-r.i;r.b-=o; + return(r); + } + // + static inline btScalar Lerp(btScalar a,btScalar b,btScalar t) + { + return(a+(b-a)*t); + } + + + + // + static inline unsigned int Hash(int x,int y,int z,btCollisionShape* shape) + { + struct btS + { + int x,y,z; + void* p; + }; + + btS myset; + + myset.x=x;myset.y=y;myset.z=z;myset.p=shape; + const void* ptr = &myset; + + unsigned int result = HsiehHash (ptr); + + + return result; + } +}; + + +#endif diff --git a/Mod Sources/Bullet/include/bullet/BulletSoftBody/cmake_install.cmake b/Mod Sources/Bullet/include/bullet/BulletSoftBody/cmake_install.cmake new file mode 100644 index 0000000..2f9fa43 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/BulletSoftBody/cmake_install.cmake @@ -0,0 +1,29 @@ +# Install script for directory: C:/Documents and Settings/Robert MacGregor/Desktop/bullet-2.77/src/BulletSoftBody + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "C:/Program Files/BULLET_PHYSICS") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "Release") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btAabbUtil2.h b/Mod Sources/Bullet/include/bullet/LinearMath/btAabbUtil2.h new file mode 100644 index 0000000..532ce1b --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btAabbUtil2.h @@ -0,0 +1,236 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#ifndef AABB_UTIL2 +#define AABB_UTIL2 + +#include "btTransform.h" +#include "btVector3.h" +#include "btMinMax.h" + + + +SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin, + btVector3& aabbMax, + const btVector3& expansionMin, + const btVector3& expansionMax) +{ + aabbMin = aabbMin + expansionMin; + aabbMax = aabbMax + expansionMax; +} + +/// conservative test for overlap between two aabbs +SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, + const btVector3 &point) +{ + bool overlap = true; + overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap; + overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap; + overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap; + return overlap; +} + + +/// conservative test for overlap between two aabbs +SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, + const btVector3 &aabbMin2, const btVector3 &aabbMax2) +{ + bool overlap = true; + overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap; + overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap; + overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap; + return overlap; +} + +/// conservative test for overlap between triangle and aabb +SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3 *vertices, + const btVector3 &aabbMin, const btVector3 &aabbMax) +{ + const btVector3 &p1 = vertices[0]; + const btVector3 &p2 = vertices[1]; + const btVector3 &p3 = vertices[2]; + + if (btMin(btMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false; + if (btMax(btMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false; + + if (btMin(btMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false; + if (btMax(btMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false; + + if (btMin(btMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false; + if (btMax(btMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false; + return true; +} + + +SIMD_FORCE_INLINE int btOutcode(const btVector3& p,const btVector3& halfExtent) +{ + return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) | + (p.getX() > halfExtent.getX() ? 0x08 : 0x0) | + (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) | + (p.getY() > halfExtent.getY() ? 0x10 : 0x0) | + (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) | + (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0); +} + + + +SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom, + const btVector3& rayInvDirection, + const unsigned int raySign[3], + const btVector3 bounds[2], + btScalar& tmin, + btScalar lambda_min, + btScalar lambda_max) +{ + btScalar tmax, tymin, tymax, tzmin, tzmax; + tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX(); + tmax = (bounds[1-raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX(); + tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY(); + tymax = (bounds[1-raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY(); + + if ( (tmin > tymax) || (tymin > tmax) ) + return false; + + if (tymin > tmin) + tmin = tymin; + + if (tymax < tmax) + tmax = tymax; + + tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ(); + tzmax = (bounds[1-raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ(); + + if ( (tmin > tzmax) || (tzmin > tmax) ) + return false; + if (tzmin > tmin) + tmin = tzmin; + if (tzmax < tmax) + tmax = tzmax; + return ( (tmin < lambda_max) && (tmax > lambda_min) ); +} + +SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, + const btVector3& rayTo, + const btVector3& aabbMin, + const btVector3& aabbMax, + btScalar& param, btVector3& normal) +{ + btVector3 aabbHalfExtent = (aabbMax-aabbMin)* btScalar(0.5); + btVector3 aabbCenter = (aabbMax+aabbMin)* btScalar(0.5); + btVector3 source = rayFrom - aabbCenter; + btVector3 target = rayTo - aabbCenter; + int sourceOutcode = btOutcode(source,aabbHalfExtent); + int targetOutcode = btOutcode(target,aabbHalfExtent); + if ((sourceOutcode & targetOutcode) == 0x0) + { + btScalar lambda_enter = btScalar(0.0); + btScalar lambda_exit = param; + btVector3 r = target - source; + int i; + btScalar normSign = 1; + btVector3 hitNormal(0,0,0); + int bit=1; + + for (int j=0;j<2;j++) + { + for (i = 0; i != 3; ++i) + { + if (sourceOutcode & bit) + { + btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i]; + if (lambda_enter <= lambda) + { + lambda_enter = lambda; + hitNormal.setValue(0,0,0); + hitNormal[i] = normSign; + } + } + else if (targetOutcode & bit) + { + btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i]; + btSetMin(lambda_exit, lambda); + } + bit<<=1; + } + normSign = btScalar(-1.); + } + if (lambda_enter <= lambda_exit) + { + param = lambda_enter; + normal = hitNormal; + return true; + } + } + return false; +} + + + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin,const btTransform& t,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin); + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = btVector3(abs_b[0].dot(halfExtentsWithMargin), + abs_b[1].dot(halfExtentsWithMargin), + abs_b[2].dot(halfExtentsWithMargin)); + aabbMinOut = center - extent; + aabbMaxOut = center + extent; +} + + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin,const btVector3& localAabbMax, btScalar margin,const btTransform& trans,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btAssert(localAabbMin.getX() <= localAabbMax.getX()); + btAssert(localAabbMin.getY() <= localAabbMax.getY()); + btAssert(localAabbMin.getZ() <= localAabbMax.getZ()); + btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin); + localHalfExtents+=btVector3(margin,margin,margin); + + btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin); + btMatrix3x3 abs_b = trans.getBasis().absolute(); + btVector3 center = trans(localCenter); + btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), + abs_b[1].dot(localHalfExtents), + abs_b[2].dot(localHalfExtents)); + aabbMinOut = center-extent; + aabbMaxOut = center+extent; +} + +#define USE_BANCHLESS 1 +#ifdef USE_BANCHLESS + //This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360) + SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) + { + return static_cast(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0]) + & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2]) + & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])), + 1, 0)); + } +#else + SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) + { + bool overlap = true; + overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap; + overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap; + overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap; + return overlap; + } +#endif //USE_BANCHLESS + +#endif + + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btAlignedAllocator.h b/Mod Sources/Bullet/include/bullet/LinearMath/btAlignedAllocator.h new file mode 100644 index 0000000..f168f3c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btAlignedAllocator.h @@ -0,0 +1,107 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_ALIGNED_ALLOCATOR +#define BT_ALIGNED_ALLOCATOR + +///we probably replace this with our own aligned memory allocator +///so we replace _aligned_malloc and _aligned_free with our own +///that is better portable and more predictable + +#include "btScalar.h" +//#define BT_DEBUG_MEMORY_ALLOCATIONS 1 +#ifdef BT_DEBUG_MEMORY_ALLOCATIONS + +#define btAlignedAlloc(a,b) \ + btAlignedAllocInternal(a,b,__LINE__,__FILE__) + +#define btAlignedFree(ptr) \ + btAlignedFreeInternal(ptr,__LINE__,__FILE__) + +void* btAlignedAllocInternal (size_t size, int alignment,int line,char* filename); + +void btAlignedFreeInternal (void* ptr,int line,char* filename); + +#else + void* btAlignedAllocInternal (size_t size, int alignment); + void btAlignedFreeInternal (void* ptr); + + #define btAlignedAlloc(size,alignment) btAlignedAllocInternal(size,alignment) + #define btAlignedFree(ptr) btAlignedFreeInternal(ptr) + +#endif +typedef int size_type; + +typedef void *(btAlignedAllocFunc)(size_t size, int alignment); +typedef void (btAlignedFreeFunc)(void *memblock); +typedef void *(btAllocFunc)(size_t size); +typedef void (btFreeFunc)(void *memblock); + +///The developer can let all Bullet memory allocations go through a custom memory allocator, using btAlignedAllocSetCustom +void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc); +///If the developer has already an custom aligned allocator, then btAlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it. +void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc); + + +///The btAlignedAllocator is a portable class for aligned memory allocations. +///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using btAlignedAllocSetCustom and btAlignedAllocSetCustomAligned. +template < typename T , unsigned Alignment > +class btAlignedAllocator { + + typedef btAlignedAllocator< T , Alignment > self_type; + +public: + + //just going down a list: + btAlignedAllocator() {} + /* + btAlignedAllocator( const self_type & ) {} + */ + + template < typename Other > + btAlignedAllocator( const btAlignedAllocator< Other , Alignment > & ) {} + + typedef const T* const_pointer; + typedef const T& const_reference; + typedef T* pointer; + typedef T& reference; + typedef T value_type; + + pointer address ( reference ref ) const { return &ref; } + const_pointer address ( const_reference ref ) const { return &ref; } + pointer allocate ( size_type n , const_pointer * hint = 0 ) { + (void)hint; + return reinterpret_cast< pointer >(btAlignedAlloc( sizeof(value_type) * n , Alignment )); + } + void construct ( pointer ptr , const value_type & value ) { new (ptr) value_type( value ); } + void deallocate( pointer ptr ) { + btAlignedFree( reinterpret_cast< void * >( ptr ) ); + } + void destroy ( pointer ptr ) { ptr->~value_type(); } + + + template < typename O > struct rebind { + typedef btAlignedAllocator< O , Alignment > other; + }; + template < typename O > + self_type & operator=( const btAlignedAllocator< O , Alignment > & ) { return *this; } + + friend bool operator==( const self_type & , const self_type & ) { return true; } +}; + + + +#endif //BT_ALIGNED_ALLOCATOR + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btAlignedObjectArray.h b/Mod Sources/Bullet/include/bullet/LinearMath/btAlignedObjectArray.h new file mode 100644 index 0000000..d5716ef --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btAlignedObjectArray.h @@ -0,0 +1,471 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#ifndef BT_OBJECT_ARRAY__ +#define BT_OBJECT_ARRAY__ + +#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE +#include "btAlignedAllocator.h" + +///If the platform doesn't support placement new, you can disable BT_USE_PLACEMENT_NEW +///then the btAlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors +///You can enable BT_USE_MEMCPY, then swapping elements in the array will use memcpy instead of operator= +///see discussion here: http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1231 and +///http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1240 + +#define BT_USE_PLACEMENT_NEW 1 +//#define BT_USE_MEMCPY 1 //disable, because it is cumbersome to find out for each platform where memcpy is defined. It can be in or or otherwise... + +#ifdef BT_USE_MEMCPY +#include +#include +#endif //BT_USE_MEMCPY + +#ifdef BT_USE_PLACEMENT_NEW +#include //for placement new +#endif //BT_USE_PLACEMENT_NEW + + +///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 +template +//template +class btAlignedObjectArray +{ + btAlignedAllocator m_allocator; + + int m_size; + int m_capacity; + T* m_data; + //PCK: added this line + bool m_ownsMemory; + + protected: + SIMD_FORCE_INLINE int allocSize(int size) + { + return (size ? size*2 : 1); + } + SIMD_FORCE_INLINE void copy(int start,int end, T* dest) const + { + int i; + for (i=start;i size()) + { + reserve(newsize); + } +#ifdef BT_USE_PLACEMENT_NEW + for (int i=curSize;i + void quickSortInternal(L CompareFunc,int lo, int hi) + { + // lo is the lower index, hi is the upper index + // of the region of array a that is to be sorted + int i=lo, j=hi; + T x=m_data[(lo+hi)/2]; + + // partition + do + { + while (CompareFunc(m_data[i],x)) + i++; + while (CompareFunc(x,m_data[j])) + j--; + if (i<=j) + { + swap(i,j); + i++; j--; + } + } while (i<=j); + + // recursion + if (lo + void quickSort(L CompareFunc) + { + //don't sort 0 or 1 elements + if (size()>1) + { + quickSortInternal(CompareFunc,0,size()-1); + } + } + + + ///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/ + template + void downHeap(T *pArr, int k, int n,L CompareFunc) + { + /* PRE: a[k+1..N] is a heap */ + /* POST: a[k..N] is a heap */ + + T temp = pArr[k - 1]; + /* k has child(s) */ + while (k <= n/2) + { + int child = 2*k; + + if ((child < n) && CompareFunc(pArr[child - 1] , pArr[child])) + { + child++; + } + /* pick larger child */ + if (CompareFunc(temp , pArr[child - 1])) + { + /* move child up */ + pArr[k - 1] = pArr[child - 1]; + k = child; + } + else + { + break; + } + } + pArr[k - 1] = temp; + } /*downHeap*/ + + void swap(int index0,int index1) + { +#ifdef BT_USE_MEMCPY + char temp[sizeof(T)]; + memcpy(temp,&m_data[index0],sizeof(T)); + memcpy(&m_data[index0],&m_data[index1],sizeof(T)); + memcpy(&m_data[index1],temp,sizeof(T)); +#else + T temp = m_data[index0]; + m_data[index0] = m_data[index1]; + m_data[index1] = temp; +#endif //BT_USE_PLACEMENT_NEW + + } + + template + void heapSort(L CompareFunc) + { + /* sort a[0..N-1], N.B. 0 to N-1 */ + int k; + int n = m_size; + for (k = n/2; k > 0; k--) + { + downHeap(m_data, k, n, CompareFunc); + } + + /* a[1..N] is now a heap */ + while ( n>=1 ) + { + swap(0,n-1); /* largest of a[0..n-1] */ + + + n = n - 1; + /* restore a[1..i-1] heap */ + downHeap(m_data, 1, n, CompareFunc); + } + } + + ///non-recursive binary search, assumes sorted array + int findBinarySearch(const T& key) const + { + int first = 0; + int last = size(); + + //assume sorted array + while (first <= last) { + int mid = (first + last) / 2; // compute mid point. + if (key > m_data[mid]) + first = mid + 1; // repeat search in top half. + else if (key < m_data[mid]) + last = mid - 1; // repeat search in bottom half. + else + return mid; // found it. return position ///// + } + return size(); // failed to find key + } + + + int findLinearSearch(const T& key) const + { + int index=size(); + int i; + + for (i=0;i TUIntArray; + +class HullResult +{ +public: + HullResult(void) + { + mPolygons = true; + mNumOutputVertices = 0; + mNumFaces = 0; + mNumIndices = 0; + } + bool mPolygons; // true if indices represents polygons, false indices are triangles + unsigned int mNumOutputVertices; // number of vertices in the output hull + btAlignedObjectArray m_OutputVertices; // array of vertices + unsigned int mNumFaces; // the number of faces produced + unsigned int mNumIndices; // the total number of indices + btAlignedObjectArray m_Indices; // pointer to indices. + +// If triangles, then indices are array indexes into the vertex list. +// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc.. +}; + +enum HullFlag +{ + QF_TRIANGLES = (1<<0), // report results as triangles, not polygons. + QF_REVERSE_ORDER = (1<<1), // reverse order of the triangle indices. + QF_DEFAULT = QF_TRIANGLES +}; + + +class HullDesc +{ +public: + HullDesc(void) + { + mFlags = QF_DEFAULT; + mVcount = 0; + mVertices = 0; + mVertexStride = sizeof(btVector3); + mNormalEpsilon = 0.001f; + mMaxVertices = 4096; // maximum number of points to be considered for a convex hull. + mMaxFaces = 4096; + }; + + HullDesc(HullFlag flag, + unsigned int vcount, + const btVector3 *vertices, + unsigned int stride = sizeof(btVector3)) + { + mFlags = flag; + mVcount = vcount; + mVertices = vertices; + mVertexStride = stride; + mNormalEpsilon = btScalar(0.001); + mMaxVertices = 4096; + } + + bool HasHullFlag(HullFlag flag) const + { + if ( mFlags & flag ) return true; + return false; + } + + void SetHullFlag(HullFlag flag) + { + mFlags|=flag; + } + + void ClearHullFlag(HullFlag flag) + { + mFlags&=~flag; + } + + unsigned int mFlags; // flags to use when generating the convex hull. + unsigned int mVcount; // number of vertices in the input point cloud + const btVector3 *mVertices; // the array of vertices. + unsigned int mVertexStride; // the stride of each vertex, in bytes. + btScalar mNormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on. + unsigned int mMaxVertices; // maximum number of vertices to be considered for the hull! + unsigned int mMaxFaces; +}; + +enum HullError +{ + QE_OK, // success! + QE_FAIL // failed. +}; + +class btPlane +{ + public: + btVector3 normal; + btScalar dist; // distance below origin - the D from plane equasion Ax+By+Cz+D=0 + btPlane(const btVector3 &n,btScalar d):normal(n),dist(d){} + btPlane():normal(),dist(0){} + +}; + + + +class ConvexH +{ + public: + class HalfEdge + { + public: + short ea; // the other half of the edge (index into edges list) + unsigned char v; // the vertex at the start of this edge (index into vertices list) + unsigned char p; // the facet on which this edge lies (index into facets list) + HalfEdge(){} + HalfEdge(short _ea,unsigned char _v, unsigned char _p):ea(_ea),v(_v),p(_p){} + }; + ConvexH() + { + } + ~ConvexH() + { + } + btAlignedObjectArray vertices; + btAlignedObjectArray edges; + btAlignedObjectArray facets; + ConvexH(int vertices_size,int edges_size,int facets_size); +}; + + +class int4 +{ +public: + int x,y,z,w; + int4(){}; + int4(int _x,int _y, int _z,int _w){x=_x;y=_y;z=_z;w=_w;} + const int& operator[](int i) const {return (&x)[i];} + int& operator[](int i) {return (&x)[i];} +}; + +class PHullResult +{ +public: + + PHullResult(void) + { + mVcount = 0; + mIndexCount = 0; + mFaceCount = 0; + mVertices = 0; + } + + unsigned int mVcount; + unsigned int mIndexCount; + unsigned int mFaceCount; + btVector3* mVertices; + TUIntArray m_Indices; +}; + + + +///The HullLibrary class can create a convex hull from a collection of vertices, using the ComputeHull method. +///The btShapeHull class uses this HullLibrary to create a approximate convex mesh given a general (non-polyhedral) convex shape. +class HullLibrary +{ + + btAlignedObjectArray m_tris; + +public: + + btAlignedObjectArray m_vertexIndexMapping; + + + HullError CreateConvexHull(const HullDesc& desc, // describes the input request + HullResult& result); // contains the resulst + HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it. + +private: + + bool ComputeHull(unsigned int vcount,const btVector3 *vertices,PHullResult &result,unsigned int vlimit); + + class btHullTriangle* allocateTriangle(int a,int b,int c); + void deAllocateTriangle(btHullTriangle*); + void b2bfix(btHullTriangle* s,btHullTriangle*t); + + void removeb2b(btHullTriangle* s,btHullTriangle*t); + + void checkit(btHullTriangle *t); + + btHullTriangle* extrudable(btScalar epsilon); + + int calchull(btVector3 *verts,int verts_count, TUIntArray& tris_out, int &tris_count,int vlimit); + + int calchullgen(btVector3 *verts,int verts_count, int vlimit); + + int4 FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectArray &allow); + + class ConvexH* ConvexHCrop(ConvexH& convex,const btPlane& slice); + + void extrude(class btHullTriangle* t0,int v); + + ConvexH* test_cube(); + + //BringOutYourDead (John Ratcliff): When you create a convex hull you hand it a large input set of vertices forming a 'point cloud'. + //After the hull is generated it give you back a set of polygon faces which index the *original* point cloud. + //The thing is, often times, there are many 'dead vertices' in the point cloud that are on longer referenced by the hull. + //The routine 'BringOutYourDead' find only the referenced vertices, copies them to an new buffer, and re-indexes the hull so that it is a minimal representation. + void BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int* indices,unsigned indexcount); + + bool CleanupVertices(unsigned int svcount, + const btVector3* svertices, + unsigned int stride, + unsigned int &vcount, // output number of vertices + btVector3* vertices, // location to store the results. + btScalar normalepsilon, + btVector3& scale); +}; + + +#endif + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btConvexHullComputer.h b/Mod Sources/Bullet/include/bullet/LinearMath/btConvexHullComputer.h new file mode 100644 index 0000000..7240ac4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btConvexHullComputer.h @@ -0,0 +1,103 @@ +/* +Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net + +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. +*/ + +#ifndef BT_CONVEX_HULL_COMPUTER_H +#define BT_CONVEX_HULL_COMPUTER_H + +#include "btVector3.h" +#include "btAlignedObjectArray.h" + +/// Convex hull implementation based on Preparata and Hong +/// See http://code.google.com/p/bullet/issues/detail?id=275 +/// Ole Kniemeyer, MAXON Computer GmbH +class btConvexHullComputer +{ + private: + btScalar compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp); + + public: + + class Edge + { + private: + int next; + int reverse; + int targetVertex; + + friend class btConvexHullComputer; + + public: + int getSourceVertex() const + { + return (this + reverse)->targetVertex; + } + + int getTargetVertex() const + { + return targetVertex; + } + + const Edge* getNextEdgeOfVertex() const // clockwise list of all edges of a vertex + { + return this + next; + } + + const Edge* getNextEdgeOfFace() const // counter-clockwise list of all edges of a face + { + return (this + reverse)->getNextEdgeOfVertex(); + } + + const Edge* getReverseEdge() const + { + return this + reverse; + } + }; + + + // Vertices of the output hull + btAlignedObjectArray vertices; + + // Edges of the output hull + btAlignedObjectArray edges; + + // Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons + btAlignedObjectArray faces; + + /* + Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes + between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken + by that amount (each face is moved by "shrink" length units towards the center along its normal). + If "shrinkClamp" is positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius" + is the minimum distance of a face to the center of the convex hull. + + The returned value is the amount by which the hull has been shrunken. If it is negative, the amount was so large + that the resulting convex hull is empty. + + The output convex hull can be found in the member variables "vertices", "edges", "faces". + */ + btScalar compute(const float* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp) + { + return compute(coords, false, stride, count, shrink, shrinkClamp); + } + + // same as above, but double precision + btScalar compute(const double* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp) + { + return compute(coords, true, stride, count, shrink, shrinkClamp); + } +}; + + +#endif //BT_CONVEX_HULL_COMPUTER_H + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btDefaultMotionState.h b/Mod Sources/Bullet/include/bullet/LinearMath/btDefaultMotionState.h new file mode 100644 index 0000000..7858a10 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btDefaultMotionState.h @@ -0,0 +1,40 @@ +#ifndef DEFAULT_MOTION_STATE_H +#define DEFAULT_MOTION_STATE_H + +#include "btMotionState.h" + +///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets. +struct btDefaultMotionState : public btMotionState +{ + btTransform m_graphicsWorldTrans; + btTransform m_centerOfMassOffset; + btTransform m_startWorldTrans; + void* m_userPointer; + + btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity()) + : m_graphicsWorldTrans(startTrans), + m_centerOfMassOffset(centerOfMassOffset), + m_startWorldTrans(startTrans), + m_userPointer(0) + + { + } + + ///synchronizes world transform from user to physics + virtual void getWorldTransform(btTransform& centerOfMassWorldTrans ) const + { + centerOfMassWorldTrans = m_centerOfMassOffset.inverse() * m_graphicsWorldTrans ; + } + + ///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 ; + } + + + +}; + +#endif //DEFAULT_MOTION_STATE_H diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btGeometryUtil.h b/Mod Sources/Bullet/include/bullet/LinearMath/btGeometryUtil.h new file mode 100644 index 0000000..a4b13b4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btGeometryUtil.h @@ -0,0 +1,42 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#ifndef BT_GEOMETRY_UTIL_H +#define BT_GEOMETRY_UTIL_H + +#include "btVector3.h" +#include "btAlignedObjectArray.h" + +///The btGeometryUtil helper class provides a few methods to convert between plane equations and vertices. +class btGeometryUtil +{ + public: + + + static void getPlaneEquationsFromVertices(btAlignedObjectArray& vertices, btAlignedObjectArray& planeEquationsOut ); + + static void getVerticesFromPlaneEquations(const btAlignedObjectArray& planeEquations , btAlignedObjectArray& verticesOut ); + + static bool isInside(const btAlignedObjectArray& vertices, const btVector3& planeNormal, btScalar margin); + + static bool isPointInsidePlanes(const btAlignedObjectArray& planeEquations, const btVector3& point, btScalar margin); + + static bool areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray& vertices, btScalar margin); + +}; + + +#endif //BT_GEOMETRY_UTIL_H + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btGrahamScan2dConvexHull.h b/Mod Sources/Bullet/include/bullet/LinearMath/btGrahamScan2dConvexHull.h new file mode 100644 index 0000000..e658c5c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btGrahamScan2dConvexHull.h @@ -0,0 +1,117 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2011 Advanced Micro Devices, Inc. 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, +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. +*/ + + +#ifndef GRAHAM_SCAN_2D_CONVEX_HULL_H +#define GRAHAM_SCAN_2D_CONVEX_HULL_H + + +#include "btVector3.h" +#include "btAlignedObjectArray.h" + +struct GrahamVector3 : public btVector3 +{ + GrahamVector3(const btVector3& org, int orgIndex) + :btVector3(org), + m_orgIndex(orgIndex) + { + } + btScalar m_angle; + int m_orgIndex; +}; + + +struct btAngleCompareFunc { + btVector3 m_anchor; + btAngleCompareFunc(const btVector3& anchor) + : m_anchor(anchor) + { + } + bool operator()(const GrahamVector3& a, const GrahamVector3& b) const { + if (a.m_angle != b.m_angle) + return a.m_angle < b.m_angle; + else + { + btScalar al = (a-m_anchor).length2(); + btScalar bl = (b-m_anchor).length2(); + if (al != bl) + return al < bl; + else + { + return a.m_orgIndex < b.m_orgIndex; + } + } + } +}; + +inline void GrahamScanConvexHull2D(btAlignedObjectArray& originalPoints, btAlignedObjectArray& hull, const btVector3& normalAxis) +{ + btVector3 axis0,axis1; + btPlaneSpace1(normalAxis,axis0,axis1); + + + if (originalPoints.size()<=1) + { + for (int i=0;i1) { + btVector3& a = hull[hull.size()-2]; + btVector3& b = hull[hull.size()-1]; + isConvex = btCross(a-b,a-originalPoints[i]).dot(normalAxis)> 0; + if (!isConvex) + hull.pop_back(); + else + hull.push_back(originalPoints[i]); + } + } +} + +#endif //GRAHAM_SCAN_2D_CONVEX_HULL_H diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btHashMap.h b/Mod Sources/Bullet/include/bullet/LinearMath/btHashMap.h new file mode 100644 index 0000000..e3302b5 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btHashMap.h @@ -0,0 +1,434 @@ +#ifndef BT_HASH_MAP_H +#define BT_HASH_MAP_H + +#include "btAlignedObjectArray.h" + +///very basic hashable string implementation, compatible with btHashMap +struct btHashString +{ + const char* m_string; + unsigned int m_hash; + + SIMD_FORCE_INLINE unsigned int getHash()const + { + return m_hash; + } + + btHashString(const char* name) + :m_string(name) + { + /* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */ + static const unsigned int InitialFNV = 2166136261u; + static const unsigned int FNVMultiple = 16777619u; + + /* Fowler / Noll / Vo (FNV) Hash */ + unsigned int hash = InitialFNV; + + for(int i = 0; m_string[i]; i++) + { + hash = hash ^ (m_string[i]); /* xor the low 8 bits */ + hash = hash * FNVMultiple; /* multiply by the magic number */ + } + m_hash = hash; + } + + int portableStringCompare(const char* src, const char* dst) const + { + int ret = 0 ; + + while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst) + ++src, ++dst; + + if ( ret < 0 ) + ret = -1 ; + else if ( ret > 0 ) + ret = 1 ; + + return( ret ); + } + + bool equals(const btHashString& other) const + { + return (m_string == other.m_string) || + (0==portableStringCompare(m_string,other.m_string)); + + } + +}; + +const int BT_HASH_NULL=0xffffffff; + + +class btHashInt +{ + int m_uid; +public: + btHashInt(int uid) :m_uid(uid) + { + } + + int getUid1() const + { + return m_uid; + } + + void setUid1(int uid) + { + m_uid = uid; + } + + bool equals(const btHashInt& other) const + { + return getUid1() == other.getUid1(); + } + //to our success + SIMD_FORCE_INLINE unsigned int getHash()const + { + int key = m_uid; + // Thomas Wang's hash + key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); + return key; + } +}; + + + +class btHashPtr +{ + + union + { + const void* m_pointer; + int m_hashValues[2]; + }; + +public: + + btHashPtr(const void* ptr) + :m_pointer(ptr) + { + } + + const void* getPointer() const + { + return m_pointer; + } + + bool equals(const btHashPtr& other) const + { + return getPointer() == other.getPointer(); + } + + //to our success + SIMD_FORCE_INLINE unsigned int getHash()const + { + const bool VOID_IS_8 = ((sizeof(void*)==8)); + + int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0]; + + // Thomas Wang's hash + key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); + return key; + } + + +}; + + +template +class btHashKeyPtr +{ + int m_uid; +public: + + btHashKeyPtr(int uid) :m_uid(uid) + { + } + + int getUid1() const + { + return m_uid; + } + + bool equals(const btHashKeyPtr& other) const + { + return getUid1() == other.getUid1(); + } + + //to our success + SIMD_FORCE_INLINE unsigned int getHash()const + { + int key = m_uid; + // Thomas Wang's hash + key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); + return key; + } + + +}; + + +template +class btHashKey +{ + int m_uid; +public: + + btHashKey(int uid) :m_uid(uid) + { + } + + int getUid1() const + { + return m_uid; + } + + bool equals(const btHashKey& other) const + { + return getUid1() == other.getUid1(); + } + //to our success + SIMD_FORCE_INLINE unsigned int getHash()const + { + int key = m_uid; + // Thomas Wang's hash + key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); + return key; + } +}; + + +///The btHashMap template class implements a generic and lightweight hashmap. +///A basic sample of how to use btHashMap is located in Demos\BasicDemo\main.cpp +template +class btHashMap +{ + +protected: + btAlignedObjectArray m_hashTable; + btAlignedObjectArray m_next; + + btAlignedObjectArray m_valueArray; + btAlignedObjectArray m_keyArray; + + void growTables(const Key& /*key*/) + { + int newCapacity = m_valueArray.capacity(); + + if (m_hashTable.size() < newCapacity) + { + //grow hashtable and next table + int curHashtableSize = m_hashTable.size(); + + m_hashTable.resize(newCapacity); + m_next.resize(newCapacity); + + int i; + + for (i= 0; i < newCapacity; ++i) + { + m_hashTable[i] = BT_HASH_NULL; + } + for (i = 0; i < newCapacity; ++i) + { + m_next[i] = BT_HASH_NULL; + } + + for(i=0;i= (unsigned int)m_hashTable.size()) + { + return BT_HASH_NULL; + } + + int index = m_hashTable[hash]; + while ((index != BT_HASH_NULL) && key.equals(m_keyArray[index]) == false) + { + index = m_next[index]; + } + return index; + } + + void clear() + { + m_hashTable.clear(); + m_next.clear(); + m_valueArray.clear(); + m_keyArray.clear(); + } + +}; + +#endif //BT_HASH_MAP_H diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btIDebugDraw.h b/Mod Sources/Bullet/include/bullet/LinearMath/btIDebugDraw.h new file mode 100644 index 0000000..e7849f6 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btIDebugDraw.h @@ -0,0 +1,316 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + + +#ifndef IDEBUG_DRAW__H +#define IDEBUG_DRAW__H + +#include "btVector3.h" +#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. +///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1] +class btIDebugDraw +{ + public: + + enum DebugDrawModes + { + DBG_NoDebug=0, + DBG_DrawWireframe = 1, + DBG_DrawAabb=2, + DBG_DrawFeaturesText=4, + DBG_DrawContactPoints=8, + DBG_NoDeactivation=16, + DBG_NoHelpText = 32, + DBG_DrawText=64, + DBG_ProfileTimings = 128, + DBG_EnableSatComparison = 256, + DBG_DisableBulletLCP = 512, + DBG_EnableCCD = 1024, + DBG_DrawConstraints = (1 << 11), + DBG_DrawConstraintLimits = (1 << 12), + DBG_FastWireframe = (1<<13), + DBG_MAX_DEBUG_DRAW_MODE + }; + + virtual ~btIDebugDraw() {}; + + 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) + { + (void) toColor; + drawLine (from, to, fromColor); + } + + virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color) + { + btVector3 start = transform.getOrigin(); + + const btVector3 xoffs = transform.getBasis() * btVector3(radius,0,0); + const btVector3 yoffs = transform.getBasis() * btVector3(0,radius,0); + const btVector3 zoffs = transform.getBasis() * btVector3(0,0,radius); + + // XY + drawLine(start-xoffs, start+yoffs, color); + drawLine(start+yoffs, start+xoffs, color); + drawLine(start+xoffs, start-yoffs, color); + drawLine(start-yoffs, start-xoffs, color); + + // XZ + drawLine(start-xoffs, start+zoffs, color); + drawLine(start+zoffs, start+xoffs, color); + drawLine(start+xoffs, start-zoffs, color); + drawLine(start-zoffs, start-xoffs, color); + + // YZ + drawLine(start-yoffs, start+zoffs, color); + drawLine(start+zoffs, start+yoffs, color); + drawLine(start+yoffs, start-zoffs, color); + drawLine(start-zoffs, start-yoffs, color); + } + + virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color) + { + btTransform tr; + tr.setIdentity(); + tr.setOrigin(p); + drawSphere(radius,tr,color); + } + + virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha) + { + drawTriangle(v0,v1,v2,color,alpha); + } + virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& color, btScalar /*alpha*/) + { + drawLine(v0,v1,color); + drawLine(v1,v2,color); + drawLine(v2,v0,color); + } + + virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)=0; + + virtual void reportErrorWarning(const char* warningString) = 0; + + virtual void draw3dText(const btVector3& location,const char* textString) = 0; + + virtual void setDebugMode(int debugMode) =0; + + virtual int getDebugMode() const = 0; + + virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color) + { + + btVector3 halfExtents = (to-from)* 0.5f; + btVector3 center = (to+from) *0.5f; + int i,j; + + btVector3 edgecoord(1.f,1.f,1.f),pa,pb; + for (i=0;i<4;i++) + { + for (j=0;j<3;j++) + { + pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], + edgecoord[2]*halfExtents[2]); + pa+=center; + + int othercoord = j%3; + edgecoord[othercoord]*=-1.f; + pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], + edgecoord[2]*halfExtents[2]); + pb+=center; + + drawLine(pa,pb,color); + } + edgecoord = btVector3(-1.f,-1.f,-1.f); + if (i<3) + edgecoord[i]*=-1.f; + } + } + virtual void drawTransform(const btTransform& transform, btScalar orthoLen) + { + btVector3 start = transform.getOrigin(); + drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(0.7f,0,0)); + drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0,0.7f,0)); + drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0,0,0.7f)); + } + + virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, + const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f)) + { + const btVector3& vx = axis; + btVector3 vy = normal.cross(axis); + btScalar step = stepDegrees * SIMD_RADS_PER_DEG; + int nSteps = (int)((maxAngle - minAngle) / step); + if(!nSteps) nSteps = 1; + btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle); + if(drawSect) + { + drawLine(center, prev, color); + } + for(int i = 1; i <= nSteps; i++) + { + btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps); + btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle); + drawLine(prev, next, color); + prev = next; + } + if(drawSect) + { + drawLine(center, prev, color); + } + } + virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius, + btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f)) + { + btVector3 vA[74]; + btVector3 vB[74]; + btVector3 *pvA = vA, *pvB = vB, *pT; + btVector3 npole = center + up * radius; + btVector3 spole = center - up * radius; + btVector3 arcStart; + btScalar step = stepDegrees * SIMD_RADS_PER_DEG; + const btVector3& kv = up; + const btVector3& iv = axis; + btVector3 jv = kv.cross(iv); + bool drawN = false; + bool drawS = false; + if(minTh <= -SIMD_HALF_PI) + { + minTh = -SIMD_HALF_PI + step; + drawN = true; + } + if(maxTh >= SIMD_HALF_PI) + { + maxTh = SIMD_HALF_PI - step; + drawS = true; + } + if(minTh > maxTh) + { + minTh = -SIMD_HALF_PI + step; + maxTh = SIMD_HALF_PI - step; + drawN = drawS = true; + } + int n_hor = (int)((maxTh - minTh) / step) + 1; + if(n_hor < 2) n_hor = 2; + btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1); + bool isClosed = false; + if(minPs > maxPs) + { + minPs = -SIMD_PI + step; + maxPs = SIMD_PI; + isClosed = true; + } + else if((maxPs - minPs) >= SIMD_PI * btScalar(2.f)) + { + isClosed = true; + } + else + { + isClosed = false; + } + int n_vert = (int)((maxPs - minPs) / step) + 1; + if(n_vert < 2) n_vert = 2; + btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1); + for(int i = 0; i < n_hor; i++) + { + btScalar th = minTh + btScalar(i) * step_h; + btScalar sth = radius * btSin(th); + btScalar cth = radius * btCos(th); + for(int j = 0; j < n_vert; j++) + { + btScalar psi = minPs + btScalar(j) * step_v; + btScalar sps = btSin(psi); + btScalar cps = btCos(psi); + pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv; + if(i) + { + drawLine(pvA[j], pvB[j], color); + } + else if(drawS) + { + drawLine(spole, pvB[j], color); + } + if(j) + { + drawLine(pvB[j-1], pvB[j], color); + } + else + { + arcStart = pvB[j]; + } + if((i == (n_hor - 1)) && drawN) + { + drawLine(npole, pvB[j], color); + } + if(isClosed) + { + if(j == (n_vert-1)) + { + drawLine(arcStart, pvB[j], color); + } + } + else + { + if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1)))) + { + drawLine(center, pvB[j], color); + } + } + } + pT = pvA; pvA = pvB; pvB = pT; + } + } + + virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color) + { + drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color); + drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color); + drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMin[2]), color); + drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMin[2]), color); + drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color); + drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color); + drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color); + drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color); + drawLine(btVector3(bbMin[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color); + drawLine(btVector3(bbMax[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color); + drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color); + drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color); + } + virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color) + { + drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color); + } +}; + + +#endif //IDEBUG_DRAW__H + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btList.h b/Mod Sources/Bullet/include/bullet/LinearMath/btList.h new file mode 100644 index 0000000..c87b47f --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btList.h @@ -0,0 +1,73 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#ifndef GEN_LIST_H +#define GEN_LIST_H + +class btGEN_Link { +public: + btGEN_Link() : m_next(0), m_prev(0) {} + btGEN_Link(btGEN_Link *next, btGEN_Link *prev) : m_next(next), m_prev(prev) {} + + btGEN_Link *getNext() const { return m_next; } + btGEN_Link *getPrev() const { return m_prev; } + + bool isHead() const { return m_prev == 0; } + bool isTail() const { return m_next == 0; } + + void insertBefore(btGEN_Link *link) { + m_next = link; + m_prev = link->m_prev; + m_next->m_prev = this; + m_prev->m_next = this; + } + + void insertAfter(btGEN_Link *link) { + m_next = link->m_next; + m_prev = link; + m_next->m_prev = this; + m_prev->m_next = this; + } + + void remove() { + m_next->m_prev = m_prev; + m_prev->m_next = m_next; + } + +private: + btGEN_Link *m_next; + btGEN_Link *m_prev; +}; + +class btGEN_List { +public: + btGEN_List() : m_head(&m_tail, 0), m_tail(0, &m_head) {} + + btGEN_Link *getHead() const { return m_head.getNext(); } + btGEN_Link *getTail() const { return m_tail.getPrev(); } + + void addHead(btGEN_Link *link) { link->insertAfter(&m_head); } + void addTail(btGEN_Link *link) { link->insertBefore(&m_tail); } + +private: + btGEN_Link m_head; + btGEN_Link m_tail; +}; + +#endif + + + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btMatrix3x3.h b/Mod Sources/Bullet/include/bullet/LinearMath/btMatrix3x3.h new file mode 100644 index 0000000..3c37f6e --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btMatrix3x3.h @@ -0,0 +1,688 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#ifndef BT_MATRIX3x3_H +#define BT_MATRIX3x3_H + +#include "btVector3.h" +#include "btQuaternion.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btMatrix3x3Data btMatrix3x3DoubleData +#else +#define btMatrix3x3Data btMatrix3x3FloatData +#endif //BT_USE_DOUBLE_PRECISION + + +/**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3. +* Make sure to only include a pure orthogonal matrix without scaling. */ +class btMatrix3x3 { + + ///Data storage for the matrix, each vector is a row of the matrix + btVector3 m_el[3]; + +public: + /** @brief No initializaion constructor */ + btMatrix3x3 () {} + + // explicit btMatrix3x3(const btScalar *m) { setFromOpenGLSubMatrix(m); } + + /**@brief Constructor from Quaternion */ + explicit btMatrix3x3(const btQuaternion& q) { setRotation(q); } + /* + template + Matrix3x3(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { + setEulerYPR(yaw, pitch, roll); + } + */ + /** @brief Constructor with row major formatting */ + btMatrix3x3(const btScalar& xx, const btScalar& xy, const btScalar& xz, + const btScalar& yx, const btScalar& yy, const btScalar& yz, + const btScalar& zx, const btScalar& zy, const btScalar& zz) + { + setValue(xx, xy, xz, + yx, yy, yz, + zx, zy, zz); + } + /** @brief Copy constructor */ + SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other) + { + m_el[0] = other.m_el[0]; + m_el[1] = other.m_el[1]; + m_el[2] = other.m_el[2]; + } + /** @brief Assignment Operator */ + SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other) + { + m_el[0] = other.m_el[0]; + m_el[1] = other.m_el[1]; + m_el[2] = other.m_el[2]; + return *this; + } + + /** @brief Get a column of the matrix as a vector + * @param i Column number 0 indexed */ + SIMD_FORCE_INLINE btVector3 getColumn(int i) const + { + return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]); + } + + + /** @brief Get a row of the matrix as a vector + * @param i Row number 0 indexed */ + SIMD_FORCE_INLINE const btVector3& getRow(int i) const + { + btFullAssert(0 <= i && i < 3); + return m_el[i]; + } + + /** @brief Get a mutable reference to a row of the matrix as a vector + * @param i Row number 0 indexed */ + SIMD_FORCE_INLINE btVector3& operator[](int i) + { + btFullAssert(0 <= i && i < 3); + return m_el[i]; + } + + /** @brief Get a const reference to a row of the matrix as a vector + * @param i Row number 0 indexed */ + SIMD_FORCE_INLINE const btVector3& operator[](int i) const + { + btFullAssert(0 <= i && i < 3); + return m_el[i]; + } + + /** @brief Multiply by the target matrix on the right + * @param m Rotation matrix to be applied + * Equivilant to this = this * m */ + btMatrix3x3& operator*=(const btMatrix3x3& m); + + /** @brief Set from a carray of btScalars + * @param m A pointer to the beginning of an array of 9 btScalars */ + void setFromOpenGLSubMatrix(const btScalar *m) + { + m_el[0].setValue(m[0],m[4],m[8]); + m_el[1].setValue(m[1],m[5],m[9]); + m_el[2].setValue(m[2],m[6],m[10]); + + } + /** @brief Set the values of the matrix explicitly (row major) + * @param xx Top left + * @param xy Top Middle + * @param xz Top Right + * @param yx Middle Left + * @param yy Middle Middle + * @param yz Middle Right + * @param zx Bottom Left + * @param zy Bottom Middle + * @param zz Bottom Right*/ + void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz, + const btScalar& yx, const btScalar& yy, const btScalar& yz, + const btScalar& zx, const btScalar& zy, const btScalar& zz) + { + m_el[0].setValue(xx,xy,xz); + m_el[1].setValue(yx,yy,yz); + m_el[2].setValue(zx,zy,zz); + } + + /** @brief Set the matrix from a quaternion + * @param q The Quaternion to match */ + void setRotation(const btQuaternion& q) + { + btScalar d = q.length2(); + btFullAssert(d != btScalar(0.0)); + btScalar s = btScalar(2.0) / d; + btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s; + btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs; + btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs; + btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs; + setValue(btScalar(1.0) - (yy + zz), xy - wz, xz + wy, + xy + wz, btScalar(1.0) - (xx + zz), yz - wx, + xz - wy, yz + wx, btScalar(1.0) - (xx + yy)); + } + + + /** @brief Set the matrix from euler angles using YPR around YXZ respectively + * @param yaw Yaw about Y axis + * @param pitch Pitch about X axis + * @param roll Roll about Z axis + */ + void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { + setEulerZYX(roll, pitch, yaw); + } + + /** @brief Set the matrix from euler angles YPR around ZYX axes + * @param eulerX Roll about X axis + * @param eulerY Pitch around Y axis + * @param eulerZ Yaw aboud Z axis + * + * These angles are used to produce a rotation matrix. The euler + * angles are applied in ZYX order. I.e a vector is first rotated + * about X then Y and then Z + **/ + void setEulerZYX(btScalar eulerX,btScalar eulerY,btScalar eulerZ) { + ///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code + btScalar ci ( btCos(eulerX)); + btScalar cj ( btCos(eulerY)); + btScalar ch ( btCos(eulerZ)); + btScalar si ( btSin(eulerX)); + btScalar sj ( btSin(eulerY)); + btScalar sh ( btSin(eulerZ)); + btScalar cc = ci * ch; + btScalar cs = ci * sh; + btScalar sc = si * ch; + btScalar ss = si * sh; + + setValue(cj * ch, sj * sc - cs, sj * cc + ss, + cj * sh, sj * ss + cc, sj * cs - sc, + -sj, cj * si, cj * ci); + } + + /**@brief Set the matrix to the identity */ + void setIdentity() + { + setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0), + btScalar(0.0), btScalar(1.0), btScalar(0.0), + btScalar(0.0), btScalar(0.0), btScalar(1.0)); + } + + static const btMatrix3x3& getIdentity() + { + static const btMatrix3x3 identityMatrix(btScalar(1.0), btScalar(0.0), btScalar(0.0), + btScalar(0.0), btScalar(1.0), btScalar(0.0), + btScalar(0.0), btScalar(0.0), btScalar(1.0)); + return identityMatrix; + } + + /**@brief Fill the values of the matrix into a 9 element array + * @param m The array to be filled */ + void getOpenGLSubMatrix(btScalar *m) const + { + m[0] = btScalar(m_el[0].x()); + m[1] = btScalar(m_el[1].x()); + m[2] = btScalar(m_el[2].x()); + m[3] = btScalar(0.0); + m[4] = btScalar(m_el[0].y()); + m[5] = btScalar(m_el[1].y()); + m[6] = btScalar(m_el[2].y()); + m[7] = btScalar(0.0); + m[8] = btScalar(m_el[0].z()); + m[9] = btScalar(m_el[1].z()); + m[10] = btScalar(m_el[2].z()); + m[11] = btScalar(0.0); + } + + /**@brief Get the matrix represented as a quaternion + * @param q The quaternion which will be set */ + void getRotation(btQuaternion& q) const + { + btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z(); + btScalar temp[4]; + + if (trace > btScalar(0.0)) + { + btScalar s = btSqrt(trace + btScalar(1.0)); + temp[3]=(s * btScalar(0.5)); + s = btScalar(0.5) / s; + + temp[0]=((m_el[2].y() - m_el[1].z()) * s); + temp[1]=((m_el[0].z() - m_el[2].x()) * s); + temp[2]=((m_el[1].x() - m_el[0].y()) * s); + } + else + { + int i = m_el[0].x() < m_el[1].y() ? + (m_el[1].y() < m_el[2].z() ? 2 : 1) : + (m_el[0].x() < m_el[2].z() ? 2 : 0); + int j = (i + 1) % 3; + int k = (i + 2) % 3; + + btScalar s = btSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0)); + temp[i] = s * btScalar(0.5); + s = btScalar(0.5) / s; + + temp[3] = (m_el[k][j] - m_el[j][k]) * s; + temp[j] = (m_el[j][i] + m_el[i][j]) * s; + temp[k] = (m_el[k][i] + m_el[i][k]) * s; + } + q.setValue(temp[0],temp[1],temp[2],temp[3]); + } + + /**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR + * @param yaw Yaw around Y axis + * @param pitch Pitch around X axis + * @param roll around Z axis */ + void getEulerYPR(btScalar& yaw, btScalar& pitch, btScalar& roll) const + { + + // first use the normal calculus + yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x())); + pitch = btScalar(btAsin(-m_el[2].x())); + roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z())); + + // on pitch = +/-HalfPI + if (btFabs(pitch)==SIMD_HALF_PI) + { + if (yaw>0) + yaw-=SIMD_PI; + else + yaw+=SIMD_PI; + + if (roll>0) + roll-=SIMD_PI; + else + roll+=SIMD_PI; + } + }; + + + /**@brief Get the matrix represented as euler angles around ZYX + * @param yaw Yaw around X axis + * @param pitch Pitch around Y axis + * @param roll around X axis + * @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/ + void getEulerZYX(btScalar& yaw, btScalar& pitch, btScalar& roll, unsigned int solution_number = 1) const + { + struct Euler + { + btScalar yaw; + btScalar pitch; + btScalar roll; + }; + + Euler euler_out; + Euler euler_out2; //second solution + //get the pointer to the raw data + + // Check that pitch is not at a singularity + if (btFabs(m_el[2].x()) >= 1) + { + euler_out.yaw = 0; + euler_out2.yaw = 0; + + // From difference of angles formula + btScalar delta = btAtan2(m_el[0].x(),m_el[0].z()); + if (m_el[2].x() > 0) //gimbal locked up + { + euler_out.pitch = SIMD_PI / btScalar(2.0); + euler_out2.pitch = SIMD_PI / btScalar(2.0); + euler_out.roll = euler_out.pitch + delta; + euler_out2.roll = euler_out.pitch + delta; + } + else // gimbal locked down + { + euler_out.pitch = -SIMD_PI / btScalar(2.0); + euler_out2.pitch = -SIMD_PI / btScalar(2.0); + euler_out.roll = -euler_out.pitch + delta; + euler_out2.roll = -euler_out.pitch + delta; + } + } + else + { + euler_out.pitch = - btAsin(m_el[2].x()); + euler_out2.pitch = SIMD_PI - euler_out.pitch; + + euler_out.roll = btAtan2(m_el[2].y()/btCos(euler_out.pitch), + m_el[2].z()/btCos(euler_out.pitch)); + euler_out2.roll = btAtan2(m_el[2].y()/btCos(euler_out2.pitch), + m_el[2].z()/btCos(euler_out2.pitch)); + + euler_out.yaw = btAtan2(m_el[1].x()/btCos(euler_out.pitch), + m_el[0].x()/btCos(euler_out.pitch)); + euler_out2.yaw = btAtan2(m_el[1].x()/btCos(euler_out2.pitch), + m_el[0].x()/btCos(euler_out2.pitch)); + } + + if (solution_number == 1) + { + yaw = euler_out.yaw; + pitch = euler_out.pitch; + roll = euler_out.roll; + } + else + { + yaw = euler_out2.yaw; + pitch = euler_out2.pitch; + roll = euler_out2.roll; + } + } + + /**@brief Create a scaled copy of the matrix + * @param s Scaling vector The elements of the vector will scale each column */ + + btMatrix3x3 scaled(const btVector3& s) const + { + return btMatrix3x3(m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(), + m_el[1].x() * s.x(), m_el[1].y() * s.y(), m_el[1].z() * s.z(), + m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z()); + } + + /**@brief Return the determinant of the matrix */ + btScalar determinant() const; + /**@brief Return the adjoint of the matrix */ + btMatrix3x3 adjoint() const; + /**@brief Return the matrix with all values non negative */ + btMatrix3x3 absolute() const; + /**@brief Return the transpose of the matrix */ + btMatrix3x3 transpose() const; + /**@brief Return the inverse of the matrix */ + btMatrix3x3 inverse() const; + + btMatrix3x3 transposeTimes(const btMatrix3x3& m) const; + btMatrix3x3 timesTranspose(const btMatrix3x3& m) const; + + SIMD_FORCE_INLINE btScalar tdotx(const btVector3& v) const + { + return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z(); + } + SIMD_FORCE_INLINE btScalar tdoty(const btVector3& v) const + { + return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z(); + } + SIMD_FORCE_INLINE btScalar tdotz(const btVector3& v) const + { + return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z(); + } + + + /**@brief diagonalizes this matrix by the Jacobi method. + * @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original + * coordinate system, i.e., old_this = rot * new_this * rot^T. + * @param threshold See iteration + * @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied + * by the sum of the absolute values of the diagonal, or when maxSteps have been executed. + * + * Note that this matrix is assumed to be symmetric. + */ + void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps) + { + rot.setIdentity(); + for (int step = maxSteps; step > 0; step--) + { + // find off-diagonal element [p][q] with largest magnitude + int p = 0; + int q = 1; + int r = 2; + btScalar max = btFabs(m_el[0][1]); + btScalar v = btFabs(m_el[0][2]); + if (v > max) + { + q = 2; + r = 1; + max = v; + } + v = btFabs(m_el[1][2]); + if (v > max) + { + p = 1; + q = 2; + r = 0; + max = v; + } + + btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2])); + if (max <= t) + { + if (max <= SIMD_EPSILON * t) + { + return; + } + step = 1; + } + + // compute Jacobi rotation J which leads to a zero for element [p][q] + btScalar mpq = m_el[p][q]; + btScalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq); + btScalar theta2 = theta * theta; + btScalar cos; + btScalar sin; + if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON)) + { + t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2)) + : 1 / (theta - btSqrt(1 + theta2)); + cos = 1 / btSqrt(1 + t * t); + sin = cos * t; + } + else + { + // approximation for large theta-value, i.e., a nearly diagonal matrix + t = 1 / (theta * (2 + btScalar(0.5) / theta2)); + cos = 1 - btScalar(0.5) * t * t; + sin = cos * t; + } + + // apply rotation to matrix (this = J^T * this * J) + m_el[p][q] = m_el[q][p] = 0; + m_el[p][p] -= t * mpq; + m_el[q][q] += t * mpq; + btScalar mrp = m_el[r][p]; + btScalar mrq = m_el[r][q]; + m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq; + m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp; + + // apply rotation to rot (rot = rot * J) + for (int i = 0; i < 3; i++) + { + btVector3& row = rot[i]; + mrp = row[p]; + mrq = row[q]; + row[p] = cos * mrp - sin * mrq; + row[q] = cos * mrq + sin * mrp; + } + } + } + + + + + /**@brief Calculate the matrix cofactor + * @param r1 The first row to use for calculating the cofactor + * @param c1 The first column to use for calculating the cofactor + * @param r1 The second row to use for calculating the cofactor + * @param c1 The second column to use for calculating the cofactor + * See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details + */ + btScalar cofac(int r1, int c1, int r2, int c2) const + { + return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1]; + } + + void serialize(struct btMatrix3x3Data& dataOut) const; + + void serializeFloat(struct btMatrix3x3FloatData& dataOut) const; + + void deSerialize(const struct btMatrix3x3Data& dataIn); + + void deSerializeFloat(const struct btMatrix3x3FloatData& dataIn); + + void deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn); + +}; + + +SIMD_FORCE_INLINE btMatrix3x3& +btMatrix3x3::operator*=(const btMatrix3x3& m) +{ + setValue(m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]), + m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]), + m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2])); + return *this; +} + +SIMD_FORCE_INLINE btScalar +btMatrix3x3::determinant() const +{ + return btTriple((*this)[0], (*this)[1], (*this)[2]); +} + + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::absolute() const +{ + return btMatrix3x3( + btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()), + btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()), + btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z())); +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::transpose() const +{ + return btMatrix3x3(m_el[0].x(), m_el[1].x(), m_el[2].x(), + m_el[0].y(), m_el[1].y(), m_el[2].y(), + m_el[0].z(), m_el[1].z(), m_el[2].z()); +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::adjoint() const +{ + return btMatrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2), + cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0), + cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1)); +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::inverse() const +{ + btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1)); + btScalar det = (*this)[0].dot(co); + btFullAssert(det != btScalar(0.0)); + btScalar s = btScalar(1.0) / det; + return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s, + co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s, + co.z() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s); +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::transposeTimes(const btMatrix3x3& m) const +{ + return btMatrix3x3( + m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(), + m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(), + m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(), + m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(), + m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(), + m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(), + m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(), + m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(), + m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z()); +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::timesTranspose(const btMatrix3x3& m) const +{ + return btMatrix3x3( + m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]), + m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]), + m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2])); + +} + +SIMD_FORCE_INLINE btVector3 +operator*(const btMatrix3x3& m, const btVector3& v) +{ + return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v)); +} + + +SIMD_FORCE_INLINE btVector3 +operator*(const btVector3& v, const btMatrix3x3& m) +{ + return btVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v)); +} + +SIMD_FORCE_INLINE btMatrix3x3 +operator*(const btMatrix3x3& m1, const btMatrix3x3& m2) +{ + return btMatrix3x3( + m2.tdotx( m1[0]), m2.tdoty( m1[0]), m2.tdotz( m1[0]), + m2.tdotx( m1[1]), m2.tdoty( m1[1]), m2.tdotz( m1[1]), + m2.tdotx( m1[2]), m2.tdoty( m1[2]), m2.tdotz( m1[2])); +} + +/* +SIMD_FORCE_INLINE btMatrix3x3 btMultTransposeLeft(const btMatrix3x3& m1, const btMatrix3x3& m2) { +return btMatrix3x3( +m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0], +m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1], +m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2], +m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0], +m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1], +m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2], +m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0], +m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1], +m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]); +} +*/ + +/**@brief Equality operator between two matrices +* It will test all elements are equal. */ +SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2) +{ + return ( m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] && + m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] && + m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2] ); +} + +///for serialization +struct btMatrix3x3FloatData +{ + btVector3FloatData m_el[3]; +}; + +///for serialization +struct btMatrix3x3DoubleData +{ + btVector3DoubleData m_el[3]; +}; + + + + +SIMD_FORCE_INLINE void btMatrix3x3::serialize(struct btMatrix3x3Data& dataOut) const +{ + for (int i=0;i<3;i++) + m_el[i].serialize(dataOut.m_el[i]); +} + +SIMD_FORCE_INLINE void btMatrix3x3::serializeFloat(struct btMatrix3x3FloatData& dataOut) const +{ + for (int i=0;i<3;i++) + m_el[i].serializeFloat(dataOut.m_el[i]); +} + + +SIMD_FORCE_INLINE void btMatrix3x3::deSerialize(const struct btMatrix3x3Data& dataIn) +{ + for (int i=0;i<3;i++) + m_el[i].deSerialize(dataIn.m_el[i]); +} + +SIMD_FORCE_INLINE void btMatrix3x3::deSerializeFloat(const struct btMatrix3x3FloatData& dataIn) +{ + for (int i=0;i<3;i++) + m_el[i].deSerializeFloat(dataIn.m_el[i]); +} + +SIMD_FORCE_INLINE void btMatrix3x3::deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn) +{ + for (int i=0;i<3;i++) + m_el[i].deSerializeDouble(dataIn.m_el[i]); +} + +#endif //BT_MATRIX3x3_H + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btMinMax.h b/Mod Sources/Bullet/include/bullet/LinearMath/btMinMax.h new file mode 100644 index 0000000..80601c1 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btMinMax.h @@ -0,0 +1,71 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#ifndef GEN_MINMAX_H +#define GEN_MINMAX_H + +#include "LinearMath/btScalar.h" + +template +SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b) +{ + return a < b ? a : b ; +} + +template +SIMD_FORCE_INLINE const T& btMax(const T& a, const T& b) +{ + return a > b ? a : b; +} + +template +SIMD_FORCE_INLINE const T& btClamped(const T& a, const T& lb, const T& ub) +{ + return a < lb ? lb : (ub < a ? ub : a); +} + +template +SIMD_FORCE_INLINE void btSetMin(T& a, const T& b) +{ + if (b < a) + { + a = b; + } +} + +template +SIMD_FORCE_INLINE void btSetMax(T& a, const T& b) +{ + if (a < b) + { + a = b; + } +} + +template +SIMD_FORCE_INLINE void btClamp(T& a, const T& lb, const T& ub) +{ + if (a < lb) + { + a = lb; + } + else if (ub < a) + { + a = ub; + } +} + +#endif diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btMotionState.h b/Mod Sources/Bullet/include/bullet/LinearMath/btMotionState.h new file mode 100644 index 0000000..9431814 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btMotionState.h @@ -0,0 +1,40 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_MOTIONSTATE_H +#define BT_MOTIONSTATE_H + +#include "btTransform.h" + +///The btMotionState interface class allows the dynamics world to synchronize and interpolate the updated world transforms with graphics +///For optimizations, potentially only moving objects get synchronized (using setWorldPosition/setWorldOrientation) +class btMotionState +{ + public: + + virtual ~btMotionState() + { + + } + + virtual void getWorldTransform(btTransform& worldTrans ) const =0; + + //Bullet only calls the update of worldtransform for active objects + virtual void setWorldTransform(const btTransform& worldTrans)=0; + + +}; + +#endif //BT_MOTIONSTATE_H diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btPolarDecomposition.h b/Mod Sources/Bullet/include/bullet/LinearMath/btPolarDecomposition.h new file mode 100644 index 0000000..5615667 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btPolarDecomposition.h @@ -0,0 +1,73 @@ +#ifndef POLARDECOMPOSITION_H +#define POLARDECOMPOSITION_H + +#include "btMatrix3x3.h" + +/** + * This class is used to compute the polar decomposition of a matrix. In + * general, the polar decomposition factorizes a matrix, A, into two parts: a + * unitary matrix (U) and a positive, semi-definite Hermitian matrix (H). + * However, in this particular implementation the original matrix, A, is + * required to be a square 3x3 matrix with real elements. This means that U will + * be an orthogonal matrix and H with be a positive-definite, symmetric matrix. + */ +class btPolarDecomposition +{ + public: + static const btScalar DEFAULT_TOLERANCE; + static const unsigned int DEFAULT_MAX_ITERATIONS; + + /** + * Creates an instance with optional parameters. + * + * @param tolerance - the tolerance used to determine convergence of the + * algorithm + * @param maxIterations - the maximum number of iterations used to achieve + * convergence + */ + btPolarDecomposition(btScalar tolerance = DEFAULT_TOLERANCE, + unsigned int maxIterations = DEFAULT_MAX_ITERATIONS); + + /** + * Decomposes a matrix into orthogonal and symmetric, positive-definite + * parts. If the number of iterations returned by this function is equal to + * the maximum number of iterations, the algorithm has failed to converge. + * + * @param a - the original matrix + * @param u - the resulting orthogonal matrix + * @param h - the resulting symmetric matrix + * + * @return the number of iterations performed by the algorithm. + */ + unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const; + + /** + * Returns the maximum number of iterations that this algorithm will perform + * to achieve convergence. + * + * @return maximum number of iterations + */ + unsigned int maxIterations() const; + + private: + btScalar m_tolerance; + unsigned int m_maxIterations; +}; + +/** + * This functions decomposes the matrix 'a' into two parts: an orthogonal matrix + * 'u' and a symmetric, positive-definite matrix 'h'. If the number of + * iterations returned by this function is equal to + * btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to + * converge. + * + * @param a - the original matrix + * @param u - the resulting orthogonal matrix + * @param h - the resulting symmetric matrix + * + * @return the number of iterations performed by the algorithm. + */ +unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h); + +#endif // POLARDECOMPOSITION_H + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btPoolAllocator.h b/Mod Sources/Bullet/include/bullet/LinearMath/btPoolAllocator.h new file mode 100644 index 0000000..e3b4be9 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btPoolAllocator.h @@ -0,0 +1,116 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#ifndef _BT_POOL_ALLOCATOR_H +#define _BT_POOL_ALLOCATOR_H + +#include "btScalar.h" +#include "btAlignedAllocator.h" + +///The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamically allocating them separately. +class btPoolAllocator +{ + int m_elemSize; + int m_maxElements; + int m_freeCount; + void* m_firstFree; + unsigned char* m_pool; + +public: + + btPoolAllocator(int elemSize, int maxElements) + :m_elemSize(elemSize), + m_maxElements(maxElements) + { + m_pool = (unsigned char*) btAlignedAlloc( static_cast(m_elemSize*m_maxElements),16); + + unsigned char* p = m_pool; + m_firstFree = p; + m_freeCount = m_maxElements; + int count = m_maxElements; + while (--count) { + *(void**)p = (p + m_elemSize); + p += m_elemSize; + } + *(void**)p = 0; + } + + ~btPoolAllocator() + { + btAlignedFree( m_pool); + } + + int getFreeCount() const + { + return m_freeCount; + } + + int getUsedCount() const + { + return m_maxElements - m_freeCount; + } + + void* allocate(int size) + { + // release mode fix + (void)size; + btAssert(!size || size<=m_elemSize); + btAssert(m_freeCount>0); + void* result = m_firstFree; + m_firstFree = *(void**)m_firstFree; + --m_freeCount; + return result; + } + + bool validPtr(void* ptr) + { + if (ptr) { + if (((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize)) + { + return true; + } + } + return false; + } + + void freeMemory(void* ptr) + { + if (ptr) { + btAssert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize); + + *(void**)ptr = m_firstFree; + m_firstFree = ptr; + ++m_freeCount; + } + } + + int getElementSize() const + { + return m_elemSize; + } + + unsigned char* getPoolAddress() + { + return m_pool; + } + + const unsigned char* getPoolAddress() const + { + return m_pool; + } + +}; + +#endif //_BT_POOL_ALLOCATOR_H diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btQuadWord.h b/Mod Sources/Bullet/include/bullet/LinearMath/btQuadWord.h new file mode 100644 index 0000000..c657afd --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btQuadWord.h @@ -0,0 +1,180 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#ifndef SIMD_QUADWORD_H +#define SIMD_QUADWORD_H + +#include "btScalar.h" +#include "btMinMax.h" + + +#if defined (__CELLOS_LV2) && defined (__SPU__) +#include +#endif + +/**@brief The btQuadWord class is base class for btVector3 and btQuaternion. + * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword. + */ +#ifndef USE_LIBSPE2 +ATTRIBUTE_ALIGNED16(class) btQuadWord +#else +class btQuadWord +#endif +{ +protected: + +#if defined (__SPU__) && defined (__CELLOS_LV2__) + union { + vec_float4 mVec128; + btScalar m_floats[4]; + }; +public: + vec_float4 get128() const + { + return mVec128; + } +protected: +#else //__CELLOS_LV2__ __SPU__ + btScalar m_floats[4]; +#endif //__CELLOS_LV2__ __SPU__ + + public: + + + /**@brief Return the x value */ + SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; } + /**@brief Return the y value */ + SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; } + /**@brief Return the z value */ + SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; } + /**@brief Set the x value */ + SIMD_FORCE_INLINE void setX(btScalar x) { m_floats[0] = x;}; + /**@brief Set the y value */ + SIMD_FORCE_INLINE void setY(btScalar y) { m_floats[1] = y;}; + /**@brief Set the z value */ + SIMD_FORCE_INLINE void setZ(btScalar z) { m_floats[2] = z;}; + /**@brief Set the w value */ + SIMD_FORCE_INLINE void setW(btScalar w) { m_floats[3] = w;}; + /**@brief Return the x value */ + SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; } + /**@brief Return the y value */ + SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; } + /**@brief Return the z value */ + SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; } + /**@brief Return the w value */ + SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; } + + //SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; } + //SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; } + ///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons. + SIMD_FORCE_INLINE operator btScalar *() { return &m_floats[0]; } + SIMD_FORCE_INLINE operator const btScalar *() const { return &m_floats[0]; } + + SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const + { + return ((m_floats[3]==other.m_floats[3]) && (m_floats[2]==other.m_floats[2]) && (m_floats[1]==other.m_floats[1]) && (m_floats[0]==other.m_floats[0])); + } + + SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const + { + return !(*this == other); + } + + /**@brief Set x,y,z and zero w + * @param x Value of x + * @param y Value of y + * @param z Value of z + */ + SIMD_FORCE_INLINE void setValue(const btScalar& x, const btScalar& y, const btScalar& z) + { + m_floats[0]=x; + m_floats[1]=y; + m_floats[2]=z; + m_floats[3] = 0.f; + } + +/* void getValue(btScalar *m) const + { + m[0] = m_floats[0]; + m[1] = m_floats[1]; + m[2] = m_floats[2]; + } +*/ +/**@brief Set the values + * @param x Value of x + * @param y Value of y + * @param z Value of z + * @param w Value of w + */ + SIMD_FORCE_INLINE void setValue(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) + { + m_floats[0]=x; + m_floats[1]=y; + m_floats[2]=z; + m_floats[3]=w; + } + /**@brief No initialization constructor */ + SIMD_FORCE_INLINE btQuadWord() + // :m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.)) + { + } + + /**@brief Three argument constructor (zeros w) + * @param x Value of x + * @param y Value of y + * @param z Value of z + */ + SIMD_FORCE_INLINE btQuadWord(const btScalar& x, const btScalar& y, const btScalar& z) + { + m_floats[0] = x, m_floats[1] = y, m_floats[2] = z, m_floats[3] = 0.0f; + } + +/**@brief Initializing constructor + * @param x Value of x + * @param y Value of y + * @param z Value of z + * @param w Value of w + */ + SIMD_FORCE_INLINE btQuadWord(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) + { + m_floats[0] = x, m_floats[1] = y, m_floats[2] = z, m_floats[3] = w; + } + + /**@brief Set each element to the max of the current values and the values of another btQuadWord + * @param other The other btQuadWord to compare with + */ + SIMD_FORCE_INLINE void setMax(const btQuadWord& other) + { + btSetMax(m_floats[0], other.m_floats[0]); + btSetMax(m_floats[1], other.m_floats[1]); + btSetMax(m_floats[2], other.m_floats[2]); + btSetMax(m_floats[3], other.m_floats[3]); + } + /**@brief Set each element to the min of the current values and the values of another btQuadWord + * @param other The other btQuadWord to compare with + */ + SIMD_FORCE_INLINE void setMin(const btQuadWord& other) + { + btSetMin(m_floats[0], other.m_floats[0]); + btSetMin(m_floats[1], other.m_floats[1]); + btSetMin(m_floats[2], other.m_floats[2]); + btSetMin(m_floats[3], other.m_floats[3]); + } + + + +}; + +#endif //SIMD_QUADWORD_H diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btQuaternion.h b/Mod Sources/Bullet/include/bullet/LinearMath/btQuaternion.h new file mode 100644 index 0000000..15cf5f8 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btQuaternion.h @@ -0,0 +1,433 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#ifndef SIMD__QUATERNION_H_ +#define SIMD__QUATERNION_H_ + + +#include "btVector3.h" +#include "btQuadWord.h" + +/**@brief The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. */ +class btQuaternion : public btQuadWord { +public: + /**@brief No initialization constructor */ + btQuaternion() {} + + // template + // explicit Quaternion(const btScalar *v) : Tuple4(v) {} + /**@brief Constructor from scalars */ + btQuaternion(const btScalar& x, const btScalar& y, const btScalar& z, const btScalar& w) + : btQuadWord(x, y, z, w) + {} + /**@brief Axis angle Constructor + * @param axis The axis which the rotation is around + * @param angle The magnitude of the rotation around the angle (Radians) */ + btQuaternion(const btVector3& axis, const btScalar& angle) + { + setRotation(axis, angle); + } + /**@brief Constructor from Euler angles + * @param yaw Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z + * @param pitch Angle around X unless BT_EULER_DEFAULT_ZYX defined then Y + * @param roll Angle around Z unless BT_EULER_DEFAULT_ZYX defined then X */ + btQuaternion(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { +#ifndef BT_EULER_DEFAULT_ZYX + setEuler(yaw, pitch, roll); +#else + setEulerZYX(yaw, pitch, roll); +#endif + } + /**@brief Set the rotation using axis angle notation + * @param axis The axis around which to rotate + * @param angle The magnitude of the rotation in Radians */ + void setRotation(const btVector3& axis, const btScalar& angle) + { + btScalar d = axis.length(); + btAssert(d != btScalar(0.0)); + btScalar s = btSin(angle * btScalar(0.5)) / d; + setValue(axis.x() * s, axis.y() * s, axis.z() * s, + btCos(angle * btScalar(0.5))); + } + /**@brief Set the quaternion using Euler angles + * @param yaw Angle around Y + * @param pitch Angle around X + * @param roll Angle around Z */ + void setEuler(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { + btScalar halfYaw = btScalar(yaw) * btScalar(0.5); + btScalar halfPitch = btScalar(pitch) * btScalar(0.5); + btScalar halfRoll = btScalar(roll) * btScalar(0.5); + btScalar cosYaw = btCos(halfYaw); + btScalar sinYaw = btSin(halfYaw); + btScalar cosPitch = btCos(halfPitch); + btScalar sinPitch = btSin(halfPitch); + btScalar cosRoll = btCos(halfRoll); + btScalar sinRoll = btSin(halfRoll); + setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, + cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, + sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, + cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); + } + /**@brief Set the quaternion using euler angles + * @param yaw Angle around Z + * @param pitch Angle around Y + * @param roll Angle around X */ + void setEulerZYX(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { + btScalar halfYaw = btScalar(yaw) * btScalar(0.5); + btScalar halfPitch = btScalar(pitch) * btScalar(0.5); + btScalar halfRoll = btScalar(roll) * btScalar(0.5); + btScalar cosYaw = btCos(halfYaw); + btScalar sinYaw = btSin(halfYaw); + btScalar cosPitch = btCos(halfPitch); + btScalar sinPitch = btSin(halfPitch); + btScalar cosRoll = btCos(halfRoll); + btScalar sinRoll = btSin(halfRoll); + setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, //x + cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, //y + cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, //z + cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); //formerly yzx + } + /**@brief Add two quaternions + * @param q The quaternion to add to this one */ + SIMD_FORCE_INLINE btQuaternion& operator+=(const btQuaternion& q) + { + m_floats[0] += q.x(); m_floats[1] += q.y(); m_floats[2] += q.z(); m_floats[3] += q.m_floats[3]; + return *this; + } + + /**@brief Subtract out a quaternion + * @param q The quaternion to subtract from this one */ + btQuaternion& operator-=(const btQuaternion& q) + { + m_floats[0] -= q.x(); m_floats[1] -= q.y(); m_floats[2] -= q.z(); m_floats[3] -= q.m_floats[3]; + return *this; + } + + /**@brief Scale this quaternion + * @param s The scalar to scale by */ + btQuaternion& operator*=(const btScalar& s) + { + m_floats[0] *= s; m_floats[1] *= s; m_floats[2] *= s; m_floats[3] *= s; + return *this; + } + + /**@brief Multiply this quaternion by q on the right + * @param q The other quaternion + * Equivilant to this = this * q */ + btQuaternion& operator*=(const btQuaternion& q) + { + setValue(m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(), + m_floats[3] * q.y() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.x() - m_floats[0] * q.z(), + m_floats[3] * q.z() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.y() - m_floats[1] * q.x(), + m_floats[3] * q.m_floats[3] - m_floats[0] * q.x() - m_floats[1] * q.y() - m_floats[2] * q.z()); + return *this; + } + /**@brief Return the dot product between this quaternion and another + * @param q The other quaternion */ + btScalar dot(const btQuaternion& q) const + { + return m_floats[0] * q.x() + m_floats[1] * q.y() + m_floats[2] * q.z() + m_floats[3] * q.m_floats[3]; + } + + /**@brief Return the length squared of the quaternion */ + btScalar length2() const + { + return dot(*this); + } + + /**@brief Return the length of the quaternion */ + btScalar length() const + { + return btSqrt(length2()); + } + + /**@brief Normalize the quaternion + * Such that x^2 + y^2 + z^2 +w^2 = 1 */ + btQuaternion& normalize() + { + return *this /= length(); + } + + /**@brief Return a scaled version of this quaternion + * @param s The scale factor */ + SIMD_FORCE_INLINE btQuaternion + operator*(const btScalar& s) const + { + return btQuaternion(x() * s, y() * s, z() * s, m_floats[3] * s); + } + + + /**@brief Return an inversely scaled versionof this quaternion + * @param s The inverse scale factor */ + btQuaternion operator/(const btScalar& s) const + { + btAssert(s != btScalar(0.0)); + return *this * (btScalar(1.0) / s); + } + + /**@brief Inversely scale this quaternion + * @param s The scale factor */ + btQuaternion& operator/=(const btScalar& s) + { + btAssert(s != btScalar(0.0)); + return *this *= btScalar(1.0) / s; + } + + /**@brief Return a normalized version of this quaternion */ + btQuaternion normalized() const + { + return *this / length(); + } + /**@brief Return the angle between this quaternion and the other + * @param q The other quaternion */ + btScalar angle(const btQuaternion& q) const + { + btScalar s = btSqrt(length2() * q.length2()); + btAssert(s != btScalar(0.0)); + return btAcos(dot(q) / s); + } + /**@brief Return the angle of rotation represented by this quaternion */ + btScalar getAngle() const + { + btScalar s = btScalar(2.) * btAcos(m_floats[3]); + return s; + } + + /**@brief Return the axis of the rotation represented by this quaternion */ + btVector3 getAxis() const + { + btScalar s_squared = btScalar(1.) - btPow(m_floats[3], btScalar(2.)); + if (s_squared < btScalar(10.) * SIMD_EPSILON) //Check for divide by zero + return btVector3(1.0, 0.0, 0.0); // Arbitrary + btScalar s = btSqrt(s_squared); + return btVector3(m_floats[0] / s, m_floats[1] / s, m_floats[2] / s); + } + + /**@brief Return the inverse of this quaternion */ + btQuaternion inverse() const + { + return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]); + } + + /**@brief Return the sum of this quaternion and the other + * @param q2 The other quaternion */ + SIMD_FORCE_INLINE btQuaternion + operator+(const btQuaternion& q2) const + { + const btQuaternion& q1 = *this; + return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_floats[3] + q2.m_floats[3]); + } + + /**@brief Return the difference between this quaternion and the other + * @param q2 The other quaternion */ + SIMD_FORCE_INLINE btQuaternion + operator-(const btQuaternion& q2) const + { + const btQuaternion& q1 = *this; + return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_floats[3] - q2.m_floats[3]); + } + + /**@brief Return the negative of this quaternion + * This simply negates each element */ + SIMD_FORCE_INLINE btQuaternion operator-() const + { + const btQuaternion& q2 = *this; + return btQuaternion( - q2.x(), - q2.y(), - q2.z(), - q2.m_floats[3]); + } + /**@todo document this and it's use */ + SIMD_FORCE_INLINE btQuaternion farthest( const btQuaternion& qd) const + { + btQuaternion diff,sum; + diff = *this - qd; + sum = *this + qd; + if( diff.dot(diff) > sum.dot(sum) ) + return qd; + return (-qd); + } + + /**@todo document this and it's use */ + SIMD_FORCE_INLINE btQuaternion nearest( const btQuaternion& qd) const + { + btQuaternion diff,sum; + diff = *this - qd; + sum = *this + qd; + if( diff.dot(diff) < sum.dot(sum) ) + return qd; + return (-qd); + } + + + /**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion + * @param q The other quaternion to interpolate with + * @param t The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q. + * Slerp interpolates assuming constant velocity. */ + btQuaternion slerp(const btQuaternion& q, const btScalar& t) const + { + btScalar theta = angle(q); + if (theta != btScalar(0.0)) + { + btScalar d = btScalar(1.0) / btSin(theta); + btScalar s0 = btSin((btScalar(1.0) - t) * theta); + btScalar s1 = btSin(t * theta); + if (dot(q) < 0) // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp + return btQuaternion((m_floats[0] * s0 + -q.x() * s1) * d, + (m_floats[1] * s0 + -q.y() * s1) * d, + (m_floats[2] * s0 + -q.z() * s1) * d, + (m_floats[3] * s0 + -q.m_floats[3] * s1) * d); + else + return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d, + (m_floats[1] * s0 + q.y() * s1) * d, + (m_floats[2] * s0 + q.z() * s1) * d, + (m_floats[3] * s0 + q.m_floats[3] * s1) * d); + + } + else + { + return *this; + } + } + + static const btQuaternion& getIdentity() + { + static const btQuaternion identityQuat(btScalar(0.),btScalar(0.),btScalar(0.),btScalar(1.)); + return identityQuat; + } + + SIMD_FORCE_INLINE const btScalar& getW() const { return m_floats[3]; } + + +}; + + +/**@brief Return the negative of a quaternion */ +SIMD_FORCE_INLINE btQuaternion +operator-(const btQuaternion& q) +{ + return btQuaternion(-q.x(), -q.y(), -q.z(), -q.w()); +} + + + +/**@brief Return the product of two quaternions */ +SIMD_FORCE_INLINE btQuaternion +operator*(const btQuaternion& q1, const btQuaternion& q2) { + return btQuaternion(q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(), + q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(), + q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(), + q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z()); +} + +SIMD_FORCE_INLINE btQuaternion +operator*(const btQuaternion& q, const btVector3& w) +{ + return btQuaternion( q.w() * w.x() + q.y() * w.z() - q.z() * w.y(), + q.w() * w.y() + q.z() * w.x() - q.x() * w.z(), + q.w() * w.z() + q.x() * w.y() - q.y() * w.x(), + -q.x() * w.x() - q.y() * w.y() - q.z() * w.z()); +} + +SIMD_FORCE_INLINE btQuaternion +operator*(const btVector3& w, const btQuaternion& q) +{ + return btQuaternion( w.x() * q.w() + w.y() * q.z() - w.z() * q.y(), + w.y() * q.w() + w.z() * q.x() - w.x() * q.z(), + w.z() * q.w() + w.x() * q.y() - w.y() * q.x(), + -w.x() * q.x() - w.y() * q.y() - w.z() * q.z()); +} + +/**@brief Calculate the dot product between two quaternions */ +SIMD_FORCE_INLINE btScalar +dot(const btQuaternion& q1, const btQuaternion& q2) +{ + return q1.dot(q2); +} + + +/**@brief Return the length of a quaternion */ +SIMD_FORCE_INLINE btScalar +length(const btQuaternion& q) +{ + return q.length(); +} + +/**@brief Return the angle between two quaternions*/ +SIMD_FORCE_INLINE btScalar +angle(const btQuaternion& q1, const btQuaternion& q2) +{ + return q1.angle(q2); +} + +/**@brief Return the inverse of a quaternion*/ +SIMD_FORCE_INLINE btQuaternion +inverse(const btQuaternion& q) +{ + return q.inverse(); +} + +/**@brief Return the result of spherical linear interpolation betwen two quaternions + * @param q1 The first quaternion + * @param q2 The second quaternion + * @param t The ration between q1 and q2. t = 0 return q1, t=1 returns q2 + * Slerp assumes constant velocity between positions. */ +SIMD_FORCE_INLINE btQuaternion +slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t) +{ + return q1.slerp(q2, t); +} + +SIMD_FORCE_INLINE btVector3 +quatRotate(const btQuaternion& rotation, const btVector3& v) +{ + btQuaternion q = rotation * v; + q *= rotation.inverse(); + return btVector3(q.getX(),q.getY(),q.getZ()); +} + +SIMD_FORCE_INLINE btQuaternion +shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized +{ + btVector3 c = v0.cross(v1); + btScalar d = v0.dot(v1); + + if (d < -1.0 + SIMD_EPSILON) + { + btVector3 n,unused; + btPlaneSpace1(v0,n,unused); + return btQuaternion(n.x(),n.y(),n.z(),0.0f); // just pick any vector that is orthogonal to v0 + } + + btScalar s = btSqrt((1.0f + d) * 2.0f); + btScalar rs = 1.0f / s; + + return btQuaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f); +} + +SIMD_FORCE_INLINE btQuaternion +shortestArcQuatNormalize2(btVector3& v0,btVector3& v1) +{ + v0.normalize(); + v1.normalize(); + return shortestArcQuat(v0,v1); +} + +#endif + + + + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btQuickprof.h b/Mod Sources/Bullet/include/bullet/LinearMath/btQuickprof.h new file mode 100644 index 0000000..adfbbe6 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btQuickprof.h @@ -0,0 +1,196 @@ + +/*************************************************************************************************** +** +** Real-Time Hierarchical Profiling for Game Programming Gems 3 +** +** by Greg Hjelstrom & Byon Garrabrant +** +***************************************************************************************************/ + +// Credits: The Clock class was inspired by the Timer classes in +// Ogre (www.ogre3d.org). + + + +#ifndef QUICK_PROF_H +#define QUICK_PROF_H + +//To disable built-in profiling, please comment out next line +//#define BT_NO_PROFILE 1 +#ifndef BT_NO_PROFILE +#include //@todo remove this, backwards compatibility +#include "btScalar.h" +#include "btAlignedAllocator.h" +#include + + + + + +#define USE_BT_CLOCK 1 + +#ifdef USE_BT_CLOCK + +///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling. +class btClock +{ +public: + btClock(); + + btClock(const btClock& other); + btClock& operator=(const btClock& other); + + ~btClock(); + + /// Resets the initial reference time. + void reset(); + + /// Returns the time in ms since the last call to reset or since + /// the btClock was created. + unsigned long int getTimeMilliseconds(); + + /// Returns the time in us since the last call to reset or since + /// the Clock was created. + unsigned long int getTimeMicroseconds(); +private: + struct btClockData* m_data; +}; + +#endif //USE_BT_CLOCK + + + + +///A node in the Profile Hierarchy Tree +class CProfileNode { + +public: + CProfileNode( const char * name, CProfileNode * parent ); + ~CProfileNode( void ); + + CProfileNode * Get_Sub_Node( const char * name ); + + CProfileNode * Get_Parent( void ) { return Parent; } + CProfileNode * Get_Sibling( void ) { return Sibling; } + CProfileNode * Get_Child( void ) { return Child; } + + void CleanupMemory(); + void Reset( void ); + void Call( void ); + bool Return( void ); + + const char * Get_Name( void ) { return Name; } + int Get_Total_Calls( void ) { return TotalCalls; } + float Get_Total_Time( void ) { return TotalTime; } + +protected: + + const char * Name; + int TotalCalls; + float TotalTime; + unsigned long int StartTime; + int RecursionCounter; + + CProfileNode * Parent; + CProfileNode * Child; + CProfileNode * Sibling; +}; + +///An iterator to navigate through the tree +class CProfileIterator +{ +public: + // Access all the children of the current parent + void First(void); + void Next(void); + bool Is_Done(void); + bool Is_Root(void) { return (CurrentParent->Get_Parent() == 0); } + + void Enter_Child( int index ); // Make the given child the new parent + void Enter_Largest_Child( void ); // Make the largest child the new parent + void Enter_Parent( void ); // Make the current parent's parent the new parent + + // Access the current child + const char * Get_Current_Name( void ) { return CurrentChild->Get_Name(); } + int Get_Current_Total_Calls( void ) { return CurrentChild->Get_Total_Calls(); } + float Get_Current_Total_Time( void ) { return CurrentChild->Get_Total_Time(); } + + // Access the current parent + const char * Get_Current_Parent_Name( void ) { return CurrentParent->Get_Name(); } + int Get_Current_Parent_Total_Calls( void ) { return CurrentParent->Get_Total_Calls(); } + float Get_Current_Parent_Total_Time( void ) { return CurrentParent->Get_Total_Time(); } + +protected: + + CProfileNode * CurrentParent; + CProfileNode * CurrentChild; + + CProfileIterator( CProfileNode * start ); + friend class CProfileManager; +}; + + +///The Manager for the Profile system +class CProfileManager { +public: + static void Start_Profile( const char * name ); + static void Stop_Profile( void ); + + static void CleanupMemory(void) + { + Root.CleanupMemory(); + } + + static void Reset( void ); + static void Increment_Frame_Counter( void ); + static int Get_Frame_Count_Since_Reset( void ) { return FrameCounter; } + static float Get_Time_Since_Reset( void ); + + static CProfileIterator * Get_Iterator( void ) + { + + return new CProfileIterator( &Root ); + } + static void Release_Iterator( CProfileIterator * iterator ) { delete ( iterator); } + + static void dumpRecursive(CProfileIterator* profileIterator, int spacing); + + static void dumpAll(); + +private: + static CProfileNode Root; + static CProfileNode * CurrentNode; + static int FrameCounter; + static unsigned long int ResetTime; +}; + + +///ProfileSampleClass is a simple way to profile a function's scope +///Use the BT_PROFILE macro at the start of scope to time +class CProfileSample { +public: + CProfileSample( const char * name ) + { + CProfileManager::Start_Profile( name ); + } + + ~CProfileSample( void ) + { + CProfileManager::Stop_Profile(); + } +}; + + +#define BT_PROFILE( name ) CProfileSample __profile( name ) + +#else + +#define BT_PROFILE( name ) + +#endif //#ifndef BT_NO_PROFILE + + + +#endif //QUICK_PROF_H + + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btRandom.h b/Mod Sources/Bullet/include/bullet/LinearMath/btRandom.h new file mode 100644 index 0000000..fdf65e0 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btRandom.h @@ -0,0 +1,42 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#ifndef GEN_RANDOM_H +#define GEN_RANDOM_H + +#ifdef MT19937 + +#include +#include + +#define GEN_RAND_MAX UINT_MAX + +SIMD_FORCE_INLINE void GEN_srand(unsigned int seed) { init_genrand(seed); } +SIMD_FORCE_INLINE unsigned int GEN_rand() { return genrand_int32(); } + +#else + +#include + +#define GEN_RAND_MAX RAND_MAX + +SIMD_FORCE_INLINE void GEN_srand(unsigned int seed) { srand(seed); } +SIMD_FORCE_INLINE unsigned int GEN_rand() { return rand(); } + +#endif + +#endif + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btScalar.h b/Mod Sources/Bullet/include/bullet/LinearMath/btScalar.h new file mode 100644 index 0000000..7417d6f --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btScalar.h @@ -0,0 +1,524 @@ +/* +Copyright (c) 2003-2009 Erwin Coumans http://bullet.googlecode.com + +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. +*/ + + + +#ifndef SIMD___SCALAR_H +#define SIMD___SCALAR_H + +#ifdef BT_MANAGED_CODE +//Aligned data types not supported in managed code +#pragma unmanaged +#endif + + +#include +#include //size_t for MSVC 6.0 +#include +#include +#include + +/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ +#define BT_BULLET_VERSION 277 + +inline int btGetVersion() +{ + return BT_BULLET_VERSION; +} + +#if defined(DEBUG) || defined (_DEBUG) +#define BT_DEBUG +#endif + + +#ifdef _WIN32 + + #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) + + #define SIMD_FORCE_INLINE inline + #define ATTRIBUTE_ALIGNED16(a) a + #define ATTRIBUTE_ALIGNED64(a) a + #define ATTRIBUTE_ALIGNED128(a) a + #else + //#define BT_HAS_ALIGNED_ALLOCATOR + #pragma warning(disable : 4324) // disable padding warning +// #pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning. +// #pragma warning(disable:4996) //Turn off warnings about deprecated C routines +// #pragma warning(disable:4786) // Disable the "debug name too long" warning + + #define SIMD_FORCE_INLINE __forceinline + #define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a + #define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a + #define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a + #ifdef _XBOX + #define BT_USE_VMX128 + + #include + #define BT_HAVE_NATIVE_FSEL + #define btFsel(a,b,c) __fsel((a),(b),(c)) + #else + +#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) + #define BT_USE_SSE + #include +#endif + + #endif//_XBOX + + #endif //__MINGW32__ + + #include +#ifdef BT_DEBUG + #define btAssert assert +#else + #define btAssert(x) +#endif + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + + #define btLikely(_c) _c + #define btUnlikely(_c) _c + +#else + +#if defined (__CELLOS_LV2__) + #define SIMD_FORCE_INLINE inline __attribute__((always_inline)) + #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include + #endif +#ifdef BT_DEBUG +#ifdef __SPU__ +#include +#define printf spu_printf + #define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}} +#else + #define btAssert assert +#endif + +#else + #define btAssert(x) +#endif + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + + #define btLikely(_c) _c + #define btUnlikely(_c) _c + +#else + +#ifdef USE_LIBSPE2 + + #define SIMD_FORCE_INLINE __inline + #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include + #endif +#ifdef BT_DEBUG + #define btAssert assert +#else + #define btAssert(x) +#endif + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + + + #define btLikely(_c) __builtin_expect((_c), 1) + #define btUnlikely(_c) __builtin_expect((_c), 0) + + +#else + //non-windows systems + +#if (defined (__APPLE__) && defined (__i386__) && (!defined (BT_USE_DOUBLE_PRECISION))) + #define BT_USE_SSE + #include + + #define SIMD_FORCE_INLINE inline +///@todo: check out alignment methods for other platforms/compilers + #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include + #endif + + #if defined(DEBUG) || defined (_DEBUG) + #define btAssert assert + #else + #define btAssert(x) + #endif + + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + #define btLikely(_c) _c + #define btUnlikely(_c) _c + +#else + + #define SIMD_FORCE_INLINE inline + ///@todo: check out alignment methods for other platforms/compilers + ///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + ///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + ///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #define ATTRIBUTE_ALIGNED16(a) a + #define ATTRIBUTE_ALIGNED64(a) a + #define ATTRIBUTE_ALIGNED128(a) a + #ifndef assert + #include + #endif + +#if defined(DEBUG) || defined (_DEBUG) + #define btAssert assert +#else + #define btAssert(x) +#endif + + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + #define btLikely(_c) _c + #define btUnlikely(_c) _c +#endif //__APPLE__ + +#endif // LIBSPE2 + +#endif //__CELLOS_LV2__ +#endif + + +///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision. +#if defined(BT_USE_DOUBLE_PRECISION) +typedef double btScalar; +//this number could be bigger in double precision +#define BT_LARGE_FLOAT 1e30 +#else +typedef float btScalar; +//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX +#define BT_LARGE_FLOAT 1e18f +#endif + + + +#define BT_DECLARE_ALIGNED_ALLOCATOR() \ + SIMD_FORCE_INLINE void* operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \ + SIMD_FORCE_INLINE void operator delete(void* ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void* operator new(size_t, void* ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete(void*, void*) { } \ + SIMD_FORCE_INLINE void* operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \ + SIMD_FORCE_INLINE void operator delete[](void* ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void* operator new[](size_t, void* ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete[](void*, void*) { } \ + + + +#if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS) + +SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { return sqrt(x); } +SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); } +SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); } +SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); } +SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); } +SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { if (xbtScalar(1)) x=btScalar(1); return acos(x); } +SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { if (xbtScalar(1)) x=btScalar(1); return asin(x); } +SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); } +SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); } +SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); } +SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); } +SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return pow(x,y); } +SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmod(x,y); } + +#else + +SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) +{ +#ifdef USE_APPROXIMATION + 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; +#else + return sqrtf(y); +#endif +} +SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); } +SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); } +SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); } +SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); } +SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { + if (xbtScalar(1)) + x=btScalar(1); + return acosf(x); +} +SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { + if (xbtScalar(1)) + x=btScalar(1); + return asinf(x); +} +SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); } +SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); } +SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); } +SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); } +SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); } +SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); } + +#endif + +#define SIMD_2_PI btScalar(6.283185307179586232) +#define SIMD_PI (SIMD_2_PI * btScalar(0.5)) +#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25)) +#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0)) +#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI) +#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490) + +#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */ + + +#ifdef BT_USE_DOUBLE_PRECISION +#define SIMD_EPSILON DBL_EPSILON +#define SIMD_INFINITY DBL_MAX +#else +#define SIMD_EPSILON FLT_EPSILON +#define SIMD_INFINITY FLT_MAX +#endif + +SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) +{ + btScalar coeff_1 = SIMD_PI / 4.0f; + btScalar coeff_2 = 3.0f * coeff_1; + btScalar abs_y = btFabs(y); + btScalar angle; + if (x >= 0.0f) { + btScalar r = (x - abs_y) / (x + abs_y); + angle = coeff_1 - coeff_1 * r; + } else { + btScalar r = (x + abs_y) / (abs_y - x); + angle = coeff_2 - coeff_1 * r; + } + return (y < 0.0f) ? -angle : angle; +} + +SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; } + +SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) { + return (((a) <= eps) && !((a) < -eps)); +} +SIMD_FORCE_INLINE bool btGreaterEqual (btScalar a, btScalar eps) { + return (!((a) <= eps)); +} + + +SIMD_FORCE_INLINE int btIsNegative(btScalar x) { + return x < btScalar(0.0) ? 1 : 0; +} + +SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; } +SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; } + +#define BT_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name + +#ifndef btFsel +SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c) +{ + return a >= 0 ? b : c; +} +#endif +#define btFsels(a,b,c) (btScalar)btFsel(a,b,c) + + +SIMD_FORCE_INLINE bool btMachineIsLittleEndian() +{ + long int i = 1; + const char *p = (const char *) &i; + if (p[0] == 1) // Lowest address contains the least significant byte + return true; + else + return false; +} + + + +///btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360 +///Thanks Phil Knight. See also http://www.cellperformance.com/articles/2006/04/more_techniques_for_eliminatin_1.html +SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero) +{ + // Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero + // Rely on positive value or'ed with its negative having sign bit on + // and zero value or'ed with its negative (which is still zero) having sign bit off + // Use arithmetic shift right, shifting the sign bit through all 32 bits + unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); + unsigned testEqz = ~testNz; + return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); +} +SIMD_FORCE_INLINE int btSelect(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero) +{ + unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); + unsigned testEqz = ~testNz; + return static_cast((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); +} +SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero) +{ +#ifdef BT_HAVE_NATIVE_FSEL + return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero); +#else + return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero; +#endif +} + +template SIMD_FORCE_INLINE void btSwap(T& a, T& b) +{ + T tmp = a; + a = b; + b = tmp; +} + + +//PCK: endian swapping functions +SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val) +{ + return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24)); +} + +SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val) +{ + return static_cast(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8)); +} + +SIMD_FORCE_INLINE unsigned btSwapEndian(int val) +{ + return btSwapEndian((unsigned)val); +} + +SIMD_FORCE_INLINE unsigned short btSwapEndian(short val) +{ + return btSwapEndian((unsigned short) val); +} + +///btSwapFloat uses using char pointers to swap the endianness +////btSwapFloat/btSwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values +///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754. +///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception. +///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you. +///so instead of returning a float/double, we return integer/long long integer +SIMD_FORCE_INLINE unsigned int btSwapEndianFloat(float d) +{ + unsigned int a = 0; + unsigned char *dst = (unsigned char *)&a; + unsigned char *src = (unsigned char *)&d; + + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; + return a; +} + +// unswap using char pointers +SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a) +{ + float d = 0.0f; + unsigned char *src = (unsigned char *)&a; + unsigned char *dst = (unsigned char *)&d; + + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; + + return d; +} + + +// swap using char pointers +SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char* dst) +{ + unsigned char *src = (unsigned char *)&d; + + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; + +} + +// unswap using char pointers +SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src) +{ + double d = 0.0; + unsigned char *dst = (unsigned char *)&d; + + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; + + return d; +} + +// returns normalized value in range [-SIMD_PI, SIMD_PI] +SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) +{ + angleInRadians = btFmod(angleInRadians, SIMD_2_PI); + if(angleInRadians < -SIMD_PI) + { + return angleInRadians + SIMD_2_PI; + } + else if(angleInRadians > SIMD_PI) + { + return angleInRadians - SIMD_2_PI; + } + else + { + return angleInRadians; + } +} + +///rudimentary class to provide type info +struct btTypedObject +{ + btTypedObject(int objectType) + :m_objectType(objectType) + { + } + int m_objectType; + inline int getObjectType() const + { + return m_objectType; + } +}; +#endif //SIMD___SCALAR_H diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btSerializer.h b/Mod Sources/Bullet/include/bullet/LinearMath/btSerializer.h new file mode 100644 index 0000000..8553138 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btSerializer.h @@ -0,0 +1,606 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +#ifndef BT_SERIALIZER_H +#define BT_SERIALIZER_H + +#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE +#include "btStackAlloc.h" +#include "btHashMap.h" + +#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__) +#include +#endif +#include + + + +///only the 32bit versions for now +extern unsigned char sBulletDNAstr[]; +extern int sBulletDNAlen; +extern unsigned char sBulletDNAstr64[]; +extern int sBulletDNAlen64; + +SIMD_FORCE_INLINE int btStrLen(const char* str) +{ + if (!str) + return(0); + int len = 0; + + while (*str != 0) + { + str++; + len++; + } + + return len; +} + + +class btChunk +{ +public: + int m_chunkCode; + int m_length; + void *m_oldPtr; + int m_dna_nr; + int m_number; +}; + +enum btSerializationFlags +{ + BT_SERIALIZE_NO_BVH = 1, + BT_SERIALIZE_NO_TRIANGLEINFOMAP = 2, + BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4 +}; + +class btSerializer +{ + +public: + + virtual ~btSerializer() {} + + virtual const unsigned char* getBufferPointer() const = 0; + + virtual int getCurrentBufferSize() const = 0; + + virtual btChunk* allocate(size_t size, int numElements) = 0; + + virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)= 0; + + virtual void* findPointer(void* oldPtr) = 0; + + virtual void* getUniquePointer(void*oldPtr) = 0; + + virtual void startSerialization() = 0; + + virtual void finishSerialization() = 0; + + virtual const char* findNameForPointer(const void* ptr) const = 0; + + virtual void registerNameForPointer(const void* ptr, const char* name) = 0; + + virtual void serializeName(const char* ptr) = 0; + + virtual int getSerializationFlags() const = 0; + + virtual void setSerializationFlags(int flags) = 0; + + +}; + + + +#define BT_HEADER_LENGTH 12 +#if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__) +# define MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) ) +#else +# define MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) ) +#endif + +#define BT_COLLISIONOBJECT_CODE MAKE_ID('C','O','B','J') +#define BT_RIGIDBODY_CODE MAKE_ID('R','B','D','Y') +#define BT_CONSTRAINT_CODE MAKE_ID('C','O','N','S') +#define BT_BOXSHAPE_CODE MAKE_ID('B','O','X','S') +#define BT_QUANTIZED_BVH_CODE MAKE_ID('Q','B','V','H') +#define BT_TRIANLGE_INFO_MAP MAKE_ID('T','M','A','P') +#define BT_SHAPE_CODE MAKE_ID('S','H','A','P') +#define BT_ARRAY_CODE MAKE_ID('A','R','A','Y') +#define BT_DNA_CODE MAKE_ID('D','N','A','1') + + + +struct btPointerUid +{ + union + { + void* m_ptr; + int m_uniqueIds[2]; + }; +}; + + +class btDefaultSerializer : public btSerializer +{ + + + btAlignedObjectArray mTypes; + btAlignedObjectArray mStructs; + btAlignedObjectArray mTlens; + btHashMap mStructReverse; + btHashMap mTypeLookup; + + + btHashMap m_chunkP; + + btHashMap m_nameMap; + + btHashMap m_uniquePointers; + int m_uniqueIdGenerator; + + int m_totalSize; + unsigned char* m_buffer; + int m_currentSize; + void* m_dna; + int m_dnaLength; + + int m_serializationFlags; + + + btAlignedObjectArray m_chunkPtrs; + +protected: + + virtual void* findPointer(void* oldPtr) + { + void** ptr = m_chunkP.find(oldPtr); + if (ptr && *ptr) + return *ptr; + return 0; + } + + + + + + void writeDNA() + { + btChunk* dnaChunk = allocate(m_dnaLength,1); + memcpy(dnaChunk->m_oldPtr,m_dna,m_dnaLength); + finalizeChunk(dnaChunk,"DNA1",BT_DNA_CODE, m_dna); + } + + int getReverseType(const char *type) const + { + + btHashString key(type); + const int* valuePtr = mTypeLookup.find(key); + if (valuePtr) + return *valuePtr; + + return -1; + } + + void initDNA(const char* bdnaOrg,int dnalen) + { + ///was already initialized + if (m_dna) + return; + + int littleEndian= 1; + littleEndian= ((char*)&littleEndian)[0]; + + + m_dna = btAlignedAlloc(dnalen,16); + memcpy(m_dna,bdnaOrg,dnalen); + m_dnaLength = dnalen; + + int *intPtr=0; + short *shtPtr=0; + char *cp = 0;int dataLen =0;long nr=0; + intPtr = (int*)m_dna; + + /* + SDNA (4 bytes) (magic number) + NAME (4 bytes) + (4 bytes) amount of names (int) + + + */ + + if (strncmp((const char*)m_dna, "SDNA", 4)==0) + { + // skip ++ NAME + intPtr++; intPtr++; + } + + // Parse names + if (!littleEndian) + *intPtr = btSwapEndian(*intPtr); + + dataLen = *intPtr; + + intPtr++; + + cp = (char*)intPtr; + int i; + for ( i=0; i amount of types (int) + + + */ + + intPtr = (int*)cp; + assert(strncmp(cp, "TYPE", 4)==0); intPtr++; + + if (!littleEndian) + *intPtr = btSwapEndian(*intPtr); + + dataLen = *intPtr; + intPtr++; + + + cp = (char*)intPtr; + for (i=0; i (short) the lengths of types + + */ + + // Parse type lens + intPtr = (int*)cp; + assert(strncmp(cp, "TLEN", 4)==0); intPtr++; + + dataLen = (int)mTypes.size(); + + shtPtr = (short*)intPtr; + for (i=0; i amount of structs (int) + + + + + + + */ + + intPtr = (int*)shtPtr; + cp = (char*)intPtr; + assert(strncmp(cp, "STRC", 4)==0); intPtr++; + + if (!littleEndian) + *intPtr = btSwapEndian(*intPtr); + dataLen = *intPtr ; + intPtr++; + + + shtPtr = (short*)intPtr; + for (i=0; im_ptr; + } + m_uniqueIdGenerator++; + + btPointerUid uid; + uid.m_uniqueIds[0] = m_uniqueIdGenerator; + uid.m_uniqueIds[1] = m_uniqueIdGenerator; + m_uniquePointers.insert(oldPtr,uid); + return uid.m_ptr; + + } + + virtual const unsigned char* getBufferPointer() const + { + return m_buffer; + } + + virtual int getCurrentBufferSize() const + { + return m_currentSize; + } + + 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,uniquePtr);//chunk->m_oldPtr); + chunk->m_oldPtr = uniquePtr;//oldPtr; + + } + + + + + + virtual btChunk* allocate(size_t size, int numElements) + { + + unsigned char* ptr = m_buffer+m_currentSize; + m_currentSize += int(size)*numElements+sizeof(btChunk); + btAssert(m_currentSizem_chunkCode = 0; + chunk->m_oldPtr = data; + chunk->m_length = int(size)*numElements; + chunk->m_number = numElements; + + m_chunkPtrs.push_back(chunk); + + + return chunk; + } + + virtual const char* findNameForPointer(const void* ptr) const + { + const char*const * namePtr = m_nameMap.find(ptr); + if (namePtr && *namePtr) + return *namePtr; + return 0; + + } + + virtual void registerNameForPointer(const void* ptr, const char* name) + { + m_nameMap.insert(ptr,name); + } + + virtual void serializeName(const char* name) + { + if (name) + { + //don't serialize name twice + if (findPointer((void*)name)) + return; + + int len = btStrLen(name); + if (len) + { + + int newLen = len+1; + int padding = ((newLen+3)&~3)-newLen; + newLen += padding; + + //serialize name string now + btChunk* chunk = allocate(sizeof(char),newLen); + char* destinationName = (char*)chunk->m_oldPtr; + for (int i=0;i(totalsize - usedsize); + } + + unsigned char* allocate(unsigned int size) + { + const unsigned int nus(usedsize+size); + if(nusprevious = current; + pb->address = data+usedsize; + current = pb; + return(pb); + } + SIMD_FORCE_INLINE void endBlock(btBlock* block) + { + btAssert(block==current); + //Raise(L"Unmatched blocks"); + if(block==current) + { + current = block->previous; + usedsize = (unsigned int)((block->address-data)-sizeof(btBlock)); + } + } + +private: + void ctor() + { + data = 0; + totalsize = 0; + usedsize = 0; + current = 0; + ischild = false; + } + unsigned char* data; + unsigned int totalsize; + unsigned int usedsize; + btBlock* current; + bool ischild; +}; + +#endif //BT_STACK_ALLOC diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btTransform.h b/Mod Sources/Bullet/include/bullet/LinearMath/btTransform.h new file mode 100644 index 0000000..187b091 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btTransform.h @@ -0,0 +1,307 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#ifndef btTransform_H +#define btTransform_H + + +#include "btMatrix3x3.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btTransformData btTransformDoubleData +#else +#define btTransformData btTransformFloatData +#endif + + + + +/**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear. + *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */ +class btTransform { + + ///Storage for the rotation + btMatrix3x3 m_basis; + ///Storage for the translation + btVector3 m_origin; + +public: + + /**@brief No initialization constructor */ + btTransform() {} + /**@brief Constructor from btQuaternion (optional btVector3 ) + * @param q Rotation from quaternion + * @param c Translation from Vector (default 0,0,0) */ + explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, + const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) + : m_basis(q), + m_origin(c) + {} + + /**@brief Constructor from btMatrix3x3 (optional btVector3) + * @param b Rotation from Matrix + * @param c Translation from Vector default (0,0,0)*/ + explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, + const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) + : m_basis(b), + m_origin(c) + {} + /**@brief Copy constructor */ + SIMD_FORCE_INLINE btTransform (const btTransform& other) + : m_basis(other.m_basis), + m_origin(other.m_origin) + { + } + /**@brief Assignment Operator */ + SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other) + { + m_basis = other.m_basis; + m_origin = other.m_origin; + return *this; + } + + + /**@brief Set the current transform as the value of the product of two transforms + * @param t1 Transform 1 + * @param t2 Transform 2 + * This = Transform1 * Transform2 */ + SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) { + m_basis = t1.m_basis * t2.m_basis; + m_origin = t1(t2.m_origin); + } + +/* void multInverseLeft(const btTransform& t1, const btTransform& t2) { + btVector3 v = t2.m_origin - t1.m_origin; + m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis); + m_origin = v * t1.m_basis; + } + */ + +/**@brief Return the transform of the vector */ + SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const + { + return btVector3(m_basis[0].dot(x) + m_origin.x(), + m_basis[1].dot(x) + m_origin.y(), + m_basis[2].dot(x) + m_origin.z()); + } + + /**@brief Return the transform of the vector */ + SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const + { + return (*this)(x); + } + + /**@brief Return the transform of the btQuaternion */ + SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const + { + return getRotation() * q; + } + + /**@brief Return the basis matrix for the rotation */ + SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; } + /**@brief Return the basis matrix for the rotation */ + SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; } + + /**@brief Return the origin vector translation */ + SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; } + /**@brief Return the origin vector translation */ + SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; } + + /**@brief Return a quaternion representing the rotation */ + btQuaternion getRotation() const { + btQuaternion q; + m_basis.getRotation(q); + return q; + } + + + /**@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 */ + void setFromOpenGLMatrix(const btScalar *m) + { + m_basis.setFromOpenGLSubMatrix(m); + m_origin.setValue(m[12],m[13],m[14]); + } + + /**@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 */ + void getOpenGLMatrix(btScalar *m) const + { + m_basis.getOpenGLSubMatrix(m); + m[12] = m_origin.x(); + m[13] = m_origin.y(); + m[14] = m_origin.z(); + m[15] = btScalar(1.0); + } + + /**@brief Set the translational element + * @param origin The vector to set the translation to */ + SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) + { + m_origin = origin; + } + + SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const; + + + /**@brief Set the rotational element by btMatrix3x3 */ + SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis) + { + m_basis = basis; + } + + /**@brief Set the rotational element by btQuaternion */ + SIMD_FORCE_INLINE void setRotation(const btQuaternion& q) + { + m_basis.setRotation(q); + } + + + /**@brief Set this transformation to the identity */ + void setIdentity() + { + m_basis.setIdentity(); + m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + } + + /**@brief Multiply this Transform by another(this = this * another) + * @param t The other transform */ + btTransform& operator*=(const btTransform& t) + { + m_origin += m_basis * t.m_origin; + m_basis *= t.m_basis; + return *this; + } + + /**@brief Return the inverse of this transform */ + btTransform inverse() const + { + btMatrix3x3 inv = m_basis.transpose(); + return btTransform(inv, inv * -m_origin); + } + + /**@brief Return the inverse of this transform times the other transform + * @param t The other transform + * return this.inverse() * the other */ + btTransform inverseTimes(const btTransform& t) const; + + /**@brief Return the product of this transform and the other */ + btTransform operator*(const btTransform& t) const; + + /**@brief Return an identity transform */ + static const btTransform& getIdentity() + { + static const btTransform identityTransform(btMatrix3x3::getIdentity()); + return identityTransform; + } + + void serialize(struct btTransformData& dataOut) const; + + void serializeFloat(struct btTransformFloatData& dataOut) const; + + void deSerialize(const struct btTransformData& dataIn); + + void deSerializeDouble(const struct btTransformDoubleData& dataIn); + + void deSerializeFloat(const struct btTransformFloatData& dataIn); + +}; + + +SIMD_FORCE_INLINE btVector3 +btTransform::invXform(const btVector3& inVec) const +{ + btVector3 v = inVec - m_origin; + return (m_basis.transpose() * v); +} + +SIMD_FORCE_INLINE btTransform +btTransform::inverseTimes(const btTransform& t) const +{ + btVector3 v = t.getOrigin() - m_origin; + return btTransform(m_basis.transposeTimes(t.m_basis), + v * m_basis); +} + +SIMD_FORCE_INLINE btTransform +btTransform::operator*(const btTransform& t) const +{ + return btTransform(m_basis * t.m_basis, + (*this)(t.m_origin)); +} + +/**@brief Test if two transforms have all elements equal */ +SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2) +{ + return ( t1.getBasis() == t2.getBasis() && + t1.getOrigin() == t2.getOrigin() ); +} + + +///for serialization +struct btTransformFloatData +{ + btMatrix3x3FloatData m_basis; + btVector3FloatData m_origin; +}; + +struct btTransformDoubleData +{ + btMatrix3x3DoubleData m_basis; + btVector3DoubleData m_origin; +}; + + + +SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const +{ + m_basis.serialize(dataOut.m_basis); + m_origin.serialize(dataOut.m_origin); +} + +SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const +{ + m_basis.serializeFloat(dataOut.m_basis); + m_origin.serializeFloat(dataOut.m_origin); +} + + +SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn) +{ + m_basis.deSerialize(dataIn.m_basis); + m_origin.deSerialize(dataIn.m_origin); +} + +SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn) +{ + m_basis.deSerializeFloat(dataIn.m_basis); + m_origin.deSerializeFloat(dataIn.m_origin); +} + +SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn) +{ + m_basis.deSerializeDouble(dataIn.m_basis); + m_origin.deSerializeDouble(dataIn.m_origin); +} + + +#endif + + + + + + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btTransformUtil.h b/Mod Sources/Bullet/include/bullet/LinearMath/btTransformUtil.h new file mode 100644 index 0000000..626110c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btTransformUtil.h @@ -0,0 +1,228 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#ifndef SIMD_TRANSFORM_UTIL_H +#define SIMD_TRANSFORM_UTIL_H + +#include "btTransform.h" +#define ANGULAR_MOTION_THRESHOLD btScalar(0.5)*SIMD_HALF_PI + + + + +SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir) +{ + return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(), + supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(), + supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z()); +} + + + + + + +/// Utils related to temporal transforms +class btTransformUtil +{ + +public: + + static void integrateTransform(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep,btTransform& predictedTransform) + { + predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep); +// #define QUATERNION_DERIVATIVE + #ifdef QUATERNION_DERIVATIVE + btQuaternion predictedOrn = curTrans.getRotation(); + predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5)); + predictedOrn.normalize(); + #else + //Exponential map + //google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia + + btVector3 axis; + btScalar fAngle = angvel.length(); + //limit the angular motion + if (fAngle*timeStep > ANGULAR_MOTION_THRESHOLD) + { + fAngle = ANGULAR_MOTION_THRESHOLD / timeStep; + } + + if ( fAngle < btScalar(0.001) ) + { + // use Taylor's expansions of sync function + axis = angvel*( btScalar(0.5)*timeStep-(timeStep*timeStep*timeStep)*(btScalar(0.020833333333))*fAngle*fAngle ); + } + else + { + // sync(fAngle) = sin(c*fAngle)/t + axis = angvel*( btSin(btScalar(0.5)*fAngle*timeStep)/fAngle ); + } + btQuaternion dorn (axis.x(),axis.y(),axis.z(),btCos( fAngle*timeStep*btScalar(0.5) )); + btQuaternion orn0 = curTrans.getRotation(); + + btQuaternion predictedOrn = dorn * orn0; + predictedOrn.normalize(); + #endif + predictedTransform.setRotation(predictedOrn); + } + + static void calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel) + { + linVel = (pos1 - pos0) / timeStep; + btVector3 axis; + btScalar angle; + if (orn0 != orn1) + { + calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle); + angVel = axis * angle / timeStep; + } else + { + angVel.setValue(0,0,0); + } + } + + static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle) + { + btQuaternion orn1 = orn0.nearest(orn1a); + btQuaternion dorn = orn1 * orn0.inverse(); + angle = dorn.getAngle(); + axis = btVector3(dorn.x(),dorn.y(),dorn.z()); + axis[3] = btScalar(0.); + //check for axis length + btScalar len = axis.length2(); + if (len < SIMD_EPSILON*SIMD_EPSILON) + axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.)); + else + axis /= btSqrt(len); + } + + static void calculateVelocity(const btTransform& transform0,const btTransform& transform1,btScalar timeStep,btVector3& linVel,btVector3& angVel) + { + linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep; + btVector3 axis; + btScalar angle; + calculateDiffAxisAngle(transform0,transform1,axis,angle); + angVel = axis * angle / timeStep; + } + + static void calculateDiffAxisAngle(const btTransform& transform0,const btTransform& transform1,btVector3& axis,btScalar& angle) + { + btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse(); + btQuaternion dorn; + dmat.getRotation(dorn); + + ///floating point inaccuracy can lead to w component > 1..., which breaks + dorn.normalize(); + + angle = dorn.getAngle(); + axis = btVector3(dorn.x(),dorn.y(),dorn.z()); + axis[3] = btScalar(0.); + //check for axis length + btScalar len = axis.length2(); + if (len < SIMD_EPSILON*SIMD_EPSILON) + axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.)); + else + axis /= btSqrt(len); + } + +}; + + +///The btConvexSeparatingDistanceUtil can help speed up convex collision detection +///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance +class btConvexSeparatingDistanceUtil +{ + btQuaternion m_ornA; + btQuaternion m_ornB; + btVector3 m_posA; + btVector3 m_posB; + + btVector3 m_separatingNormal; + + btScalar m_boundingRadiusA; + btScalar m_boundingRadiusB; + btScalar m_separatingDistance; + +public: + + btConvexSeparatingDistanceUtil(btScalar boundingRadiusA,btScalar boundingRadiusB) + :m_boundingRadiusA(boundingRadiusA), + m_boundingRadiusB(boundingRadiusB), + m_separatingDistance(0.f) + { + } + + btScalar getConservativeSeparatingDistance() + { + return m_separatingDistance; + } + + void updateSeparatingDistance(const btTransform& transA,const btTransform& transB) + { + const btVector3& toPosA = transA.getOrigin(); + const btVector3& toPosB = transB.getOrigin(); + btQuaternion toOrnA = transA.getRotation(); + btQuaternion toOrnB = transB.getRotation(); + + if (m_separatingDistance>0.f) + { + + + btVector3 linVelA,angVelA,linVelB,angVelB; + btTransformUtil::calculateVelocityQuaternion(m_posA,toPosA,m_ornA,toOrnA,btScalar(1.),linVelA,angVelA); + btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB); + btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB; + btVector3 relLinVel = (linVelB-linVelA); + btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal); + if (relLinVelocLength<0.f) + { + relLinVelocLength = 0.f; + } + + btScalar projectedMotion = maxAngularProjectedVelocity +relLinVelocLength; + m_separatingDistance -= projectedMotion; + } + + m_posA = toPosA; + m_posB = toPosB; + m_ornA = toOrnA; + m_ornB = toOrnB; + } + + void initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB) + { + m_separatingDistance = separatingDistance; + + if (m_separatingDistance>0.f) + { + m_separatingNormal = separatingVector; + + const btVector3& toPosA = transA.getOrigin(); + const btVector3& toPosB = transB.getOrigin(); + btQuaternion toOrnA = transA.getRotation(); + btQuaternion toOrnB = transB.getRotation(); + m_posA = toPosA; + m_posB = toPosB; + m_ornA = toOrnA; + m_ornB = toOrnB; + } + } + +}; + + +#endif //SIMD_TRANSFORM_UTIL_H + diff --git a/Mod Sources/Bullet/include/bullet/LinearMath/btVector3.h b/Mod Sources/Bullet/include/bullet/LinearMath/btVector3.h new file mode 100644 index 0000000..068e87c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/LinearMath/btVector3.h @@ -0,0 +1,766 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#ifndef SIMD__VECTOR3_H +#define SIMD__VECTOR3_H + + +#include "btScalar.h" +#include "btMinMax.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btVector3Data btVector3DoubleData +#define btVector3DataName "btVector3DoubleData" +#else +#define btVector3Data btVector3FloatData +#define btVector3DataName "btVector3FloatData" +#endif //BT_USE_DOUBLE_PRECISION + + + + +/**@brief btVector3 can be used to represent 3D points and vectors. + * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user + * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers + */ +ATTRIBUTE_ALIGNED16(class) btVector3 +{ +public: + +#if defined (__SPU__) && defined (__CELLOS_LV2__) + btScalar m_floats[4]; +public: + SIMD_FORCE_INLINE const vec_float4& get128() const + { + return *((const vec_float4*)&m_floats[0]); + } +public: +#else //__CELLOS_LV2__ __SPU__ +#ifdef BT_USE_SSE // _WIN32 + union { + __m128 mVec128; + btScalar m_floats[4]; + }; + SIMD_FORCE_INLINE __m128 get128() const + { + return mVec128; + } + SIMD_FORCE_INLINE void set128(__m128 v128) + { + mVec128 = v128; + } +#else + btScalar m_floats[4]; +#endif +#endif //__CELLOS_LV2__ __SPU__ + + public: + + /**@brief No initialization constructor */ + SIMD_FORCE_INLINE btVector3() {} + + + + /**@brief Constructor from scalars + * @param x X value + * @param y Y value + * @param z Z value + */ + SIMD_FORCE_INLINE btVector3(const btScalar& x, const btScalar& y, const btScalar& z) + { + m_floats[0] = x; + m_floats[1] = y; + m_floats[2] = z; + m_floats[3] = btScalar(0.); + } + + +/**@brief Add a vector to this one + * @param The vector to add to this one */ + SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v) + { + + m_floats[0] += v.m_floats[0]; m_floats[1] += v.m_floats[1];m_floats[2] += v.m_floats[2]; + return *this; + } + + + /**@brief Subtract a vector from this one + * @param The vector to subtract */ + SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v) + { + m_floats[0] -= v.m_floats[0]; m_floats[1] -= v.m_floats[1];m_floats[2] -= v.m_floats[2]; + return *this; + } + /**@brief Scale the vector + * @param s Scale factor */ + SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s) + { + m_floats[0] *= s; m_floats[1] *= s;m_floats[2] *= s; + return *this; + } + + /**@brief Inversely scale the vector + * @param s Scale factor to divide by */ + SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s) + { + btFullAssert(s != btScalar(0.0)); + return *this *= btScalar(1.0) / s; + } + + /**@brief Return the dot product + * @param v The other vector in the dot product */ + SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const + { + return m_floats[0] * v.m_floats[0] + m_floats[1] * v.m_floats[1] +m_floats[2] * v.m_floats[2]; + } + + /**@brief Return the length of the vector squared */ + SIMD_FORCE_INLINE btScalar length2() const + { + return dot(*this); + } + + /**@brief Return the length of the vector */ + SIMD_FORCE_INLINE btScalar length() const + { + return btSqrt(length2()); + } + + /**@brief Return the distance squared between the ends of this and another vector + * This is symantically treating the vector like a point */ + SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const; + + /**@brief Return the distance between the ends of this and another vector + * This is symantically treating the vector like a point */ + SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const; + + SIMD_FORCE_INLINE btVector3& safeNormalize() + { + btVector3 absVec = this->absolute(); + int maxIndex = absVec.maxAxis(); + if (absVec[maxIndex]>0) + { + *this /= absVec[maxIndex]; + return *this /= length(); + } + setValue(1,0,0); + return *this; + } + + /**@brief Normalize this vector + * x^2 + y^2 + z^2 = 1 */ + SIMD_FORCE_INLINE btVector3& normalize() + { + return *this /= length(); + } + + /**@brief Return a normalized version of this vector */ + SIMD_FORCE_INLINE btVector3 normalized() const; + + /**@brief Return a rotated version of this vector + * @param wAxis The axis to rotate about + * @param angle The angle to rotate by */ + SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle ) const; + + /**@brief Return the angle between this and another vector + * @param v The other vector */ + SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const + { + btScalar s = btSqrt(length2() * v.length2()); + btFullAssert(s != btScalar(0.0)); + return btAcos(dot(v) / s); + } + /**@brief Return a vector will the absolute values of each element */ + SIMD_FORCE_INLINE btVector3 absolute() const + { + return btVector3( + btFabs(m_floats[0]), + btFabs(m_floats[1]), + btFabs(m_floats[2])); + } + /**@brief Return the cross product between this and another vector + * @param v The other vector */ + SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const + { + return btVector3( + m_floats[1] * v.m_floats[2] -m_floats[2] * v.m_floats[1], + m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2], + m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]); + } + + SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const + { + return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + + m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) + + m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]); + } + + /**@brief Return the axis with the smallest value + * Note return values are 0,1,2 for x, y, or z */ + SIMD_FORCE_INLINE int minAxis() const + { + return m_floats[0] < m_floats[1] ? (m_floats[0] return this, t=1 => return other) */ + SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const + { + return btVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t, + m_floats[1] + (v.m_floats[1] - m_floats[1]) * t, + m_floats[2] + (v.m_floats[2] -m_floats[2]) * t); + } + + /**@brief Elementwise multiply this vector by the other + * @param v The other vector */ + SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v) + { + m_floats[0] *= v.m_floats[0]; m_floats[1] *= v.m_floats[1];m_floats[2] *= v.m_floats[2]; + return *this; + } + + /**@brief Return the x value */ + SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; } + /**@brief Return the y value */ + SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; } + /**@brief Return the z value */ + SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; } + /**@brief Set the x value */ + SIMD_FORCE_INLINE void setX(btScalar x) { m_floats[0] = x;}; + /**@brief Set the y value */ + SIMD_FORCE_INLINE void setY(btScalar y) { m_floats[1] = y;}; + /**@brief Set the z value */ + SIMD_FORCE_INLINE void setZ(btScalar z) {m_floats[2] = z;}; + /**@brief Set the w value */ + SIMD_FORCE_INLINE void setW(btScalar w) { m_floats[3] = w;}; + /**@brief Return the x value */ + SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; } + /**@brief Return the y value */ + SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; } + /**@brief Return the z value */ + SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; } + /**@brief Return the w value */ + SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; } + + //SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; } + //SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; } + ///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons. + SIMD_FORCE_INLINE operator btScalar *() { return &m_floats[0]; } + SIMD_FORCE_INLINE operator const btScalar *() const { return &m_floats[0]; } + + SIMD_FORCE_INLINE bool operator==(const btVector3& other) const + { + return ((m_floats[3]==other.m_floats[3]) && (m_floats[2]==other.m_floats[2]) && (m_floats[1]==other.m_floats[1]) && (m_floats[0]==other.m_floats[0])); + } + + SIMD_FORCE_INLINE bool operator!=(const btVector3& other) const + { + return !(*this == other); + } + + /**@brief Set each element to the max of the current values and the values of another btVector3 + * @param other The other btVector3 to compare with + */ + SIMD_FORCE_INLINE void setMax(const btVector3& other) + { + btSetMax(m_floats[0], other.m_floats[0]); + btSetMax(m_floats[1], other.m_floats[1]); + btSetMax(m_floats[2], other.m_floats[2]); + btSetMax(m_floats[3], other.w()); + } + /**@brief Set each element to the min of the current values and the values of another btVector3 + * @param other The other btVector3 to compare with + */ + SIMD_FORCE_INLINE void setMin(const btVector3& other) + { + btSetMin(m_floats[0], other.m_floats[0]); + btSetMin(m_floats[1], other.m_floats[1]); + btSetMin(m_floats[2], other.m_floats[2]); + btSetMin(m_floats[3], other.w()); + } + + SIMD_FORCE_INLINE void setValue(const btScalar& x, const btScalar& y, const btScalar& z) + { + m_floats[0]=x; + m_floats[1]=y; + m_floats[2]=z; + m_floats[3] = btScalar(0.); + } + + void getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const + { + v0->setValue(0. ,-z() ,y()); + v1->setValue(z() ,0. ,-x()); + v2->setValue(-y() ,x() ,0.); + } + + void setZero() + { + setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + } + + SIMD_FORCE_INLINE bool isZero() const + { + return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0); + } + + SIMD_FORCE_INLINE bool fuzzyZero() const + { + return length2() < SIMD_EPSILON; + } + + SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const; + + SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn); + + SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData& dataOut) const; + + SIMD_FORCE_INLINE void deSerializeFloat(const struct btVector3FloatData& dataIn); + + SIMD_FORCE_INLINE void serializeDouble(struct btVector3DoubleData& dataOut) const; + + SIMD_FORCE_INLINE void deSerializeDouble(const struct btVector3DoubleData& dataIn); + +}; + +/**@brief Return the sum of two vectors (Point symantics)*/ +SIMD_FORCE_INLINE btVector3 +operator+(const btVector3& v1, const btVector3& v2) +{ + return btVector3(v1.m_floats[0] + v2.m_floats[0], v1.m_floats[1] + v2.m_floats[1], v1.m_floats[2] + v2.m_floats[2]); +} + +/**@brief Return the elementwise product of two vectors */ +SIMD_FORCE_INLINE btVector3 +operator*(const btVector3& v1, const btVector3& v2) +{ + return btVector3(v1.m_floats[0] * v2.m_floats[0], v1.m_floats[1] * v2.m_floats[1], v1.m_floats[2] * v2.m_floats[2]); +} + +/**@brief Return the difference between two vectors */ +SIMD_FORCE_INLINE btVector3 +operator-(const btVector3& v1, const btVector3& v2) +{ + return btVector3(v1.m_floats[0] - v2.m_floats[0], v1.m_floats[1] - v2.m_floats[1], v1.m_floats[2] - v2.m_floats[2]); +} +/**@brief Return the negative of the vector */ +SIMD_FORCE_INLINE btVector3 +operator-(const btVector3& v) +{ + return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]); +} + +/**@brief Return the vector scaled by s */ +SIMD_FORCE_INLINE btVector3 +operator*(const btVector3& v, const btScalar& s) +{ + return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s); +} + +/**@brief Return the vector scaled by s */ +SIMD_FORCE_INLINE btVector3 +operator*(const btScalar& s, const btVector3& v) +{ + return v * s; +} + +/**@brief Return the vector inversely scaled by s */ +SIMD_FORCE_INLINE btVector3 +operator/(const btVector3& v, const btScalar& s) +{ + btFullAssert(s != btScalar(0.0)); + return v * (btScalar(1.0) / s); +} + +/**@brief Return the vector inversely scaled by s */ +SIMD_FORCE_INLINE btVector3 +operator/(const btVector3& v1, const btVector3& v2) +{ + return btVector3(v1.m_floats[0] / v2.m_floats[0],v1.m_floats[1] / v2.m_floats[1],v1.m_floats[2] / v2.m_floats[2]); +} + +/**@brief Return the dot product between two vectors */ +SIMD_FORCE_INLINE btScalar +btDot(const btVector3& v1, const btVector3& v2) +{ + return v1.dot(v2); +} + + +/**@brief Return the distance squared between two vectors */ +SIMD_FORCE_INLINE btScalar +btDistance2(const btVector3& v1, const btVector3& v2) +{ + return v1.distance2(v2); +} + + +/**@brief Return the distance between two vectors */ +SIMD_FORCE_INLINE btScalar +btDistance(const btVector3& v1, const btVector3& v2) +{ + return v1.distance(v2); +} + +/**@brief Return the angle between two vectors */ +SIMD_FORCE_INLINE btScalar +btAngle(const btVector3& v1, const btVector3& v2) +{ + return v1.angle(v2); +} + +/**@brief Return the cross product of two vectors */ +SIMD_FORCE_INLINE btVector3 +btCross(const btVector3& v1, const btVector3& v2) +{ + return v1.cross(v2); +} + +SIMD_FORCE_INLINE btScalar +btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3) +{ + return v1.triple(v2, v3); +} + +/**@brief Return the linear interpolation between two vectors + * @param v1 One vector + * @param v2 The other vector + * @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */ +SIMD_FORCE_INLINE btVector3 +lerp(const btVector3& v1, const btVector3& v2, const btScalar& t) +{ + return v1.lerp(v2, t); +} + + + +SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3& v) const +{ + return (v - *this).length2(); +} + +SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3& v) const +{ + return (v - *this).length(); +} + +SIMD_FORCE_INLINE btVector3 btVector3::normalized() const +{ + return *this / length(); +} + +SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar angle ) const +{ + // wAxis must be a unit lenght vector + + btVector3 o = wAxis * wAxis.dot( *this ); + btVector3 x = *this - o; + btVector3 y; + + y = wAxis.cross( *this ); + + return ( o + x * btCos( angle ) + y * btSin( angle ) ); +} + +class btVector4 : public btVector3 +{ +public: + + SIMD_FORCE_INLINE btVector4() {} + + + SIMD_FORCE_INLINE btVector4(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) + : btVector3(x,y,z) + { + m_floats[3] = w; + } + + + SIMD_FORCE_INLINE btVector4 absolute4() const + { + return btVector4( + btFabs(m_floats[0]), + btFabs(m_floats[1]), + btFabs(m_floats[2]), + btFabs(m_floats[3])); + } + + + + btScalar getW() const { return m_floats[3];} + + + SIMD_FORCE_INLINE int maxAxis4() const + { + int maxIndex = -1; + btScalar maxVal = btScalar(-BT_LARGE_FLOAT); + if (m_floats[0] > maxVal) + { + maxIndex = 0; + maxVal = m_floats[0]; + } + if (m_floats[1] > maxVal) + { + maxIndex = 1; + maxVal = m_floats[1]; + } + if (m_floats[2] > maxVal) + { + maxIndex = 2; + maxVal =m_floats[2]; + } + if (m_floats[3] > maxVal) + { + maxIndex = 3; + maxVal = m_floats[3]; + } + + + + + return maxIndex; + + } + + + SIMD_FORCE_INLINE int minAxis4() const + { + int minIndex = -1; + btScalar minVal = btScalar(BT_LARGE_FLOAT); + if (m_floats[0] < minVal) + { + minIndex = 0; + minVal = m_floats[0]; + } + if (m_floats[1] < minVal) + { + minIndex = 1; + minVal = m_floats[1]; + } + if (m_floats[2] < minVal) + { + minIndex = 2; + minVal =m_floats[2]; + } + if (m_floats[3] < minVal) + { + minIndex = 3; + minVal = m_floats[3]; + } + + return minIndex; + + } + + + SIMD_FORCE_INLINE int closestAxis4() const + { + return absolute4().maxAxis4(); + } + + + + + /**@brief Set x,y,z and zero w + * @param x Value of x + * @param y Value of y + * @param z Value of z + */ + + +/* void getValue(btScalar *m) const + { + m[0] = m_floats[0]; + m[1] = m_floats[1]; + m[2] =m_floats[2]; + } +*/ +/**@brief Set the values + * @param x Value of x + * @param y Value of y + * @param z Value of z + * @param w Value of w + */ + SIMD_FORCE_INLINE void setValue(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) + { + m_floats[0]=x; + m_floats[1]=y; + m_floats[2]=z; + m_floats[3]=w; + } + + +}; + + +///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization +SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal) +{ + #ifdef BT_USE_DOUBLE_PRECISION + unsigned char* dest = (unsigned char*) &destVal; + unsigned char* src = (unsigned char*) &sourceVal; + dest[0] = src[7]; + dest[1] = src[6]; + dest[2] = src[5]; + dest[3] = src[4]; + dest[4] = src[3]; + dest[5] = src[2]; + dest[6] = src[1]; + dest[7] = src[0]; +#else + unsigned char* dest = (unsigned char*) &destVal; + unsigned char* src = (unsigned char*) &sourceVal; + dest[0] = src[3]; + dest[1] = src[2]; + dest[2] = src[1]; + dest[3] = src[0]; +#endif //BT_USE_DOUBLE_PRECISION +} +///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization +SIMD_FORCE_INLINE void btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec) +{ + for (int i=0;i<4;i++) + { + btSwapScalarEndian(sourceVec[i],destVec[i]); + } + +} + +///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization +SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector) +{ + + btVector3 swappedVec; + for (int i=0;i<4;i++) + { + btSwapScalarEndian(vector[i],swappedVec[i]); + } + vector = swappedVec; +} + +template +SIMD_FORCE_INLINE void btPlaneSpace1 (const T& n, T& p, T& q) +{ + if (btFabs(n[2]) > SIMDSQRT12) { + // choose p in y-z plane + btScalar a = n[1]*n[1] + n[2]*n[2]; + btScalar k = btRecipSqrt (a); + p[0] = 0; + p[1] = -n[2]*k; + p[2] = n[1]*k; + // set q = n x p + q[0] = a*k; + q[1] = -n[0]*p[2]; + q[2] = n[0]*p[1]; + } + else { + // choose p in x-y plane + btScalar a = n[0]*n[0] + n[1]*n[1]; + btScalar k = btRecipSqrt (a); + p[0] = -n[1]*k; + p[1] = n[0]*k; + p[2] = 0; + // set q = n x p + q[0] = -n[2]*p[1]; + q[1] = n[2]*p[0]; + q[2] = a*k; + } +} + + +struct btVector3FloatData +{ + float m_floats[4]; +}; + +struct btVector3DoubleData +{ + double m_floats[4]; + +}; + +SIMD_FORCE_INLINE void btVector3::serializeFloat(struct btVector3FloatData& 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 btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = btScalar(dataIn.m_floats[i]); +} + + +SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData& 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 btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = btScalar(dataIn.m_floats[i]); +} + + +SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& 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 btVector3::deSerialize(const struct btVector3Data& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = dataIn.m_floats[i]; +} + + +#endif //SIMD__VECTOR3_H diff --git a/Mod Sources/Bullet/include/bullet/MiniCL/MiniCLTask/MiniCLTask.h b/Mod Sources/Bullet/include/bullet/MiniCL/MiniCLTask/MiniCLTask.h new file mode 100644 index 0000000..7e78be0 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/MiniCL/MiniCLTask/MiniCLTask.h @@ -0,0 +1,62 @@ +/* +Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans + +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. + +*/ + +#ifndef MINICL__TASK_H +#define MINICL__TASK_H + +#include "BulletMultiThreaded/PlatformDefinitions.h" +#include "LinearMath/btScalar.h" + +#include "LinearMath/btAlignedAllocator.h" + + +#define MINICL_MAX_ARGLENGTH (sizeof(void*)) +#define MINI_CL_MAX_ARG 16 +#define MINI_CL_MAX_KERNEL_NAME 256 + +struct MiniCLKernel; + +ATTRIBUTE_ALIGNED16(struct) MiniCLTaskDesc +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + MiniCLTaskDesc() + { + for (int i=0;i + + +#include "BulletMultiThreaded/PlatformDefinitions.h" + +#include + +#include "LinearMath/btAlignedObjectArray.h" + + +#include "MiniCLTask/MiniCLTask.h" + +//just add your commands here, try to keep them globally unique for debugging purposes +#define CMD_SAMPLE_TASK_COMMAND 10 + +struct MiniCLKernel; + +/// MiniCLTaskScheduler handles SPU processing of collision pairs. +/// When PPU issues a task, it will look for completed task buffers +/// PPU will do postprocessing, dependent on workunit output (not likely) +class MiniCLTaskScheduler +{ + // track task buffers that are being used, and total busy tasks + btAlignedObjectArray m_taskBusy; + btAlignedObjectArray m_spuSampleTaskDesc; + + + btAlignedObjectArray m_kernels; + + + int m_numBusyTasks; + + // the current task and the current entry to insert a new work unit + int m_currentTask; + + bool m_initialized; + + void postProcess(int taskId, int outputSize); + + class btThreadSupportInterface* m_threadInterface; + + int m_maxNumOutstandingTasks; + + + +public: + MiniCLTaskScheduler(btThreadSupportInterface* threadInterface, int maxNumOutstandingTasks); + + ~MiniCLTaskScheduler(); + + ///call initialize in the beginning of the frame, before addCollisionPairToTask + void initialize(); + + void issueTask(int firstWorkUnit, int lastWorkUnit, MiniCLKernel* kernel); + + ///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished + void flush(); + + class btThreadSupportInterface* getThreadSupportInterface() + { + return m_threadInterface; + } + + int findProgramCommandIdByName(const char* programName) const; + + int getMaxNumOutstandingTasks() const + { + return m_maxNumOutstandingTasks; + } + + void registerKernel(MiniCLKernel* kernel) + { + m_kernels.push_back(kernel); + } +}; + +typedef void (*kernelLauncherCB)(MiniCLTaskDesc* taskDesc, int guid); + +struct MiniCLKernel +{ + MiniCLTaskScheduler* m_scheduler; + +// int m_kernelProgramCommandId; + + char m_name[MINI_CL_MAX_KERNEL_NAME]; + unsigned int m_numArgs; + kernelLauncherCB m_launcher; + void* m_pCode; + void updateLauncher(); + MiniCLKernel* registerSelf(); + + void* m_argData[MINI_CL_MAX_ARG]; + int m_argSizes[MINI_CL_MAX_ARG]; +}; + + +#if defined(USE_LIBSPE2) && defined(__SPU__) +////////////////////MAIN///////////////////////////// +#include "../SpuLibspe2Support.h" +#include +#include +#include + +void * SamplelsMemoryFunc(); +void SampleThreadFunc(void* userPtr,void* lsMemory); + +//#define DEBUG_LIBSPE2_MAINLOOP + +int main(unsigned long long speid, addr64 argp, addr64 envp) +{ + printf("SPU is up \n"); + + ATTRIBUTE_ALIGNED128(btSpuStatus status); + ATTRIBUTE_ALIGNED16( SpuSampleTaskDesc taskDesc ) ; + unsigned int received_message = Spu_Mailbox_Event_Nothing; + bool shutdown = false; + + cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + status.m_status = Spu_Status_Free; + status.m_lsMemory.p = SamplelsMemoryFunc(); + + cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + + while (!shutdown) + { + received_message = spu_read_in_mbox(); + + + + switch(received_message) + { + case Spu_Mailbox_Event_Shutdown: + shutdown = true; + break; + case Spu_Mailbox_Event_Task: + // refresh the status +#ifdef DEBUG_LIBSPE2_MAINLOOP + printf("SPU recieved Task \n"); +#endif //DEBUG_LIBSPE2_MAINLOOP + cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + btAssert(status.m_status==Spu_Status_Occupied); + + cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuSampleTaskDesc), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + SampleThreadFunc((void*)&taskDesc, reinterpret_cast (taskDesc.m_mainMemoryPtr) ); + break; + case Spu_Mailbox_Event_Nothing: + default: + break; + } + + // set to status free and wait for next task + status.m_status = Spu_Status_Free; + cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + + } + return 0; +} +////////////////////////////////////////////////////// +#endif + + + +#endif // MINICL_TASK_SCHEDULER_H + diff --git a/Mod Sources/Bullet/include/bullet/MiniCL/cl.h b/Mod Sources/Bullet/include/bullet/MiniCL/cl.h new file mode 100644 index 0000000..053491e --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/MiniCL/cl.h @@ -0,0 +1,867 @@ +/******************************************************************************* + * Copyright (c) 2008-2009 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + ******************************************************************************/ + +#ifndef __OPENCL_CL_H +#define __OPENCL_CL_H + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +/******************************************************************************/ + +typedef struct _cl_platform_id * cl_platform_id; +typedef struct _cl_device_id * cl_device_id; +typedef struct _cl_context * cl_context; +typedef struct _cl_command_queue * cl_command_queue; +typedef struct _cl_mem * cl_mem; +typedef struct _cl_program * cl_program; +typedef struct _cl_kernel * cl_kernel; +typedef struct _cl_event * cl_event; +typedef struct _cl_sampler * cl_sampler; + +typedef cl_uint cl_bool; /* WARNING! Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */ +typedef cl_ulong cl_bitfield; +typedef cl_bitfield cl_device_type; +typedef cl_uint cl_platform_info; +typedef cl_uint cl_device_info; +typedef cl_bitfield cl_device_address_info; +typedef cl_bitfield cl_device_fp_config; +typedef cl_uint cl_device_mem_cache_type; +typedef cl_uint cl_device_local_mem_type; +typedef cl_bitfield cl_device_exec_capabilities; +typedef cl_bitfield cl_command_queue_properties; + +typedef intptr_t cl_context_properties; +typedef cl_uint cl_context_info; +typedef cl_uint cl_command_queue_info; +typedef cl_uint cl_channel_order; +typedef cl_uint cl_channel_type; +typedef cl_bitfield cl_mem_flags; +typedef cl_uint cl_mem_object_type; +typedef cl_uint cl_mem_info; +typedef cl_uint cl_image_info; +typedef cl_uint cl_addressing_mode; +typedef cl_uint cl_filter_mode; +typedef cl_uint cl_sampler_info; +typedef cl_bitfield cl_map_flags; +typedef cl_uint cl_program_info; +typedef cl_uint cl_program_build_info; +typedef cl_int cl_build_status; +typedef cl_uint cl_kernel_info; +typedef cl_uint cl_kernel_work_group_info; +typedef cl_uint cl_event_info; +typedef cl_uint cl_command_type; +typedef cl_uint cl_profiling_info; + +typedef struct _cl_image_format { + cl_channel_order image_channel_order; + cl_channel_type image_channel_data_type; +} cl_image_format; + +/******************************************************************************/ + +// Error Codes +#define CL_SUCCESS 0 +#define CL_DEVICE_NOT_FOUND -1 +#define CL_DEVICE_NOT_AVAILABLE -2 +#define CL_DEVICE_COMPILER_NOT_AVAILABLE -3 +#define CL_MEM_OBJECT_ALLOCATION_FAILURE -4 +#define CL_OUT_OF_RESOURCES -5 +#define CL_OUT_OF_HOST_MEMORY -6 +#define CL_PROFILING_INFO_NOT_AVAILABLE -7 +#define CL_MEM_COPY_OVERLAP -8 +#define CL_IMAGE_FORMAT_MISMATCH -9 +#define CL_IMAGE_FORMAT_NOT_SUPPORTED -10 +#define CL_BUILD_PROGRAM_FAILURE -11 +#define CL_MAP_FAILURE -12 + +#define CL_INVALID_VALUE -30 +#define CL_INVALID_DEVICE_TYPE -31 +#define CL_INVALID_PLATFORM -32 +#define CL_INVALID_DEVICE -33 +#define CL_INVALID_CONTEXT -34 +#define CL_INVALID_QUEUE_PROPERTIES -35 +#define CL_INVALID_COMMAND_QUEUE -36 +#define CL_INVALID_HOST_PTR -37 +#define CL_INVALID_MEM_OBJECT -38 +#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR -39 +#define CL_INVALID_IMAGE_SIZE -40 +#define CL_INVALID_SAMPLER -41 +#define CL_INVALID_BINARY -42 +#define CL_INVALID_BUILD_OPTIONS -43 +#define CL_INVALID_PROGRAM -44 +#define CL_INVALID_PROGRAM_EXECUTABLE -45 +#define CL_INVALID_KERNEL_NAME -46 +#define CL_INVALID_KERNEL_DEFINITION -47 +#define CL_INVALID_KERNEL -48 +#define CL_INVALID_ARG_INDEX -49 +#define CL_INVALID_ARG_VALUE -50 +#define CL_INVALID_ARG_SIZE -51 +#define CL_INVALID_KERNEL_ARGS -52 +#define CL_INVALID_WORK_DIMENSION -53 +#define CL_INVALID_WORK_GROUP_SIZE -54 +#define CL_INVALID_WORK_ITEM_SIZE -55 +#define CL_INVALID_GLOBAL_OFFSET -56 +#define CL_INVALID_EVENT_WAIT_LIST -57 +#define CL_INVALID_EVENT -58 +#define CL_INVALID_OPERATION -59 +#define CL_INVALID_GL_OBJECT -60 +#define CL_INVALID_BUFFER_SIZE -61 +#define CL_INVALID_MIP_LEVEL -62 + +// OpenCL Version +#define CL_VERSION_1_0 1 + +// cl_bool +#define CL_FALSE 0 +#define CL_TRUE 1 + +// cl_platform_info +#define CL_PLATFORM_PROFILE 0x0900 +#define CL_PLATFORM_VERSION 0x0901 +#define CL_PLATFORM_NAME 0x0902 +#define CL_PLATFORM_VENDOR 0x0903 +#define CL_PLATFORM_EXTENSIONS 0x0904 + +// cl_device_type - bitfield +#define CL_DEVICE_TYPE_DEFAULT (1 << 0) +#define CL_DEVICE_TYPE_CPU (1 << 1) +#define CL_DEVICE_TYPE_GPU (1 << 2) +#define CL_DEVICE_TYPE_ACCELERATOR (1 << 3) +#define CL_DEVICE_TYPE_DEBUG (1 << 4) +#define CL_DEVICE_TYPE_ALL 0xFFFFFFFF + + +// cl_device_info +#define CL_DEVICE_TYPE 0x1000 +#define CL_DEVICE_VENDOR_ID 0x1001 +#define CL_DEVICE_MAX_COMPUTE_UNITS 0x1002 +#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS 0x1003 +#define CL_DEVICE_MAX_WORK_GROUP_SIZE 0x1004 +#define CL_DEVICE_MAX_WORK_ITEM_SIZES 0x1005 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR 0x1006 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT 0x1007 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT 0x1008 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG 0x1009 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT 0x100A +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE 0x100B +#define CL_DEVICE_MAX_CLOCK_FREQUENCY 0x100C +#define CL_DEVICE_ADDRESS_BITS 0x100D +#define CL_DEVICE_MAX_READ_IMAGE_ARGS 0x100E +#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS 0x100F +#define CL_DEVICE_MAX_MEM_ALLOC_SIZE 0x1010 +#define CL_DEVICE_IMAGE2D_MAX_WIDTH 0x1011 +#define CL_DEVICE_IMAGE2D_MAX_HEIGHT 0x1012 +#define CL_DEVICE_IMAGE3D_MAX_WIDTH 0x1013 +#define CL_DEVICE_IMAGE3D_MAX_HEIGHT 0x1014 +#define CL_DEVICE_IMAGE3D_MAX_DEPTH 0x1015 +#define CL_DEVICE_IMAGE_SUPPORT 0x1016 +#define CL_DEVICE_MAX_PARAMETER_SIZE 0x1017 +#define CL_DEVICE_MAX_SAMPLERS 0x1018 +#define CL_DEVICE_MEM_BASE_ADDR_ALIGN 0x1019 +#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE 0x101A +#define CL_DEVICE_SINGLE_FP_CONFIG 0x101B +#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE 0x101C +#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE 0x101D +#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE 0x101E +#define CL_DEVICE_GLOBAL_MEM_SIZE 0x101F +#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE 0x1020 +#define CL_DEVICE_MAX_CONSTANT_ARGS 0x1021 +#define CL_DEVICE_LOCAL_MEM_TYPE 0x1022 +#define CL_DEVICE_LOCAL_MEM_SIZE 0x1023 +#define CL_DEVICE_ERROR_CORRECTION_SUPPORT 0x1024 +#define CL_DEVICE_PROFILING_TIMER_RESOLUTION 0x1025 +#define CL_DEVICE_ENDIAN_LITTLE 0x1026 +#define CL_DEVICE_AVAILABLE 0x1027 +#define CL_DEVICE_COMPILER_AVAILABLE 0x1028 +#define CL_DEVICE_EXECUTION_CAPABILITIES 0x1029 +#define CL_DEVICE_QUEUE_PROPERTIES 0x102A +#define CL_DEVICE_NAME 0x102B +#define CL_DEVICE_VENDOR 0x102C +#define CL_DRIVER_VERSION 0x102D +#define CL_DEVICE_PROFILE 0x102E +#define CL_DEVICE_VERSION 0x102F +#define CL_DEVICE_EXTENSIONS 0x1030 +#define CL_DEVICE_PLATFORM 0x1031 + +// cl_device_address_info - bitfield +#define CL_DEVICE_ADDRESS_32_BITS (1 << 0) +#define CL_DEVICE_ADDRESS_64_BITS (1 << 1) + +// cl_device_fp_config - bitfield +#define CL_FP_DENORM (1 << 0) +#define CL_FP_INF_NAN (1 << 1) +#define CL_FP_ROUND_TO_NEAREST (1 << 2) +#define CL_FP_ROUND_TO_ZERO (1 << 3) +#define CL_FP_ROUND_TO_INF (1 << 4) +#define CL_FP_FMA (1 << 5) + +// cl_device_mem_cache_type +#define CL_NONE 0x0 +#define CL_READ_ONLY_CACHE 0x1 +#define CL_READ_WRITE_CACHE 0x2 + +// cl_device_local_mem_type +#define CL_LOCAL 0x1 +#define CL_GLOBAL 0x2 + +// cl_device_exec_capabilities - bitfield +#define CL_EXEC_KERNEL (1 << 0) +#define CL_EXEC_NATIVE_KERNEL (1 << 1) + +// cl_command_queue_properties - bitfield +#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE (1 << 0) +#define CL_QUEUE_PROFILING_ENABLE (1 << 1) + +// cl_context_info +#define CL_CONTEXT_REFERENCE_COUNT 0x1080 +#define CL_CONTEXT_NUM_DEVICES 0x1081 +#define CL_CONTEXT_DEVICES 0x1082 +#define CL_CONTEXT_PROPERTIES 0x1083 +#define CL_CONTEXT_PLATFORM 0x1084 + +// cl_command_queue_info +#define CL_QUEUE_CONTEXT 0x1090 +#define CL_QUEUE_DEVICE 0x1091 +#define CL_QUEUE_REFERENCE_COUNT 0x1092 +#define CL_QUEUE_PROPERTIES 0x1093 + +// cl_mem_flags - bitfield +#define CL_MEM_READ_WRITE (1 << 0) +#define CL_MEM_WRITE_ONLY (1 << 1) +#define CL_MEM_READ_ONLY (1 << 2) +#define CL_MEM_USE_HOST_PTR (1 << 3) +#define CL_MEM_ALLOC_HOST_PTR (1 << 4) +#define CL_MEM_COPY_HOST_PTR (1 << 5) + +// cl_channel_order +#define CL_R 0x10B0 +#define CL_A 0x10B1 +#define CL_RG 0x10B2 +#define CL_RA 0x10B3 +#define CL_RGB 0x10B4 +#define CL_RGBA 0x10B5 +#define CL_BGRA 0x10B6 +#define CL_ARGB 0x10B7 +#define CL_INTENSITY 0x10B8 +#define CL_LUMINANCE 0x10B9 + +// cl_channel_type +#define CL_SNORM_INT8 0x10D0 +#define CL_SNORM_INT16 0x10D1 +#define CL_UNORM_INT8 0x10D2 +#define CL_UNORM_INT16 0x10D3 +#define CL_UNORM_SHORT_565 0x10D4 +#define CL_UNORM_SHORT_555 0x10D5 +#define CL_UNORM_INT_101010 0x10D6 +#define CL_SIGNED_INT8 0x10D7 +#define CL_SIGNED_INT16 0x10D8 +#define CL_SIGNED_INT32 0x10D9 +#define CL_UNSIGNED_INT8 0x10DA +#define CL_UNSIGNED_INT16 0x10DB +#define CL_UNSIGNED_INT32 0x10DC +#define CL_HALF_FLOAT 0x10DD +#define CL_FLOAT 0x10DE + +// cl_mem_object_type +#define CL_MEM_OBJECT_BUFFER 0x10F0 +#define CL_MEM_OBJECT_IMAGE2D 0x10F1 +#define CL_MEM_OBJECT_IMAGE3D 0x10F2 + +// cl_mem_info +#define CL_MEM_TYPE 0x1100 +#define CL_MEM_FLAGS 0x1101 +#define CL_MEM_SIZE 0x1102 +#define CL_MEM_HOST_PTR 0x1103 +#define CL_MEM_MAP_COUNT 0x1104 +#define CL_MEM_REFERENCE_COUNT 0x1105 +#define CL_MEM_CONTEXT 0x1106 + +// cl_image_info +#define CL_IMAGE_FORMAT 0x1110 +#define CL_IMAGE_ELEMENT_SIZE 0x1111 +#define CL_IMAGE_ROW_PITCH 0x1112 +#define CL_IMAGE_SLICE_PITCH 0x1113 +#define CL_IMAGE_WIDTH 0x1114 +#define CL_IMAGE_HEIGHT 0x1115 +#define CL_IMAGE_DEPTH 0x1116 + +// cl_addressing_mode +#define CL_ADDRESS_NONE 0x1130 +#define CL_ADDRESS_CLAMP_TO_EDGE 0x1131 +#define CL_ADDRESS_CLAMP 0x1132 +#define CL_ADDRESS_REPEAT 0x1133 + +// cl_filter_mode +#define CL_FILTER_NEAREST 0x1140 +#define CL_FILTER_LINEAR 0x1141 + +// cl_sampler_info +#define CL_SAMPLER_REFERENCE_COUNT 0x1150 +#define CL_SAMPLER_CONTEXT 0x1151 +#define CL_SAMPLER_NORMALIZED_COORDS 0x1152 +#define CL_SAMPLER_ADDRESSING_MODE 0x1153 +#define CL_SAMPLER_FILTER_MODE 0x1154 + +// cl_map_flags - bitfield +#define CL_MAP_READ (1 << 0) +#define CL_MAP_WRITE (1 << 1) + +// cl_program_info +#define CL_PROGRAM_REFERENCE_COUNT 0x1160 +#define CL_PROGRAM_CONTEXT 0x1161 +#define CL_PROGRAM_NUM_DEVICES 0x1162 +#define CL_PROGRAM_DEVICES 0x1163 +#define CL_PROGRAM_SOURCE 0x1164 +#define CL_PROGRAM_BINARY_SIZES 0x1165 +#define CL_PROGRAM_BINARIES 0x1166 + +// cl_program_build_info +#define CL_PROGRAM_BUILD_STATUS 0x1181 +#define CL_PROGRAM_BUILD_OPTIONS 0x1182 +#define CL_PROGRAM_BUILD_LOG 0x1183 + +// cl_build_status +#define CL_BUILD_SUCCESS 0 +#define CL_BUILD_NONE -1 +#define CL_BUILD_ERROR -2 +#define CL_BUILD_IN_PROGRESS -3 + +// cl_kernel_info +#define CL_KERNEL_FUNCTION_NAME 0x1190 +#define CL_KERNEL_NUM_ARGS 0x1191 +#define CL_KERNEL_REFERENCE_COUNT 0x1192 +#define CL_KERNEL_CONTEXT 0x1193 +#define CL_KERNEL_PROGRAM 0x1194 + +// cl_kernel_work_group_info +#define CL_KERNEL_WORK_GROUP_SIZE 0x11B0 +#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE 0x11B1 +#define CL_KERNEL_LOCAL_MEM_SIZE 0x11B2 + +// cl_event_info +#define CL_EVENT_COMMAND_QUEUE 0x11D0 +#define CL_EVENT_COMMAND_TYPE 0x11D1 +#define CL_EVENT_REFERENCE_COUNT 0x11D2 +#define CL_EVENT_COMMAND_EXECUTION_STATUS 0x11D3 + +// cl_command_type +#define CL_COMMAND_NDRANGE_KERNEL 0x11F0 +#define CL_COMMAND_TASK 0x11F1 +#define CL_COMMAND_NATIVE_KERNEL 0x11F2 +#define CL_COMMAND_READ_BUFFER 0x11F3 +#define CL_COMMAND_WRITE_BUFFER 0x11F4 +#define CL_COMMAND_COPY_BUFFER 0x11F5 +#define CL_COMMAND_READ_IMAGE 0x11F6 +#define CL_COMMAND_WRITE_IMAGE 0x11F7 +#define CL_COMMAND_COPY_IMAGE 0x11F8 +#define CL_COMMAND_COPY_IMAGE_TO_BUFFER 0x11F9 +#define CL_COMMAND_COPY_BUFFER_TO_IMAGE 0x11FA +#define CL_COMMAND_MAP_BUFFER 0x11FB +#define CL_COMMAND_MAP_IMAGE 0x11FC +#define CL_COMMAND_UNMAP_MEM_OBJECT 0x11FD +#define CL_COMMAND_MARKER 0x11FE +#define CL_COMMAND_WAIT_FOR_EVENTS 0x11FF +#define CL_COMMAND_BARRIER 0x1200 +#define CL_COMMAND_ACQUIRE_GL_OBJECTS 0x1201 +#define CL_COMMAND_RELEASE_GL_OBJECTS 0x1202 + +// command execution status +#define CL_COMPLETE 0x0 +#define CL_RUNNING 0x1 +#define CL_SUBMITTED 0x2 +#define CL_QUEUED 0x3 + +// cl_profiling_info +#define CL_PROFILING_COMMAND_QUEUED 0x1280 +#define CL_PROFILING_COMMAND_SUBMIT 0x1281 +#define CL_PROFILING_COMMAND_START 0x1282 +#define CL_PROFILING_COMMAND_END 0x1283 + +/********************************************************************************************************/ + +// Platform API +extern CL_API_ENTRY cl_int CL_API_CALL +clGetPlatformIDs(cl_uint /* num_entries */, + cl_platform_id * /* platforms */, + cl_uint * /* num_platforms */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetPlatformInfo(cl_platform_id /* platform */, + cl_platform_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Device APIs +extern CL_API_ENTRY cl_int CL_API_CALL +clGetDeviceIDs(cl_platform_id /* platform */, + cl_device_type /* device_type */, + cl_uint /* num_entries */, + cl_device_id * /* devices */, + cl_uint * /* num_devices */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetDeviceInfo(cl_device_id /* device */, + cl_device_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Context APIs +extern CL_API_ENTRY cl_context CL_API_CALL +clCreateContext(cl_context_properties * /* properties */, + cl_uint /* num_devices */, + const cl_device_id * /* devices */, + void (*pfn_notify)(const char *, const void *, size_t, void *) /* pfn_notify */, + void * /* user_data */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_context CL_API_CALL +clCreateContextFromType(cl_context_properties * /* properties */, + cl_device_type /* device_type */, + void (*pfn_notify)(const char *, const void *, size_t, void *) /* pfn_notify */, + void * /* user_data */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetContextInfo(cl_context /* context */, + cl_context_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Command Queue APIs +extern CL_API_ENTRY cl_command_queue CL_API_CALL +clCreateCommandQueue(cl_context /* context */, + cl_device_id /* device */, + cl_command_queue_properties /* properties */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetCommandQueueInfo(cl_command_queue /* command_queue */, + cl_command_queue_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetCommandQueueProperty(cl_command_queue /* command_queue */, + cl_command_queue_properties /* properties */, + cl_bool /* enable */, + cl_command_queue_properties * /* old_properties */) CL_API_SUFFIX__VERSION_1_0; + +// Memory Object APIs +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateBuffer(cl_context /* context */, + cl_mem_flags /* flags */, + size_t /* size */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateImage2D(cl_context /* context */, + cl_mem_flags /* flags */, + const cl_image_format * /* image_format */, + size_t /* image_width */, + size_t /* image_height */, + size_t /* image_row_pitch */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateImage3D(cl_context /* context */, + cl_mem_flags /* flags */, + const cl_image_format * /* image_format */, + size_t /* image_width */, + size_t /* image_height */, + size_t /* image_depth */, + size_t /* image_row_pitch */, + size_t /* image_slice_pitch */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetSupportedImageFormats(cl_context /* context */, + cl_mem_flags /* flags */, + cl_mem_object_type /* image_type */, + cl_uint /* num_entries */, + cl_image_format * /* image_formats */, + cl_uint * /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetMemObjectInfo(cl_mem /* memobj */, + cl_mem_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetImageInfo(cl_mem /* image */, + cl_image_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Sampler APIs +extern CL_API_ENTRY cl_sampler CL_API_CALL +clCreateSampler(cl_context /* context */, + cl_bool /* normalized_coords */, + cl_addressing_mode /* addressing_mode */, + cl_filter_mode /* filter_mode */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetSamplerInfo(cl_sampler /* sampler */, + cl_sampler_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Program Object APIs +extern CL_API_ENTRY cl_program CL_API_CALL +clCreateProgramWithSource(cl_context /* context */, + cl_uint /* count */, + const char ** /* strings */, + const size_t * /* lengths */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_program CL_API_CALL +clCreateProgramWithBinary(cl_context /* context */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const size_t * /* lengths */, + const unsigned char ** /* binaries */, + cl_int * /* binary_status */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clBuildProgram(cl_program /* program */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const char * /* options */, + void (*pfn_notify)(cl_program /* program */, void * /* user_data */), + void * /* user_data */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clUnloadCompiler(void) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetProgramInfo(cl_program /* program */, + cl_program_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetProgramBuildInfo(cl_program /* program */, + cl_device_id /* device */, + cl_program_build_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Kernel Object APIs +extern CL_API_ENTRY cl_kernel CL_API_CALL +clCreateKernel(cl_program /* program */, + const char * /* kernel_name */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clCreateKernelsInProgram(cl_program /* program */, + cl_uint /* num_kernels */, + cl_kernel * /* kernels */, + cl_uint * /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetKernelArg(cl_kernel /* kernel */, + cl_uint /* arg_index */, + size_t /* arg_size */, + const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelInfo(cl_kernel /* kernel */, + cl_kernel_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelWorkGroupInfo(cl_kernel /* kernel */, + cl_device_id /* device */, + cl_kernel_work_group_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Event Object APIs +extern CL_API_ENTRY cl_int CL_API_CALL +clWaitForEvents(cl_uint /* num_events */, + const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetEventInfo(cl_event /* event */, + cl_event_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; + +// Profiling APIs +extern CL_API_ENTRY cl_int CL_API_CALL +clGetEventProfilingInfo(cl_event /* event */, + cl_profiling_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Flush and Finish APIs +extern CL_API_ENTRY cl_int CL_API_CALL +clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +// Enqueued Commands APIs +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReadBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_read */, + size_t /* offset */, + size_t /* cb */, + void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueWriteBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_write */, + size_t /* offset */, + size_t /* cb */, + const void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyBuffer(cl_command_queue /* command_queue */, + cl_mem /* src_buffer */, + cl_mem /* dst_buffer */, + size_t /* src_offset */, + size_t /* dst_offset */, + size_t /* cb */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReadImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + cl_bool /* blocking_read */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + size_t /* row_pitch */, + size_t /* slice_pitch */, + void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueWriteImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + cl_bool /* blocking_write */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + size_t /* input_row_pitch */, + size_t /* input_slice_pitch */, + const void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyImage(cl_command_queue /* command_queue */, + cl_mem /* src_image */, + cl_mem /* dst_image */, + const size_t * /* src_origin[3] */, + const size_t * /* dst_origin[3] */, + const size_t * /* region[3] */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */, + cl_mem /* src_image */, + cl_mem /* dst_buffer */, + const size_t * /* src_origin[3] */, + const size_t * /* region[3] */, + size_t /* dst_offset */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */, + cl_mem /* src_buffer */, + cl_mem /* dst_image */, + size_t /* src_offset */, + const size_t * /* dst_origin[3] */, + const size_t * /* region[3] */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY void * CL_API_CALL +clEnqueueMapBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_map */, + cl_map_flags /* map_flags */, + size_t /* offset */, + size_t /* cb */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY void * CL_API_CALL +clEnqueueMapImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + cl_bool /* blocking_map */, + cl_map_flags /* map_flags */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + size_t * /* image_row_pitch */, + size_t * /* image_slice_pitch */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueUnmapMemObject(cl_command_queue /* command_queue */, + cl_mem /* memobj */, + void * /* mapped_ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueNDRangeKernel(cl_command_queue /* command_queue */, + cl_kernel /* kernel */, + cl_uint /* work_dim */, + const size_t * /* global_work_offset */, + const size_t * /* global_work_size */, + const size_t * /* local_work_size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueTask(cl_command_queue /* command_queue */, + cl_kernel /* kernel */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueNativeKernel(cl_command_queue /* command_queue */, + void (*user_func)(void *), + void * /* args */, + size_t /* cb_args */, + cl_uint /* num_mem_objects */, + const cl_mem * /* mem_list */, + const void ** /* args_mem_loc */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueMarker(cl_command_queue /* command_queue */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueWaitForEvents(cl_command_queue /* command_queue */, + cl_uint /* num_events */, + const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueBarrier(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +#ifdef __cplusplus +} +#endif + +#endif // __OPENCL_CL_H + diff --git a/Mod Sources/Bullet/include/bullet/MiniCL/cl_MiniCL_Defs.h b/Mod Sources/Bullet/include/bullet/MiniCL/cl_MiniCL_Defs.h new file mode 100644 index 0000000..9931273 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/MiniCL/cl_MiniCL_Defs.h @@ -0,0 +1,329 @@ +/* +Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans + +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. + +*/ + +#include +#include +#include "LinearMath/btScalar.h" + +#include "MiniCL/cl.h" + + +#define __kernel +#define __global +#define __local +#define get_global_id(a) __guid_arg +#define get_local_id(a) ((__guid_arg) % gMiniCLNumOutstandingTasks) +#define get_local_size(a) (gMiniCLNumOutstandingTasks) +#define get_group_id(a) ((__guid_arg) / gMiniCLNumOutstandingTasks) + +static unsigned int as_uint(float val) { return *((unsigned int*)&val); } + + +#define CLK_LOCAL_MEM_FENCE 0x01 +#define CLK_GLOBAL_MEM_FENCE 0x02 + +static void barrier(unsigned int a) +{ + // TODO : implement +} + +//ATTRIBUTE_ALIGNED16(struct) float8 +struct float8 +{ + float s0; + float s1; + float s2; + float s3; + float s4; + float s5; + float s6; + float s7; + + float8(float scalar) + { + s0=s1=s2=s3=s4=s5=s6=s7=scalar; + } +}; + +//ATTRIBUTE_ALIGNED16(struct) float4 +struct float4 +{ + float x,y,z,w; + float4() {} + float4(float v) + { + x = y = z = w = v; + } + float4 operator*(const float4& other) + { + float4 tmp; + tmp.x = x*other.x; + tmp.y = y*other.y; + tmp.z = z*other.z; + tmp.w = w*other.w; + return tmp; + } + + float4 operator*(const float& other) + { + float4 tmp; + tmp.x = x*other; + tmp.y = y*other; + tmp.z = z*other; + tmp.w = w*other; + return tmp; + } + + + + float4& operator+=(const float4& other) + { + x += other.x; + y += other.y; + z += other.z; + w += other.w; + return *this; + } + + float4& operator-=(const float4& other) + { + x -= other.x; + y -= other.y; + z -= other.z; + w -= other.w; + return *this; + } + + float4& operator *=(float scalar) + { + x *= scalar; + y *= scalar; + z *= scalar; + w *= scalar; + return (*this); + } + + + + + +}; + +static float4 fabs(const float4& a) +{ + float4 tmp; + tmp.x = a.x < 0.f ? 0.f : a.x; + tmp.y = a.y < 0.f ? 0.f : a.y; + tmp.z = a.z < 0.f ? 0.f : a.z; + tmp.w = a.w < 0.f ? 0.f : a.w; + return tmp; +} +static float4 operator+(const float4& a,const float4& b) +{ + float4 tmp; + tmp.x = a.x + b.x; + tmp.y = a.y + b.y; + tmp.z = a.z + b.z; + tmp.w = a.w + b.w; + return tmp; +} + + +static float8 operator+(const float8& a,const float8& b) +{ + float8 tmp(0); + tmp.s0 = a.s0 + b.s0; + tmp.s1 = a.s1 + b.s1; + tmp.s2 = a.s2 + b.s2; + tmp.s3 = a.s3 + b.s3; + tmp.s4 = a.s4 + b.s4; + tmp.s5 = a.s5 + b.s5; + tmp.s6 = a.s6 + b.s6; + tmp.s7 = a.s7 + b.s7; + return tmp; +} + + +static float4 operator-(const float4& a,const float4& b) +{ + float4 tmp; + tmp.x = a.x - b.x; + tmp.y = a.y - b.y; + tmp.z = a.z - b.z; + tmp.w = a.w - b.w; + return tmp; +} + +static float8 operator-(const float8& a,const float8& b) +{ + float8 tmp(0); + tmp.s0 = a.s0 - b.s0; + tmp.s1 = a.s1 - b.s1; + tmp.s2 = a.s2 - b.s2; + tmp.s3 = a.s3 - b.s3; + tmp.s4 = a.s4 - b.s4; + tmp.s5 = a.s5 - b.s5; + tmp.s6 = a.s6 - b.s6; + tmp.s7 = a.s7 - b.s7; + return tmp; +} + +static float4 operator*(float a,const float4& b) +{ + float4 tmp; + tmp.x = a * b.x; + tmp.y = a * b.y; + tmp.z = a * b.z; + tmp.w = a * b.w; + return tmp; +} + +static float4 operator/(const float4& b,float a) +{ + float4 tmp; + tmp.x = b.x/a; + tmp.y = b.y/a; + tmp.z = b.z/a; + tmp.w = b.w/a; + return tmp; +} + + + + +static float dot(const float4&a ,const float4& b) +{ + float4 tmp; + tmp.x = a.x*b.x; + tmp.y = a.y*b.y; + tmp.z = a.z*b.z; + tmp.w = a.w*b.w; + return tmp.x+tmp.y+tmp.z+tmp.w; +} + +static float length(const float4&a) +{ + float l = sqrtf(a.x*a.x+a.y*a.y+a.z*a.z); + return l; +} + +static float4 normalize(const float4&a) +{ + float4 tmp; + float l = length(a); + tmp = 1.f/l*a; + return tmp; +} + + + +static float4 cross(const float4&a ,const float4& b) +{ + float4 tmp; + tmp.x = a.y*b.z - a.z*b.y; + tmp.y = -a.x*b.z + a.z*b.x; + tmp.z = a.x*b.y - a.y*b.x; + tmp.w = 0.f; + return tmp; +} + +static float max(float a, float b) +{ + return (a >= b) ? a : b; +} + + +static float min(float a, float b) +{ + return (a <= b) ? a : b; +} + +static float fmax(float a, float b) +{ + return (a >= b) ? a : b; +} + +static float fmin(float a, float b) +{ + return (a <= b) ? a : b; +} + +struct int2 +{ + int x,y; +}; + +struct uint2 +{ + unsigned int x,y; +}; + +//typedef int2 uint2; + +typedef unsigned int uint; + +struct int4 +{ + int x,y,z,w; +}; + +struct uint4 +{ + unsigned int x,y,z,w; + uint4() {} + uint4(uint val) { x = y = z = w = val; } + uint4& operator+=(const uint4& other) + { + x += other.x; + y += other.y; + z += other.z; + w += other.w; + return *this; + } +}; +static uint4 operator+(const uint4& a,const uint4& b) +{ + uint4 tmp; + tmp.x = a.x + b.x; + tmp.y = a.y + b.y; + tmp.z = a.z + b.z; + tmp.w = a.w + b.w; + return tmp; +} +static uint4 operator-(const uint4& a,const uint4& b) +{ + uint4 tmp; + tmp.x = a.x - b.x; + tmp.y = a.y - b.y; + tmp.z = a.z - b.z; + tmp.w = a.w - b.w; + return tmp; +} + +#define native_sqrt sqrtf +#define native_sin sinf +#define native_cos cosf +#define native_powr powf + +#define GUID_ARG ,int __guid_arg +#define GUID_ARG_VAL ,__guid_arg + + +#define as_int(a) (*((int*)&(a))) + +extern "C" int gMiniCLNumOutstandingTasks; +// extern "C" void __kernel_func(); + + diff --git a/Mod Sources/Bullet/include/bullet/MiniCL/cl_gl.h b/Mod Sources/Bullet/include/bullet/MiniCL/cl_gl.h new file mode 100644 index 0000000..0a69d6e --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/MiniCL/cl_gl.h @@ -0,0 +1,113 @@ +/********************************************************************************** + * Copyright (c) 2008-2009 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +#ifndef __OPENCL_CL_GL_H +#define __OPENCL_CL_GL_H + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +// NOTE: Make sure that appropriate GL header file is included separately + +typedef cl_uint cl_gl_object_type; +typedef cl_uint cl_gl_texture_info; +typedef cl_uint cl_gl_platform_info; + +// cl_gl_object_type +#define CL_GL_OBJECT_BUFFER 0x2000 +#define CL_GL_OBJECT_TEXTURE2D 0x2001 +#define CL_GL_OBJECT_TEXTURE3D 0x2002 +#define CL_GL_OBJECT_RENDERBUFFER 0x2003 + +// cl_gl_texture_info +#define CL_GL_TEXTURE_TARGET 0x2004 +#define CL_GL_MIPMAP_LEVEL 0x2005 + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLBuffer(cl_context /* context */, + cl_mem_flags /* flags */, + GLuint /* bufobj */, + int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLTexture2D(cl_context /* context */, + cl_mem_flags /* flags */, + GLenum /* target */, + GLint /* miplevel */, + GLuint /* texture */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLTexture3D(cl_context /* context */, + cl_mem_flags /* flags */, + GLenum /* target */, + GLint /* miplevel */, + GLuint /* texture */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLRenderbuffer(cl_context /* context */, + cl_mem_flags /* flags */, + GLuint /* renderbuffer */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetGLObjectInfo(cl_mem /* memobj */, + cl_gl_object_type * /* gl_object_type */, + GLuint * /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetGLTextureInfo(cl_mem /* memobj */, + cl_gl_texture_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueAcquireGLObjects(cl_command_queue /* command_queue */, + cl_uint /* num_objects */, + const cl_mem * /* mem_objects */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReleaseGLObjects(cl_command_queue /* command_queue */, + cl_uint /* num_objects */, + const cl_mem * /* mem_objects */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +#ifdef __cplusplus +} +#endif + +#endif // __OPENCL_CL_GL_H diff --git a/Mod Sources/Bullet/include/bullet/MiniCL/cl_platform.h b/Mod Sources/Bullet/include/bullet/MiniCL/cl_platform.h new file mode 100644 index 0000000..3d372e3 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/MiniCL/cl_platform.h @@ -0,0 +1,254 @@ +/********************************************************************************** + * Copyright (c) 2008-2009 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +#ifndef __CL_PLATFORM_H +#define __CL_PLATFORM_H + +#define CL_PLATFORM_MINI_CL 0x12345 + +struct MiniCLKernelDesc +{ + MiniCLKernelDesc(void* pCode, char* pName); +}; + +#define MINICL_REGISTER(__kernel_func) static MiniCLKernelDesc __kernel_func##Desc((void*)__kernel_func, #__kernel_func); + + +#ifdef __APPLE__ + /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */ + #include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +#define CL_API_ENTRY +#define CL_API_CALL +#ifdef __APPLE__ +#define CL_API_SUFFIX__VERSION_1_0 // AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER +#define CL_EXTENSION_WEAK_LINK __attribute__((weak_import)) +#else +#define CL_API_SUFFIX__VERSION_1_0 +#define CL_EXTENSION_WEAK_LINK +#endif + +#if defined (_WIN32) && ! defined (__MINGW32__) +typedef signed __int8 int8_t; +typedef unsigned __int8 uint8_t; +typedef signed __int16 int16_t; +typedef unsigned __int16 uint16_t; +typedef signed __int32 int32_t; +typedef unsigned __int32 uint32_t; +typedef signed __int64 int64_t; +typedef unsigned __int64 uint64_t; + +typedef int8_t cl_char; +typedef uint8_t cl_uchar; +typedef int16_t cl_short ; +typedef uint16_t cl_ushort ; +typedef int32_t cl_int ; +typedef uint32_t cl_uint ; +typedef int64_t cl_long ; +typedef uint64_t cl_ulong ; + +typedef uint16_t cl_half ; +typedef float cl_float ; +typedef double cl_double ; + + +typedef int8_t cl_char2[2] ; +typedef int8_t cl_char4[4] ; +typedef int8_t cl_char8[8] ; +typedef int8_t cl_char16[16] ; +typedef uint8_t cl_uchar2[2] ; +typedef uint8_t cl_uchar4[4] ; +typedef uint8_t cl_uchar8[8] ; +typedef uint8_t cl_uchar16[16] ; + +typedef int16_t cl_short2[2] ; +typedef int16_t cl_short4[4] ; +typedef int16_t cl_short8[8] ; +typedef int16_t cl_short16[16] ; +typedef uint16_t cl_ushort2[2] ; +typedef uint16_t cl_ushort4[4] ; +typedef uint16_t cl_ushort8[8] ; +typedef uint16_t cl_ushort16[16] ; + +typedef int32_t cl_int2[2] ; +typedef int32_t cl_int4[4] ; +typedef int32_t cl_int8[8] ; +typedef int32_t cl_int16[16] ; +typedef uint32_t cl_uint2[2] ; +typedef uint32_t cl_uint4[4] ; +typedef uint32_t cl_uint8[8] ; +typedef uint32_t cl_uint16[16] ; + +typedef int64_t cl_long2[2] ; +typedef int64_t cl_long4[4] ; +typedef int64_t cl_long8[8] ; +typedef int64_t cl_long16[16] ; +typedef uint64_t cl_ulong2[2] ; +typedef uint64_t cl_ulong4[4] ; +typedef uint64_t cl_ulong8[8] ; +typedef uint64_t cl_ulong16[16] ; + +typedef float cl_float2[2] ; +typedef float cl_float4[4] ; +typedef float cl_float8[8] ; +typedef float cl_float16[16] ; + +typedef double cl_double2[2] ; +typedef double cl_double4[4] ; +typedef double cl_double8[8] ; +typedef double cl_double16[16] ; + + +#else +#include + +/* scalar types */ +typedef int8_t cl_char; +typedef uint8_t cl_uchar; +typedef int16_t cl_short __attribute__((aligned(2))); +typedef uint16_t cl_ushort __attribute__((aligned(2))); +typedef int32_t cl_int __attribute__((aligned(4))); +typedef uint32_t cl_uint __attribute__((aligned(4))); +typedef int64_t cl_long __attribute__((aligned(8))); +typedef uint64_t cl_ulong __attribute__((aligned(8))); + +typedef uint16_t cl_half __attribute__((aligned(2))); +typedef float cl_float __attribute__((aligned(4))); +typedef double cl_double __attribute__((aligned(8))); + + +/* + * Vector types + * + * Note: OpenCL requires that all types be naturally aligned. + * This means that vector types must be naturally aligned. + * For example, a vector of four floats must be aligned to + * a 16 byte boundary (calculated as 4 * the natural 4-byte + * alignment of the float). The alignment qualifiers here + * will only function properly if your compiler supports them + * and if you don't actively work to defeat them. For example, + * in order for a cl_float4 to be 16 byte aligned in a struct, + * the start of the struct must itself be 16-byte aligned. + * + * Maintaining proper alignment is the user's responsibility. + */ +typedef int8_t cl_char2[2] __attribute__((aligned(2))); +typedef int8_t cl_char4[4] __attribute__((aligned(4))); +typedef int8_t cl_char8[8] __attribute__((aligned(8))); +typedef int8_t cl_char16[16] __attribute__((aligned(16))); +typedef uint8_t cl_uchar2[2] __attribute__((aligned(2))); +typedef uint8_t cl_uchar4[4] __attribute__((aligned(4))); +typedef uint8_t cl_uchar8[8] __attribute__((aligned(8))); +typedef uint8_t cl_uchar16[16] __attribute__((aligned(16))); + +typedef int16_t cl_short2[2] __attribute__((aligned(4))); +typedef int16_t cl_short4[4] __attribute__((aligned(8))); +typedef int16_t cl_short8[8] __attribute__((aligned(16))); +typedef int16_t cl_short16[16] __attribute__((aligned(32))); +typedef uint16_t cl_ushort2[2] __attribute__((aligned(4))); +typedef uint16_t cl_ushort4[4] __attribute__((aligned(8))); +typedef uint16_t cl_ushort8[8] __attribute__((aligned(16))); +typedef uint16_t cl_ushort16[16] __attribute__((aligned(32))); + +typedef int32_t cl_int2[2] __attribute__((aligned(8))); +typedef int32_t cl_int4[4] __attribute__((aligned(16))); +typedef int32_t cl_int8[8] __attribute__((aligned(32))); +typedef int32_t cl_int16[16] __attribute__((aligned(64))); +typedef uint32_t cl_uint2[2] __attribute__((aligned(8))); +typedef uint32_t cl_uint4[4] __attribute__((aligned(16))); +typedef uint32_t cl_uint8[8] __attribute__((aligned(32))); +typedef uint32_t cl_uint16[16] __attribute__((aligned(64))); + +typedef int64_t cl_long2[2] __attribute__((aligned(16))); +typedef int64_t cl_long4[4] __attribute__((aligned(32))); +typedef int64_t cl_long8[8] __attribute__((aligned(64))); +typedef int64_t cl_long16[16] __attribute__((aligned(128))); +typedef uint64_t cl_ulong2[2] __attribute__((aligned(16))); +typedef uint64_t cl_ulong4[4] __attribute__((aligned(32))); +typedef uint64_t cl_ulong8[8] __attribute__((aligned(64))); +typedef uint64_t cl_ulong16[16] __attribute__((aligned(128))); + +typedef float cl_float2[2] __attribute__((aligned(8))); +typedef float cl_float4[4] __attribute__((aligned(16))); +typedef float cl_float8[8] __attribute__((aligned(32))); +typedef float cl_float16[16] __attribute__((aligned(64))); + +typedef double cl_double2[2] __attribute__((aligned(16))); +typedef double cl_double4[4] __attribute__((aligned(32))); +typedef double cl_double8[8] __attribute__((aligned(64))); +typedef double cl_double16[16] __attribute__((aligned(128))); +#endif + +#include + +/* and a few goodies to go with them */ +#define CL_CHAR_BIT 8 +#define CL_SCHAR_MAX 127 +#define CL_SCHAR_MIN (-127-1) +#define CL_CHAR_MAX CL_SCHAR_MAX +#define CL_CHAR_MIN CL_SCHAR_MIN +#define CL_UCHAR_MAX 255 +#define CL_SHRT_MAX 32767 +#define CL_SHRT_MIN (-32767-1) +#define CL_USHRT_MAX 65535 +#define CL_INT_MAX 2147483647 +#define CL_INT_MIN (-2147483647-1) +#define CL_UINT_MAX 0xffffffffU +#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL) +#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL) +#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL) + +#define CL_FLT_DIG 6 +#define CL_FLT_MANT_DIG 24 +#define CL_FLT_MAX_10_EXP +38 +#define CL_FLT_MAX_EXP +128 +#define CL_FLT_MIN_10_EXP -37 +#define CL_FLT_MIN_EXP -125 +#define CL_FLT_RADIX 2 +#define CL_FLT_MAX 0x1.fffffep127f +#define CL_FLT_MIN 0x1.0p-126f +#define CL_FLT_EPSILON 0x1.0p-23f + +#define CL_DBL_DIG 15 +#define CL_DBL_MANT_DIG 53 +#define CL_DBL_MAX_10_EXP +308 +#define CL_DBL_MAX_EXP +1024 +#define CL_DBL_MIN_10_EXP -307 +#define CL_DBL_MIN_EXP -1021 +#define CL_DBL_RADIX 2 +#define CL_DBL_MAX 0x1.fffffffffffffp1023 +#define CL_DBL_MIN 0x1.0p-1022 +#define CL_DBL_EPSILON 0x1.0p-52 + +/* There are no vector types for half */ + +#ifdef __cplusplus +} +#endif + +#endif // __CL_PLATFORM_H diff --git a/Mod Sources/Bullet/include/bullet/btBulletCollisionCommon.h b/Mod Sources/Bullet/include/bullet/btBulletCollisionCommon.h new file mode 100644 index 0000000..9a7bffb --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/btBulletCollisionCommon.h @@ -0,0 +1,68 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BULLET_COLLISION_COMMON_H +#define BULLET_COLLISION_COMMON_H + +///Common headerfile includes for Bullet Collision Detection + +///Bullet's btCollisionWorld and btCollisionObject definitions +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" + +///Collision Shapes +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "BulletCollision/CollisionShapes/btCapsuleShape.h" +#include "BulletCollision/CollisionShapes/btCylinderShape.h" +#include "BulletCollision/CollisionShapes/btConeShape.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" +#include "BulletCollision/CollisionShapes/btConvexHullShape.h" +#include "BulletCollision/CollisionShapes/btTriangleMesh.h" +#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "BulletCollision/CollisionShapes/btCompoundShape.h" +#include "BulletCollision/CollisionShapes/btTetrahedronShape.h" +#include "BulletCollision/CollisionShapes/btEmptyShape.h" +#include "BulletCollision/CollisionShapes/btMultiSphereShape.h" +#include "BulletCollision/CollisionShapes/btUniformScalingShape.h" + +///Narrowphase Collision Detector +#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h" + +//btSphereBoxCollisionAlgorithm is broken, use gjk for now +//#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h" + +///Dispatching and generation of collision pairs (broadphase) +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" +#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h" +#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h" +#include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h" + +///Math library & Utils +#include "LinearMath/btQuaternion.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btDefaultMotionState.h" +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btSerializer.h" + + +#endif //BULLET_COLLISION_COMMON_H + diff --git a/Mod Sources/Bullet/include/bullet/btBulletDynamicsCommon.h b/Mod Sources/Bullet/include/bullet/btBulletDynamicsCommon.h new file mode 100644 index 0000000..db8b379 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/btBulletDynamicsCommon.h @@ -0,0 +1,49 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BULLET_DYNAMICS_COMMON_H +#define BULLET_DYNAMICS_COMMON_H + +///Common headerfile includes for Bullet Dynamics, including Collision Detection +#include "btBulletCollisionCommon.h" + +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#include "BulletDynamics/Dynamics/btContinuousDynamicsWorld.h" + +#include "BulletDynamics/Dynamics/btSimpleDynamicsWorld.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" + +#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h" +#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h" +#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h" +#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h" +#include "BulletDynamics/ConstraintSolver/btUniversalConstraint.h" +#include "BulletDynamics/ConstraintSolver/btHinge2Constraint.h" + +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" + + +///Vehicle simulation, with wheel contact simulated by raycasts +#include "BulletDynamics/Vehicle/btRaycastVehicle.h" + + + + + + +#endif //BULLET_DYNAMICS_COMMON_H + diff --git a/Mod Sources/Bullet/include/bullet/vectormath/neon/boolInVec.h b/Mod Sources/Bullet/include/bullet/vectormath/neon/boolInVec.h new file mode 100644 index 0000000..ba16838 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/neon/boolInVec.h @@ -0,0 +1,226 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + +#ifndef _BOOLINVEC_H +#define _BOOLINVEC_H + +#include +namespace Vectormath { + +class floatInVec; + +//-------------------------------------------------------------------------------------------------- +// boolInVec class +// + +class boolInVec +{ +private: + unsigned int mData; + +public: + // Default constructor; does no initialization + // + inline boolInVec( ) { }; + + // Construct from a value converted from float + // + inline boolInVec(floatInVec vec); + + // Explicit cast from bool + // + explicit inline boolInVec(bool scalar); + + // Explicit cast to bool + // + inline bool getAsBool() const; + +#ifndef _VECTORMATH_NO_SCALAR_CAST + // Implicit cast to bool + // + inline operator bool() const; +#endif + + // Boolean negation operator + // + inline const boolInVec operator ! () const; + + // Assignment operator + // + inline boolInVec& operator = (boolInVec vec); + + // Boolean and assignment operator + // + inline boolInVec& operator &= (boolInVec vec); + + // Boolean exclusive or assignment operator + // + inline boolInVec& operator ^= (boolInVec vec); + + // Boolean or assignment operator + // + inline boolInVec& operator |= (boolInVec vec); + +}; + +// Equal operator +// +inline const boolInVec operator == (boolInVec vec0, boolInVec vec1); + +// Not equal operator +// +inline const boolInVec operator != (boolInVec vec0, boolInVec vec1); + +// And operator +// +inline const boolInVec operator & (boolInVec vec0, boolInVec vec1); + +// Exclusive or operator +// +inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1); + +// Or operator +// +inline const boolInVec operator | (boolInVec vec0, boolInVec vec1); + +// Conditionally select between two values +// +inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1); + + +} // namespace Vectormath + + +//-------------------------------------------------------------------------------------------------- +// boolInVec implementation +// + +#include "floatInVec.h" + +namespace Vectormath { + +inline +boolInVec::boolInVec(floatInVec vec) +{ + *this = (vec != floatInVec(0.0f)); +} + +inline +boolInVec::boolInVec(bool scalar) +{ + mData = -(int)scalar; +} + +inline +bool +boolInVec::getAsBool() const +{ + return (mData > 0); +} + +#ifndef _VECTORMATH_NO_SCALAR_CAST +inline +boolInVec::operator bool() const +{ + return getAsBool(); +} +#endif + +inline +const boolInVec +boolInVec::operator ! () const +{ + return boolInVec(!mData); +} + +inline +boolInVec& +boolInVec::operator = (boolInVec vec) +{ + mData = vec.mData; + return *this; +} + +inline +boolInVec& +boolInVec::operator &= (boolInVec vec) +{ + *this = *this & vec; + return *this; +} + +inline +boolInVec& +boolInVec::operator ^= (boolInVec vec) +{ + *this = *this ^ vec; + return *this; +} + +inline +boolInVec& +boolInVec::operator |= (boolInVec vec) +{ + *this = *this | vec; + return *this; +} + +inline +const boolInVec +operator == (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() == vec1.getAsBool()); +} + +inline +const boolInVec +operator != (boolInVec vec0, boolInVec vec1) +{ + return !(vec0 == vec1); +} + +inline +const boolInVec +operator & (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() & vec1.getAsBool()); +} + +inline +const boolInVec +operator | (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() | vec1.getAsBool()); +} + +inline +const boolInVec +operator ^ (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() ^ vec1.getAsBool()); +} + +inline +const boolInVec +select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1) +{ + return (select_vec1.getAsBool() == 0) ? vec0 : vec1; +} + +} // namespace Vectormath + +#endif // boolInVec_h + diff --git a/Mod Sources/Bullet/include/bullet/vectormath/neon/floatInVec.h b/Mod Sources/Bullet/include/bullet/vectormath/neon/floatInVec.h new file mode 100644 index 0000000..26147d2 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/neon/floatInVec.h @@ -0,0 +1,344 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ +#ifndef _FLOATINVEC_H +#define _FLOATINVEC_H + +#include +namespace Vectormath { + +class boolInVec; + +//-------------------------------------------------------------------------------------------------- +// floatInVec class +// + +// A class representing a scalar float value contained in a vector register +// This class does not support fastmath +class floatInVec +{ +private: + float mData; + +public: + // Default constructor; does no initialization + // + inline floatInVec( ) { }; + + // Construct from a value converted from bool + // + inline floatInVec(boolInVec vec); + + // Explicit cast from float + // + explicit inline floatInVec(float scalar); + + // Explicit cast to float + // + inline float getAsFloat() const; + +#ifndef _VECTORMATH_NO_SCALAR_CAST + // Implicit cast to float + // + inline operator float() const; +#endif + + // Post increment (add 1.0f) + // + inline const floatInVec operator ++ (int); + + // Post decrement (subtract 1.0f) + // + inline const floatInVec operator -- (int); + + // Pre increment (add 1.0f) + // + inline floatInVec& operator ++ (); + + // Pre decrement (subtract 1.0f) + // + inline floatInVec& operator -- (); + + // Negation operator + // + inline const floatInVec operator - () const; + + // Assignment operator + // + inline floatInVec& operator = (floatInVec vec); + + // Multiplication assignment operator + // + inline floatInVec& operator *= (floatInVec vec); + + // Division assignment operator + // + inline floatInVec& operator /= (floatInVec vec); + + // Addition assignment operator + // + inline floatInVec& operator += (floatInVec vec); + + // Subtraction assignment operator + // + inline floatInVec& operator -= (floatInVec vec); + +}; + +// Multiplication operator +// +inline const floatInVec operator * (floatInVec vec0, floatInVec vec1); + +// Division operator +// +inline const floatInVec operator / (floatInVec vec0, floatInVec vec1); + +// Addition operator +// +inline const floatInVec operator + (floatInVec vec0, floatInVec vec1); + +// Subtraction operator +// +inline const floatInVec operator - (floatInVec vec0, floatInVec vec1); + +// Less than operator +// +inline const boolInVec operator < (floatInVec vec0, floatInVec vec1); + +// Less than or equal operator +// +inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1); + +// Greater than operator +// +inline const boolInVec operator > (floatInVec vec0, floatInVec vec1); + +// Greater than or equal operator +// +inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1); + +// Equal operator +// +inline const boolInVec operator == (floatInVec vec0, floatInVec vec1); + +// Not equal operator +// +inline const boolInVec operator != (floatInVec vec0, floatInVec vec1); + +// Conditionally select between two values +// +inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1); + + +} // namespace Vectormath + + +//-------------------------------------------------------------------------------------------------- +// floatInVec implementation +// + +#include "boolInVec.h" + +namespace Vectormath { + +inline +floatInVec::floatInVec(boolInVec vec) +{ + mData = float(vec.getAsBool()); +} + +inline +floatInVec::floatInVec(float scalar) +{ + mData = scalar; +} + +inline +float +floatInVec::getAsFloat() const +{ + return mData; +} + +#ifndef _VECTORMATH_NO_SCALAR_CAST +inline +floatInVec::operator float() const +{ + return getAsFloat(); +} +#endif + +inline +const floatInVec +floatInVec::operator ++ (int) +{ + float olddata = mData; + operator ++(); + return floatInVec(olddata); +} + +inline +const floatInVec +floatInVec::operator -- (int) +{ + float olddata = mData; + operator --(); + return floatInVec(olddata); +} + +inline +floatInVec& +floatInVec::operator ++ () +{ + *this += floatInVec(1.0f); + return *this; +} + +inline +floatInVec& +floatInVec::operator -- () +{ + *this -= floatInVec(1.0f); + return *this; +} + +inline +const floatInVec +floatInVec::operator - () const +{ + return floatInVec(-mData); +} + +inline +floatInVec& +floatInVec::operator = (floatInVec vec) +{ + mData = vec.mData; + return *this; +} + +inline +floatInVec& +floatInVec::operator *= (floatInVec vec) +{ + *this = *this * vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator /= (floatInVec vec) +{ + *this = *this / vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator += (floatInVec vec) +{ + *this = *this + vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator -= (floatInVec vec) +{ + *this = *this - vec; + return *this; +} + +inline +const floatInVec +operator * (floatInVec vec0, floatInVec vec1) +{ + return floatInVec(vec0.getAsFloat() * vec1.getAsFloat()); +} + +inline +const floatInVec +operator / (floatInVec num, floatInVec den) +{ + return floatInVec(num.getAsFloat() / den.getAsFloat()); +} + +inline +const floatInVec +operator + (floatInVec vec0, floatInVec vec1) +{ + return floatInVec(vec0.getAsFloat() + vec1.getAsFloat()); +} + +inline +const floatInVec +operator - (floatInVec vec0, floatInVec vec1) +{ + return floatInVec(vec0.getAsFloat() - vec1.getAsFloat()); +} + +inline +const boolInVec +operator < (floatInVec vec0, floatInVec vec1) +{ + return boolInVec(vec0.getAsFloat() < vec1.getAsFloat()); +} + +inline +const boolInVec +operator <= (floatInVec vec0, floatInVec vec1) +{ + return !(vec0 > vec1); +} + +inline +const boolInVec +operator > (floatInVec vec0, floatInVec vec1) +{ + return boolInVec(vec0.getAsFloat() > vec1.getAsFloat()); +} + +inline +const boolInVec +operator >= (floatInVec vec0, floatInVec vec1) +{ + return !(vec0 < vec1); +} + +inline +const boolInVec +operator == (floatInVec vec0, floatInVec vec1) +{ + return boolInVec(vec0.getAsFloat() == vec1.getAsFloat()); +} + +inline +const boolInVec +operator != (floatInVec vec0, floatInVec vec1) +{ + return !(vec0 == vec1); +} + +inline +const floatInVec +select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1) +{ + return (select_vec1.getAsBool() == 0) ? vec0 : vec1; +} + +} // namespace Vectormath + +#endif // floatInVec_h + diff --git a/Mod Sources/Bullet/include/bullet/vectormath/neon/mat_aos.h b/Mod Sources/Bullet/include/bullet/vectormath/neon/mat_aos.h new file mode 100644 index 0000000..e61f601 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/neon/mat_aos.h @@ -0,0 +1,1631 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + +#ifndef _VECTORMATH_MAT_AOS_CPP_H +#define _VECTORMATH_MAT_AOS_CPP_H + +namespace Vectormath { +namespace Aos { + +//----------------------------------------------------------------------------- +// Constants + +#define _VECTORMATH_PI_OVER_2 1.570796327f + +//----------------------------------------------------------------------------- +// Definitions + +inline Matrix3::Matrix3( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; +} + +inline Matrix3::Matrix3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +inline Matrix3::Matrix3( const Quat & unitQuat ) +{ + float qx, qy, qz, qw, qx2, qy2, qz2, qxqx2, qyqy2, qzqz2, qxqy2, qyqz2, qzqw2, qxqz2, qyqw2, qxqw2; + qx = unitQuat.getX(); + qy = unitQuat.getY(); + qz = unitQuat.getZ(); + qw = unitQuat.getW(); + qx2 = ( qx + qx ); + qy2 = ( qy + qy ); + qz2 = ( qz + qz ); + qxqx2 = ( qx * qx2 ); + qxqy2 = ( qx * qy2 ); + qxqz2 = ( qx * qz2 ); + qxqw2 = ( qw * qx2 ); + qyqy2 = ( qy * qy2 ); + qyqz2 = ( qy * qz2 ); + qyqw2 = ( qw * qy2 ); + qzqz2 = ( qz * qz2 ); + qzqw2 = ( qw * qz2 ); + mCol0 = Vector3( ( ( 1.0f - qyqy2 ) - qzqz2 ), ( qxqy2 + qzqw2 ), ( qxqz2 - qyqw2 ) ); + mCol1 = Vector3( ( qxqy2 - qzqw2 ), ( ( 1.0f - qxqx2 ) - qzqz2 ), ( qyqz2 + qxqw2 ) ); + mCol2 = Vector3( ( qxqz2 + qyqw2 ), ( qyqz2 - qxqw2 ), ( ( 1.0f - qxqx2 ) - qyqy2 ) ); +} + +inline Matrix3::Matrix3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; +} + +inline Matrix3 & Matrix3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix3 & Matrix3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix3 & Matrix3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix3 & Matrix3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix3 & Matrix3::setRow( int row, const Vector3 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + return *this; +} + +inline Matrix3 & Matrix3::setElem( int col, int row, float val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Matrix3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Matrix3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Matrix3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Matrix3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Matrix3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::getRow( int row ) const +{ + return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) ); +} + +inline Vector3 & Matrix3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix3 & Matrix3::operator =( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + return *this; +} + +inline const Matrix3 transpose( const Matrix3 & mat ) +{ + return Matrix3( + Vector3( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX() ), + Vector3( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY() ), + Vector3( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ() ) + ); +} + +inline const Matrix3 inverse( const Matrix3 & mat ) +{ + Vector3 tmp0, tmp1, tmp2; + float detinv; + tmp0 = cross( mat.getCol1(), mat.getCol2() ); + tmp1 = cross( mat.getCol2(), mat.getCol0() ); + tmp2 = cross( mat.getCol0(), mat.getCol1() ); + detinv = ( 1.0f / dot( mat.getCol2(), tmp2 ) ); + return Matrix3( + Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) ), + Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) ), + Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) ) + ); +} + +inline float determinant( const Matrix3 & mat ) +{ + return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) ); +} + +inline const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ) + ); +} + +inline const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator +=( const Matrix3 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix3 & Matrix3::operator -=( const Matrix3 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix3 Matrix3::operator -( ) const +{ + return Matrix3( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ) + ); +} + +inline const Matrix3 absPerElem( const Matrix3 & mat ) +{ + return Matrix3( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::operator *( float scalar ) const +{ + return Matrix3( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ) + ); +} + +inline Matrix3 & Matrix3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ) +{ + return mat * scalar; +} + +inline const Vector3 Matrix3::operator *( const Vector3 & vec ) const +{ + return Vector3( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ); +} + +inline const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const +{ + return Matrix3( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator *=( const Matrix3 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ) +{ + return Matrix3( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::identity( ) +{ + return Matrix3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3::xAxis( ), + Vector3( 0.0f, c, s ), + Vector3( 0.0f, -s, c ) + ); +} + +inline const Matrix3 Matrix3::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3( c, 0.0f, -s ), + Vector3::yAxis( ), + Vector3( s, 0.0f, c ) + ); +} + +inline const Matrix3 Matrix3::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3( c, s, 0.0f ), + Vector3( -s, c, 0.0f ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Matrix3( + Vector3( ( cZ * cY ), ( sZ * cY ), -sY ), + Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ), + Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( float radians, const Vector3 & unitVec ) +{ + float x, y, z, s, c, oneMinusC, xy, yz, zx; + s = sinf( radians ); + c = cosf( radians ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = ( x * y ); + yz = ( y * z ); + zx = ( z * x ); + oneMinusC = ( 1.0f - c ); + return Matrix3( + Vector3( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ) ), + Vector3( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ) ), + Vector3( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( const Quat & unitQuat ) +{ + return Matrix3( unitQuat ); +} + +inline const Matrix3 Matrix3::scale( const Vector3 & scaleVec ) +{ + return Matrix3( + Vector3( scaleVec.getX(), 0.0f, 0.0f ), + Vector3( 0.0f, scaleVec.getY(), 0.0f ), + Vector3( 0.0f, 0.0f, scaleVec.getZ() ) + ); +} + +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ) +{ + return Matrix3( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ) + ); +} + +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ) +{ + return Matrix3( + mulPerElem( mat.getCol0(), scaleVec ), + mulPerElem( mat.getCol1(), scaleVec ), + mulPerElem( mat.getCol2(), scaleVec ) + ); +} + +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix3 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); +} + +inline void print( const Matrix3 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Matrix4::Matrix4( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; +} + +inline Matrix4::Matrix4( float scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +inline Matrix4::Matrix4( const Transform3 & mat ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( mat.getCol3(), 1.0f ); +} + +inline Matrix4::Matrix4( const Vector4 & _col0, const Vector4 & _col1, const Vector4 & _col2, const Vector4 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Matrix4::Matrix4( const Matrix3 & mat, const Vector3 & translateVec ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4::Matrix4( const Quat & unitQuat, const Vector3 & translateVec ) +{ + Matrix3 mat; + mat = Matrix3( unitQuat ); + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4 & Matrix4::setCol0( const Vector4 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix4 & Matrix4::setCol1( const Vector4 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix4 & Matrix4::setCol2( const Vector4 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix4 & Matrix4::setCol3( const Vector4 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Matrix4 & Matrix4::setCol( int col, const Vector4 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix4 & Matrix4::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Matrix4 & Matrix4::setElem( int col, int row, float val ) +{ + Vector4 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Matrix4::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector4 Matrix4::getCol0( ) const +{ + return mCol0; +} + +inline const Vector4 Matrix4::getCol1( ) const +{ + return mCol1; +} + +inline const Vector4 Matrix4::getCol2( ) const +{ + return mCol2; +} + +inline const Vector4 Matrix4::getCol3( ) const +{ + return mCol3; +} + +inline const Vector4 Matrix4::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector4 & Matrix4::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix4 & Matrix4::operator =( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; + return *this; +} + +inline const Matrix4 transpose( const Matrix4 & mat ) +{ + return Matrix4( + Vector4( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX(), mat.getCol3().getX() ), + Vector4( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY(), mat.getCol3().getY() ), + Vector4( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ(), mat.getCol3().getZ() ), + Vector4( mat.getCol0().getW(), mat.getCol1().getW(), mat.getCol2().getW(), mat.getCol3().getW() ) + ); +} + +inline const Matrix4 inverse( const Matrix4 & mat ) +{ + Vector4 res0, res1, res2, res3; + float mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5, detInv; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = ( ( mK * mD ) - ( mC * mL ) ); + tmp1 = ( ( mO * mH ) - ( mG * mP ) ); + tmp2 = ( ( mB * mK ) - ( mJ * mC ) ); + tmp3 = ( ( mF * mO ) - ( mN * mG ) ); + tmp4 = ( ( mJ * mD ) - ( mB * mL ) ); + tmp5 = ( ( mN * mH ) - ( mF * mP ) ); + res0.setX( ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ) ); + res0.setY( ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ) ); + res0.setZ( ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ) ); + res0.setW( ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ) ); + detInv = ( 1.0f / ( ( ( ( mA * res0.getX() ) + ( mE * res0.getY() ) ) + ( mI * res0.getZ() ) ) + ( mM * res0.getW() ) ) ); + res1.setX( ( mI * tmp1 ) ); + res1.setY( ( mM * tmp0 ) ); + res1.setZ( ( mA * tmp1 ) ); + res1.setW( ( mE * tmp0 ) ); + res3.setX( ( mI * tmp3 ) ); + res3.setY( ( mM * tmp2 ) ); + res3.setZ( ( mA * tmp3 ) ); + res3.setW( ( mE * tmp2 ) ); + res2.setX( ( mI * tmp5 ) ); + res2.setY( ( mM * tmp4 ) ); + res2.setZ( ( mA * tmp5 ) ); + res2.setW( ( mE * tmp4 ) ); + tmp0 = ( ( mI * mB ) - ( mA * mJ ) ); + tmp1 = ( ( mM * mF ) - ( mE * mN ) ); + tmp2 = ( ( mI * mD ) - ( mA * mL ) ); + tmp3 = ( ( mM * mH ) - ( mE * mP ) ); + tmp4 = ( ( mI * mC ) - ( mA * mK ) ); + tmp5 = ( ( mM * mG ) - ( mE * mO ) ); + res2.setX( ( ( ( mL * tmp1 ) - ( mJ * tmp3 ) ) + res2.getX() ) ); + res2.setY( ( ( ( mP * tmp0 ) - ( mN * tmp2 ) ) + res2.getY() ) ); + res2.setZ( ( ( ( mB * tmp3 ) - ( mD * tmp1 ) ) - res2.getZ() ) ); + res2.setW( ( ( ( mF * tmp2 ) - ( mH * tmp0 ) ) - res2.getW() ) ); + res3.setX( ( ( ( mJ * tmp5 ) - ( mK * tmp1 ) ) + res3.getX() ) ); + res3.setY( ( ( ( mN * tmp4 ) - ( mO * tmp0 ) ) + res3.getY() ) ); + res3.setZ( ( ( ( mC * tmp1 ) - ( mB * tmp5 ) ) - res3.getZ() ) ); + res3.setW( ( ( ( mG * tmp0 ) - ( mF * tmp4 ) ) - res3.getW() ) ); + res1.setX( ( ( ( mK * tmp3 ) - ( mL * tmp5 ) ) - res1.getX() ) ); + res1.setY( ( ( ( mO * tmp2 ) - ( mP * tmp4 ) ) - res1.getY() ) ); + res1.setZ( ( ( ( mD * tmp5 ) - ( mC * tmp3 ) ) + res1.getZ() ) ); + res1.setW( ( ( ( mH * tmp4 ) - ( mG * tmp2 ) ) + res1.getW() ) ); + return Matrix4( + ( res0 * detInv ), + ( res1 * detInv ), + ( res2 * detInv ), + ( res3 * detInv ) + ); +} + +inline const Matrix4 affineInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( inverse( affineMat ) ); +} + +inline const Matrix4 orthoInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( orthoInverse( affineMat ) ); +} + +inline float determinant( const Matrix4 & mat ) +{ + float dx, dy, dz, dw, mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = ( ( mK * mD ) - ( mC * mL ) ); + tmp1 = ( ( mO * mH ) - ( mG * mP ) ); + tmp2 = ( ( mB * mK ) - ( mJ * mC ) ); + tmp3 = ( ( mF * mO ) - ( mN * mG ) ); + tmp4 = ( ( mJ * mD ) - ( mB * mL ) ); + tmp5 = ( ( mN * mH ) - ( mF * mP ) ); + dx = ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ); + dy = ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ); + dz = ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ); + dw = ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ); + return ( ( ( ( mA * dx ) + ( mE * dy ) ) + ( mI * dz ) ) + ( mM * dw ) ); +} + +inline const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ), + ( mCol3 + mat.mCol3 ) + ); +} + +inline const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ), + ( mCol3 - mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator +=( const Matrix4 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix4 & Matrix4::operator -=( const Matrix4 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix4 Matrix4::operator -( ) const +{ + return Matrix4( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ), + ( -mCol3 ) + ); +} + +inline const Matrix4 absPerElem( const Matrix4 & mat ) +{ + return Matrix4( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ), + absPerElem( mat.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::operator *( float scalar ) const +{ + return Matrix4( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ), + ( mCol3 * scalar ) + ); +} + +inline Matrix4 & Matrix4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ) +{ + return mat * scalar; +} + +inline const Vector4 Matrix4::operator *( const Vector4 & vec ) const +{ + return Vector4( + ( ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ) + ( mCol3.getX() * vec.getW() ) ), + ( ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ) + ( mCol3.getY() * vec.getW() ) ), + ( ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ( mCol3.getZ() * vec.getW() ) ), + ( ( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) ) + ( mCol3.getW() * vec.getW() ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Vector3 & vec ) const +{ + return Vector4( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ), + ( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Point3 & pnt ) const +{ + return Vector4( + ( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ), + ( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ), + ( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() ), + ( ( ( ( mCol0.getW() * pnt.getX() ) + ( mCol1.getW() * pnt.getY() ) ) + ( mCol2.getW() * pnt.getZ() ) ) + mCol3.getW() ) + ); +} + +inline const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const +{ + return Matrix4( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ), + ( *this * mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Matrix4 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const +{ + return Matrix4( + ( *this * tfrm.getCol0() ), + ( *this * tfrm.getCol1() ), + ( *this * tfrm.getCol2() ), + ( *this * Point3( tfrm.getCol3() ) ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ) +{ + return Matrix4( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ), + mulPerElem( mat0.getCol3(), mat1.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::identity( ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 ) +{ + mCol0.setXYZ( mat3.getCol0() ); + mCol1.setXYZ( mat3.getCol1() ); + mCol2.setXYZ( mat3.getCol2() ); + return *this; +} + +inline const Matrix3 Matrix4::getUpper3x3( ) const +{ + return Matrix3( + mCol0.getXYZ( ), + mCol1.getXYZ( ), + mCol2.getXYZ( ) + ); +} + +inline Matrix4 & Matrix4::setTranslation( const Vector3 & translateVec ) +{ + mCol3.setXYZ( translateVec ); + return *this; +} + +inline const Vector3 Matrix4::getTranslation( ) const +{ + return mCol3.getXYZ( ); +} + +inline const Matrix4 Matrix4::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4::xAxis( ), + Vector4( 0.0f, c, s, 0.0f ), + Vector4( 0.0f, -s, c, 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4( c, 0.0f, -s, 0.0f ), + Vector4::yAxis( ), + Vector4( s, 0.0f, c, 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4( c, s, 0.0f, 0.0f ), + Vector4( -s, c, 0.0f, 0.0f ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Matrix4( + Vector4( ( cZ * cY ), ( sZ * cY ), -sY, 0.0f ), + Vector4( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ), 0.0f ), + Vector4( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( float radians, const Vector3 & unitVec ) +{ + float x, y, z, s, c, oneMinusC, xy, yz, zx; + s = sinf( radians ); + c = cosf( radians ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = ( x * y ); + yz = ( y * z ); + zx = ( z * x ); + oneMinusC = ( 1.0f - c ); + return Matrix4( + Vector4( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ), 0.0f ), + Vector4( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ), 0.0f ), + Vector4( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( const Quat & unitQuat ) +{ + return Matrix4( Transform3::rotation( unitQuat ) ); +} + +inline const Matrix4 Matrix4::scale( const Vector3 & scaleVec ) +{ + return Matrix4( + Vector4( scaleVec.getX(), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, scaleVec.getY(), 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, scaleVec.getZ(), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ) +{ + return Matrix4( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ), + mat.getCol3() + ); +} + +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ) +{ + Vector4 scale4; + scale4 = Vector4( scaleVec, 1.0f ); + return Matrix4( + mulPerElem( mat.getCol0(), scale4 ), + mulPerElem( mat.getCol1(), scale4 ), + mulPerElem( mat.getCol2(), scale4 ), + mulPerElem( mat.getCol3(), scale4 ) + ); +} + +inline const Matrix4 Matrix4::translation( const Vector3 & translateVec ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4( translateVec, 1.0f ) + ); +} + +inline const Matrix4 Matrix4::lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ) +{ + Matrix4 m4EyeFrame; + Vector3 v3X, v3Y, v3Z; + v3Y = normalize( upVec ); + v3Z = normalize( ( eyePos - lookAtPos ) ); + v3X = normalize( cross( v3Y, v3Z ) ); + v3Y = cross( v3Z, v3X ); + m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) ); + return orthoInverse( m4EyeFrame ); +} + +inline const Matrix4 Matrix4::perspective( float fovyRadians, float aspect, float zNear, float zFar ) +{ + float f, rangeInv; + f = tanf( ( (float)( _VECTORMATH_PI_OVER_2 ) - ( 0.5f * fovyRadians ) ) ); + rangeInv = ( 1.0f / ( zNear - zFar ) ); + return Matrix4( + Vector4( ( f / aspect ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, f, 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, ( ( zNear + zFar ) * rangeInv ), -1.0f ), + Vector4( 0.0f, 0.0f, ( ( ( zNear * zFar ) * rangeInv ) * 2.0f ), 0.0f ) + ); +} + +inline const Matrix4 Matrix4::frustum( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf, n2; + sum_rl = ( right + left ); + sum_tb = ( top + bottom ); + sum_nf = ( zNear + zFar ); + inv_rl = ( 1.0f / ( right - left ) ); + inv_tb = ( 1.0f / ( top - bottom ) ); + inv_nf = ( 1.0f / ( zNear - zFar ) ); + n2 = ( zNear + zNear ); + return Matrix4( + Vector4( ( n2 * inv_rl ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, ( n2 * inv_tb ), 0.0f, 0.0f ), + Vector4( ( sum_rl * inv_rl ), ( sum_tb * inv_tb ), ( sum_nf * inv_nf ), -1.0f ), + Vector4( 0.0f, 0.0f, ( ( n2 * inv_nf ) * zFar ), 0.0f ) + ); +} + +inline const Matrix4 Matrix4::orthographic( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf; + sum_rl = ( right + left ); + sum_tb = ( top + bottom ); + sum_nf = ( zNear + zFar ); + inv_rl = ( 1.0f / ( right - left ) ); + inv_tb = ( 1.0f / ( top - bottom ) ); + inv_nf = ( 1.0f / ( zNear - zFar ) ); + return Matrix4( + Vector4( ( inv_rl + inv_rl ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, ( inv_tb + inv_tb ), 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, ( inv_nf + inv_nf ), 0.0f ), + Vector4( ( -sum_rl * inv_rl ), ( -sum_tb * inv_tb ), ( sum_nf * inv_nf ), 1.0f ) + ); +} + +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix4 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); + print( mat.getRow( 3 ) ); +} + +inline void print( const Matrix4 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Transform3::Transform3( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; +} + +inline Transform3::Transform3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +inline Transform3::Transform3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2, const Vector3 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Transform3::Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ) +{ + this->setUpper3x3( tfrm ); + this->setTranslation( translateVec ); +} + +inline Transform3::Transform3( const Quat & unitQuat, const Vector3 & translateVec ) +{ + this->setUpper3x3( Matrix3( unitQuat ) ); + this->setTranslation( translateVec ); +} + +inline Transform3 & Transform3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Transform3 & Transform3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Transform3 & Transform3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Transform3 & Transform3::setCol3( const Vector3 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Transform3 & Transform3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Transform3 & Transform3::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Transform3 & Transform3::setElem( int col, int row, float val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Transform3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Transform3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Transform3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Transform3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Transform3::getCol3( ) const +{ + return mCol3; +} + +inline const Vector3 Transform3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Transform3::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector3 & Transform3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Transform3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Transform3 & Transform3::operator =( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; + return *this; +} + +inline const Transform3 inverse( const Transform3 & tfrm ) +{ + Vector3 tmp0, tmp1, tmp2, inv0, inv1, inv2; + float detinv; + tmp0 = cross( tfrm.getCol1(), tfrm.getCol2() ); + tmp1 = cross( tfrm.getCol2(), tfrm.getCol0() ); + tmp2 = cross( tfrm.getCol0(), tfrm.getCol1() ); + detinv = ( 1.0f / dot( tfrm.getCol2(), tmp2 ) ); + inv0 = Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) ); + inv1 = Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) ); + inv2 = Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 orthoInverse( const Transform3 & tfrm ) +{ + Vector3 inv0, inv1, inv2; + inv0 = Vector3( tfrm.getCol0().getX(), tfrm.getCol1().getX(), tfrm.getCol2().getX() ); + inv1 = Vector3( tfrm.getCol0().getY(), tfrm.getCol1().getY(), tfrm.getCol2().getY() ); + inv2 = Vector3( tfrm.getCol0().getZ(), tfrm.getCol1().getZ(), tfrm.getCol2().getZ() ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 absPerElem( const Transform3 & tfrm ) +{ + return Transform3( + absPerElem( tfrm.getCol0() ), + absPerElem( tfrm.getCol1() ), + absPerElem( tfrm.getCol2() ), + absPerElem( tfrm.getCol3() ) + ); +} + +inline const Vector3 Transform3::operator *( const Vector3 & vec ) const +{ + return Vector3( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ); +} + +inline const Point3 Transform3::operator *( const Point3 & pnt ) const +{ + return Point3( + ( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ), + ( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ), + ( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() ) + ); +} + +inline const Transform3 Transform3::operator *( const Transform3 & tfrm ) const +{ + return Transform3( + ( *this * tfrm.mCol0 ), + ( *this * tfrm.mCol1 ), + ( *this * tfrm.mCol2 ), + Vector3( ( *this * Point3( tfrm.mCol3 ) ) ) + ); +} + +inline Transform3 & Transform3::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ) +{ + return Transform3( + mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ), + mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ), + mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ), + mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() ) + ); +} + +inline const Transform3 Transform3::identity( ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline Transform3 & Transform3::setUpper3x3( const Matrix3 & tfrm ) +{ + mCol0 = tfrm.getCol0(); + mCol1 = tfrm.getCol1(); + mCol2 = tfrm.getCol2(); + return *this; +} + +inline const Matrix3 Transform3::getUpper3x3( ) const +{ + return Matrix3( mCol0, mCol1, mCol2 ); +} + +inline Transform3 & Transform3::setTranslation( const Vector3 & translateVec ) +{ + mCol3 = translateVec; + return *this; +} + +inline const Vector3 Transform3::getTranslation( ) const +{ + return mCol3; +} + +inline const Transform3 Transform3::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3::xAxis( ), + Vector3( 0.0f, c, s ), + Vector3( 0.0f, -s, c ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3( c, 0.0f, -s ), + Vector3::yAxis( ), + Vector3( s, 0.0f, c ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3( c, s, 0.0f ), + Vector3( -s, c, 0.0f ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Transform3( + Vector3( ( cZ * cY ), ( sZ * cY ), -sY ), + Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ), + Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotation( float radians, const Vector3 & unitVec ) +{ + return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::rotation( const Quat & unitQuat ) +{ + return Transform3( Matrix3( unitQuat ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::scale( const Vector3 & scaleVec ) +{ + return Transform3( + Vector3( scaleVec.getX(), 0.0f, 0.0f ), + Vector3( 0.0f, scaleVec.getY(), 0.0f ), + Vector3( 0.0f, 0.0f, scaleVec.getZ() ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ) +{ + return Transform3( + ( tfrm.getCol0() * scaleVec.getX( ) ), + ( tfrm.getCol1() * scaleVec.getY( ) ), + ( tfrm.getCol2() * scaleVec.getZ( ) ), + tfrm.getCol3() + ); +} + +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ) +{ + return Transform3( + mulPerElem( tfrm.getCol0(), scaleVec ), + mulPerElem( tfrm.getCol1(), scaleVec ), + mulPerElem( tfrm.getCol2(), scaleVec ), + mulPerElem( tfrm.getCol3(), scaleVec ) + ); +} + +inline const Transform3 Transform3::translation( const Vector3 & translateVec ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + translateVec + ); +} + +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Transform3 & tfrm ) +{ + print( tfrm.getRow( 0 ) ); + print( tfrm.getRow( 1 ) ); + print( tfrm.getRow( 2 ) ); +} + +inline void print( const Transform3 & tfrm, const char * name ) +{ + printf("%s:\n", name); + print( tfrm ); +} + +#endif + +inline Quat::Quat( const Matrix3 & tfrm ) +{ + float trace, radicand, scale, xx, yx, zx, xy, yy, zy, xz, yz, zz, tmpx, tmpy, tmpz, tmpw, qx, qy, qz, qw; + int negTrace, ZgtX, ZgtY, YgtX; + int largestXorY, largestYorZ, largestZorX; + + xx = tfrm.getCol0().getX(); + yx = tfrm.getCol0().getY(); + zx = tfrm.getCol0().getZ(); + xy = tfrm.getCol1().getX(); + yy = tfrm.getCol1().getY(); + zy = tfrm.getCol1().getZ(); + xz = tfrm.getCol2().getX(); + yz = tfrm.getCol2().getY(); + zz = tfrm.getCol2().getZ(); + + trace = ( ( xx + yy ) + zz ); + + negTrace = ( trace < 0.0f ); + ZgtX = zz > xx; + ZgtY = zz > yy; + YgtX = yy > xx; + largestXorY = ( !ZgtX || !ZgtY ) && negTrace; + largestYorZ = ( YgtX || ZgtX ) && negTrace; + largestZorX = ( ZgtY || !YgtX ) && negTrace; + + if ( largestXorY ) + { + zz = -zz; + xy = -xy; + } + if ( largestYorZ ) + { + xx = -xx; + yz = -yz; + } + if ( largestZorX ) + { + yy = -yy; + zx = -zx; + } + + radicand = ( ( ( xx + yy ) + zz ) + 1.0f ); + scale = ( 0.5f * ( 1.0f / sqrtf( radicand ) ) ); + + tmpx = ( ( zy - yz ) * scale ); + tmpy = ( ( xz - zx ) * scale ); + tmpz = ( ( yx - xy ) * scale ); + tmpw = ( radicand * scale ); + qx = tmpx; + qy = tmpy; + qz = tmpz; + qw = tmpw; + + if ( largestXorY ) + { + qx = tmpw; + qy = tmpz; + qz = tmpy; + qw = tmpx; + } + if ( largestYorZ ) + { + tmpx = qx; + tmpz = qz; + qx = qy; + qy = tmpx; + qz = qw; + qw = tmpz; + } + + mXYZW[0] = qx; + mXYZW[1] = qy; + mXYZW[2] = qz; + mXYZW[3] = qw; +} + +inline const Matrix3 outer( const Vector3 & tfrm0, const Vector3 & tfrm1 ) +{ + return Matrix3( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ) + ); +} + +inline const Matrix4 outer( const Vector4 & tfrm0, const Vector4 & tfrm1 ) +{ + return Matrix4( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ), + ( tfrm0 * tfrm1.getW( ) ) + ); +} + +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Vector3( + ( ( ( vec.getX() * mat.getCol0().getX() ) + ( vec.getY() * mat.getCol0().getY() ) ) + ( vec.getZ() * mat.getCol0().getZ() ) ), + ( ( ( vec.getX() * mat.getCol1().getX() ) + ( vec.getY() * mat.getCol1().getY() ) ) + ( vec.getZ() * mat.getCol1().getZ() ) ), + ( ( ( vec.getX() * mat.getCol2().getX() ) + ( vec.getY() * mat.getCol2().getY() ) ) + ( vec.getZ() * mat.getCol2().getZ() ) ) + ); +} + +inline const Matrix3 crossMatrix( const Vector3 & vec ) +{ + return Matrix3( + Vector3( 0.0f, vec.getZ(), -vec.getY() ), + Vector3( -vec.getZ(), 0.0f, vec.getX() ), + Vector3( vec.getY(), -vec.getX(), 0.0f ) + ); +} + +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) ); +} + +} // namespace Aos +} // namespace Vectormath + +#endif + diff --git a/Mod Sources/Bullet/include/bullet/vectormath/neon/quat_aos.h b/Mod Sources/Bullet/include/bullet/vectormath/neon/quat_aos.h new file mode 100644 index 0000000..d061846 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/neon/quat_aos.h @@ -0,0 +1,413 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + +#ifndef _VECTORMATH_QUAT_AOS_CPP_H +#define _VECTORMATH_QUAT_AOS_CPP_H + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Aos { + + inline Quat::Quat( const Quat & quat ) + { + vXYZW = quat.vXYZW; + } + + inline Quat::Quat( float _x, float _y, float _z, float _w ) + { + mXYZW[0] = _x; + mXYZW[1] = _y; + mXYZW[2] = _z; + mXYZW[3] = _w; + } + + inline Quat::Quat( float32x4_t fXYZW ) + { + vXYZW = fXYZW; + } + + inline Quat::Quat( const Vector3 & xyz, float _w ) + { + this->setXYZ( xyz ); + this->setW( _w ); + } + + inline Quat::Quat( const Vector4 & vec ) + { + mXYZW[0] = vec.getX(); + mXYZW[1] = vec.getY(); + mXYZW[2] = vec.getZ(); + mXYZW[3] = vec.getW(); + } + + inline Quat::Quat( float scalar ) + { + vXYZW = vdupq_n_f32(scalar); + } + + inline const Quat Quat::identity( ) + { + return Quat( 0.0f, 0.0f, 0.0f, 1.0f ); + } + + inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 ) + { + return ( quat0 + ( ( quat1 - quat0 ) * t ) ); + } + + inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 ) + { + Quat start; + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitQuat0, unitQuat1 ); + if ( cosAngle < 0.0f ) { + cosAngle = -cosAngle; + start = ( -unitQuat0 ); + } else { + start = unitQuat0; + } + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) ); + } + + inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 ) + { + Quat tmp0, tmp1; + tmp0 = slerp( t, unitQuat0, unitQuat3 ); + tmp1 = slerp( t, unitQuat1, unitQuat2 ); + return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 ); + } + + inline void loadXYZW( Quat & quat, const float * fptr ) + { + quat = Quat( fptr[0], fptr[1], fptr[2], fptr[3] ); + } + + inline void storeXYZW( const Quat & quat, float * fptr ) + { + vst1q_f32(fptr, quat.getvXYZW()); + } + + inline Quat & Quat::operator =( const Quat & quat ) + { + vXYZW = quat.getvXYZW(); + return *this; + } + + inline Quat & Quat::setXYZ( const Vector3 & vec ) + { + mXYZW[0] = vec.getX(); + mXYZW[1] = vec.getY(); + mXYZW[2] = vec.getZ(); + return *this; + } + + inline const Vector3 Quat::getXYZ( ) const + { + return Vector3( mXYZW[0], mXYZW[1], mXYZW[2] ); + } + + inline float32x4_t Quat::getvXYZW( ) const + { + return vXYZW; + } + + inline Quat & Quat::setX( float _x ) + { + mXYZW[0] = _x; + return *this; + } + + inline float Quat::getX( ) const + { + return mXYZW[0]; + } + + inline Quat & Quat::setY( float _y ) + { + mXYZW[1] = _y; + return *this; + } + + inline float Quat::getY( ) const + { + return mXYZW[1]; + } + + inline Quat & Quat::setZ( float _z ) + { + mXYZW[2] = _z; + return *this; + } + + inline float Quat::getZ( ) const + { + return mXYZW[2]; + } + + inline Quat & Quat::setW( float _w ) + { + mXYZW[3] = _w; + return *this; + } + + inline float Quat::getW( ) const + { + return mXYZW[3]; + } + + inline Quat & Quat::setElem( int idx, float value ) + { + *(&mXYZW[0] + idx) = value; + return *this; + } + + inline float Quat::getElem( int idx ) const + { + return *(&mXYZW[0] + idx); + } + + inline float & Quat::operator []( int idx ) + { + return *(&mXYZW[0] + idx); + } + + inline float Quat::operator []( int idx ) const + { + return *(&mXYZW[0] + idx); + } + + inline const Quat Quat::operator +( const Quat & quat ) const + { + return Quat( vaddq_f32(vXYZW, quat.vXYZW) ); + } + + inline const Quat Quat::operator -( const Quat & quat ) const + { + return Quat( vsubq_f32(vXYZW, quat.vXYZW) ); + } + + inline const Quat Quat::operator *( float scalar ) const + { + float32x4_t v_scalar = vdupq_n_f32(scalar); + return Quat( vmulq_f32(vXYZW, v_scalar) ); + } + + inline Quat & Quat::operator +=( const Quat & quat ) + { + *this = *this + quat; + return *this; + } + + inline Quat & Quat::operator -=( const Quat & quat ) + { + *this = *this - quat; + return *this; + } + + inline Quat & Quat::operator *=( float scalar ) + { + *this = *this * scalar; + return *this; + } + + inline const Quat Quat::operator /( float scalar ) const + { + return Quat( + ( mXYZW[0] / scalar ), + ( mXYZW[1] / scalar ), + ( mXYZW[2] / scalar ), + ( mXYZW[3] / scalar ) + ); + } + + inline Quat & Quat::operator /=( float scalar ) + { + *this = *this / scalar; + return *this; + } + + inline const Quat Quat::operator -( ) const + { + return Quat( vnegq_f32(vXYZW) ); + } + + inline const Quat operator *( float scalar, const Quat & quat ) + { + return quat * scalar; + } + + inline float dot( const Quat & quat0, const Quat & quat1 ) + { + float result; + result = ( quat0.getX() * quat1.getX() ); + result = ( result + ( quat0.getY() * quat1.getY() ) ); + result = ( result + ( quat0.getZ() * quat1.getZ() ) ); + result = ( result + ( quat0.getW() * quat1.getW() ) ); + return result; + } + + inline float norm( const Quat & quat ) + { + float result; + result = ( quat.getX() * quat.getX() ); + result = ( result + ( quat.getY() * quat.getY() ) ); + result = ( result + ( quat.getZ() * quat.getZ() ) ); + result = ( result + ( quat.getW() * quat.getW() ) ); + return result; + } + + inline float length( const Quat & quat ) + { + return ::sqrtf( norm( quat ) ); + } + + inline const Quat normalize( const Quat & quat ) + { + float lenSqr, lenInv; + lenSqr = norm( quat ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Quat( + ( quat.getX() * lenInv ), + ( quat.getY() * lenInv ), + ( quat.getZ() * lenInv ), + ( quat.getW() * lenInv ) + ); + } + + inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ) + { + float cosHalfAngleX2, recipCosHalfAngleX2; + cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) ); + recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 ); + return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) ); + } + + inline const Quat Quat::rotation( float radians, const Vector3 & unitVec ) + { + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( ( unitVec * s ), c ); + } + + inline const Quat Quat::rotationX( float radians ) + { + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( s, 0.0f, 0.0f, c ); + } + + inline const Quat Quat::rotationY( float radians ) + { + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( 0.0f, s, 0.0f, c ); + } + + inline const Quat Quat::rotationZ( float radians ) + { + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( 0.0f, 0.0f, s, c ); + } + + inline const Quat Quat::operator *( const Quat & quat ) const + { + return Quat( + ( ( ( ( mXYZW[3] * quat.mXYZW[0] ) + ( mXYZW[0] * quat.mXYZW[3] ) ) + ( mXYZW[1] * quat.mXYZW[2] ) ) - ( mXYZW[2] * quat.mXYZW[1] ) ), + ( ( ( ( mXYZW[3] * quat.mXYZW[1] ) + ( mXYZW[1] * quat.mXYZW[3] ) ) + ( mXYZW[2] * quat.mXYZW[0] ) ) - ( mXYZW[0] * quat.mXYZW[2] ) ), + ( ( ( ( mXYZW[3] * quat.mXYZW[2] ) + ( mXYZW[2] * quat.mXYZW[3] ) ) + ( mXYZW[0] * quat.mXYZW[1] ) ) - ( mXYZW[1] * quat.mXYZW[0] ) ), + ( ( ( ( mXYZW[3] * quat.mXYZW[3] ) - ( mXYZW[0] * quat.mXYZW[0] ) ) - ( mXYZW[1] * quat.mXYZW[1] ) ) - ( mXYZW[2] * quat.mXYZW[2] ) ) + ); + } + + inline Quat & Quat::operator *=( const Quat & quat ) + { + *this = *this * quat; + return *this; + } + + inline const Vector3 rotate( const Quat & quat, const Vector3 & vec ) + { + float tmpX, tmpY, tmpZ, tmpW; + tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) ); + tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) ); + tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) ); + tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) ); + return Vector3( + ( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ), + ( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ), + ( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) ) + ); + } + + inline const Quat conj( const Quat & quat ) + { + return Quat( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() ); + } + + inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 ) + { + return Quat( + ( select1 )? quat1.getX() : quat0.getX(), + ( select1 )? quat1.getY() : quat0.getY(), + ( select1 )? quat1.getZ() : quat0.getZ(), + ( select1 )? quat1.getW() : quat0.getW() + ); + } + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Quat & quat ) +{ + printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() ); +} + +inline void print( const Quat & quat, const char * name ) +{ + printf( "%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW() ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif + diff --git a/Mod Sources/Bullet/include/bullet/vectormath/neon/vec_aos.h b/Mod Sources/Bullet/include/bullet/vectormath/neon/vec_aos.h new file mode 100644 index 0000000..7bcf8db --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/neon/vec_aos.h @@ -0,0 +1,1427 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + +#ifndef _VECTORMATH_VEC_AOS_CPP_H +#define _VECTORMATH_VEC_AOS_CPP_H + +//----------------------------------------------------------------------------- +// Constants + +#define _VECTORMATH_SLERP_TOL 0.999f + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Aos { + +inline Vector3::Vector3( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; +} + +inline Vector3::Vector3( float _x, float _y, float _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Vector3::Vector3( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); +} + +inline Vector3::Vector3( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline const Vector3 Vector3::xAxis( ) +{ + return Vector3( 1.0f, 0.0f, 0.0f ); +} + +inline const Vector3 Vector3::yAxis( ) +{ + return Vector3( 0.0f, 1.0f, 0.0f ); +} + +inline const Vector3 Vector3::zAxis( ) +{ + return Vector3( 0.0f, 0.0f, 1.0f ); +} + +inline const Vector3 lerp( float t, const Vector3 & vec0, const Vector3 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector3 slerp( float t, const Vector3 & unitVec0, const Vector3 & unitVec1 ) +{ + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitVec0, unitVec1 ); + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline void loadXYZ( Vector3 & vec, const float * fptr ) +{ + vec = Vector3( fptr[0], fptr[1], fptr[2] ); +} + +inline void storeXYZ( const Vector3 & vec, float * fptr ) +{ + fptr[0] = vec.getX(); + fptr[1] = vec.getY(); + fptr[2] = vec.getZ(); +} + +inline void loadHalfFloats( Vector3 & vec, const unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + unsigned short fp16 = hfptr[i]; + unsigned int sign = fp16 >> 15; + unsigned int exponent = (fp16 >> 10) & ((1 << 5) - 1); + unsigned int mantissa = fp16 & ((1 << 10) - 1); + + if (exponent == 0) { + // zero + mantissa = 0; + + } else if (exponent == 31) { + // infinity or nan -> infinity + exponent = 255; + mantissa = 0; + + } else { + exponent += 127 - 15; + mantissa <<= 13; + } + + Data32 d; + d.u32 = (sign << 31) | (exponent << 23) | mantissa; + vec[i] = d.f32; + } +} + +inline void storeHalfFloats( const Vector3 & vec, unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + Data32 d; + d.f32 = vec[i]; + + unsigned int sign = d.u32 >> 31; + unsigned int exponent = (d.u32 >> 23) & ((1 << 8) - 1); + unsigned int mantissa = d.u32 & ((1 << 23) - 1);; + + if (exponent == 0) { + // zero or denorm -> zero + mantissa = 0; + + } else if (exponent == 255 && mantissa != 0) { + // nan -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent >= 127 - 15 + 31) { + // overflow or infinity -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent <= 127 - 15) { + // underflow -> zero + exponent = 0; + mantissa = 0; + + } else { + exponent -= 127 - 15; + mantissa >>= 13; + } + + hfptr[i] = (unsigned short)((sign << 15) | (exponent << 10) | mantissa); + } +} + +inline Vector3 & Vector3::operator =( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + return *this; +} + +inline Vector3 & Vector3::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Vector3::getX( ) const +{ + return mX; +} + +inline Vector3 & Vector3::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Vector3::getY( ) const +{ + return mY; +} + +inline Vector3 & Vector3::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Vector3::getZ( ) const +{ + return mZ; +} + +inline Vector3 & Vector3::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Vector3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Vector3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Vector3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Vector3::operator +( const Vector3 & vec ) const +{ + return Vector3( + ( mX + vec.mX ), + ( mY + vec.mY ), + ( mZ + vec.mZ ) + ); +} + +inline const Vector3 Vector3::operator -( const Vector3 & vec ) const +{ + return Vector3( + ( mX - vec.mX ), + ( mY - vec.mY ), + ( mZ - vec.mZ ) + ); +} + +inline const Point3 Vector3::operator +( const Point3 & pnt ) const +{ + return Point3( + ( mX + pnt.getX() ), + ( mY + pnt.getY() ), + ( mZ + pnt.getZ() ) + ); +} + +inline const Vector3 Vector3::operator *( float scalar ) const +{ + return Vector3( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ) + ); +} + +inline Vector3 & Vector3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector3 & Vector3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector3 & Vector3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector3 Vector3::operator /( float scalar ) const +{ + return Vector3( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ) + ); +} + +inline Vector3 & Vector3::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector3 Vector3::operator -( ) const +{ + return Vector3( + -mX, + -mY, + -mZ + ); +} + +inline const Vector3 operator *( float scalar, const Vector3 & vec ) +{ + return vec * scalar; +} + +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec0.getX() * vec1.getX() ), + ( vec0.getY() * vec1.getY() ), + ( vec0.getZ() * vec1.getZ() ) + ); +} + +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec0.getX() / vec1.getX() ), + ( vec0.getY() / vec1.getY() ), + ( vec0.getZ() / vec1.getZ() ) + ); +} + +inline const Vector3 recipPerElem( const Vector3 & vec ) +{ + return Vector3( + ( 1.0f / vec.getX() ), + ( 1.0f / vec.getY() ), + ( 1.0f / vec.getZ() ) + ); +} + +inline const Vector3 sqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + sqrtf( vec.getX() ), + sqrtf( vec.getY() ), + sqrtf( vec.getZ() ) + ); +} + +inline const Vector3 rsqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + ( 1.0f / sqrtf( vec.getX() ) ), + ( 1.0f / sqrtf( vec.getY() ) ), + ( 1.0f / sqrtf( vec.getZ() ) ) + ); +} + +inline const Vector3 absPerElem( const Vector3 & vec ) +{ + return Vector3( + fabsf( vec.getX() ), + fabsf( vec.getY() ), + fabsf( vec.getZ() ) + ); +} + +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec1.getX() < 0.0f )? -fabsf( vec0.getX() ) : fabsf( vec0.getX() ), + ( vec1.getY() < 0.0f )? -fabsf( vec0.getY() ) : fabsf( vec0.getY() ), + ( vec1.getZ() < 0.0f )? -fabsf( vec0.getZ() ) : fabsf( vec0.getZ() ) + ); +} + +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + (vec0.getX() > vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() > vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() > vec1.getZ())? vec0.getZ() : vec1.getZ() + ); +} + +inline float maxElem( const Vector3 & vec ) +{ + float result; + result = (vec.getX() > vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() > result)? vec.getZ() : result; + return result; +} + +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + (vec0.getX() < vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() < vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() < vec1.getZ())? vec0.getZ() : vec1.getZ() + ); +} + +inline float minElem( const Vector3 & vec ) +{ + float result; + result = (vec.getX() < vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() < result)? vec.getZ() : result; + return result; +} + +inline float sum( const Vector3 & vec ) +{ + float result; + result = ( vec.getX() + vec.getY() ); + result = ( result + vec.getZ() ); + return result; +} + +inline float dot( const Vector3 & vec0, const Vector3 & vec1 ) +{ + float result; + result = ( vec0.getX() * vec1.getX() ); + result = ( result + ( vec0.getY() * vec1.getY() ) ); + result = ( result + ( vec0.getZ() * vec1.getZ() ) ); + return result; +} + +inline float lengthSqr( const Vector3 & vec ) +{ + float result; + result = ( vec.getX() * vec.getX() ); + result = ( result + ( vec.getY() * vec.getY() ) ); + result = ( result + ( vec.getZ() * vec.getZ() ) ); + return result; +} + +inline float length( const Vector3 & vec ) +{ + return ::sqrtf( lengthSqr( vec ) ); +} + +inline const Vector3 normalize( const Vector3 & vec ) +{ + float lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Vector3( + ( vec.getX() * lenInv ), + ( vec.getY() * lenInv ), + ( vec.getZ() * lenInv ) + ); +} + +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( ( vec0.getY() * vec1.getZ() ) - ( vec0.getZ() * vec1.getY() ) ), + ( ( vec0.getZ() * vec1.getX() ) - ( vec0.getX() * vec1.getZ() ) ), + ( ( vec0.getX() * vec1.getY() ) - ( vec0.getY() * vec1.getX() ) ) + ); +} + +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, bool select1 ) +{ + return Vector3( + ( select1 )? vec1.getX() : vec0.getX(), + ( select1 )? vec1.getY() : vec0.getY(), + ( select1 )? vec1.getZ() : vec0.getZ() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector3 & vec ) +{ + printf( "( %f %f %f )\n", vec.getX(), vec.getY(), vec.getZ() ); +} + +inline void print( const Vector3 & vec, const char * name ) +{ + printf( "%s: ( %f %f %f )\n", name, vec.getX(), vec.getY(), vec.getZ() ); +} + +#endif + +inline Vector4::Vector4( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; +} + +inline Vector4::Vector4( float _x, float _y, float _z, float _w ) +{ + mX = _x; + mY = _y; + mZ = _z; + mW = _w; +} + +inline Vector4::Vector4( const Vector3 & xyz, float _w ) +{ + this->setXYZ( xyz ); + this->setW( _w ); +} + +inline Vector4::Vector4( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + mW = 0.0f; +} + +inline Vector4::Vector4( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); + mW = 1.0f; +} + +inline Vector4::Vector4( const Quat & quat ) +{ + mX = quat.getX(); + mY = quat.getY(); + mZ = quat.getZ(); + mW = quat.getW(); +} + +inline Vector4::Vector4( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; + mW = scalar; +} + +inline const Vector4 Vector4::xAxis( ) +{ + return Vector4( 1.0f, 0.0f, 0.0f, 0.0f ); +} + +inline const Vector4 Vector4::yAxis( ) +{ + return Vector4( 0.0f, 1.0f, 0.0f, 0.0f ); +} + +inline const Vector4 Vector4::zAxis( ) +{ + return Vector4( 0.0f, 0.0f, 1.0f, 0.0f ); +} + +inline const Vector4 Vector4::wAxis( ) +{ + return Vector4( 0.0f, 0.0f, 0.0f, 1.0f ); +} + +inline const Vector4 lerp( float t, const Vector4 & vec0, const Vector4 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector4 slerp( float t, const Vector4 & unitVec0, const Vector4 & unitVec1 ) +{ + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitVec0, unitVec1 ); + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline void loadXYZW( Vector4 & vec, const float * fptr ) +{ + vec = Vector4( fptr[0], fptr[1], fptr[2], fptr[3] ); +} + +inline void storeXYZW( const Vector4 & vec, float * fptr ) +{ + fptr[0] = vec.getX(); + fptr[1] = vec.getY(); + fptr[2] = vec.getZ(); + fptr[3] = vec.getW(); +} + +inline void loadHalfFloats( Vector4 & vec, const unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 4; i++) { + unsigned short fp16 = hfptr[i]; + unsigned int sign = fp16 >> 15; + unsigned int exponent = (fp16 >> 10) & ((1 << 5) - 1); + unsigned int mantissa = fp16 & ((1 << 10) - 1); + + if (exponent == 0) { + // zero + mantissa = 0; + + } else if (exponent == 31) { + // infinity or nan -> infinity + exponent = 255; + mantissa = 0; + + } else { + exponent += 127 - 15; + mantissa <<= 13; + } + + Data32 d; + d.u32 = (sign << 31) | (exponent << 23) | mantissa; + vec[i] = d.f32; + } +} + +inline void storeHalfFloats( const Vector4 & vec, unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 4; i++) { + Data32 d; + d.f32 = vec[i]; + + unsigned int sign = d.u32 >> 31; + unsigned int exponent = (d.u32 >> 23) & ((1 << 8) - 1); + unsigned int mantissa = d.u32 & ((1 << 23) - 1);; + + if (exponent == 0) { + // zero or denorm -> zero + mantissa = 0; + + } else if (exponent == 255 && mantissa != 0) { + // nan -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent >= 127 - 15 + 31) { + // overflow or infinity -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent <= 127 - 15) { + // underflow -> zero + exponent = 0; + mantissa = 0; + + } else { + exponent -= 127 - 15; + mantissa >>= 13; + } + + hfptr[i] = (unsigned short)((sign << 15) | (exponent << 10) | mantissa); + } +} + +inline Vector4 & Vector4::operator =( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; + return *this; +} + +inline Vector4 & Vector4::setXYZ( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + return *this; +} + +inline const Vector3 Vector4::getXYZ( ) const +{ + return Vector3( mX, mY, mZ ); +} + +inline Vector4 & Vector4::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Vector4::getX( ) const +{ + return mX; +} + +inline Vector4 & Vector4::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Vector4::getY( ) const +{ + return mY; +} + +inline Vector4 & Vector4::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Vector4::getZ( ) const +{ + return mZ; +} + +inline Vector4 & Vector4::setW( float _w ) +{ + mW = _w; + return *this; +} + +inline float Vector4::getW( ) const +{ + return mW; +} + +inline Vector4 & Vector4::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Vector4::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Vector4::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Vector4::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector4 Vector4::operator +( const Vector4 & vec ) const +{ + return Vector4( + ( mX + vec.mX ), + ( mY + vec.mY ), + ( mZ + vec.mZ ), + ( mW + vec.mW ) + ); +} + +inline const Vector4 Vector4::operator -( const Vector4 & vec ) const +{ + return Vector4( + ( mX - vec.mX ), + ( mY - vec.mY ), + ( mZ - vec.mZ ), + ( mW - vec.mW ) + ); +} + +inline const Vector4 Vector4::operator *( float scalar ) const +{ + return Vector4( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ), + ( mW * scalar ) + ); +} + +inline Vector4 & Vector4::operator +=( const Vector4 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector4 & Vector4::operator -=( const Vector4 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector4 & Vector4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector4 Vector4::operator /( float scalar ) const +{ + return Vector4( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ), + ( mW / scalar ) + ); +} + +inline Vector4 & Vector4::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector4 Vector4::operator -( ) const +{ + return Vector4( + -mX, + -mY, + -mZ, + -mW + ); +} + +inline const Vector4 operator *( float scalar, const Vector4 & vec ) +{ + return vec * scalar; +} + +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec0.getX() * vec1.getX() ), + ( vec0.getY() * vec1.getY() ), + ( vec0.getZ() * vec1.getZ() ), + ( vec0.getW() * vec1.getW() ) + ); +} + +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec0.getX() / vec1.getX() ), + ( vec0.getY() / vec1.getY() ), + ( vec0.getZ() / vec1.getZ() ), + ( vec0.getW() / vec1.getW() ) + ); +} + +inline const Vector4 recipPerElem( const Vector4 & vec ) +{ + return Vector4( + ( 1.0f / vec.getX() ), + ( 1.0f / vec.getY() ), + ( 1.0f / vec.getZ() ), + ( 1.0f / vec.getW() ) + ); +} + +inline const Vector4 sqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + sqrtf( vec.getX() ), + sqrtf( vec.getY() ), + sqrtf( vec.getZ() ), + sqrtf( vec.getW() ) + ); +} + +inline const Vector4 rsqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + ( 1.0f / sqrtf( vec.getX() ) ), + ( 1.0f / sqrtf( vec.getY() ) ), + ( 1.0f / sqrtf( vec.getZ() ) ), + ( 1.0f / sqrtf( vec.getW() ) ) + ); +} + +inline const Vector4 absPerElem( const Vector4 & vec ) +{ + return Vector4( + fabsf( vec.getX() ), + fabsf( vec.getY() ), + fabsf( vec.getZ() ), + fabsf( vec.getW() ) + ); +} + +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec1.getX() < 0.0f )? -fabsf( vec0.getX() ) : fabsf( vec0.getX() ), + ( vec1.getY() < 0.0f )? -fabsf( vec0.getY() ) : fabsf( vec0.getY() ), + ( vec1.getZ() < 0.0f )? -fabsf( vec0.getZ() ) : fabsf( vec0.getZ() ), + ( vec1.getW() < 0.0f )? -fabsf( vec0.getW() ) : fabsf( vec0.getW() ) + ); +} + +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + (vec0.getX() > vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() > vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() > vec1.getZ())? vec0.getZ() : vec1.getZ(), + (vec0.getW() > vec1.getW())? vec0.getW() : vec1.getW() + ); +} + +inline float maxElem( const Vector4 & vec ) +{ + float result; + result = (vec.getX() > vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() > result)? vec.getZ() : result; + result = (vec.getW() > result)? vec.getW() : result; + return result; +} + +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + (vec0.getX() < vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() < vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() < vec1.getZ())? vec0.getZ() : vec1.getZ(), + (vec0.getW() < vec1.getW())? vec0.getW() : vec1.getW() + ); +} + +inline float minElem( const Vector4 & vec ) +{ + float result; + result = (vec.getX() < vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() < result)? vec.getZ() : result; + result = (vec.getW() < result)? vec.getW() : result; + return result; +} + +inline float sum( const Vector4 & vec ) +{ + float result; + result = ( vec.getX() + vec.getY() ); + result = ( result + vec.getZ() ); + result = ( result + vec.getW() ); + return result; +} + +inline float dot( const Vector4 & vec0, const Vector4 & vec1 ) +{ + float result; + result = ( vec0.getX() * vec1.getX() ); + result = ( result + ( vec0.getY() * vec1.getY() ) ); + result = ( result + ( vec0.getZ() * vec1.getZ() ) ); + result = ( result + ( vec0.getW() * vec1.getW() ) ); + return result; +} + +inline float lengthSqr( const Vector4 & vec ) +{ + float result; + result = ( vec.getX() * vec.getX() ); + result = ( result + ( vec.getY() * vec.getY() ) ); + result = ( result + ( vec.getZ() * vec.getZ() ) ); + result = ( result + ( vec.getW() * vec.getW() ) ); + return result; +} + +inline float length( const Vector4 & vec ) +{ + return ::sqrtf( lengthSqr( vec ) ); +} + +inline const Vector4 normalize( const Vector4 & vec ) +{ + float lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Vector4( + ( vec.getX() * lenInv ), + ( vec.getY() * lenInv ), + ( vec.getZ() * lenInv ), + ( vec.getW() * lenInv ) + ); +} + +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, bool select1 ) +{ + return Vector4( + ( select1 )? vec1.getX() : vec0.getX(), + ( select1 )? vec1.getY() : vec0.getY(), + ( select1 )? vec1.getZ() : vec0.getZ(), + ( select1 )? vec1.getW() : vec0.getW() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector4 & vec ) +{ + printf( "( %f %f %f %f )\n", vec.getX(), vec.getY(), vec.getZ(), vec.getW() ); +} + +inline void print( const Vector4 & vec, const char * name ) +{ + printf( "%s: ( %f %f %f %f )\n", name, vec.getX(), vec.getY(), vec.getZ(), vec.getW() ); +} + +#endif + +inline Point3::Point3( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; +} + +inline Point3::Point3( float _x, float _y, float _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Point3::Point3( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); +} + +inline Point3::Point3( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline const Point3 lerp( float t, const Point3 & pnt0, const Point3 & pnt1 ) +{ + return ( pnt0 + ( ( pnt1 - pnt0 ) * t ) ); +} + +inline void loadXYZ( Point3 & pnt, const float * fptr ) +{ + pnt = Point3( fptr[0], fptr[1], fptr[2] ); +} + +inline void storeXYZ( const Point3 & pnt, float * fptr ) +{ + fptr[0] = pnt.getX(); + fptr[1] = pnt.getY(); + fptr[2] = pnt.getZ(); +} + +inline void loadHalfFloats( Point3 & vec, const unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + unsigned short fp16 = hfptr[i]; + unsigned int sign = fp16 >> 15; + unsigned int exponent = (fp16 >> 10) & ((1 << 5) - 1); + unsigned int mantissa = fp16 & ((1 << 10) - 1); + + if (exponent == 0) { + // zero + mantissa = 0; + + } else if (exponent == 31) { + // infinity or nan -> infinity + exponent = 255; + mantissa = 0; + + } else { + exponent += 127 - 15; + mantissa <<= 13; + } + + Data32 d; + d.u32 = (sign << 31) | (exponent << 23) | mantissa; + vec[i] = d.f32; + } +} + +inline void storeHalfFloats( const Point3 & vec, unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + Data32 d; + d.f32 = vec[i]; + + unsigned int sign = d.u32 >> 31; + unsigned int exponent = (d.u32 >> 23) & ((1 << 8) - 1); + unsigned int mantissa = d.u32 & ((1 << 23) - 1);; + + if (exponent == 0) { + // zero or denorm -> zero + mantissa = 0; + + } else if (exponent == 255 && mantissa != 0) { + // nan -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent >= 127 - 15 + 31) { + // overflow or infinity -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent <= 127 - 15) { + // underflow -> zero + exponent = 0; + mantissa = 0; + + } else { + exponent -= 127 - 15; + mantissa >>= 13; + } + + hfptr[i] = (unsigned short)((sign << 15) | (exponent << 10) | mantissa); + } +} + +inline Point3 & Point3::operator =( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; + return *this; +} + +inline Point3 & Point3::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Point3::getX( ) const +{ + return mX; +} + +inline Point3 & Point3::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Point3::getY( ) const +{ + return mY; +} + +inline Point3 & Point3::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Point3::getZ( ) const +{ + return mZ; +} + +inline Point3 & Point3::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Point3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Point3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Point3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Point3::operator -( const Point3 & pnt ) const +{ + return Vector3( + ( mX - pnt.mX ), + ( mY - pnt.mY ), + ( mZ - pnt.mZ ) + ); +} + +inline const Point3 Point3::operator +( const Vector3 & vec ) const +{ + return Point3( + ( mX + vec.getX() ), + ( mY + vec.getY() ), + ( mZ + vec.getZ() ) + ); +} + +inline const Point3 Point3::operator -( const Vector3 & vec ) const +{ + return Point3( + ( mX - vec.getX() ), + ( mY - vec.getY() ), + ( mZ - vec.getZ() ) + ); +} + +inline Point3 & Point3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Point3 & Point3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt0.getX() * pnt1.getX() ), + ( pnt0.getY() * pnt1.getY() ), + ( pnt0.getZ() * pnt1.getZ() ) + ); +} + +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt0.getX() / pnt1.getX() ), + ( pnt0.getY() / pnt1.getY() ), + ( pnt0.getZ() / pnt1.getZ() ) + ); +} + +inline const Point3 recipPerElem( const Point3 & pnt ) +{ + return Point3( + ( 1.0f / pnt.getX() ), + ( 1.0f / pnt.getY() ), + ( 1.0f / pnt.getZ() ) + ); +} + +inline const Point3 sqrtPerElem( const Point3 & pnt ) +{ + return Point3( + sqrtf( pnt.getX() ), + sqrtf( pnt.getY() ), + sqrtf( pnt.getZ() ) + ); +} + +inline const Point3 rsqrtPerElem( const Point3 & pnt ) +{ + return Point3( + ( 1.0f / sqrtf( pnt.getX() ) ), + ( 1.0f / sqrtf( pnt.getY() ) ), + ( 1.0f / sqrtf( pnt.getZ() ) ) + ); +} + +inline const Point3 absPerElem( const Point3 & pnt ) +{ + return Point3( + fabsf( pnt.getX() ), + fabsf( pnt.getY() ), + fabsf( pnt.getZ() ) + ); +} + +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt1.getX() < 0.0f )? -fabsf( pnt0.getX() ) : fabsf( pnt0.getX() ), + ( pnt1.getY() < 0.0f )? -fabsf( pnt0.getY() ) : fabsf( pnt0.getY() ), + ( pnt1.getZ() < 0.0f )? -fabsf( pnt0.getZ() ) : fabsf( pnt0.getZ() ) + ); +} + +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + (pnt0.getX() > pnt1.getX())? pnt0.getX() : pnt1.getX(), + (pnt0.getY() > pnt1.getY())? pnt0.getY() : pnt1.getY(), + (pnt0.getZ() > pnt1.getZ())? pnt0.getZ() : pnt1.getZ() + ); +} + +inline float maxElem( const Point3 & pnt ) +{ + float result; + result = (pnt.getX() > pnt.getY())? pnt.getX() : pnt.getY(); + result = (pnt.getZ() > result)? pnt.getZ() : result; + return result; +} + +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + (pnt0.getX() < pnt1.getX())? pnt0.getX() : pnt1.getX(), + (pnt0.getY() < pnt1.getY())? pnt0.getY() : pnt1.getY(), + (pnt0.getZ() < pnt1.getZ())? pnt0.getZ() : pnt1.getZ() + ); +} + +inline float minElem( const Point3 & pnt ) +{ + float result; + result = (pnt.getX() < pnt.getY())? pnt.getX() : pnt.getY(); + result = (pnt.getZ() < result)? pnt.getZ() : result; + return result; +} + +inline float sum( const Point3 & pnt ) +{ + float result; + result = ( pnt.getX() + pnt.getY() ); + result = ( result + pnt.getZ() ); + return result; +} + +inline const Point3 scale( const Point3 & pnt, float scaleVal ) +{ + return mulPerElem( pnt, Point3( scaleVal ) ); +} + +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ) +{ + return mulPerElem( pnt, Point3( scaleVec ) ); +} + +inline float projection( const Point3 & pnt, const Vector3 & unitVec ) +{ + float result; + result = ( pnt.getX() * unitVec.getX() ); + result = ( result + ( pnt.getY() * unitVec.getY() ) ); + result = ( result + ( pnt.getZ() * unitVec.getZ() ) ); + return result; +} + +inline float distSqrFromOrigin( const Point3 & pnt ) +{ + return lengthSqr( Vector3( pnt ) ); +} + +inline float distFromOrigin( const Point3 & pnt ) +{ + return length( Vector3( pnt ) ); +} + +inline float distSqr( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return lengthSqr( ( pnt1 - pnt0 ) ); +} + +inline float dist( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return length( ( pnt1 - pnt0 ) ); +} + +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, bool select1 ) +{ + return Point3( + ( select1 )? pnt1.getX() : pnt0.getX(), + ( select1 )? pnt1.getY() : pnt0.getY(), + ( select1 )? pnt1.getZ() : pnt0.getZ() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Point3 & pnt ) +{ + printf( "( %f %f %f )\n", pnt.getX(), pnt.getY(), pnt.getZ() ); +} + +inline void print( const Point3 & pnt, const char * name ) +{ + printf( "%s: ( %f %f %f )\n", name, pnt.getX(), pnt.getY(), pnt.getZ() ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif + diff --git a/Mod Sources/Bullet/include/bullet/vectormath/neon/vectormath_aos.h b/Mod Sources/Bullet/include/bullet/vectormath/neon/vectormath_aos.h new file mode 100644 index 0000000..97bdc27 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/neon/vectormath_aos.h @@ -0,0 +1,1890 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +This source version has been altered. + +*/ + +#ifndef _VECTORMATH_AOS_CPP_H +#define _VECTORMATH_AOS_CPP_H + +#include + +#ifdef _VECTORMATH_DEBUG +#include +#endif + +namespace Vectormath { + +namespace Aos { + +//----------------------------------------------------------------------------- +// Forward Declarations +// + +class Vector3; +class Vector4; +class Point3; +class Quat; +class Matrix3; +class Matrix4; +class Transform3; + +// A 3-D vector in array-of-structures format +// +class Vector3 +{ + float mX; + float mY; + float mZ; +#ifndef __GNUC__ + float d; +#endif + +public: + // Default constructor; does no initialization + // + inline Vector3( ) { }; + + // Copy a 3-D vector + // + inline Vector3( const Vector3 & vec ); + + // Construct a 3-D vector from x, y, and z elements + // + inline Vector3( float x, float y, float z ); + + // Copy elements from a 3-D point into a 3-D vector + // + explicit inline Vector3( const Point3 & pnt ); + + // Set all elements of a 3-D vector to the same scalar value + // + explicit inline Vector3( float scalar ); + + // Assign one 3-D vector to another + // + inline Vector3 & operator =( const Vector3 & vec ); + + // Set the x element of a 3-D vector + // + inline Vector3 & setX( float x ); + + // Set the y element of a 3-D vector + // + inline Vector3 & setY( float y ); + + // Set the z element of a 3-D vector + // + inline Vector3 & setZ( float z ); + + // Get the x element of a 3-D vector + // + inline float getX( ) const; + + // Get the y element of a 3-D vector + // + inline float getY( ) const; + + // Get the z element of a 3-D vector + // + inline float getZ( ) const; + + // Set an x, y, or z element of a 3-D vector by index + // + inline Vector3 & setElem( int idx, float value ); + + // Get an x, y, or z element of a 3-D vector by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two 3-D vectors + // + inline const Vector3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from another 3-D vector + // + inline const Vector3 operator -( const Vector3 & vec ) const; + + // Add a 3-D vector to a 3-D point + // + inline const Point3 operator +( const Point3 & pnt ) const; + + // Multiply a 3-D vector by a scalar + // + inline const Vector3 operator *( float scalar ) const; + + // Divide a 3-D vector by a scalar + // + inline const Vector3 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Vector3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Vector3 & operator -=( const Vector3 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector3 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector3 & operator /=( float scalar ); + + // Negate all elements of a 3-D vector + // + inline const Vector3 operator -( ) const; + + // Construct x axis + // + static inline const Vector3 xAxis( ); + + // Construct y axis + // + static inline const Vector3 yAxis( ); + + // Construct z axis + // + static inline const Vector3 zAxis( ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a 3-D vector by a scalar +// +inline const Vector3 operator *( float scalar, const Vector3 & vec ); + +// Multiply two 3-D vectors per element +// +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Divide two 3-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the reciprocal of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector3 recipPerElem( const Vector3 & vec ); + +// Compute the square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector3 sqrtPerElem( const Vector3 & vec ); + +// Compute the reciprocal square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector3 rsqrtPerElem( const Vector3 & vec ); + +// Compute the absolute value of a 3-D vector per element +// +inline const Vector3 absPerElem( const Vector3 & vec ); + +// Copy sign from one 3-D vector to another, per element +// +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum of two 3-D vectors per element +// +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Minimum of two 3-D vectors per element +// +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum element of a 3-D vector +// +inline float maxElem( const Vector3 & vec ); + +// Minimum element of a 3-D vector +// +inline float minElem( const Vector3 & vec ); + +// Compute the sum of all elements of a 3-D vector +// +inline float sum( const Vector3 & vec ); + +// Compute the dot product of two 3-D vectors +// +inline float dot( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the square of the length of a 3-D vector +// +inline float lengthSqr( const Vector3 & vec ); + +// Compute the length of a 3-D vector +// +inline float length( const Vector3 & vec ); + +// Normalize a 3-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector3 normalize( const Vector3 & vec ); + +// Compute cross product of two 3-D vectors +// +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ); + +// Outer product of two 3-D vectors +// +inline const Matrix3 outer( const Vector3 & vec0, const Vector3 & vec1 ); + +// Pre-multiply a row vector by a 3x3 matrix +// +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ); + +// Cross-product matrix of a 3-D vector +// +inline const Matrix3 crossMatrix( const Vector3 & vec ); + +// Create cross-product matrix and multiply +// NOTE: +// Faster than separately creating a cross-product matrix and multiplying. +// +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ); + +// Linear interpolation between two 3-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector3 lerp( float t, const Vector3 & vec0, const Vector3 & vec1 ); + +// Spherical linear interpolation between two 3-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector3 slerp( float t, const Vector3 & unitVec0, const Vector3 & unitVec1 ); + +// Conditionally select between two 3-D vectors +// +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, bool select1 ); + +// Load x, y, and z elements from the first three words of a float array. +// +// +inline void loadXYZ( Vector3 & vec, const float * fptr ); + +// Store x, y, and z elements of a 3-D vector in the first three words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZ( const Vector3 & vec, float * fptr ); + +// Load three-half-floats as a 3-D vector +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. +// +inline void loadHalfFloats( Vector3 & vec, const unsigned short * hfptr ); + +// Store a 3-D vector as half-floats. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// +inline void storeHalfFloats( const Vector3 & vec, unsigned short * hfptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec ); + +// Print a 3-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec, const char * name ); + +#endif + +// A 4-D vector in array-of-structures format +// +class Vector4 +{ + float mX; + float mY; + float mZ; + float mW; + +public: + // Default constructor; does no initialization + // + inline Vector4( ) { }; + + // Copy a 4-D vector + // + inline Vector4( const Vector4 & vec ); + + // Construct a 4-D vector from x, y, z, and w elements + // + inline Vector4( float x, float y, float z, float w ); + + // Construct a 4-D vector from a 3-D vector and a scalar + // + inline Vector4( const Vector3 & xyz, float w ); + + // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + // + explicit inline Vector4( const Vector3 & vec ); + + // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + // + explicit inline Vector4( const Point3 & pnt ); + + // Copy elements from a quaternion into a 4-D vector + // + explicit inline Vector4( const Quat & quat ); + + // Set all elements of a 4-D vector to the same scalar value + // + explicit inline Vector4( float scalar ); + + // Assign one 4-D vector to another + // + inline Vector4 & operator =( const Vector4 & vec ); + + // Set the x, y, and z elements of a 4-D vector + // NOTE: + // This function does not change the w element. + // + inline Vector4 & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a 4-D vector + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a 4-D vector + // + inline Vector4 & setX( float x ); + + // Set the y element of a 4-D vector + // + inline Vector4 & setY( float y ); + + // Set the z element of a 4-D vector + // + inline Vector4 & setZ( float z ); + + // Set the w element of a 4-D vector + // + inline Vector4 & setW( float w ); + + // Get the x element of a 4-D vector + // + inline float getX( ) const; + + // Get the y element of a 4-D vector + // + inline float getY( ) const; + + // Get the z element of a 4-D vector + // + inline float getZ( ) const; + + // Get the w element of a 4-D vector + // + inline float getW( ) const; + + // Set an x, y, z, or w element of a 4-D vector by index + // + inline Vector4 & setElem( int idx, float value ); + + // Get an x, y, z, or w element of a 4-D vector by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two 4-D vectors + // + inline const Vector4 operator +( const Vector4 & vec ) const; + + // Subtract a 4-D vector from another 4-D vector + // + inline const Vector4 operator -( const Vector4 & vec ) const; + + // Multiply a 4-D vector by a scalar + // + inline const Vector4 operator *( float scalar ) const; + + // Divide a 4-D vector by a scalar + // + inline const Vector4 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 4-D vector + // + inline Vector4 & operator +=( const Vector4 & vec ); + + // Perform compound assignment and subtraction by a 4-D vector + // + inline Vector4 & operator -=( const Vector4 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector4 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector4 & operator /=( float scalar ); + + // Negate all elements of a 4-D vector + // + inline const Vector4 operator -( ) const; + + // Construct x axis + // + static inline const Vector4 xAxis( ); + + // Construct y axis + // + static inline const Vector4 yAxis( ); + + // Construct z axis + // + static inline const Vector4 zAxis( ); + + // Construct w axis + // + static inline const Vector4 wAxis( ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a 4-D vector by a scalar +// +inline const Vector4 operator *( float scalar, const Vector4 & vec ); + +// Multiply two 4-D vectors per element +// +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Divide two 4-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the reciprocal of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector4 recipPerElem( const Vector4 & vec ); + +// Compute the square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector4 sqrtPerElem( const Vector4 & vec ); + +// Compute the reciprocal square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector4 rsqrtPerElem( const Vector4 & vec ); + +// Compute the absolute value of a 4-D vector per element +// +inline const Vector4 absPerElem( const Vector4 & vec ); + +// Copy sign from one 4-D vector to another, per element +// +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum of two 4-D vectors per element +// +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Minimum of two 4-D vectors per element +// +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum element of a 4-D vector +// +inline float maxElem( const Vector4 & vec ); + +// Minimum element of a 4-D vector +// +inline float minElem( const Vector4 & vec ); + +// Compute the sum of all elements of a 4-D vector +// +inline float sum( const Vector4 & vec ); + +// Compute the dot product of two 4-D vectors +// +inline float dot( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the square of the length of a 4-D vector +// +inline float lengthSqr( const Vector4 & vec ); + +// Compute the length of a 4-D vector +// +inline float length( const Vector4 & vec ); + +// Normalize a 4-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector4 normalize( const Vector4 & vec ); + +// Outer product of two 4-D vectors +// +inline const Matrix4 outer( const Vector4 & vec0, const Vector4 & vec1 ); + +// Linear interpolation between two 4-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector4 lerp( float t, const Vector4 & vec0, const Vector4 & vec1 ); + +// Spherical linear interpolation between two 4-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector4 slerp( float t, const Vector4 & unitVec0, const Vector4 & unitVec1 ); + +// Conditionally select between two 4-D vectors +// +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, bool select1 ); + +// Load x, y, z, and w elements from the first four words of a float array. +// +// +inline void loadXYZW( Vector4 & vec, const float * fptr ); + +// Store x, y, z, and w elements of a 4-D vector in the first four words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZW( const Vector4 & vec, float * fptr ); + +// Load four-half-floats as a 4-D vector +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. +// +inline void loadHalfFloats( Vector4 & vec, const unsigned short * hfptr ); + +// Store a 4-D vector as half-floats. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// +inline void storeHalfFloats( const Vector4 & vec, unsigned short * hfptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec ); + +// Print a 4-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec, const char * name ); + +#endif + +// A 3-D point in array-of-structures format +// +class Point3 +{ + float mX; + float mY; + float mZ; +#ifndef __GNUC__ + float d; +#endif + +public: + // Default constructor; does no initialization + // + inline Point3( ) { }; + + // Copy a 3-D point + // + inline Point3( const Point3 & pnt ); + + // Construct a 3-D point from x, y, and z elements + // + inline Point3( float x, float y, float z ); + + // Copy elements from a 3-D vector into a 3-D point + // + explicit inline Point3( const Vector3 & vec ); + + // Set all elements of a 3-D point to the same scalar value + // + explicit inline Point3( float scalar ); + + // Assign one 3-D point to another + // + inline Point3 & operator =( const Point3 & pnt ); + + // Set the x element of a 3-D point + // + inline Point3 & setX( float x ); + + // Set the y element of a 3-D point + // + inline Point3 & setY( float y ); + + // Set the z element of a 3-D point + // + inline Point3 & setZ( float z ); + + // Get the x element of a 3-D point + // + inline float getX( ) const; + + // Get the y element of a 3-D point + // + inline float getY( ) const; + + // Get the z element of a 3-D point + // + inline float getZ( ) const; + + // Set an x, y, or z element of a 3-D point by index + // + inline Point3 & setElem( int idx, float value ); + + // Get an x, y, or z element of a 3-D point by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Subtract a 3-D point from another 3-D point + // + inline const Vector3 operator -( const Point3 & pnt ) const; + + // Add a 3-D point to a 3-D vector + // + inline const Point3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from a 3-D point + // + inline const Point3 operator -( const Vector3 & vec ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Point3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Point3 & operator -=( const Vector3 & vec ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply two 3-D points per element +// +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Divide two 3-D points per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the reciprocal of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Point3 recipPerElem( const Point3 & pnt ); + +// Compute the square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Point3 sqrtPerElem( const Point3 & pnt ); + +// Compute the reciprocal square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Point3 rsqrtPerElem( const Point3 & pnt ); + +// Compute the absolute value of a 3-D point per element +// +inline const Point3 absPerElem( const Point3 & pnt ); + +// Copy sign from one 3-D point to another, per element +// +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum of two 3-D points per element +// +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Minimum of two 3-D points per element +// +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum element of a 3-D point +// +inline float maxElem( const Point3 & pnt ); + +// Minimum element of a 3-D point +// +inline float minElem( const Point3 & pnt ); + +// Compute the sum of all elements of a 3-D point +// +inline float sum( const Point3 & pnt ); + +// Apply uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, float scaleVal ); + +// Apply non-uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ); + +// Scalar projection of a 3-D point on a unit-length 3-D vector +// +inline float projection( const Point3 & pnt, const Vector3 & unitVec ); + +// Compute the square of the distance of a 3-D point from the coordinate-system origin +// +inline float distSqrFromOrigin( const Point3 & pnt ); + +// Compute the distance of a 3-D point from the coordinate-system origin +// +inline float distFromOrigin( const Point3 & pnt ); + +// Compute the square of the distance between two 3-D points +// +inline float distSqr( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the distance between two 3-D points +// +inline float dist( const Point3 & pnt0, const Point3 & pnt1 ); + +// Linear interpolation between two 3-D points +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Point3 lerp( float t, const Point3 & pnt0, const Point3 & pnt1 ); + +// Conditionally select between two 3-D points +// +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, bool select1 ); + +// Load x, y, and z elements from the first three words of a float array. +// +// +inline void loadXYZ( Point3 & pnt, const float * fptr ); + +// Store x, y, and z elements of a 3-D point in the first three words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZ( const Point3 & pnt, float * fptr ); + +// Load three-half-floats as a 3-D point +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. +// +inline void loadHalfFloats( Point3 & pnt, const unsigned short * hfptr ); + +// Store a 3-D point as half-floats. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// +inline void storeHalfFloats( const Point3 & pnt, unsigned short * hfptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D point +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt ); + +// Print a 3-D point and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt, const char * name ); + +#endif + +// A quaternion in array-of-structures format +// +class Quat +{ +#if defined( __APPLE__ ) && defined( BT_USE_NEON ) + union{ + float32x4_t vXYZW; + float mXYZW[4]; + }; +#else + float mX; + float mY; + float mZ; + float mW; +#endif + +public: + // Default constructor; does no initialization + // + inline Quat( ) { }; + + // Copy a quaternion + // + inline Quat( const Quat & quat ); + + // Construct a quaternion from x, y, z, and w elements + // + inline Quat( float x, float y, float z, float w ); + + // Construct a quaternion from vector of x, y, z, and w elements + // + inline Quat( float32x4_t fXYZW ); + + // Construct a quaternion from a 3-D vector and a scalar + // + inline Quat( const Vector3 & xyz, float w ); + + // Copy elements from a 4-D vector into a quaternion + // + explicit inline Quat( const Vector4 & vec ); + + // Convert a rotation matrix to a unit-length quaternion + // + explicit inline Quat( const Matrix3 & rotMat ); + + // Set all elements of a quaternion to the same scalar value + // + explicit inline Quat( float scalar ); + + // Assign one quaternion to another + // + inline Quat & operator =( const Quat & quat ); + + // Set the x, y, and z elements of a quaternion + // NOTE: + // This function does not change the w element. + // + inline Quat & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a quaternion + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a quaternion + // + inline Quat & setX( float x ); + + // Set the y element of a quaternion + // + inline Quat & setY( float y ); + + // Set the z element of a quaternion + // + inline Quat & setZ( float z ); + + // Set the w element of a quaternion + // + inline Quat & setW( float w ); + +#if defined( __APPLE__ ) && defined( BT_USE_NEON ) + inline float32x4_t getvXYZW( ) const; +#endif + + // Get the x element of a quaternion + // + inline float getX( ) const; + + // Get the y element of a quaternion + // + inline float getY( ) const; + + // Get the z element of a quaternion + // + inline float getZ( ) const; + + // Get the w element of a quaternion + // + inline float getW( ) const; + + // Set an x, y, z, or w element of a quaternion by index + // + inline Quat & setElem( int idx, float value ); + + // Get an x, y, z, or w element of a quaternion by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two quaternions + // + inline const Quat operator +( const Quat & quat ) const; + + // Subtract a quaternion from another quaternion + // + inline const Quat operator -( const Quat & quat ) const; + + // Multiply two quaternions + // + inline const Quat operator *( const Quat & quat ) const; + + // Multiply a quaternion by a scalar + // + inline const Quat operator *( float scalar ) const; + + // Divide a quaternion by a scalar + // + inline const Quat operator /( float scalar ) const; + + // Perform compound assignment and addition with a quaternion + // + inline Quat & operator +=( const Quat & quat ); + + // Perform compound assignment and subtraction by a quaternion + // + inline Quat & operator -=( const Quat & quat ); + + // Perform compound assignment and multiplication by a quaternion + // + inline Quat & operator *=( const Quat & quat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Quat & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Quat & operator /=( float scalar ); + + // Negate all elements of a quaternion + // + inline const Quat operator -( ) const; + + // Construct an identity quaternion + // + static inline const Quat identity( ); + + // Construct a quaternion to rotate between two unit-length 3-D vectors + // NOTE: + // The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + // + static inline const Quat rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ); + + // Construct a quaternion to rotate around a unit-length 3-D vector + // + static inline const Quat rotation( float radians, const Vector3 & unitVec ); + + // Construct a quaternion to rotate around the x axis + // + static inline const Quat rotationX( float radians ); + + // Construct a quaternion to rotate around the y axis + // + static inline const Quat rotationY( float radians ); + + // Construct a quaternion to rotate around the z axis + // + static inline const Quat rotationZ( float radians ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a quaternion by a scalar +// +inline const Quat operator *( float scalar, const Quat & quat ); + +// Compute the conjugate of a quaternion +// +inline const Quat conj( const Quat & quat ); + +// Use a unit-length quaternion to rotate a 3-D vector +// +inline const Vector3 rotate( const Quat & unitQuat, const Vector3 & vec ); + +// Compute the dot product of two quaternions +// +inline float dot( const Quat & quat0, const Quat & quat1 ); + +// Compute the norm of a quaternion +// +inline float norm( const Quat & quat ); + +// Compute the length of a quaternion +// +inline float length( const Quat & quat ); + +// Normalize a quaternion +// NOTE: +// The result is unpredictable when all elements of quat are at or near zero. +// +inline const Quat normalize( const Quat & quat ); + +// Linear interpolation between two quaternions +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 ); + +// Spherical linear interpolation between two quaternions +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 ); + +// Spherical quadrangle interpolation +// +inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 ); + +// Conditionally select between two quaternions +// +inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 ); + +// Load x, y, z, and w elements from the first four words of a float array. +// +// +inline void loadXYZW( Quat & quat, const float * fptr ); + +// Store x, y, z, and w elements of a quaternion in the first four words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZW( const Quat & quat, float * fptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a quaternion +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat ); + +// Print a quaternion and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat, const char * name ); + +#endif + +// A 3x3 matrix in array-of-structures format +// +class Matrix3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + +public: + // Default constructor; does no initialization + // + inline Matrix3( ) { }; + + // Copy a 3x3 matrix + // + inline Matrix3( const Matrix3 & mat ); + + // Construct a 3x3 matrix containing the specified columns + // + inline Matrix3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2 ); + + // Construct a 3x3 rotation matrix from a unit-length quaternion + // + explicit inline Matrix3( const Quat & unitQuat ); + + // Set all elements of a 3x3 matrix to the same scalar value + // + explicit inline Matrix3( float scalar ); + + // Assign one 3x3 matrix to another + // + inline Matrix3 & operator =( const Matrix3 & mat ); + + // Set column 0 of a 3x3 matrix + // + inline Matrix3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x3 matrix + // + inline Matrix3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x3 matrix + // + inline Matrix3 & setCol2( const Vector3 & col2 ); + + // Get column 0 of a 3x3 matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x3 matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x3 matrix + // + inline const Vector3 getCol2( ) const; + + // Set the column of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setRow( int row, const Vector3 & vec ); + + // Get the column of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x3 matrix referred to by column and row indices + // + inline Matrix3 & setElem( int col, int row, float val ); + + // Get the element of a 3x3 matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Add two 3x3 matrices + // + inline const Matrix3 operator +( const Matrix3 & mat ) const; + + // Subtract a 3x3 matrix from another 3x3 matrix + // + inline const Matrix3 operator -( const Matrix3 & mat ) const; + + // Negate all elements of a 3x3 matrix + // + inline const Matrix3 operator -( ) const; + + // Multiply a 3x3 matrix by a scalar + // + inline const Matrix3 operator *( float scalar ) const; + + // Multiply a 3x3 matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply two 3x3 matrices + // + inline const Matrix3 operator *( const Matrix3 & mat ) const; + + // Perform compound assignment and addition with a 3x3 matrix + // + inline Matrix3 & operator +=( const Matrix3 & mat ); + + // Perform compound assignment and subtraction by a 3x3 matrix + // + inline Matrix3 & operator -=( const Matrix3 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix3 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a 3x3 matrix + // + inline Matrix3 & operator *=( const Matrix3 & mat ); + + // Construct an identity 3x3 matrix + // + static inline const Matrix3 identity( ); + + // Construct a 3x3 matrix to rotate around the x axis + // + static inline const Matrix3 rotationX( float radians ); + + // Construct a 3x3 matrix to rotate around the y axis + // + static inline const Matrix3 rotationY( float radians ); + + // Construct a 3x3 matrix to rotate around the z axis + // + static inline const Matrix3 rotationZ( float radians ); + + // Construct a 3x3 matrix to rotate around the x, y, and z axes + // + static inline const Matrix3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix3 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix3 rotation( const Quat & unitQuat ); + + // Construct a 3x3 matrix to perform scaling + // + static inline const Matrix3 scale( const Vector3 & scaleVec ); + +}; +// Multiply a 3x3 matrix by a scalar +// +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ); + +// Append (post-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ); + +// Multiply two 3x3 matrices per element +// +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ); + +// Compute the absolute value of a 3x3 matrix per element +// +inline const Matrix3 absPerElem( const Matrix3 & mat ); + +// Transpose of a 3x3 matrix +// +inline const Matrix3 transpose( const Matrix3 & mat ); + +// Compute the inverse of a 3x3 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix3 inverse( const Matrix3 & mat ); + +// Determinant of a 3x3 matrix +// +inline float determinant( const Matrix3 & mat ); + +// Conditionally select between two 3x3 matrices +// +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x3 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat ); + +// Print a 3x3 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat, const char * name ); + +#endif + +// A 4x4 matrix in array-of-structures format +// +class Matrix4 +{ + Vector4 mCol0; + Vector4 mCol1; + Vector4 mCol2; + Vector4 mCol3; + +public: + // Default constructor; does no initialization + // + inline Matrix4( ) { }; + + // Copy a 4x4 matrix + // + inline Matrix4( const Matrix4 & mat ); + + // Construct a 4x4 matrix containing the specified columns + // + inline Matrix4( const Vector4 & col0, const Vector4 & col1, const Vector4 & col2, const Vector4 & col3 ); + + // Construct a 4x4 matrix from a 3x4 transformation matrix + // + explicit inline Matrix4( const Transform3 & mat ); + + // Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + // + inline Matrix4( const Matrix3 & mat, const Vector3 & translateVec ); + + // Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + // + inline Matrix4( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 4x4 matrix to the same scalar value + // + explicit inline Matrix4( float scalar ); + + // Assign one 4x4 matrix to another + // + inline Matrix4 & operator =( const Matrix4 & mat ); + + // Set the upper-left 3x3 submatrix + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 4x4 matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 4x4 matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 4x4 matrix + // + inline Matrix4 & setCol0( const Vector4 & col0 ); + + // Set column 1 of a 4x4 matrix + // + inline Matrix4 & setCol1( const Vector4 & col1 ); + + // Set column 2 of a 4x4 matrix + // + inline Matrix4 & setCol2( const Vector4 & col2 ); + + // Set column 3 of a 4x4 matrix + // + inline Matrix4 & setCol3( const Vector4 & col3 ); + + // Get column 0 of a 4x4 matrix + // + inline const Vector4 getCol0( ) const; + + // Get column 1 of a 4x4 matrix + // + inline const Vector4 getCol1( ) const; + + // Get column 2 of a 4x4 matrix + // + inline const Vector4 getCol2( ) const; + + // Get column 3 of a 4x4 matrix + // + inline const Vector4 getCol3( ) const; + + // Set the column of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setCol( int col, const Vector4 & vec ); + + // Set the row of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getCol( int col ) const; + + // Get the row of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector4 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector4 operator []( int col ) const; + + // Set the element of a 4x4 matrix referred to by column and row indices + // + inline Matrix4 & setElem( int col, int row, float val ); + + // Get the element of a 4x4 matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Add two 4x4 matrices + // + inline const Matrix4 operator +( const Matrix4 & mat ) const; + + // Subtract a 4x4 matrix from another 4x4 matrix + // + inline const Matrix4 operator -( const Matrix4 & mat ) const; + + // Negate all elements of a 4x4 matrix + // + inline const Matrix4 operator -( ) const; + + // Multiply a 4x4 matrix by a scalar + // + inline const Matrix4 operator *( float scalar ) const; + + // Multiply a 4x4 matrix by a 4-D vector + // + inline const Vector4 operator *( const Vector4 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D vector + // + inline const Vector4 operator *( const Vector3 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D point + // + inline const Vector4 operator *( const Point3 & pnt ) const; + + // Multiply two 4x4 matrices + // + inline const Matrix4 operator *( const Matrix4 & mat ) const; + + // Multiply a 4x4 matrix by a 3x4 transformation matrix + // + inline const Matrix4 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and addition with a 4x4 matrix + // + inline Matrix4 & operator +=( const Matrix4 & mat ); + + // Perform compound assignment and subtraction by a 4x4 matrix + // + inline Matrix4 & operator -=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix4 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a 4x4 matrix + // + inline Matrix4 & operator *=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Matrix4 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 4x4 matrix + // + static inline const Matrix4 identity( ); + + // Construct a 4x4 matrix to rotate around the x axis + // + static inline const Matrix4 rotationX( float radians ); + + // Construct a 4x4 matrix to rotate around the y axis + // + static inline const Matrix4 rotationY( float radians ); + + // Construct a 4x4 matrix to rotate around the z axis + // + static inline const Matrix4 rotationZ( float radians ); + + // Construct a 4x4 matrix to rotate around the x, y, and z axes + // + static inline const Matrix4 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix4 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix4 rotation( const Quat & unitQuat ); + + // Construct a 4x4 matrix to perform scaling + // + static inline const Matrix4 scale( const Vector3 & scaleVec ); + + // Construct a 4x4 matrix to perform translation + // + static inline const Matrix4 translation( const Vector3 & translateVec ); + + // Construct viewing matrix based on eye position, position looked at, and up direction + // + static inline const Matrix4 lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ); + + // Construct a perspective projection matrix + // + static inline const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar ); + + // Construct a perspective projection matrix based on frustum + // + static inline const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar ); + + // Construct an orthographic projection matrix + // + static inline const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar ); + +}; +// Multiply a 4x4 matrix by a scalar +// +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ); + +// Append (post-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ); + +// Multiply two 4x4 matrices per element +// +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ); + +// Compute the absolute value of a 4x4 matrix per element +// +inline const Matrix4 absPerElem( const Matrix4 & mat ); + +// Transpose of a 4x4 matrix +// +inline const Matrix4 transpose( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 inverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 affineInverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. +// +inline const Matrix4 orthoInverse( const Matrix4 & mat ); + +// Determinant of a 4x4 matrix +// +inline float determinant( const Matrix4 & mat ); + +// Conditionally select between two 4x4 matrices +// +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4x4 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat ); + +// Print a 4x4 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat, const char * name ); + +#endif + +// A 3x4 transformation matrix in array-of-structures format +// +class Transform3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + Vector3 mCol3; + +public: + // Default constructor; does no initialization + // + inline Transform3( ) { }; + + // Copy a 3x4 transformation matrix + // + inline Transform3( const Transform3 & tfrm ); + + // Construct a 3x4 transformation matrix containing the specified columns + // + inline Transform3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2, const Vector3 & col3 ); + + // Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + // + inline Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ); + + // Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + // + inline Transform3( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value + // + explicit inline Transform3( float scalar ); + + // Assign one 3x4 transformation matrix to another + // + inline Transform3 & operator =( const Transform3 & tfrm ); + + // Set the upper-left 3x3 submatrix + // + inline Transform3 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // + inline Transform3 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 3x4 transformation matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 3x4 transformation matrix + // + inline Transform3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x4 transformation matrix + // + inline Transform3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x4 transformation matrix + // + inline Transform3 & setCol2( const Vector3 & col2 ); + + // Set column 3 of a 3x4 transformation matrix + // + inline Transform3 & setCol3( const Vector3 & col3 ); + + // Get column 0 of a 3x4 transformation matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x4 transformation matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x4 transformation matrix + // + inline const Vector3 getCol2( ) const; + + // Get column 3 of a 3x4 transformation matrix + // + inline const Vector3 getCol3( ) const; + + // Set the column of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x4 transformation matrix referred to by column and row indices + // + inline Transform3 & setElem( int col, int row, float val ); + + // Get the element of a 3x4 transformation matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Multiply a 3x4 transformation matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply a 3x4 transformation matrix by a 3-D point + // + inline const Point3 operator *( const Point3 & pnt ) const; + + // Multiply two 3x4 transformation matrices + // + inline const Transform3 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Transform3 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 3x4 transformation matrix + // + static inline const Transform3 identity( ); + + // Construct a 3x4 transformation matrix to rotate around the x axis + // + static inline const Transform3 rotationX( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis + // + static inline const Transform3 rotationY( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis + // + static inline const Transform3 rotationZ( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + // + static inline const Transform3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + // + static inline const Transform3 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Transform3 rotation( const Quat & unitQuat ); + + // Construct a 3x4 transformation matrix to perform scaling + // + static inline const Transform3 scale( const Vector3 & scaleVec ); + + // Construct a 3x4 transformation matrix to perform translation + // + static inline const Transform3 translation( const Vector3 & translateVec ); + +}; +// Append (post-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ); + +// Multiply two 3x4 transformation matrices per element +// +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ); + +// Compute the absolute value of a 3x4 transformation matrix per element +// +inline const Transform3 absPerElem( const Transform3 & tfrm ); + +// Inverse of a 3x4 transformation matrix +// NOTE: +// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. +// +inline const Transform3 inverse( const Transform3 & tfrm ); + +// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. +// +inline const Transform3 orthoInverse( const Transform3 & tfrm ); + +// Conditionally select between two 3x4 transformation matrices +// +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x4 transformation matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm ); + +// Print a 3x4 transformation matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm, const char * name ); + +#endif + +} // namespace Aos +} // namespace Vectormath + +#include "vec_aos.h" +#include "quat_aos.h" +#include "mat_aos.h" + +#endif + diff --git a/Mod Sources/Bullet/include/bullet/vectormath/scalar/boolInVec.h b/Mod Sources/Bullet/include/bullet/vectormath/scalar/boolInVec.h new file mode 100644 index 0000000..c5eeeeb --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/scalar/boolInVec.h @@ -0,0 +1,225 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + +#ifndef _BOOLINVEC_H +#define _BOOLINVEC_H + +#include +namespace Vectormath { + +class floatInVec; + +//-------------------------------------------------------------------------------------------------- +// boolInVec class +// + +class boolInVec +{ +private: + unsigned int mData; + +public: + // Default constructor; does no initialization + // + inline boolInVec( ) { }; + + // Construct from a value converted from float + // + inline boolInVec(floatInVec vec); + + // Explicit cast from bool + // + explicit inline boolInVec(bool scalar); + + // Explicit cast to bool + // + inline bool getAsBool() const; + +#ifndef _VECTORMATH_NO_SCALAR_CAST + // Implicit cast to bool + // + inline operator bool() const; +#endif + + // Boolean negation operator + // + inline const boolInVec operator ! () const; + + // Assignment operator + // + inline boolInVec& operator = (boolInVec vec); + + // Boolean and assignment operator + // + inline boolInVec& operator &= (boolInVec vec); + + // Boolean exclusive or assignment operator + // + inline boolInVec& operator ^= (boolInVec vec); + + // Boolean or assignment operator + // + inline boolInVec& operator |= (boolInVec vec); + +}; + +// Equal operator +// +inline const boolInVec operator == (boolInVec vec0, boolInVec vec1); + +// Not equal operator +// +inline const boolInVec operator != (boolInVec vec0, boolInVec vec1); + +// And operator +// +inline const boolInVec operator & (boolInVec vec0, boolInVec vec1); + +// Exclusive or operator +// +inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1); + +// Or operator +// +inline const boolInVec operator | (boolInVec vec0, boolInVec vec1); + +// Conditionally select between two values +// +inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1); + + +} // namespace Vectormath + + +//-------------------------------------------------------------------------------------------------- +// boolInVec implementation +// + +#include "floatInVec.h" + +namespace Vectormath { + +inline +boolInVec::boolInVec(floatInVec vec) +{ + *this = (vec != floatInVec(0.0f)); +} + +inline +boolInVec::boolInVec(bool scalar) +{ + mData = -(int)scalar; +} + +inline +bool +boolInVec::getAsBool() const +{ + return (mData > 0); +} + +#ifndef _VECTORMATH_NO_SCALAR_CAST +inline +boolInVec::operator bool() const +{ + return getAsBool(); +} +#endif + +inline +const boolInVec +boolInVec::operator ! () const +{ + return boolInVec(!mData); +} + +inline +boolInVec& +boolInVec::operator = (boolInVec vec) +{ + mData = vec.mData; + return *this; +} + +inline +boolInVec& +boolInVec::operator &= (boolInVec vec) +{ + *this = *this & vec; + return *this; +} + +inline +boolInVec& +boolInVec::operator ^= (boolInVec vec) +{ + *this = *this ^ vec; + return *this; +} + +inline +boolInVec& +boolInVec::operator |= (boolInVec vec) +{ + *this = *this | vec; + return *this; +} + +inline +const boolInVec +operator == (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() == vec1.getAsBool()); +} + +inline +const boolInVec +operator != (boolInVec vec0, boolInVec vec1) +{ + return !(vec0 == vec1); +} + +inline +const boolInVec +operator & (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() & vec1.getAsBool()); +} + +inline +const boolInVec +operator | (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() | vec1.getAsBool()); +} + +inline +const boolInVec +operator ^ (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() ^ vec1.getAsBool()); +} + +inline +const boolInVec +select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1) +{ + return (select_vec1.getAsBool() == 0) ? vec0 : vec1; +} + +} // namespace Vectormath + +#endif // boolInVec_h diff --git a/Mod Sources/Bullet/include/bullet/vectormath/scalar/floatInVec.h b/Mod Sources/Bullet/include/bullet/vectormath/scalar/floatInVec.h new file mode 100644 index 0000000..12d89e4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/scalar/floatInVec.h @@ -0,0 +1,343 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ +#ifndef _FLOATINVEC_H +#define _FLOATINVEC_H + +#include +namespace Vectormath { + +class boolInVec; + +//-------------------------------------------------------------------------------------------------- +// floatInVec class +// + +// A class representing a scalar float value contained in a vector register +// This class does not support fastmath +class floatInVec +{ +private: + float mData; + +public: + // Default constructor; does no initialization + // + inline floatInVec( ) { }; + + // Construct from a value converted from bool + // + inline floatInVec(boolInVec vec); + + // Explicit cast from float + // + explicit inline floatInVec(float scalar); + + // Explicit cast to float + // + inline float getAsFloat() const; + +#ifndef _VECTORMATH_NO_SCALAR_CAST + // Implicit cast to float + // + inline operator float() const; +#endif + + // Post increment (add 1.0f) + // + inline const floatInVec operator ++ (int); + + // Post decrement (subtract 1.0f) + // + inline const floatInVec operator -- (int); + + // Pre increment (add 1.0f) + // + inline floatInVec& operator ++ (); + + // Pre decrement (subtract 1.0f) + // + inline floatInVec& operator -- (); + + // Negation operator + // + inline const floatInVec operator - () const; + + // Assignment operator + // + inline floatInVec& operator = (floatInVec vec); + + // Multiplication assignment operator + // + inline floatInVec& operator *= (floatInVec vec); + + // Division assignment operator + // + inline floatInVec& operator /= (floatInVec vec); + + // Addition assignment operator + // + inline floatInVec& operator += (floatInVec vec); + + // Subtraction assignment operator + // + inline floatInVec& operator -= (floatInVec vec); + +}; + +// Multiplication operator +// +inline const floatInVec operator * (floatInVec vec0, floatInVec vec1); + +// Division operator +// +inline const floatInVec operator / (floatInVec vec0, floatInVec vec1); + +// Addition operator +// +inline const floatInVec operator + (floatInVec vec0, floatInVec vec1); + +// Subtraction operator +// +inline const floatInVec operator - (floatInVec vec0, floatInVec vec1); + +// Less than operator +// +inline const boolInVec operator < (floatInVec vec0, floatInVec vec1); + +// Less than or equal operator +// +inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1); + +// Greater than operator +// +inline const boolInVec operator > (floatInVec vec0, floatInVec vec1); + +// Greater than or equal operator +// +inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1); + +// Equal operator +// +inline const boolInVec operator == (floatInVec vec0, floatInVec vec1); + +// Not equal operator +// +inline const boolInVec operator != (floatInVec vec0, floatInVec vec1); + +// Conditionally select between two values +// +inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1); + + +} // namespace Vectormath + + +//-------------------------------------------------------------------------------------------------- +// floatInVec implementation +// + +#include "boolInVec.h" + +namespace Vectormath { + +inline +floatInVec::floatInVec(boolInVec vec) +{ + mData = float(vec.getAsBool()); +} + +inline +floatInVec::floatInVec(float scalar) +{ + mData = scalar; +} + +inline +float +floatInVec::getAsFloat() const +{ + return mData; +} + +#ifndef _VECTORMATH_NO_SCALAR_CAST +inline +floatInVec::operator float() const +{ + return getAsFloat(); +} +#endif + +inline +const floatInVec +floatInVec::operator ++ (int) +{ + float olddata = mData; + operator ++(); + return floatInVec(olddata); +} + +inline +const floatInVec +floatInVec::operator -- (int) +{ + float olddata = mData; + operator --(); + return floatInVec(olddata); +} + +inline +floatInVec& +floatInVec::operator ++ () +{ + *this += floatInVec(1.0f); + return *this; +} + +inline +floatInVec& +floatInVec::operator -- () +{ + *this -= floatInVec(1.0f); + return *this; +} + +inline +const floatInVec +floatInVec::operator - () const +{ + return floatInVec(-mData); +} + +inline +floatInVec& +floatInVec::operator = (floatInVec vec) +{ + mData = vec.mData; + return *this; +} + +inline +floatInVec& +floatInVec::operator *= (floatInVec vec) +{ + *this = *this * vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator /= (floatInVec vec) +{ + *this = *this / vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator += (floatInVec vec) +{ + *this = *this + vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator -= (floatInVec vec) +{ + *this = *this - vec; + return *this; +} + +inline +const floatInVec +operator * (floatInVec vec0, floatInVec vec1) +{ + return floatInVec(vec0.getAsFloat() * vec1.getAsFloat()); +} + +inline +const floatInVec +operator / (floatInVec num, floatInVec den) +{ + return floatInVec(num.getAsFloat() / den.getAsFloat()); +} + +inline +const floatInVec +operator + (floatInVec vec0, floatInVec vec1) +{ + return floatInVec(vec0.getAsFloat() + vec1.getAsFloat()); +} + +inline +const floatInVec +operator - (floatInVec vec0, floatInVec vec1) +{ + return floatInVec(vec0.getAsFloat() - vec1.getAsFloat()); +} + +inline +const boolInVec +operator < (floatInVec vec0, floatInVec vec1) +{ + return boolInVec(vec0.getAsFloat() < vec1.getAsFloat()); +} + +inline +const boolInVec +operator <= (floatInVec vec0, floatInVec vec1) +{ + return !(vec0 > vec1); +} + +inline +const boolInVec +operator > (floatInVec vec0, floatInVec vec1) +{ + return boolInVec(vec0.getAsFloat() > vec1.getAsFloat()); +} + +inline +const boolInVec +operator >= (floatInVec vec0, floatInVec vec1) +{ + return !(vec0 < vec1); +} + +inline +const boolInVec +operator == (floatInVec vec0, floatInVec vec1) +{ + return boolInVec(vec0.getAsFloat() == vec1.getAsFloat()); +} + +inline +const boolInVec +operator != (floatInVec vec0, floatInVec vec1) +{ + return !(vec0 == vec1); +} + +inline +const floatInVec +select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1) +{ + return (select_vec1.getAsBool() == 0) ? vec0 : vec1; +} + +} // namespace Vectormath + +#endif // floatInVec_h diff --git a/Mod Sources/Bullet/include/bullet/vectormath/scalar/mat_aos.h b/Mod Sources/Bullet/include/bullet/vectormath/scalar/mat_aos.h new file mode 100644 index 0000000..e103243 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/scalar/mat_aos.h @@ -0,0 +1,1630 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + +#ifndef _VECTORMATH_MAT_AOS_CPP_H +#define _VECTORMATH_MAT_AOS_CPP_H + +namespace Vectormath { +namespace Aos { + +//----------------------------------------------------------------------------- +// Constants + +#define _VECTORMATH_PI_OVER_2 1.570796327f + +//----------------------------------------------------------------------------- +// Definitions + +inline Matrix3::Matrix3( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; +} + +inline Matrix3::Matrix3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +inline Matrix3::Matrix3( const Quat & unitQuat ) +{ + float qx, qy, qz, qw, qx2, qy2, qz2, qxqx2, qyqy2, qzqz2, qxqy2, qyqz2, qzqw2, qxqz2, qyqw2, qxqw2; + qx = unitQuat.getX(); + qy = unitQuat.getY(); + qz = unitQuat.getZ(); + qw = unitQuat.getW(); + qx2 = ( qx + qx ); + qy2 = ( qy + qy ); + qz2 = ( qz + qz ); + qxqx2 = ( qx * qx2 ); + qxqy2 = ( qx * qy2 ); + qxqz2 = ( qx * qz2 ); + qxqw2 = ( qw * qx2 ); + qyqy2 = ( qy * qy2 ); + qyqz2 = ( qy * qz2 ); + qyqw2 = ( qw * qy2 ); + qzqz2 = ( qz * qz2 ); + qzqw2 = ( qw * qz2 ); + mCol0 = Vector3( ( ( 1.0f - qyqy2 ) - qzqz2 ), ( qxqy2 + qzqw2 ), ( qxqz2 - qyqw2 ) ); + mCol1 = Vector3( ( qxqy2 - qzqw2 ), ( ( 1.0f - qxqx2 ) - qzqz2 ), ( qyqz2 + qxqw2 ) ); + mCol2 = Vector3( ( qxqz2 + qyqw2 ), ( qyqz2 - qxqw2 ), ( ( 1.0f - qxqx2 ) - qyqy2 ) ); +} + +inline Matrix3::Matrix3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; +} + +inline Matrix3 & Matrix3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix3 & Matrix3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix3 & Matrix3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix3 & Matrix3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix3 & Matrix3::setRow( int row, const Vector3 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + return *this; +} + +inline Matrix3 & Matrix3::setElem( int col, int row, float val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Matrix3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Matrix3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Matrix3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Matrix3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Matrix3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::getRow( int row ) const +{ + return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) ); +} + +inline Vector3 & Matrix3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix3 & Matrix3::operator =( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + return *this; +} + +inline const Matrix3 transpose( const Matrix3 & mat ) +{ + return Matrix3( + Vector3( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX() ), + Vector3( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY() ), + Vector3( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ() ) + ); +} + +inline const Matrix3 inverse( const Matrix3 & mat ) +{ + Vector3 tmp0, tmp1, tmp2; + float detinv; + tmp0 = cross( mat.getCol1(), mat.getCol2() ); + tmp1 = cross( mat.getCol2(), mat.getCol0() ); + tmp2 = cross( mat.getCol0(), mat.getCol1() ); + detinv = ( 1.0f / dot( mat.getCol2(), tmp2 ) ); + return Matrix3( + Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) ), + Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) ), + Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) ) + ); +} + +inline float determinant( const Matrix3 & mat ) +{ + return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) ); +} + +inline const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ) + ); +} + +inline const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator +=( const Matrix3 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix3 & Matrix3::operator -=( const Matrix3 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix3 Matrix3::operator -( ) const +{ + return Matrix3( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ) + ); +} + +inline const Matrix3 absPerElem( const Matrix3 & mat ) +{ + return Matrix3( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::operator *( float scalar ) const +{ + return Matrix3( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ) + ); +} + +inline Matrix3 & Matrix3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ) +{ + return mat * scalar; +} + +inline const Vector3 Matrix3::operator *( const Vector3 & vec ) const +{ + return Vector3( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ); +} + +inline const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const +{ + return Matrix3( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator *=( const Matrix3 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ) +{ + return Matrix3( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::identity( ) +{ + return Matrix3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3::xAxis( ), + Vector3( 0.0f, c, s ), + Vector3( 0.0f, -s, c ) + ); +} + +inline const Matrix3 Matrix3::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3( c, 0.0f, -s ), + Vector3::yAxis( ), + Vector3( s, 0.0f, c ) + ); +} + +inline const Matrix3 Matrix3::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3( c, s, 0.0f ), + Vector3( -s, c, 0.0f ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Matrix3( + Vector3( ( cZ * cY ), ( sZ * cY ), -sY ), + Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ), + Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( float radians, const Vector3 & unitVec ) +{ + float x, y, z, s, c, oneMinusC, xy, yz, zx; + s = sinf( radians ); + c = cosf( radians ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = ( x * y ); + yz = ( y * z ); + zx = ( z * x ); + oneMinusC = ( 1.0f - c ); + return Matrix3( + Vector3( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ) ), + Vector3( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ) ), + Vector3( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( const Quat & unitQuat ) +{ + return Matrix3( unitQuat ); +} + +inline const Matrix3 Matrix3::scale( const Vector3 & scaleVec ) +{ + return Matrix3( + Vector3( scaleVec.getX(), 0.0f, 0.0f ), + Vector3( 0.0f, scaleVec.getY(), 0.0f ), + Vector3( 0.0f, 0.0f, scaleVec.getZ() ) + ); +} + +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ) +{ + return Matrix3( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ) + ); +} + +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ) +{ + return Matrix3( + mulPerElem( mat.getCol0(), scaleVec ), + mulPerElem( mat.getCol1(), scaleVec ), + mulPerElem( mat.getCol2(), scaleVec ) + ); +} + +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix3 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); +} + +inline void print( const Matrix3 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Matrix4::Matrix4( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; +} + +inline Matrix4::Matrix4( float scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +inline Matrix4::Matrix4( const Transform3 & mat ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( mat.getCol3(), 1.0f ); +} + +inline Matrix4::Matrix4( const Vector4 & _col0, const Vector4 & _col1, const Vector4 & _col2, const Vector4 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Matrix4::Matrix4( const Matrix3 & mat, const Vector3 & translateVec ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4::Matrix4( const Quat & unitQuat, const Vector3 & translateVec ) +{ + Matrix3 mat; + mat = Matrix3( unitQuat ); + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4 & Matrix4::setCol0( const Vector4 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix4 & Matrix4::setCol1( const Vector4 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix4 & Matrix4::setCol2( const Vector4 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix4 & Matrix4::setCol3( const Vector4 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Matrix4 & Matrix4::setCol( int col, const Vector4 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix4 & Matrix4::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Matrix4 & Matrix4::setElem( int col, int row, float val ) +{ + Vector4 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Matrix4::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector4 Matrix4::getCol0( ) const +{ + return mCol0; +} + +inline const Vector4 Matrix4::getCol1( ) const +{ + return mCol1; +} + +inline const Vector4 Matrix4::getCol2( ) const +{ + return mCol2; +} + +inline const Vector4 Matrix4::getCol3( ) const +{ + return mCol3; +} + +inline const Vector4 Matrix4::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector4 & Matrix4::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix4 & Matrix4::operator =( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; + return *this; +} + +inline const Matrix4 transpose( const Matrix4 & mat ) +{ + return Matrix4( + Vector4( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX(), mat.getCol3().getX() ), + Vector4( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY(), mat.getCol3().getY() ), + Vector4( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ(), mat.getCol3().getZ() ), + Vector4( mat.getCol0().getW(), mat.getCol1().getW(), mat.getCol2().getW(), mat.getCol3().getW() ) + ); +} + +inline const Matrix4 inverse( const Matrix4 & mat ) +{ + Vector4 res0, res1, res2, res3; + float mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5, detInv; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = ( ( mK * mD ) - ( mC * mL ) ); + tmp1 = ( ( mO * mH ) - ( mG * mP ) ); + tmp2 = ( ( mB * mK ) - ( mJ * mC ) ); + tmp3 = ( ( mF * mO ) - ( mN * mG ) ); + tmp4 = ( ( mJ * mD ) - ( mB * mL ) ); + tmp5 = ( ( mN * mH ) - ( mF * mP ) ); + res0.setX( ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ) ); + res0.setY( ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ) ); + res0.setZ( ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ) ); + res0.setW( ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ) ); + detInv = ( 1.0f / ( ( ( ( mA * res0.getX() ) + ( mE * res0.getY() ) ) + ( mI * res0.getZ() ) ) + ( mM * res0.getW() ) ) ); + res1.setX( ( mI * tmp1 ) ); + res1.setY( ( mM * tmp0 ) ); + res1.setZ( ( mA * tmp1 ) ); + res1.setW( ( mE * tmp0 ) ); + res3.setX( ( mI * tmp3 ) ); + res3.setY( ( mM * tmp2 ) ); + res3.setZ( ( mA * tmp3 ) ); + res3.setW( ( mE * tmp2 ) ); + res2.setX( ( mI * tmp5 ) ); + res2.setY( ( mM * tmp4 ) ); + res2.setZ( ( mA * tmp5 ) ); + res2.setW( ( mE * tmp4 ) ); + tmp0 = ( ( mI * mB ) - ( mA * mJ ) ); + tmp1 = ( ( mM * mF ) - ( mE * mN ) ); + tmp2 = ( ( mI * mD ) - ( mA * mL ) ); + tmp3 = ( ( mM * mH ) - ( mE * mP ) ); + tmp4 = ( ( mI * mC ) - ( mA * mK ) ); + tmp5 = ( ( mM * mG ) - ( mE * mO ) ); + res2.setX( ( ( ( mL * tmp1 ) - ( mJ * tmp3 ) ) + res2.getX() ) ); + res2.setY( ( ( ( mP * tmp0 ) - ( mN * tmp2 ) ) + res2.getY() ) ); + res2.setZ( ( ( ( mB * tmp3 ) - ( mD * tmp1 ) ) - res2.getZ() ) ); + res2.setW( ( ( ( mF * tmp2 ) - ( mH * tmp0 ) ) - res2.getW() ) ); + res3.setX( ( ( ( mJ * tmp5 ) - ( mK * tmp1 ) ) + res3.getX() ) ); + res3.setY( ( ( ( mN * tmp4 ) - ( mO * tmp0 ) ) + res3.getY() ) ); + res3.setZ( ( ( ( mC * tmp1 ) - ( mB * tmp5 ) ) - res3.getZ() ) ); + res3.setW( ( ( ( mG * tmp0 ) - ( mF * tmp4 ) ) - res3.getW() ) ); + res1.setX( ( ( ( mK * tmp3 ) - ( mL * tmp5 ) ) - res1.getX() ) ); + res1.setY( ( ( ( mO * tmp2 ) - ( mP * tmp4 ) ) - res1.getY() ) ); + res1.setZ( ( ( ( mD * tmp5 ) - ( mC * tmp3 ) ) + res1.getZ() ) ); + res1.setW( ( ( ( mH * tmp4 ) - ( mG * tmp2 ) ) + res1.getW() ) ); + return Matrix4( + ( res0 * detInv ), + ( res1 * detInv ), + ( res2 * detInv ), + ( res3 * detInv ) + ); +} + +inline const Matrix4 affineInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( inverse( affineMat ) ); +} + +inline const Matrix4 orthoInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( orthoInverse( affineMat ) ); +} + +inline float determinant( const Matrix4 & mat ) +{ + float dx, dy, dz, dw, mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = ( ( mK * mD ) - ( mC * mL ) ); + tmp1 = ( ( mO * mH ) - ( mG * mP ) ); + tmp2 = ( ( mB * mK ) - ( mJ * mC ) ); + tmp3 = ( ( mF * mO ) - ( mN * mG ) ); + tmp4 = ( ( mJ * mD ) - ( mB * mL ) ); + tmp5 = ( ( mN * mH ) - ( mF * mP ) ); + dx = ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ); + dy = ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ); + dz = ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ); + dw = ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ); + return ( ( ( ( mA * dx ) + ( mE * dy ) ) + ( mI * dz ) ) + ( mM * dw ) ); +} + +inline const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ), + ( mCol3 + mat.mCol3 ) + ); +} + +inline const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ), + ( mCol3 - mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator +=( const Matrix4 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix4 & Matrix4::operator -=( const Matrix4 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix4 Matrix4::operator -( ) const +{ + return Matrix4( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ), + ( -mCol3 ) + ); +} + +inline const Matrix4 absPerElem( const Matrix4 & mat ) +{ + return Matrix4( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ), + absPerElem( mat.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::operator *( float scalar ) const +{ + return Matrix4( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ), + ( mCol3 * scalar ) + ); +} + +inline Matrix4 & Matrix4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ) +{ + return mat * scalar; +} + +inline const Vector4 Matrix4::operator *( const Vector4 & vec ) const +{ + return Vector4( + ( ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ) + ( mCol3.getX() * vec.getW() ) ), + ( ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ) + ( mCol3.getY() * vec.getW() ) ), + ( ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ( mCol3.getZ() * vec.getW() ) ), + ( ( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) ) + ( mCol3.getW() * vec.getW() ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Vector3 & vec ) const +{ + return Vector4( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ), + ( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Point3 & pnt ) const +{ + return Vector4( + ( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ), + ( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ), + ( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() ), + ( ( ( ( mCol0.getW() * pnt.getX() ) + ( mCol1.getW() * pnt.getY() ) ) + ( mCol2.getW() * pnt.getZ() ) ) + mCol3.getW() ) + ); +} + +inline const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const +{ + return Matrix4( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ), + ( *this * mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Matrix4 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const +{ + return Matrix4( + ( *this * tfrm.getCol0() ), + ( *this * tfrm.getCol1() ), + ( *this * tfrm.getCol2() ), + ( *this * Point3( tfrm.getCol3() ) ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ) +{ + return Matrix4( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ), + mulPerElem( mat0.getCol3(), mat1.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::identity( ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 ) +{ + mCol0.setXYZ( mat3.getCol0() ); + mCol1.setXYZ( mat3.getCol1() ); + mCol2.setXYZ( mat3.getCol2() ); + return *this; +} + +inline const Matrix3 Matrix4::getUpper3x3( ) const +{ + return Matrix3( + mCol0.getXYZ( ), + mCol1.getXYZ( ), + mCol2.getXYZ( ) + ); +} + +inline Matrix4 & Matrix4::setTranslation( const Vector3 & translateVec ) +{ + mCol3.setXYZ( translateVec ); + return *this; +} + +inline const Vector3 Matrix4::getTranslation( ) const +{ + return mCol3.getXYZ( ); +} + +inline const Matrix4 Matrix4::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4::xAxis( ), + Vector4( 0.0f, c, s, 0.0f ), + Vector4( 0.0f, -s, c, 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4( c, 0.0f, -s, 0.0f ), + Vector4::yAxis( ), + Vector4( s, 0.0f, c, 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4( c, s, 0.0f, 0.0f ), + Vector4( -s, c, 0.0f, 0.0f ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Matrix4( + Vector4( ( cZ * cY ), ( sZ * cY ), -sY, 0.0f ), + Vector4( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ), 0.0f ), + Vector4( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( float radians, const Vector3 & unitVec ) +{ + float x, y, z, s, c, oneMinusC, xy, yz, zx; + s = sinf( radians ); + c = cosf( radians ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = ( x * y ); + yz = ( y * z ); + zx = ( z * x ); + oneMinusC = ( 1.0f - c ); + return Matrix4( + Vector4( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ), 0.0f ), + Vector4( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ), 0.0f ), + Vector4( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( const Quat & unitQuat ) +{ + return Matrix4( Transform3::rotation( unitQuat ) ); +} + +inline const Matrix4 Matrix4::scale( const Vector3 & scaleVec ) +{ + return Matrix4( + Vector4( scaleVec.getX(), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, scaleVec.getY(), 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, scaleVec.getZ(), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ) +{ + return Matrix4( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ), + mat.getCol3() + ); +} + +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ) +{ + Vector4 scale4; + scale4 = Vector4( scaleVec, 1.0f ); + return Matrix4( + mulPerElem( mat.getCol0(), scale4 ), + mulPerElem( mat.getCol1(), scale4 ), + mulPerElem( mat.getCol2(), scale4 ), + mulPerElem( mat.getCol3(), scale4 ) + ); +} + +inline const Matrix4 Matrix4::translation( const Vector3 & translateVec ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4( translateVec, 1.0f ) + ); +} + +inline const Matrix4 Matrix4::lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ) +{ + Matrix4 m4EyeFrame; + Vector3 v3X, v3Y, v3Z; + v3Y = normalize( upVec ); + v3Z = normalize( ( eyePos - lookAtPos ) ); + v3X = normalize( cross( v3Y, v3Z ) ); + v3Y = cross( v3Z, v3X ); + m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) ); + return orthoInverse( m4EyeFrame ); +} + +inline const Matrix4 Matrix4::perspective( float fovyRadians, float aspect, float zNear, float zFar ) +{ + float f, rangeInv; + f = tanf( ( (float)( _VECTORMATH_PI_OVER_2 ) - ( 0.5f * fovyRadians ) ) ); + rangeInv = ( 1.0f / ( zNear - zFar ) ); + return Matrix4( + Vector4( ( f / aspect ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, f, 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, ( ( zNear + zFar ) * rangeInv ), -1.0f ), + Vector4( 0.0f, 0.0f, ( ( ( zNear * zFar ) * rangeInv ) * 2.0f ), 0.0f ) + ); +} + +inline const Matrix4 Matrix4::frustum( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf, n2; + sum_rl = ( right + left ); + sum_tb = ( top + bottom ); + sum_nf = ( zNear + zFar ); + inv_rl = ( 1.0f / ( right - left ) ); + inv_tb = ( 1.0f / ( top - bottom ) ); + inv_nf = ( 1.0f / ( zNear - zFar ) ); + n2 = ( zNear + zNear ); + return Matrix4( + Vector4( ( n2 * inv_rl ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, ( n2 * inv_tb ), 0.0f, 0.0f ), + Vector4( ( sum_rl * inv_rl ), ( sum_tb * inv_tb ), ( sum_nf * inv_nf ), -1.0f ), + Vector4( 0.0f, 0.0f, ( ( n2 * inv_nf ) * zFar ), 0.0f ) + ); +} + +inline const Matrix4 Matrix4::orthographic( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf; + sum_rl = ( right + left ); + sum_tb = ( top + bottom ); + sum_nf = ( zNear + zFar ); + inv_rl = ( 1.0f / ( right - left ) ); + inv_tb = ( 1.0f / ( top - bottom ) ); + inv_nf = ( 1.0f / ( zNear - zFar ) ); + return Matrix4( + Vector4( ( inv_rl + inv_rl ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, ( inv_tb + inv_tb ), 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, ( inv_nf + inv_nf ), 0.0f ), + Vector4( ( -sum_rl * inv_rl ), ( -sum_tb * inv_tb ), ( sum_nf * inv_nf ), 1.0f ) + ); +} + +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix4 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); + print( mat.getRow( 3 ) ); +} + +inline void print( const Matrix4 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Transform3::Transform3( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; +} + +inline Transform3::Transform3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +inline Transform3::Transform3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2, const Vector3 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Transform3::Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ) +{ + this->setUpper3x3( tfrm ); + this->setTranslation( translateVec ); +} + +inline Transform3::Transform3( const Quat & unitQuat, const Vector3 & translateVec ) +{ + this->setUpper3x3( Matrix3( unitQuat ) ); + this->setTranslation( translateVec ); +} + +inline Transform3 & Transform3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Transform3 & Transform3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Transform3 & Transform3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Transform3 & Transform3::setCol3( const Vector3 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Transform3 & Transform3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Transform3 & Transform3::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Transform3 & Transform3::setElem( int col, int row, float val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Transform3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Transform3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Transform3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Transform3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Transform3::getCol3( ) const +{ + return mCol3; +} + +inline const Vector3 Transform3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Transform3::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector3 & Transform3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Transform3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Transform3 & Transform3::operator =( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; + return *this; +} + +inline const Transform3 inverse( const Transform3 & tfrm ) +{ + Vector3 tmp0, tmp1, tmp2, inv0, inv1, inv2; + float detinv; + tmp0 = cross( tfrm.getCol1(), tfrm.getCol2() ); + tmp1 = cross( tfrm.getCol2(), tfrm.getCol0() ); + tmp2 = cross( tfrm.getCol0(), tfrm.getCol1() ); + detinv = ( 1.0f / dot( tfrm.getCol2(), tmp2 ) ); + inv0 = Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) ); + inv1 = Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) ); + inv2 = Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 orthoInverse( const Transform3 & tfrm ) +{ + Vector3 inv0, inv1, inv2; + inv0 = Vector3( tfrm.getCol0().getX(), tfrm.getCol1().getX(), tfrm.getCol2().getX() ); + inv1 = Vector3( tfrm.getCol0().getY(), tfrm.getCol1().getY(), tfrm.getCol2().getY() ); + inv2 = Vector3( tfrm.getCol0().getZ(), tfrm.getCol1().getZ(), tfrm.getCol2().getZ() ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 absPerElem( const Transform3 & tfrm ) +{ + return Transform3( + absPerElem( tfrm.getCol0() ), + absPerElem( tfrm.getCol1() ), + absPerElem( tfrm.getCol2() ), + absPerElem( tfrm.getCol3() ) + ); +} + +inline const Vector3 Transform3::operator *( const Vector3 & vec ) const +{ + return Vector3( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ); +} + +inline const Point3 Transform3::operator *( const Point3 & pnt ) const +{ + return Point3( + ( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ), + ( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ), + ( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() ) + ); +} + +inline const Transform3 Transform3::operator *( const Transform3 & tfrm ) const +{ + return Transform3( + ( *this * tfrm.mCol0 ), + ( *this * tfrm.mCol1 ), + ( *this * tfrm.mCol2 ), + Vector3( ( *this * Point3( tfrm.mCol3 ) ) ) + ); +} + +inline Transform3 & Transform3::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ) +{ + return Transform3( + mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ), + mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ), + mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ), + mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() ) + ); +} + +inline const Transform3 Transform3::identity( ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline Transform3 & Transform3::setUpper3x3( const Matrix3 & tfrm ) +{ + mCol0 = tfrm.getCol0(); + mCol1 = tfrm.getCol1(); + mCol2 = tfrm.getCol2(); + return *this; +} + +inline const Matrix3 Transform3::getUpper3x3( ) const +{ + return Matrix3( mCol0, mCol1, mCol2 ); +} + +inline Transform3 & Transform3::setTranslation( const Vector3 & translateVec ) +{ + mCol3 = translateVec; + return *this; +} + +inline const Vector3 Transform3::getTranslation( ) const +{ + return mCol3; +} + +inline const Transform3 Transform3::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3::xAxis( ), + Vector3( 0.0f, c, s ), + Vector3( 0.0f, -s, c ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3( c, 0.0f, -s ), + Vector3::yAxis( ), + Vector3( s, 0.0f, c ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3( c, s, 0.0f ), + Vector3( -s, c, 0.0f ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Transform3( + Vector3( ( cZ * cY ), ( sZ * cY ), -sY ), + Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ), + Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotation( float radians, const Vector3 & unitVec ) +{ + return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::rotation( const Quat & unitQuat ) +{ + return Transform3( Matrix3( unitQuat ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::scale( const Vector3 & scaleVec ) +{ + return Transform3( + Vector3( scaleVec.getX(), 0.0f, 0.0f ), + Vector3( 0.0f, scaleVec.getY(), 0.0f ), + Vector3( 0.0f, 0.0f, scaleVec.getZ() ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ) +{ + return Transform3( + ( tfrm.getCol0() * scaleVec.getX( ) ), + ( tfrm.getCol1() * scaleVec.getY( ) ), + ( tfrm.getCol2() * scaleVec.getZ( ) ), + tfrm.getCol3() + ); +} + +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ) +{ + return Transform3( + mulPerElem( tfrm.getCol0(), scaleVec ), + mulPerElem( tfrm.getCol1(), scaleVec ), + mulPerElem( tfrm.getCol2(), scaleVec ), + mulPerElem( tfrm.getCol3(), scaleVec ) + ); +} + +inline const Transform3 Transform3::translation( const Vector3 & translateVec ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + translateVec + ); +} + +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Transform3 & tfrm ) +{ + print( tfrm.getRow( 0 ) ); + print( tfrm.getRow( 1 ) ); + print( tfrm.getRow( 2 ) ); +} + +inline void print( const Transform3 & tfrm, const char * name ) +{ + printf("%s:\n", name); + print( tfrm ); +} + +#endif + +inline Quat::Quat( const Matrix3 & tfrm ) +{ + float trace, radicand, scale, xx, yx, zx, xy, yy, zy, xz, yz, zz, tmpx, tmpy, tmpz, tmpw, qx, qy, qz, qw; + int negTrace, ZgtX, ZgtY, YgtX; + int largestXorY, largestYorZ, largestZorX; + + xx = tfrm.getCol0().getX(); + yx = tfrm.getCol0().getY(); + zx = tfrm.getCol0().getZ(); + xy = tfrm.getCol1().getX(); + yy = tfrm.getCol1().getY(); + zy = tfrm.getCol1().getZ(); + xz = tfrm.getCol2().getX(); + yz = tfrm.getCol2().getY(); + zz = tfrm.getCol2().getZ(); + + trace = ( ( xx + yy ) + zz ); + + negTrace = ( trace < 0.0f ); + ZgtX = zz > xx; + ZgtY = zz > yy; + YgtX = yy > xx; + largestXorY = ( !ZgtX || !ZgtY ) && negTrace; + largestYorZ = ( YgtX || ZgtX ) && negTrace; + largestZorX = ( ZgtY || !YgtX ) && negTrace; + + if ( largestXorY ) + { + zz = -zz; + xy = -xy; + } + if ( largestYorZ ) + { + xx = -xx; + yz = -yz; + } + if ( largestZorX ) + { + yy = -yy; + zx = -zx; + } + + radicand = ( ( ( xx + yy ) + zz ) + 1.0f ); + scale = ( 0.5f * ( 1.0f / sqrtf( radicand ) ) ); + + tmpx = ( ( zy - yz ) * scale ); + tmpy = ( ( xz - zx ) * scale ); + tmpz = ( ( yx - xy ) * scale ); + tmpw = ( radicand * scale ); + qx = tmpx; + qy = tmpy; + qz = tmpz; + qw = tmpw; + + if ( largestXorY ) + { + qx = tmpw; + qy = tmpz; + qz = tmpy; + qw = tmpx; + } + if ( largestYorZ ) + { + tmpx = qx; + tmpz = qz; + qx = qy; + qy = tmpx; + qz = qw; + qw = tmpz; + } + + mX = qx; + mY = qy; + mZ = qz; + mW = qw; +} + +inline const Matrix3 outer( const Vector3 & tfrm0, const Vector3 & tfrm1 ) +{ + return Matrix3( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ) + ); +} + +inline const Matrix4 outer( const Vector4 & tfrm0, const Vector4 & tfrm1 ) +{ + return Matrix4( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ), + ( tfrm0 * tfrm1.getW( ) ) + ); +} + +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Vector3( + ( ( ( vec.getX() * mat.getCol0().getX() ) + ( vec.getY() * mat.getCol0().getY() ) ) + ( vec.getZ() * mat.getCol0().getZ() ) ), + ( ( ( vec.getX() * mat.getCol1().getX() ) + ( vec.getY() * mat.getCol1().getY() ) ) + ( vec.getZ() * mat.getCol1().getZ() ) ), + ( ( ( vec.getX() * mat.getCol2().getX() ) + ( vec.getY() * mat.getCol2().getY() ) ) + ( vec.getZ() * mat.getCol2().getZ() ) ) + ); +} + +inline const Matrix3 crossMatrix( const Vector3 & vec ) +{ + return Matrix3( + Vector3( 0.0f, vec.getZ(), -vec.getY() ), + Vector3( -vec.getZ(), 0.0f, vec.getX() ), + Vector3( vec.getY(), -vec.getX(), 0.0f ) + ); +} + +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) ); +} + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Mod Sources/Bullet/include/bullet/vectormath/scalar/quat_aos.h b/Mod Sources/Bullet/include/bullet/vectormath/scalar/quat_aos.h new file mode 100644 index 0000000..764e017 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/scalar/quat_aos.h @@ -0,0 +1,433 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + +#ifndef _VECTORMATH_QUAT_AOS_CPP_H +#define _VECTORMATH_QUAT_AOS_CPP_H + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Aos { + +inline Quat::Quat( const Quat & quat ) +{ + mX = quat.mX; + mY = quat.mY; + mZ = quat.mZ; + mW = quat.mW; +} + +inline Quat::Quat( float _x, float _y, float _z, float _w ) +{ + mX = _x; + mY = _y; + mZ = _z; + mW = _w; +} + +inline Quat::Quat( const Vector3 & xyz, float _w ) +{ + this->setXYZ( xyz ); + this->setW( _w ); +} + +inline Quat::Quat( const Vector4 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + mW = vec.getW(); +} + +inline Quat::Quat( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; + mW = scalar; +} + +inline const Quat Quat::identity( ) +{ + return Quat( 0.0f, 0.0f, 0.0f, 1.0f ); +} + +inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 ) +{ + return ( quat0 + ( ( quat1 - quat0 ) * t ) ); +} + +inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 ) +{ + Quat start; + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitQuat0, unitQuat1 ); + if ( cosAngle < 0.0f ) { + cosAngle = -cosAngle; + start = ( -unitQuat0 ); + } else { + start = unitQuat0; + } + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) ); +} + +inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 ) +{ + Quat tmp0, tmp1; + tmp0 = slerp( t, unitQuat0, unitQuat3 ); + tmp1 = slerp( t, unitQuat1, unitQuat2 ); + return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 ); +} + +inline void loadXYZW( Quat & quat, const float * fptr ) +{ + quat = Quat( fptr[0], fptr[1], fptr[2], fptr[3] ); +} + +inline void storeXYZW( const Quat & quat, float * fptr ) +{ + fptr[0] = quat.getX(); + fptr[1] = quat.getY(); + fptr[2] = quat.getZ(); + fptr[3] = quat.getW(); +} + +inline Quat & Quat::operator =( const Quat & quat ) +{ + mX = quat.mX; + mY = quat.mY; + mZ = quat.mZ; + mW = quat.mW; + return *this; +} + +inline Quat & Quat::setXYZ( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + return *this; +} + +inline const Vector3 Quat::getXYZ( ) const +{ + return Vector3( mX, mY, mZ ); +} + +inline Quat & Quat::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Quat::getX( ) const +{ + return mX; +} + +inline Quat & Quat::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Quat::getY( ) const +{ + return mY; +} + +inline Quat & Quat::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Quat::getZ( ) const +{ + return mZ; +} + +inline Quat & Quat::setW( float _w ) +{ + mW = _w; + return *this; +} + +inline float Quat::getW( ) const +{ + return mW; +} + +inline Quat & Quat::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Quat::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Quat::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Quat::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Quat Quat::operator +( const Quat & quat ) const +{ + return Quat( + ( mX + quat.mX ), + ( mY + quat.mY ), + ( mZ + quat.mZ ), + ( mW + quat.mW ) + ); +} + +inline const Quat Quat::operator -( const Quat & quat ) const +{ + return Quat( + ( mX - quat.mX ), + ( mY - quat.mY ), + ( mZ - quat.mZ ), + ( mW - quat.mW ) + ); +} + +inline const Quat Quat::operator *( float scalar ) const +{ + return Quat( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ), + ( mW * scalar ) + ); +} + +inline Quat & Quat::operator +=( const Quat & quat ) +{ + *this = *this + quat; + return *this; +} + +inline Quat & Quat::operator -=( const Quat & quat ) +{ + *this = *this - quat; + return *this; +} + +inline Quat & Quat::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Quat Quat::operator /( float scalar ) const +{ + return Quat( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ), + ( mW / scalar ) + ); +} + +inline Quat & Quat::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Quat Quat::operator -( ) const +{ + return Quat( + -mX, + -mY, + -mZ, + -mW + ); +} + +inline const Quat operator *( float scalar, const Quat & quat ) +{ + return quat * scalar; +} + +inline float dot( const Quat & quat0, const Quat & quat1 ) +{ + float result; + result = ( quat0.getX() * quat1.getX() ); + result = ( result + ( quat0.getY() * quat1.getY() ) ); + result = ( result + ( quat0.getZ() * quat1.getZ() ) ); + result = ( result + ( quat0.getW() * quat1.getW() ) ); + return result; +} + +inline float norm( const Quat & quat ) +{ + float result; + result = ( quat.getX() * quat.getX() ); + result = ( result + ( quat.getY() * quat.getY() ) ); + result = ( result + ( quat.getZ() * quat.getZ() ) ); + result = ( result + ( quat.getW() * quat.getW() ) ); + return result; +} + +inline float length( const Quat & quat ) +{ + return ::sqrtf( norm( quat ) ); +} + +inline const Quat normalize( const Quat & quat ) +{ + float lenSqr, lenInv; + lenSqr = norm( quat ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Quat( + ( quat.getX() * lenInv ), + ( quat.getY() * lenInv ), + ( quat.getZ() * lenInv ), + ( quat.getW() * lenInv ) + ); +} + +inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ) +{ + float cosHalfAngleX2, recipCosHalfAngleX2; + cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) ); + recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 ); + return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) ); +} + +inline const Quat Quat::rotation( float radians, const Vector3 & unitVec ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( ( unitVec * s ), c ); +} + +inline const Quat Quat::rotationX( float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( s, 0.0f, 0.0f, c ); +} + +inline const Quat Quat::rotationY( float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( 0.0f, s, 0.0f, c ); +} + +inline const Quat Quat::rotationZ( float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( 0.0f, 0.0f, s, c ); +} + +inline const Quat Quat::operator *( const Quat & quat ) const +{ + return Quat( + ( ( ( ( mW * quat.mX ) + ( mX * quat.mW ) ) + ( mY * quat.mZ ) ) - ( mZ * quat.mY ) ), + ( ( ( ( mW * quat.mY ) + ( mY * quat.mW ) ) + ( mZ * quat.mX ) ) - ( mX * quat.mZ ) ), + ( ( ( ( mW * quat.mZ ) + ( mZ * quat.mW ) ) + ( mX * quat.mY ) ) - ( mY * quat.mX ) ), + ( ( ( ( mW * quat.mW ) - ( mX * quat.mX ) ) - ( mY * quat.mY ) ) - ( mZ * quat.mZ ) ) + ); +} + +inline Quat & Quat::operator *=( const Quat & quat ) +{ + *this = *this * quat; + return *this; +} + +inline const Vector3 rotate( const Quat & quat, const Vector3 & vec ) +{ + float tmpX, tmpY, tmpZ, tmpW; + tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) ); + tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) ); + tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) ); + tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) ); + return Vector3( + ( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ), + ( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ), + ( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) ) + ); +} + +inline const Quat conj( const Quat & quat ) +{ + return Quat( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() ); +} + +inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 ) +{ + return Quat( + ( select1 )? quat1.getX() : quat0.getX(), + ( select1 )? quat1.getY() : quat0.getY(), + ( select1 )? quat1.getZ() : quat0.getZ(), + ( select1 )? quat1.getW() : quat0.getW() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Quat & quat ) +{ + printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() ); +} + +inline void print( const Quat & quat, const char * name ) +{ + printf( "%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW() ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Mod Sources/Bullet/include/bullet/vectormath/scalar/vec_aos.h b/Mod Sources/Bullet/include/bullet/vectormath/scalar/vec_aos.h new file mode 100644 index 0000000..46d4d6b --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/scalar/vec_aos.h @@ -0,0 +1,1426 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + +#ifndef _VECTORMATH_VEC_AOS_CPP_H +#define _VECTORMATH_VEC_AOS_CPP_H + +//----------------------------------------------------------------------------- +// Constants + +#define _VECTORMATH_SLERP_TOL 0.999f + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Aos { + +inline Vector3::Vector3( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; +} + +inline Vector3::Vector3( float _x, float _y, float _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Vector3::Vector3( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); +} + +inline Vector3::Vector3( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline const Vector3 Vector3::xAxis( ) +{ + return Vector3( 1.0f, 0.0f, 0.0f ); +} + +inline const Vector3 Vector3::yAxis( ) +{ + return Vector3( 0.0f, 1.0f, 0.0f ); +} + +inline const Vector3 Vector3::zAxis( ) +{ + return Vector3( 0.0f, 0.0f, 1.0f ); +} + +inline const Vector3 lerp( float t, const Vector3 & vec0, const Vector3 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector3 slerp( float t, const Vector3 & unitVec0, const Vector3 & unitVec1 ) +{ + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitVec0, unitVec1 ); + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline void loadXYZ( Vector3 & vec, const float * fptr ) +{ + vec = Vector3( fptr[0], fptr[1], fptr[2] ); +} + +inline void storeXYZ( const Vector3 & vec, float * fptr ) +{ + fptr[0] = vec.getX(); + fptr[1] = vec.getY(); + fptr[2] = vec.getZ(); +} + +inline void loadHalfFloats( Vector3 & vec, const unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + unsigned short fp16 = hfptr[i]; + unsigned int sign = fp16 >> 15; + unsigned int exponent = (fp16 >> 10) & ((1 << 5) - 1); + unsigned int mantissa = fp16 & ((1 << 10) - 1); + + if (exponent == 0) { + // zero + mantissa = 0; + + } else if (exponent == 31) { + // infinity or nan -> infinity + exponent = 255; + mantissa = 0; + + } else { + exponent += 127 - 15; + mantissa <<= 13; + } + + Data32 d; + d.u32 = (sign << 31) | (exponent << 23) | mantissa; + vec[i] = d.f32; + } +} + +inline void storeHalfFloats( const Vector3 & vec, unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + Data32 d; + d.f32 = vec[i]; + + unsigned int sign = d.u32 >> 31; + unsigned int exponent = (d.u32 >> 23) & ((1 << 8) - 1); + unsigned int mantissa = d.u32 & ((1 << 23) - 1);; + + if (exponent == 0) { + // zero or denorm -> zero + mantissa = 0; + + } else if (exponent == 255 && mantissa != 0) { + // nan -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent >= 127 - 15 + 31) { + // overflow or infinity -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent <= 127 - 15) { + // underflow -> zero + exponent = 0; + mantissa = 0; + + } else { + exponent -= 127 - 15; + mantissa >>= 13; + } + + hfptr[i] = (unsigned short)((sign << 15) | (exponent << 10) | mantissa); + } +} + +inline Vector3 & Vector3::operator =( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + return *this; +} + +inline Vector3 & Vector3::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Vector3::getX( ) const +{ + return mX; +} + +inline Vector3 & Vector3::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Vector3::getY( ) const +{ + return mY; +} + +inline Vector3 & Vector3::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Vector3::getZ( ) const +{ + return mZ; +} + +inline Vector3 & Vector3::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Vector3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Vector3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Vector3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Vector3::operator +( const Vector3 & vec ) const +{ + return Vector3( + ( mX + vec.mX ), + ( mY + vec.mY ), + ( mZ + vec.mZ ) + ); +} + +inline const Vector3 Vector3::operator -( const Vector3 & vec ) const +{ + return Vector3( + ( mX - vec.mX ), + ( mY - vec.mY ), + ( mZ - vec.mZ ) + ); +} + +inline const Point3 Vector3::operator +( const Point3 & pnt ) const +{ + return Point3( + ( mX + pnt.getX() ), + ( mY + pnt.getY() ), + ( mZ + pnt.getZ() ) + ); +} + +inline const Vector3 Vector3::operator *( float scalar ) const +{ + return Vector3( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ) + ); +} + +inline Vector3 & Vector3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector3 & Vector3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector3 & Vector3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector3 Vector3::operator /( float scalar ) const +{ + return Vector3( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ) + ); +} + +inline Vector3 & Vector3::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector3 Vector3::operator -( ) const +{ + return Vector3( + -mX, + -mY, + -mZ + ); +} + +inline const Vector3 operator *( float scalar, const Vector3 & vec ) +{ + return vec * scalar; +} + +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec0.getX() * vec1.getX() ), + ( vec0.getY() * vec1.getY() ), + ( vec0.getZ() * vec1.getZ() ) + ); +} + +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec0.getX() / vec1.getX() ), + ( vec0.getY() / vec1.getY() ), + ( vec0.getZ() / vec1.getZ() ) + ); +} + +inline const Vector3 recipPerElem( const Vector3 & vec ) +{ + return Vector3( + ( 1.0f / vec.getX() ), + ( 1.0f / vec.getY() ), + ( 1.0f / vec.getZ() ) + ); +} + +inline const Vector3 sqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + sqrtf( vec.getX() ), + sqrtf( vec.getY() ), + sqrtf( vec.getZ() ) + ); +} + +inline const Vector3 rsqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + ( 1.0f / sqrtf( vec.getX() ) ), + ( 1.0f / sqrtf( vec.getY() ) ), + ( 1.0f / sqrtf( vec.getZ() ) ) + ); +} + +inline const Vector3 absPerElem( const Vector3 & vec ) +{ + return Vector3( + fabsf( vec.getX() ), + fabsf( vec.getY() ), + fabsf( vec.getZ() ) + ); +} + +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec1.getX() < 0.0f )? -fabsf( vec0.getX() ) : fabsf( vec0.getX() ), + ( vec1.getY() < 0.0f )? -fabsf( vec0.getY() ) : fabsf( vec0.getY() ), + ( vec1.getZ() < 0.0f )? -fabsf( vec0.getZ() ) : fabsf( vec0.getZ() ) + ); +} + +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + (vec0.getX() > vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() > vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() > vec1.getZ())? vec0.getZ() : vec1.getZ() + ); +} + +inline float maxElem( const Vector3 & vec ) +{ + float result; + result = (vec.getX() > vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() > result)? vec.getZ() : result; + return result; +} + +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + (vec0.getX() < vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() < vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() < vec1.getZ())? vec0.getZ() : vec1.getZ() + ); +} + +inline float minElem( const Vector3 & vec ) +{ + float result; + result = (vec.getX() < vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() < result)? vec.getZ() : result; + return result; +} + +inline float sum( const Vector3 & vec ) +{ + float result; + result = ( vec.getX() + vec.getY() ); + result = ( result + vec.getZ() ); + return result; +} + +inline float dot( const Vector3 & vec0, const Vector3 & vec1 ) +{ + float result; + result = ( vec0.getX() * vec1.getX() ); + result = ( result + ( vec0.getY() * vec1.getY() ) ); + result = ( result + ( vec0.getZ() * vec1.getZ() ) ); + return result; +} + +inline float lengthSqr( const Vector3 & vec ) +{ + float result; + result = ( vec.getX() * vec.getX() ); + result = ( result + ( vec.getY() * vec.getY() ) ); + result = ( result + ( vec.getZ() * vec.getZ() ) ); + return result; +} + +inline float length( const Vector3 & vec ) +{ + return ::sqrtf( lengthSqr( vec ) ); +} + +inline const Vector3 normalize( const Vector3 & vec ) +{ + float lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Vector3( + ( vec.getX() * lenInv ), + ( vec.getY() * lenInv ), + ( vec.getZ() * lenInv ) + ); +} + +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( ( vec0.getY() * vec1.getZ() ) - ( vec0.getZ() * vec1.getY() ) ), + ( ( vec0.getZ() * vec1.getX() ) - ( vec0.getX() * vec1.getZ() ) ), + ( ( vec0.getX() * vec1.getY() ) - ( vec0.getY() * vec1.getX() ) ) + ); +} + +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, bool select1 ) +{ + return Vector3( + ( select1 )? vec1.getX() : vec0.getX(), + ( select1 )? vec1.getY() : vec0.getY(), + ( select1 )? vec1.getZ() : vec0.getZ() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector3 & vec ) +{ + printf( "( %f %f %f )\n", vec.getX(), vec.getY(), vec.getZ() ); +} + +inline void print( const Vector3 & vec, const char * name ) +{ + printf( "%s: ( %f %f %f )\n", name, vec.getX(), vec.getY(), vec.getZ() ); +} + +#endif + +inline Vector4::Vector4( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; +} + +inline Vector4::Vector4( float _x, float _y, float _z, float _w ) +{ + mX = _x; + mY = _y; + mZ = _z; + mW = _w; +} + +inline Vector4::Vector4( const Vector3 & xyz, float _w ) +{ + this->setXYZ( xyz ); + this->setW( _w ); +} + +inline Vector4::Vector4( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + mW = 0.0f; +} + +inline Vector4::Vector4( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); + mW = 1.0f; +} + +inline Vector4::Vector4( const Quat & quat ) +{ + mX = quat.getX(); + mY = quat.getY(); + mZ = quat.getZ(); + mW = quat.getW(); +} + +inline Vector4::Vector4( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; + mW = scalar; +} + +inline const Vector4 Vector4::xAxis( ) +{ + return Vector4( 1.0f, 0.0f, 0.0f, 0.0f ); +} + +inline const Vector4 Vector4::yAxis( ) +{ + return Vector4( 0.0f, 1.0f, 0.0f, 0.0f ); +} + +inline const Vector4 Vector4::zAxis( ) +{ + return Vector4( 0.0f, 0.0f, 1.0f, 0.0f ); +} + +inline const Vector4 Vector4::wAxis( ) +{ + return Vector4( 0.0f, 0.0f, 0.0f, 1.0f ); +} + +inline const Vector4 lerp( float t, const Vector4 & vec0, const Vector4 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector4 slerp( float t, const Vector4 & unitVec0, const Vector4 & unitVec1 ) +{ + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitVec0, unitVec1 ); + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline void loadXYZW( Vector4 & vec, const float * fptr ) +{ + vec = Vector4( fptr[0], fptr[1], fptr[2], fptr[3] ); +} + +inline void storeXYZW( const Vector4 & vec, float * fptr ) +{ + fptr[0] = vec.getX(); + fptr[1] = vec.getY(); + fptr[2] = vec.getZ(); + fptr[3] = vec.getW(); +} + +inline void loadHalfFloats( Vector4 & vec, const unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 4; i++) { + unsigned short fp16 = hfptr[i]; + unsigned int sign = fp16 >> 15; + unsigned int exponent = (fp16 >> 10) & ((1 << 5) - 1); + unsigned int mantissa = fp16 & ((1 << 10) - 1); + + if (exponent == 0) { + // zero + mantissa = 0; + + } else if (exponent == 31) { + // infinity or nan -> infinity + exponent = 255; + mantissa = 0; + + } else { + exponent += 127 - 15; + mantissa <<= 13; + } + + Data32 d; + d.u32 = (sign << 31) | (exponent << 23) | mantissa; + vec[i] = d.f32; + } +} + +inline void storeHalfFloats( const Vector4 & vec, unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 4; i++) { + Data32 d; + d.f32 = vec[i]; + + unsigned int sign = d.u32 >> 31; + unsigned int exponent = (d.u32 >> 23) & ((1 << 8) - 1); + unsigned int mantissa = d.u32 & ((1 << 23) - 1);; + + if (exponent == 0) { + // zero or denorm -> zero + mantissa = 0; + + } else if (exponent == 255 && mantissa != 0) { + // nan -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent >= 127 - 15 + 31) { + // overflow or infinity -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent <= 127 - 15) { + // underflow -> zero + exponent = 0; + mantissa = 0; + + } else { + exponent -= 127 - 15; + mantissa >>= 13; + } + + hfptr[i] = (unsigned short)((sign << 15) | (exponent << 10) | mantissa); + } +} + +inline Vector4 & Vector4::operator =( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; + return *this; +} + +inline Vector4 & Vector4::setXYZ( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + return *this; +} + +inline const Vector3 Vector4::getXYZ( ) const +{ + return Vector3( mX, mY, mZ ); +} + +inline Vector4 & Vector4::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Vector4::getX( ) const +{ + return mX; +} + +inline Vector4 & Vector4::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Vector4::getY( ) const +{ + return mY; +} + +inline Vector4 & Vector4::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Vector4::getZ( ) const +{ + return mZ; +} + +inline Vector4 & Vector4::setW( float _w ) +{ + mW = _w; + return *this; +} + +inline float Vector4::getW( ) const +{ + return mW; +} + +inline Vector4 & Vector4::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Vector4::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Vector4::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Vector4::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector4 Vector4::operator +( const Vector4 & vec ) const +{ + return Vector4( + ( mX + vec.mX ), + ( mY + vec.mY ), + ( mZ + vec.mZ ), + ( mW + vec.mW ) + ); +} + +inline const Vector4 Vector4::operator -( const Vector4 & vec ) const +{ + return Vector4( + ( mX - vec.mX ), + ( mY - vec.mY ), + ( mZ - vec.mZ ), + ( mW - vec.mW ) + ); +} + +inline const Vector4 Vector4::operator *( float scalar ) const +{ + return Vector4( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ), + ( mW * scalar ) + ); +} + +inline Vector4 & Vector4::operator +=( const Vector4 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector4 & Vector4::operator -=( const Vector4 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector4 & Vector4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector4 Vector4::operator /( float scalar ) const +{ + return Vector4( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ), + ( mW / scalar ) + ); +} + +inline Vector4 & Vector4::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector4 Vector4::operator -( ) const +{ + return Vector4( + -mX, + -mY, + -mZ, + -mW + ); +} + +inline const Vector4 operator *( float scalar, const Vector4 & vec ) +{ + return vec * scalar; +} + +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec0.getX() * vec1.getX() ), + ( vec0.getY() * vec1.getY() ), + ( vec0.getZ() * vec1.getZ() ), + ( vec0.getW() * vec1.getW() ) + ); +} + +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec0.getX() / vec1.getX() ), + ( vec0.getY() / vec1.getY() ), + ( vec0.getZ() / vec1.getZ() ), + ( vec0.getW() / vec1.getW() ) + ); +} + +inline const Vector4 recipPerElem( const Vector4 & vec ) +{ + return Vector4( + ( 1.0f / vec.getX() ), + ( 1.0f / vec.getY() ), + ( 1.0f / vec.getZ() ), + ( 1.0f / vec.getW() ) + ); +} + +inline const Vector4 sqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + sqrtf( vec.getX() ), + sqrtf( vec.getY() ), + sqrtf( vec.getZ() ), + sqrtf( vec.getW() ) + ); +} + +inline const Vector4 rsqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + ( 1.0f / sqrtf( vec.getX() ) ), + ( 1.0f / sqrtf( vec.getY() ) ), + ( 1.0f / sqrtf( vec.getZ() ) ), + ( 1.0f / sqrtf( vec.getW() ) ) + ); +} + +inline const Vector4 absPerElem( const Vector4 & vec ) +{ + return Vector4( + fabsf( vec.getX() ), + fabsf( vec.getY() ), + fabsf( vec.getZ() ), + fabsf( vec.getW() ) + ); +} + +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec1.getX() < 0.0f )? -fabsf( vec0.getX() ) : fabsf( vec0.getX() ), + ( vec1.getY() < 0.0f )? -fabsf( vec0.getY() ) : fabsf( vec0.getY() ), + ( vec1.getZ() < 0.0f )? -fabsf( vec0.getZ() ) : fabsf( vec0.getZ() ), + ( vec1.getW() < 0.0f )? -fabsf( vec0.getW() ) : fabsf( vec0.getW() ) + ); +} + +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + (vec0.getX() > vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() > vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() > vec1.getZ())? vec0.getZ() : vec1.getZ(), + (vec0.getW() > vec1.getW())? vec0.getW() : vec1.getW() + ); +} + +inline float maxElem( const Vector4 & vec ) +{ + float result; + result = (vec.getX() > vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() > result)? vec.getZ() : result; + result = (vec.getW() > result)? vec.getW() : result; + return result; +} + +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + (vec0.getX() < vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() < vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() < vec1.getZ())? vec0.getZ() : vec1.getZ(), + (vec0.getW() < vec1.getW())? vec0.getW() : vec1.getW() + ); +} + +inline float minElem( const Vector4 & vec ) +{ + float result; + result = (vec.getX() < vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() < result)? vec.getZ() : result; + result = (vec.getW() < result)? vec.getW() : result; + return result; +} + +inline float sum( const Vector4 & vec ) +{ + float result; + result = ( vec.getX() + vec.getY() ); + result = ( result + vec.getZ() ); + result = ( result + vec.getW() ); + return result; +} + +inline float dot( const Vector4 & vec0, const Vector4 & vec1 ) +{ + float result; + result = ( vec0.getX() * vec1.getX() ); + result = ( result + ( vec0.getY() * vec1.getY() ) ); + result = ( result + ( vec0.getZ() * vec1.getZ() ) ); + result = ( result + ( vec0.getW() * vec1.getW() ) ); + return result; +} + +inline float lengthSqr( const Vector4 & vec ) +{ + float result; + result = ( vec.getX() * vec.getX() ); + result = ( result + ( vec.getY() * vec.getY() ) ); + result = ( result + ( vec.getZ() * vec.getZ() ) ); + result = ( result + ( vec.getW() * vec.getW() ) ); + return result; +} + +inline float length( const Vector4 & vec ) +{ + return ::sqrtf( lengthSqr( vec ) ); +} + +inline const Vector4 normalize( const Vector4 & vec ) +{ + float lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Vector4( + ( vec.getX() * lenInv ), + ( vec.getY() * lenInv ), + ( vec.getZ() * lenInv ), + ( vec.getW() * lenInv ) + ); +} + +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, bool select1 ) +{ + return Vector4( + ( select1 )? vec1.getX() : vec0.getX(), + ( select1 )? vec1.getY() : vec0.getY(), + ( select1 )? vec1.getZ() : vec0.getZ(), + ( select1 )? vec1.getW() : vec0.getW() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector4 & vec ) +{ + printf( "( %f %f %f %f )\n", vec.getX(), vec.getY(), vec.getZ(), vec.getW() ); +} + +inline void print( const Vector4 & vec, const char * name ) +{ + printf( "%s: ( %f %f %f %f )\n", name, vec.getX(), vec.getY(), vec.getZ(), vec.getW() ); +} + +#endif + +inline Point3::Point3( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; +} + +inline Point3::Point3( float _x, float _y, float _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Point3::Point3( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); +} + +inline Point3::Point3( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline const Point3 lerp( float t, const Point3 & pnt0, const Point3 & pnt1 ) +{ + return ( pnt0 + ( ( pnt1 - pnt0 ) * t ) ); +} + +inline void loadXYZ( Point3 & pnt, const float * fptr ) +{ + pnt = Point3( fptr[0], fptr[1], fptr[2] ); +} + +inline void storeXYZ( const Point3 & pnt, float * fptr ) +{ + fptr[0] = pnt.getX(); + fptr[1] = pnt.getY(); + fptr[2] = pnt.getZ(); +} + +inline void loadHalfFloats( Point3 & vec, const unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + unsigned short fp16 = hfptr[i]; + unsigned int sign = fp16 >> 15; + unsigned int exponent = (fp16 >> 10) & ((1 << 5) - 1); + unsigned int mantissa = fp16 & ((1 << 10) - 1); + + if (exponent == 0) { + // zero + mantissa = 0; + + } else if (exponent == 31) { + // infinity or nan -> infinity + exponent = 255; + mantissa = 0; + + } else { + exponent += 127 - 15; + mantissa <<= 13; + } + + Data32 d; + d.u32 = (sign << 31) | (exponent << 23) | mantissa; + vec[i] = d.f32; + } +} + +inline void storeHalfFloats( const Point3 & vec, unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + Data32 d; + d.f32 = vec[i]; + + unsigned int sign = d.u32 >> 31; + unsigned int exponent = (d.u32 >> 23) & ((1 << 8) - 1); + unsigned int mantissa = d.u32 & ((1 << 23) - 1);; + + if (exponent == 0) { + // zero or denorm -> zero + mantissa = 0; + + } else if (exponent == 255 && mantissa != 0) { + // nan -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent >= 127 - 15 + 31) { + // overflow or infinity -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent <= 127 - 15) { + // underflow -> zero + exponent = 0; + mantissa = 0; + + } else { + exponent -= 127 - 15; + mantissa >>= 13; + } + + hfptr[i] = (unsigned short)((sign << 15) | (exponent << 10) | mantissa); + } +} + +inline Point3 & Point3::operator =( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; + return *this; +} + +inline Point3 & Point3::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Point3::getX( ) const +{ + return mX; +} + +inline Point3 & Point3::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Point3::getY( ) const +{ + return mY; +} + +inline Point3 & Point3::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Point3::getZ( ) const +{ + return mZ; +} + +inline Point3 & Point3::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Point3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Point3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Point3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Point3::operator -( const Point3 & pnt ) const +{ + return Vector3( + ( mX - pnt.mX ), + ( mY - pnt.mY ), + ( mZ - pnt.mZ ) + ); +} + +inline const Point3 Point3::operator +( const Vector3 & vec ) const +{ + return Point3( + ( mX + vec.getX() ), + ( mY + vec.getY() ), + ( mZ + vec.getZ() ) + ); +} + +inline const Point3 Point3::operator -( const Vector3 & vec ) const +{ + return Point3( + ( mX - vec.getX() ), + ( mY - vec.getY() ), + ( mZ - vec.getZ() ) + ); +} + +inline Point3 & Point3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Point3 & Point3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt0.getX() * pnt1.getX() ), + ( pnt0.getY() * pnt1.getY() ), + ( pnt0.getZ() * pnt1.getZ() ) + ); +} + +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt0.getX() / pnt1.getX() ), + ( pnt0.getY() / pnt1.getY() ), + ( pnt0.getZ() / pnt1.getZ() ) + ); +} + +inline const Point3 recipPerElem( const Point3 & pnt ) +{ + return Point3( + ( 1.0f / pnt.getX() ), + ( 1.0f / pnt.getY() ), + ( 1.0f / pnt.getZ() ) + ); +} + +inline const Point3 sqrtPerElem( const Point3 & pnt ) +{ + return Point3( + sqrtf( pnt.getX() ), + sqrtf( pnt.getY() ), + sqrtf( pnt.getZ() ) + ); +} + +inline const Point3 rsqrtPerElem( const Point3 & pnt ) +{ + return Point3( + ( 1.0f / sqrtf( pnt.getX() ) ), + ( 1.0f / sqrtf( pnt.getY() ) ), + ( 1.0f / sqrtf( pnt.getZ() ) ) + ); +} + +inline const Point3 absPerElem( const Point3 & pnt ) +{ + return Point3( + fabsf( pnt.getX() ), + fabsf( pnt.getY() ), + fabsf( pnt.getZ() ) + ); +} + +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt1.getX() < 0.0f )? -fabsf( pnt0.getX() ) : fabsf( pnt0.getX() ), + ( pnt1.getY() < 0.0f )? -fabsf( pnt0.getY() ) : fabsf( pnt0.getY() ), + ( pnt1.getZ() < 0.0f )? -fabsf( pnt0.getZ() ) : fabsf( pnt0.getZ() ) + ); +} + +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + (pnt0.getX() > pnt1.getX())? pnt0.getX() : pnt1.getX(), + (pnt0.getY() > pnt1.getY())? pnt0.getY() : pnt1.getY(), + (pnt0.getZ() > pnt1.getZ())? pnt0.getZ() : pnt1.getZ() + ); +} + +inline float maxElem( const Point3 & pnt ) +{ + float result; + result = (pnt.getX() > pnt.getY())? pnt.getX() : pnt.getY(); + result = (pnt.getZ() > result)? pnt.getZ() : result; + return result; +} + +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + (pnt0.getX() < pnt1.getX())? pnt0.getX() : pnt1.getX(), + (pnt0.getY() < pnt1.getY())? pnt0.getY() : pnt1.getY(), + (pnt0.getZ() < pnt1.getZ())? pnt0.getZ() : pnt1.getZ() + ); +} + +inline float minElem( const Point3 & pnt ) +{ + float result; + result = (pnt.getX() < pnt.getY())? pnt.getX() : pnt.getY(); + result = (pnt.getZ() < result)? pnt.getZ() : result; + return result; +} + +inline float sum( const Point3 & pnt ) +{ + float result; + result = ( pnt.getX() + pnt.getY() ); + result = ( result + pnt.getZ() ); + return result; +} + +inline const Point3 scale( const Point3 & pnt, float scaleVal ) +{ + return mulPerElem( pnt, Point3( scaleVal ) ); +} + +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ) +{ + return mulPerElem( pnt, Point3( scaleVec ) ); +} + +inline float projection( const Point3 & pnt, const Vector3 & unitVec ) +{ + float result; + result = ( pnt.getX() * unitVec.getX() ); + result = ( result + ( pnt.getY() * unitVec.getY() ) ); + result = ( result + ( pnt.getZ() * unitVec.getZ() ) ); + return result; +} + +inline float distSqrFromOrigin( const Point3 & pnt ) +{ + return lengthSqr( Vector3( pnt ) ); +} + +inline float distFromOrigin( const Point3 & pnt ) +{ + return length( Vector3( pnt ) ); +} + +inline float distSqr( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return lengthSqr( ( pnt1 - pnt0 ) ); +} + +inline float dist( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return length( ( pnt1 - pnt0 ) ); +} + +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, bool select1 ) +{ + return Point3( + ( select1 )? pnt1.getX() : pnt0.getX(), + ( select1 )? pnt1.getY() : pnt0.getY(), + ( select1 )? pnt1.getZ() : pnt0.getZ() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Point3 & pnt ) +{ + printf( "( %f %f %f )\n", pnt.getX(), pnt.getY(), pnt.getZ() ); +} + +inline void print( const Point3 & pnt, const char * name ) +{ + printf( "%s: ( %f %f %f )\n", name, pnt.getX(), pnt.getY(), pnt.getZ() ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Mod Sources/Bullet/include/bullet/vectormath/scalar/vectormath_aos.h b/Mod Sources/Bullet/include/bullet/vectormath/scalar/vectormath_aos.h new file mode 100644 index 0000000..d00456d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/scalar/vectormath_aos.h @@ -0,0 +1,1872 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + +#ifndef _VECTORMATH_AOS_CPP_H +#define _VECTORMATH_AOS_CPP_H + +#include + +#ifdef _VECTORMATH_DEBUG +#include +#endif + +namespace Vectormath { + +namespace Aos { + +//----------------------------------------------------------------------------- +// Forward Declarations +// + +class Vector3; +class Vector4; +class Point3; +class Quat; +class Matrix3; +class Matrix4; +class Transform3; + +// A 3-D vector in array-of-structures format +// +class Vector3 +{ + float mX; + float mY; + float mZ; +#ifndef __GNUC__ + float d; +#endif + +public: + // Default constructor; does no initialization + // + inline Vector3( ) { }; + + // Copy a 3-D vector + // + inline Vector3( const Vector3 & vec ); + + // Construct a 3-D vector from x, y, and z elements + // + inline Vector3( float x, float y, float z ); + + // Copy elements from a 3-D point into a 3-D vector + // + explicit inline Vector3( const Point3 & pnt ); + + // Set all elements of a 3-D vector to the same scalar value + // + explicit inline Vector3( float scalar ); + + // Assign one 3-D vector to another + // + inline Vector3 & operator =( const Vector3 & vec ); + + // Set the x element of a 3-D vector + // + inline Vector3 & setX( float x ); + + // Set the y element of a 3-D vector + // + inline Vector3 & setY( float y ); + + // Set the z element of a 3-D vector + // + inline Vector3 & setZ( float z ); + + // Get the x element of a 3-D vector + // + inline float getX( ) const; + + // Get the y element of a 3-D vector + // + inline float getY( ) const; + + // Get the z element of a 3-D vector + // + inline float getZ( ) const; + + // Set an x, y, or z element of a 3-D vector by index + // + inline Vector3 & setElem( int idx, float value ); + + // Get an x, y, or z element of a 3-D vector by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two 3-D vectors + // + inline const Vector3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from another 3-D vector + // + inline const Vector3 operator -( const Vector3 & vec ) const; + + // Add a 3-D vector to a 3-D point + // + inline const Point3 operator +( const Point3 & pnt ) const; + + // Multiply a 3-D vector by a scalar + // + inline const Vector3 operator *( float scalar ) const; + + // Divide a 3-D vector by a scalar + // + inline const Vector3 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Vector3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Vector3 & operator -=( const Vector3 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector3 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector3 & operator /=( float scalar ); + + // Negate all elements of a 3-D vector + // + inline const Vector3 operator -( ) const; + + // Construct x axis + // + static inline const Vector3 xAxis( ); + + // Construct y axis + // + static inline const Vector3 yAxis( ); + + // Construct z axis + // + static inline const Vector3 zAxis( ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a 3-D vector by a scalar +// +inline const Vector3 operator *( float scalar, const Vector3 & vec ); + +// Multiply two 3-D vectors per element +// +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Divide two 3-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the reciprocal of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector3 recipPerElem( const Vector3 & vec ); + +// Compute the square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector3 sqrtPerElem( const Vector3 & vec ); + +// Compute the reciprocal square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector3 rsqrtPerElem( const Vector3 & vec ); + +// Compute the absolute value of a 3-D vector per element +// +inline const Vector3 absPerElem( const Vector3 & vec ); + +// Copy sign from one 3-D vector to another, per element +// +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum of two 3-D vectors per element +// +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Minimum of two 3-D vectors per element +// +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum element of a 3-D vector +// +inline float maxElem( const Vector3 & vec ); + +// Minimum element of a 3-D vector +// +inline float minElem( const Vector3 & vec ); + +// Compute the sum of all elements of a 3-D vector +// +inline float sum( const Vector3 & vec ); + +// Compute the dot product of two 3-D vectors +// +inline float dot( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the square of the length of a 3-D vector +// +inline float lengthSqr( const Vector3 & vec ); + +// Compute the length of a 3-D vector +// +inline float length( const Vector3 & vec ); + +// Normalize a 3-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector3 normalize( const Vector3 & vec ); + +// Compute cross product of two 3-D vectors +// +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ); + +// Outer product of two 3-D vectors +// +inline const Matrix3 outer( const Vector3 & vec0, const Vector3 & vec1 ); + +// Pre-multiply a row vector by a 3x3 matrix +// +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ); + +// Cross-product matrix of a 3-D vector +// +inline const Matrix3 crossMatrix( const Vector3 & vec ); + +// Create cross-product matrix and multiply +// NOTE: +// Faster than separately creating a cross-product matrix and multiplying. +// +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ); + +// Linear interpolation between two 3-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector3 lerp( float t, const Vector3 & vec0, const Vector3 & vec1 ); + +// Spherical linear interpolation between two 3-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector3 slerp( float t, const Vector3 & unitVec0, const Vector3 & unitVec1 ); + +// Conditionally select between two 3-D vectors +// +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, bool select1 ); + +// Load x, y, and z elements from the first three words of a float array. +// +// +inline void loadXYZ( Vector3 & vec, const float * fptr ); + +// Store x, y, and z elements of a 3-D vector in the first three words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZ( const Vector3 & vec, float * fptr ); + +// Load three-half-floats as a 3-D vector +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. +// +inline void loadHalfFloats( Vector3 & vec, const unsigned short * hfptr ); + +// Store a 3-D vector as half-floats. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// +inline void storeHalfFloats( const Vector3 & vec, unsigned short * hfptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec ); + +// Print a 3-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec, const char * name ); + +#endif + +// A 4-D vector in array-of-structures format +// +class Vector4 +{ + float mX; + float mY; + float mZ; + float mW; + +public: + // Default constructor; does no initialization + // + inline Vector4( ) { }; + + // Copy a 4-D vector + // + inline Vector4( const Vector4 & vec ); + + // Construct a 4-D vector from x, y, z, and w elements + // + inline Vector4( float x, float y, float z, float w ); + + // Construct a 4-D vector from a 3-D vector and a scalar + // + inline Vector4( const Vector3 & xyz, float w ); + + // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + // + explicit inline Vector4( const Vector3 & vec ); + + // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + // + explicit inline Vector4( const Point3 & pnt ); + + // Copy elements from a quaternion into a 4-D vector + // + explicit inline Vector4( const Quat & quat ); + + // Set all elements of a 4-D vector to the same scalar value + // + explicit inline Vector4( float scalar ); + + // Assign one 4-D vector to another + // + inline Vector4 & operator =( const Vector4 & vec ); + + // Set the x, y, and z elements of a 4-D vector + // NOTE: + // This function does not change the w element. + // + inline Vector4 & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a 4-D vector + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a 4-D vector + // + inline Vector4 & setX( float x ); + + // Set the y element of a 4-D vector + // + inline Vector4 & setY( float y ); + + // Set the z element of a 4-D vector + // + inline Vector4 & setZ( float z ); + + // Set the w element of a 4-D vector + // + inline Vector4 & setW( float w ); + + // Get the x element of a 4-D vector + // + inline float getX( ) const; + + // Get the y element of a 4-D vector + // + inline float getY( ) const; + + // Get the z element of a 4-D vector + // + inline float getZ( ) const; + + // Get the w element of a 4-D vector + // + inline float getW( ) const; + + // Set an x, y, z, or w element of a 4-D vector by index + // + inline Vector4 & setElem( int idx, float value ); + + // Get an x, y, z, or w element of a 4-D vector by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two 4-D vectors + // + inline const Vector4 operator +( const Vector4 & vec ) const; + + // Subtract a 4-D vector from another 4-D vector + // + inline const Vector4 operator -( const Vector4 & vec ) const; + + // Multiply a 4-D vector by a scalar + // + inline const Vector4 operator *( float scalar ) const; + + // Divide a 4-D vector by a scalar + // + inline const Vector4 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 4-D vector + // + inline Vector4 & operator +=( const Vector4 & vec ); + + // Perform compound assignment and subtraction by a 4-D vector + // + inline Vector4 & operator -=( const Vector4 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector4 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector4 & operator /=( float scalar ); + + // Negate all elements of a 4-D vector + // + inline const Vector4 operator -( ) const; + + // Construct x axis + // + static inline const Vector4 xAxis( ); + + // Construct y axis + // + static inline const Vector4 yAxis( ); + + // Construct z axis + // + static inline const Vector4 zAxis( ); + + // Construct w axis + // + static inline const Vector4 wAxis( ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a 4-D vector by a scalar +// +inline const Vector4 operator *( float scalar, const Vector4 & vec ); + +// Multiply two 4-D vectors per element +// +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Divide two 4-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the reciprocal of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector4 recipPerElem( const Vector4 & vec ); + +// Compute the square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector4 sqrtPerElem( const Vector4 & vec ); + +// Compute the reciprocal square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector4 rsqrtPerElem( const Vector4 & vec ); + +// Compute the absolute value of a 4-D vector per element +// +inline const Vector4 absPerElem( const Vector4 & vec ); + +// Copy sign from one 4-D vector to another, per element +// +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum of two 4-D vectors per element +// +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Minimum of two 4-D vectors per element +// +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum element of a 4-D vector +// +inline float maxElem( const Vector4 & vec ); + +// Minimum element of a 4-D vector +// +inline float minElem( const Vector4 & vec ); + +// Compute the sum of all elements of a 4-D vector +// +inline float sum( const Vector4 & vec ); + +// Compute the dot product of two 4-D vectors +// +inline float dot( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the square of the length of a 4-D vector +// +inline float lengthSqr( const Vector4 & vec ); + +// Compute the length of a 4-D vector +// +inline float length( const Vector4 & vec ); + +// Normalize a 4-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector4 normalize( const Vector4 & vec ); + +// Outer product of two 4-D vectors +// +inline const Matrix4 outer( const Vector4 & vec0, const Vector4 & vec1 ); + +// Linear interpolation between two 4-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector4 lerp( float t, const Vector4 & vec0, const Vector4 & vec1 ); + +// Spherical linear interpolation between two 4-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector4 slerp( float t, const Vector4 & unitVec0, const Vector4 & unitVec1 ); + +// Conditionally select between two 4-D vectors +// +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, bool select1 ); + +// Load x, y, z, and w elements from the first four words of a float array. +// +// +inline void loadXYZW( Vector4 & vec, const float * fptr ); + +// Store x, y, z, and w elements of a 4-D vector in the first four words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZW( const Vector4 & vec, float * fptr ); + +// Load four-half-floats as a 4-D vector +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. +// +inline void loadHalfFloats( Vector4 & vec, const unsigned short * hfptr ); + +// Store a 4-D vector as half-floats. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// +inline void storeHalfFloats( const Vector4 & vec, unsigned short * hfptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec ); + +// Print a 4-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec, const char * name ); + +#endif + +// A 3-D point in array-of-structures format +// +class Point3 +{ + float mX; + float mY; + float mZ; +#ifndef __GNUC__ + float d; +#endif + +public: + // Default constructor; does no initialization + // + inline Point3( ) { }; + + // Copy a 3-D point + // + inline Point3( const Point3 & pnt ); + + // Construct a 3-D point from x, y, and z elements + // + inline Point3( float x, float y, float z ); + + // Copy elements from a 3-D vector into a 3-D point + // + explicit inline Point3( const Vector3 & vec ); + + // Set all elements of a 3-D point to the same scalar value + // + explicit inline Point3( float scalar ); + + // Assign one 3-D point to another + // + inline Point3 & operator =( const Point3 & pnt ); + + // Set the x element of a 3-D point + // + inline Point3 & setX( float x ); + + // Set the y element of a 3-D point + // + inline Point3 & setY( float y ); + + // Set the z element of a 3-D point + // + inline Point3 & setZ( float z ); + + // Get the x element of a 3-D point + // + inline float getX( ) const; + + // Get the y element of a 3-D point + // + inline float getY( ) const; + + // Get the z element of a 3-D point + // + inline float getZ( ) const; + + // Set an x, y, or z element of a 3-D point by index + // + inline Point3 & setElem( int idx, float value ); + + // Get an x, y, or z element of a 3-D point by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Subtract a 3-D point from another 3-D point + // + inline const Vector3 operator -( const Point3 & pnt ) const; + + // Add a 3-D point to a 3-D vector + // + inline const Point3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from a 3-D point + // + inline const Point3 operator -( const Vector3 & vec ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Point3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Point3 & operator -=( const Vector3 & vec ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply two 3-D points per element +// +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Divide two 3-D points per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the reciprocal of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Point3 recipPerElem( const Point3 & pnt ); + +// Compute the square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Point3 sqrtPerElem( const Point3 & pnt ); + +// Compute the reciprocal square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Point3 rsqrtPerElem( const Point3 & pnt ); + +// Compute the absolute value of a 3-D point per element +// +inline const Point3 absPerElem( const Point3 & pnt ); + +// Copy sign from one 3-D point to another, per element +// +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum of two 3-D points per element +// +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Minimum of two 3-D points per element +// +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum element of a 3-D point +// +inline float maxElem( const Point3 & pnt ); + +// Minimum element of a 3-D point +// +inline float minElem( const Point3 & pnt ); + +// Compute the sum of all elements of a 3-D point +// +inline float sum( const Point3 & pnt ); + +// Apply uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, float scaleVal ); + +// Apply non-uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ); + +// Scalar projection of a 3-D point on a unit-length 3-D vector +// +inline float projection( const Point3 & pnt, const Vector3 & unitVec ); + +// Compute the square of the distance of a 3-D point from the coordinate-system origin +// +inline float distSqrFromOrigin( const Point3 & pnt ); + +// Compute the distance of a 3-D point from the coordinate-system origin +// +inline float distFromOrigin( const Point3 & pnt ); + +// Compute the square of the distance between two 3-D points +// +inline float distSqr( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the distance between two 3-D points +// +inline float dist( const Point3 & pnt0, const Point3 & pnt1 ); + +// Linear interpolation between two 3-D points +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Point3 lerp( float t, const Point3 & pnt0, const Point3 & pnt1 ); + +// Conditionally select between two 3-D points +// +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, bool select1 ); + +// Load x, y, and z elements from the first three words of a float array. +// +// +inline void loadXYZ( Point3 & pnt, const float * fptr ); + +// Store x, y, and z elements of a 3-D point in the first three words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZ( const Point3 & pnt, float * fptr ); + +// Load three-half-floats as a 3-D point +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. +// +inline void loadHalfFloats( Point3 & pnt, const unsigned short * hfptr ); + +// Store a 3-D point as half-floats. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// +inline void storeHalfFloats( const Point3 & pnt, unsigned short * hfptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D point +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt ); + +// Print a 3-D point and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt, const char * name ); + +#endif + +// A quaternion in array-of-structures format +// +class Quat +{ + float mX; + float mY; + float mZ; + float mW; + +public: + // Default constructor; does no initialization + // + inline Quat( ) { }; + + // Copy a quaternion + // + inline Quat( const Quat & quat ); + + // Construct a quaternion from x, y, z, and w elements + // + inline Quat( float x, float y, float z, float w ); + + // Construct a quaternion from a 3-D vector and a scalar + // + inline Quat( const Vector3 & xyz, float w ); + + // Copy elements from a 4-D vector into a quaternion + // + explicit inline Quat( const Vector4 & vec ); + + // Convert a rotation matrix to a unit-length quaternion + // + explicit inline Quat( const Matrix3 & rotMat ); + + // Set all elements of a quaternion to the same scalar value + // + explicit inline Quat( float scalar ); + + // Assign one quaternion to another + // + inline Quat & operator =( const Quat & quat ); + + // Set the x, y, and z elements of a quaternion + // NOTE: + // This function does not change the w element. + // + inline Quat & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a quaternion + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a quaternion + // + inline Quat & setX( float x ); + + // Set the y element of a quaternion + // + inline Quat & setY( float y ); + + // Set the z element of a quaternion + // + inline Quat & setZ( float z ); + + // Set the w element of a quaternion + // + inline Quat & setW( float w ); + + // Get the x element of a quaternion + // + inline float getX( ) const; + + // Get the y element of a quaternion + // + inline float getY( ) const; + + // Get the z element of a quaternion + // + inline float getZ( ) const; + + // Get the w element of a quaternion + // + inline float getW( ) const; + + // Set an x, y, z, or w element of a quaternion by index + // + inline Quat & setElem( int idx, float value ); + + // Get an x, y, z, or w element of a quaternion by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two quaternions + // + inline const Quat operator +( const Quat & quat ) const; + + // Subtract a quaternion from another quaternion + // + inline const Quat operator -( const Quat & quat ) const; + + // Multiply two quaternions + // + inline const Quat operator *( const Quat & quat ) const; + + // Multiply a quaternion by a scalar + // + inline const Quat operator *( float scalar ) const; + + // Divide a quaternion by a scalar + // + inline const Quat operator /( float scalar ) const; + + // Perform compound assignment and addition with a quaternion + // + inline Quat & operator +=( const Quat & quat ); + + // Perform compound assignment and subtraction by a quaternion + // + inline Quat & operator -=( const Quat & quat ); + + // Perform compound assignment and multiplication by a quaternion + // + inline Quat & operator *=( const Quat & quat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Quat & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Quat & operator /=( float scalar ); + + // Negate all elements of a quaternion + // + inline const Quat operator -( ) const; + + // Construct an identity quaternion + // + static inline const Quat identity( ); + + // Construct a quaternion to rotate between two unit-length 3-D vectors + // NOTE: + // The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + // + static inline const Quat rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ); + + // Construct a quaternion to rotate around a unit-length 3-D vector + // + static inline const Quat rotation( float radians, const Vector3 & unitVec ); + + // Construct a quaternion to rotate around the x axis + // + static inline const Quat rotationX( float radians ); + + // Construct a quaternion to rotate around the y axis + // + static inline const Quat rotationY( float radians ); + + // Construct a quaternion to rotate around the z axis + // + static inline const Quat rotationZ( float radians ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a quaternion by a scalar +// +inline const Quat operator *( float scalar, const Quat & quat ); + +// Compute the conjugate of a quaternion +// +inline const Quat conj( const Quat & quat ); + +// Use a unit-length quaternion to rotate a 3-D vector +// +inline const Vector3 rotate( const Quat & unitQuat, const Vector3 & vec ); + +// Compute the dot product of two quaternions +// +inline float dot( const Quat & quat0, const Quat & quat1 ); + +// Compute the norm of a quaternion +// +inline float norm( const Quat & quat ); + +// Compute the length of a quaternion +// +inline float length( const Quat & quat ); + +// Normalize a quaternion +// NOTE: +// The result is unpredictable when all elements of quat are at or near zero. +// +inline const Quat normalize( const Quat & quat ); + +// Linear interpolation between two quaternions +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 ); + +// Spherical linear interpolation between two quaternions +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 ); + +// Spherical quadrangle interpolation +// +inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 ); + +// Conditionally select between two quaternions +// +inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 ); + +// Load x, y, z, and w elements from the first four words of a float array. +// +// +inline void loadXYZW( Quat & quat, const float * fptr ); + +// Store x, y, z, and w elements of a quaternion in the first four words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZW( const Quat & quat, float * fptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a quaternion +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat ); + +// Print a quaternion and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat, const char * name ); + +#endif + +// A 3x3 matrix in array-of-structures format +// +class Matrix3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + +public: + // Default constructor; does no initialization + // + inline Matrix3( ) { }; + + // Copy a 3x3 matrix + // + inline Matrix3( const Matrix3 & mat ); + + // Construct a 3x3 matrix containing the specified columns + // + inline Matrix3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2 ); + + // Construct a 3x3 rotation matrix from a unit-length quaternion + // + explicit inline Matrix3( const Quat & unitQuat ); + + // Set all elements of a 3x3 matrix to the same scalar value + // + explicit inline Matrix3( float scalar ); + + // Assign one 3x3 matrix to another + // + inline Matrix3 & operator =( const Matrix3 & mat ); + + // Set column 0 of a 3x3 matrix + // + inline Matrix3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x3 matrix + // + inline Matrix3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x3 matrix + // + inline Matrix3 & setCol2( const Vector3 & col2 ); + + // Get column 0 of a 3x3 matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x3 matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x3 matrix + // + inline const Vector3 getCol2( ) const; + + // Set the column of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setRow( int row, const Vector3 & vec ); + + // Get the column of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x3 matrix referred to by column and row indices + // + inline Matrix3 & setElem( int col, int row, float val ); + + // Get the element of a 3x3 matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Add two 3x3 matrices + // + inline const Matrix3 operator +( const Matrix3 & mat ) const; + + // Subtract a 3x3 matrix from another 3x3 matrix + // + inline const Matrix3 operator -( const Matrix3 & mat ) const; + + // Negate all elements of a 3x3 matrix + // + inline const Matrix3 operator -( ) const; + + // Multiply a 3x3 matrix by a scalar + // + inline const Matrix3 operator *( float scalar ) const; + + // Multiply a 3x3 matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply two 3x3 matrices + // + inline const Matrix3 operator *( const Matrix3 & mat ) const; + + // Perform compound assignment and addition with a 3x3 matrix + // + inline Matrix3 & operator +=( const Matrix3 & mat ); + + // Perform compound assignment and subtraction by a 3x3 matrix + // + inline Matrix3 & operator -=( const Matrix3 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix3 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a 3x3 matrix + // + inline Matrix3 & operator *=( const Matrix3 & mat ); + + // Construct an identity 3x3 matrix + // + static inline const Matrix3 identity( ); + + // Construct a 3x3 matrix to rotate around the x axis + // + static inline const Matrix3 rotationX( float radians ); + + // Construct a 3x3 matrix to rotate around the y axis + // + static inline const Matrix3 rotationY( float radians ); + + // Construct a 3x3 matrix to rotate around the z axis + // + static inline const Matrix3 rotationZ( float radians ); + + // Construct a 3x3 matrix to rotate around the x, y, and z axes + // + static inline const Matrix3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix3 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix3 rotation( const Quat & unitQuat ); + + // Construct a 3x3 matrix to perform scaling + // + static inline const Matrix3 scale( const Vector3 & scaleVec ); + +}; +// Multiply a 3x3 matrix by a scalar +// +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ); + +// Append (post-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ); + +// Multiply two 3x3 matrices per element +// +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ); + +// Compute the absolute value of a 3x3 matrix per element +// +inline const Matrix3 absPerElem( const Matrix3 & mat ); + +// Transpose of a 3x3 matrix +// +inline const Matrix3 transpose( const Matrix3 & mat ); + +// Compute the inverse of a 3x3 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix3 inverse( const Matrix3 & mat ); + +// Determinant of a 3x3 matrix +// +inline float determinant( const Matrix3 & mat ); + +// Conditionally select between two 3x3 matrices +// +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x3 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat ); + +// Print a 3x3 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat, const char * name ); + +#endif + +// A 4x4 matrix in array-of-structures format +// +class Matrix4 +{ + Vector4 mCol0; + Vector4 mCol1; + Vector4 mCol2; + Vector4 mCol3; + +public: + // Default constructor; does no initialization + // + inline Matrix4( ) { }; + + // Copy a 4x4 matrix + // + inline Matrix4( const Matrix4 & mat ); + + // Construct a 4x4 matrix containing the specified columns + // + inline Matrix4( const Vector4 & col0, const Vector4 & col1, const Vector4 & col2, const Vector4 & col3 ); + + // Construct a 4x4 matrix from a 3x4 transformation matrix + // + explicit inline Matrix4( const Transform3 & mat ); + + // Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + // + inline Matrix4( const Matrix3 & mat, const Vector3 & translateVec ); + + // Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + // + inline Matrix4( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 4x4 matrix to the same scalar value + // + explicit inline Matrix4( float scalar ); + + // Assign one 4x4 matrix to another + // + inline Matrix4 & operator =( const Matrix4 & mat ); + + // Set the upper-left 3x3 submatrix + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 4x4 matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 4x4 matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 4x4 matrix + // + inline Matrix4 & setCol0( const Vector4 & col0 ); + + // Set column 1 of a 4x4 matrix + // + inline Matrix4 & setCol1( const Vector4 & col1 ); + + // Set column 2 of a 4x4 matrix + // + inline Matrix4 & setCol2( const Vector4 & col2 ); + + // Set column 3 of a 4x4 matrix + // + inline Matrix4 & setCol3( const Vector4 & col3 ); + + // Get column 0 of a 4x4 matrix + // + inline const Vector4 getCol0( ) const; + + // Get column 1 of a 4x4 matrix + // + inline const Vector4 getCol1( ) const; + + // Get column 2 of a 4x4 matrix + // + inline const Vector4 getCol2( ) const; + + // Get column 3 of a 4x4 matrix + // + inline const Vector4 getCol3( ) const; + + // Set the column of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setCol( int col, const Vector4 & vec ); + + // Set the row of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getCol( int col ) const; + + // Get the row of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector4 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector4 operator []( int col ) const; + + // Set the element of a 4x4 matrix referred to by column and row indices + // + inline Matrix4 & setElem( int col, int row, float val ); + + // Get the element of a 4x4 matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Add two 4x4 matrices + // + inline const Matrix4 operator +( const Matrix4 & mat ) const; + + // Subtract a 4x4 matrix from another 4x4 matrix + // + inline const Matrix4 operator -( const Matrix4 & mat ) const; + + // Negate all elements of a 4x4 matrix + // + inline const Matrix4 operator -( ) const; + + // Multiply a 4x4 matrix by a scalar + // + inline const Matrix4 operator *( float scalar ) const; + + // Multiply a 4x4 matrix by a 4-D vector + // + inline const Vector4 operator *( const Vector4 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D vector + // + inline const Vector4 operator *( const Vector3 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D point + // + inline const Vector4 operator *( const Point3 & pnt ) const; + + // Multiply two 4x4 matrices + // + inline const Matrix4 operator *( const Matrix4 & mat ) const; + + // Multiply a 4x4 matrix by a 3x4 transformation matrix + // + inline const Matrix4 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and addition with a 4x4 matrix + // + inline Matrix4 & operator +=( const Matrix4 & mat ); + + // Perform compound assignment and subtraction by a 4x4 matrix + // + inline Matrix4 & operator -=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix4 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a 4x4 matrix + // + inline Matrix4 & operator *=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Matrix4 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 4x4 matrix + // + static inline const Matrix4 identity( ); + + // Construct a 4x4 matrix to rotate around the x axis + // + static inline const Matrix4 rotationX( float radians ); + + // Construct a 4x4 matrix to rotate around the y axis + // + static inline const Matrix4 rotationY( float radians ); + + // Construct a 4x4 matrix to rotate around the z axis + // + static inline const Matrix4 rotationZ( float radians ); + + // Construct a 4x4 matrix to rotate around the x, y, and z axes + // + static inline const Matrix4 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix4 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix4 rotation( const Quat & unitQuat ); + + // Construct a 4x4 matrix to perform scaling + // + static inline const Matrix4 scale( const Vector3 & scaleVec ); + + // Construct a 4x4 matrix to perform translation + // + static inline const Matrix4 translation( const Vector3 & translateVec ); + + // Construct viewing matrix based on eye position, position looked at, and up direction + // + static inline const Matrix4 lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ); + + // Construct a perspective projection matrix + // + static inline const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar ); + + // Construct a perspective projection matrix based on frustum + // + static inline const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar ); + + // Construct an orthographic projection matrix + // + static inline const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar ); + +}; +// Multiply a 4x4 matrix by a scalar +// +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ); + +// Append (post-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ); + +// Multiply two 4x4 matrices per element +// +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ); + +// Compute the absolute value of a 4x4 matrix per element +// +inline const Matrix4 absPerElem( const Matrix4 & mat ); + +// Transpose of a 4x4 matrix +// +inline const Matrix4 transpose( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 inverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 affineInverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. +// +inline const Matrix4 orthoInverse( const Matrix4 & mat ); + +// Determinant of a 4x4 matrix +// +inline float determinant( const Matrix4 & mat ); + +// Conditionally select between two 4x4 matrices +// +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4x4 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat ); + +// Print a 4x4 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat, const char * name ); + +#endif + +// A 3x4 transformation matrix in array-of-structures format +// +class Transform3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + Vector3 mCol3; + +public: + // Default constructor; does no initialization + // + inline Transform3( ) { }; + + // Copy a 3x4 transformation matrix + // + inline Transform3( const Transform3 & tfrm ); + + // Construct a 3x4 transformation matrix containing the specified columns + // + inline Transform3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2, const Vector3 & col3 ); + + // Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + // + inline Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ); + + // Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + // + inline Transform3( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value + // + explicit inline Transform3( float scalar ); + + // Assign one 3x4 transformation matrix to another + // + inline Transform3 & operator =( const Transform3 & tfrm ); + + // Set the upper-left 3x3 submatrix + // + inline Transform3 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // + inline Transform3 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 3x4 transformation matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 3x4 transformation matrix + // + inline Transform3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x4 transformation matrix + // + inline Transform3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x4 transformation matrix + // + inline Transform3 & setCol2( const Vector3 & col2 ); + + // Set column 3 of a 3x4 transformation matrix + // + inline Transform3 & setCol3( const Vector3 & col3 ); + + // Get column 0 of a 3x4 transformation matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x4 transformation matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x4 transformation matrix + // + inline const Vector3 getCol2( ) const; + + // Get column 3 of a 3x4 transformation matrix + // + inline const Vector3 getCol3( ) const; + + // Set the column of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x4 transformation matrix referred to by column and row indices + // + inline Transform3 & setElem( int col, int row, float val ); + + // Get the element of a 3x4 transformation matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Multiply a 3x4 transformation matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply a 3x4 transformation matrix by a 3-D point + // + inline const Point3 operator *( const Point3 & pnt ) const; + + // Multiply two 3x4 transformation matrices + // + inline const Transform3 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Transform3 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 3x4 transformation matrix + // + static inline const Transform3 identity( ); + + // Construct a 3x4 transformation matrix to rotate around the x axis + // + static inline const Transform3 rotationX( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis + // + static inline const Transform3 rotationY( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis + // + static inline const Transform3 rotationZ( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + // + static inline const Transform3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + // + static inline const Transform3 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Transform3 rotation( const Quat & unitQuat ); + + // Construct a 3x4 transformation matrix to perform scaling + // + static inline const Transform3 scale( const Vector3 & scaleVec ); + + // Construct a 3x4 transformation matrix to perform translation + // + static inline const Transform3 translation( const Vector3 & translateVec ); + +}; +// Append (post-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ); + +// Multiply two 3x4 transformation matrices per element +// +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ); + +// Compute the absolute value of a 3x4 transformation matrix per element +// +inline const Transform3 absPerElem( const Transform3 & tfrm ); + +// Inverse of a 3x4 transformation matrix +// NOTE: +// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. +// +inline const Transform3 inverse( const Transform3 & tfrm ); + +// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. +// +inline const Transform3 orthoInverse( const Transform3 & tfrm ); + +// Conditionally select between two 3x4 transformation matrices +// +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x4 transformation matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm ); + +// Print a 3x4 transformation matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm, const char * name ); + +#endif + +} // namespace Aos +} // namespace Vectormath + +#include "vec_aos.h" +#include "quat_aos.h" +#include "mat_aos.h" + +#endif diff --git a/Mod Sources/Bullet/include/bullet/vectormath/sse/boolInVec.h b/Mod Sources/Bullet/include/bullet/vectormath/sse/boolInVec.h new file mode 100644 index 0000000..d21d25c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/sse/boolInVec.h @@ -0,0 +1,247 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef _BOOLINVEC_H +#define _BOOLINVEC_H + +#include + +namespace Vectormath { + +class floatInVec; + +//-------------------------------------------------------------------------------------------------- +// boolInVec class +// + +class boolInVec +{ + private: + __m128 mData; + + inline boolInVec(__m128 vec); + public: + inline boolInVec() {} + + // matches standard type conversions + // + inline boolInVec(const floatInVec &vec); + + // explicit cast from bool + // + explicit inline boolInVec(bool scalar); + +#ifdef _VECTORMATH_NO_SCALAR_CAST + // explicit cast to bool + // + inline bool getAsBool() const; +#else + // implicit cast to bool + // + inline operator bool() const; +#endif + + // get vector data + // bool value is splatted across all word slots of vector as 0 (false) or -1 (true) + // + inline __m128 get128() const; + + // operators + // + inline const boolInVec operator ! () const; + inline boolInVec& operator = (const boolInVec &vec); + inline boolInVec& operator &= (const boolInVec &vec); + inline boolInVec& operator ^= (const boolInVec &vec); + inline boolInVec& operator |= (const boolInVec &vec); + + // friend functions + // + friend inline const boolInVec operator == (const boolInVec &vec0, const boolInVec &vec1); + friend inline const boolInVec operator != (const boolInVec &vec0, const boolInVec &vec1); + friend inline const boolInVec operator < (const floatInVec &vec0, const floatInVec &vec1); + friend inline const boolInVec operator <= (const floatInVec &vec0, const floatInVec &vec1); + friend inline const boolInVec operator > (const floatInVec &vec0, const floatInVec &vec1); + friend inline const boolInVec operator >= (const floatInVec &vec0, const floatInVec &vec1); + friend inline const boolInVec operator == (const floatInVec &vec0, const floatInVec &vec1); + friend inline const boolInVec operator != (const floatInVec &vec0, const floatInVec &vec1); + friend inline const boolInVec operator & (const boolInVec &vec0, const boolInVec &vec1); + friend inline const boolInVec operator ^ (const boolInVec &vec0, const boolInVec &vec1); + friend inline const boolInVec operator | (const boolInVec &vec0, const boolInVec &vec1); + friend inline const boolInVec select(const boolInVec &vec0, const boolInVec &vec1, const boolInVec &select_vec1); +}; + +//-------------------------------------------------------------------------------------------------- +// boolInVec functions +// + +// operators +// +inline const boolInVec operator == (const boolInVec &vec0, const boolInVec &vec1); +inline const boolInVec operator != (const boolInVec &vec0, const boolInVec &vec1); +inline const boolInVec operator & (const boolInVec &vec0, const boolInVec &vec1); +inline const boolInVec operator ^ (const boolInVec &vec0, const boolInVec &vec1); +inline const boolInVec operator | (const boolInVec &vec0, const boolInVec &vec1); + +// select between vec0 and vec1 using boolInVec. +// false selects vec0, true selects vec1 +// +inline const boolInVec select(const boolInVec &vec0, const boolInVec &vec1, const boolInVec &select_vec1); + +} // namespace Vectormath + +//-------------------------------------------------------------------------------------------------- +// boolInVec implementation +// + +#include "floatInVec.h" + +namespace Vectormath { + +inline +boolInVec::boolInVec(__m128 vec) +{ + mData = vec; +} + +inline +boolInVec::boolInVec(const floatInVec &vec) +{ + *this = (vec != floatInVec(0.0f)); +} + +inline +boolInVec::boolInVec(bool scalar) +{ + unsigned int mask = -(int)scalar; + mData = _mm_set1_ps(*(float *)&mask); // TODO: Union +} + +#ifdef _VECTORMATH_NO_SCALAR_CAST +inline +bool +boolInVec::getAsBool() const +#else +inline +boolInVec::operator bool() const +#endif +{ + return *(bool *)&mData; +} + +inline +__m128 +boolInVec::get128() const +{ + return mData; +} + +inline +const boolInVec +boolInVec::operator ! () const +{ + return boolInVec(_mm_andnot_ps(mData, _mm_cmpneq_ps(_mm_setzero_ps(),_mm_setzero_ps()))); +} + +inline +boolInVec& +boolInVec::operator = (const boolInVec &vec) +{ + mData = vec.mData; + return *this; +} + +inline +boolInVec& +boolInVec::operator &= (const boolInVec &vec) +{ + *this = *this & vec; + return *this; +} + +inline +boolInVec& +boolInVec::operator ^= (const boolInVec &vec) +{ + *this = *this ^ vec; + return *this; +} + +inline +boolInVec& +boolInVec::operator |= (const boolInVec &vec) +{ + *this = *this | vec; + return *this; +} + +inline +const boolInVec +operator == (const boolInVec &vec0, const boolInVec &vec1) +{ + return boolInVec(_mm_cmpeq_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator != (const boolInVec &vec0, const boolInVec &vec1) +{ + return boolInVec(_mm_cmpneq_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator & (const boolInVec &vec0, const boolInVec &vec1) +{ + return boolInVec(_mm_and_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator | (const boolInVec &vec0, const boolInVec &vec1) +{ + return boolInVec(_mm_or_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator ^ (const boolInVec &vec0, const boolInVec &vec1) +{ + return boolInVec(_mm_xor_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +select(const boolInVec &vec0, const boolInVec &vec1, const boolInVec &select_vec1) +{ + return boolInVec(vec_sel(vec0.get128(), vec1.get128(), select_vec1.get128())); +} + +} // namespace Vectormath + +#endif // boolInVec_h diff --git a/Mod Sources/Bullet/include/bullet/vectormath/sse/floatInVec.h b/Mod Sources/Bullet/include/bullet/vectormath/sse/floatInVec.h new file mode 100644 index 0000000..e8ac595 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/sse/floatInVec.h @@ -0,0 +1,340 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef _FLOATINVEC_H +#define _FLOATINVEC_H + +#include +#include + +namespace Vectormath { + +class boolInVec; + +//-------------------------------------------------------------------------------------------------- +// floatInVec class +// + +class floatInVec +{ + private: + __m128 mData; + + public: + inline floatInVec(__m128 vec); + + inline floatInVec() {} + + // matches standard type conversions + // + inline floatInVec(const boolInVec &vec); + + // construct from a slot of __m128 + // + inline floatInVec(__m128 vec, int slot); + + // explicit cast from float + // + explicit inline floatInVec(float scalar); + +#ifdef _VECTORMATH_NO_SCALAR_CAST + // explicit cast to float + // + inline float getAsFloat() const; +#else + // implicit cast to float + // + inline operator float() const; +#endif + + // get vector data + // float value is splatted across all word slots of vector + // + inline __m128 get128() const; + + // operators + // + inline const floatInVec operator ++ (int); + inline const floatInVec operator -- (int); + inline floatInVec& operator ++ (); + inline floatInVec& operator -- (); + inline const floatInVec operator - () const; + inline floatInVec& operator = (const floatInVec &vec); + inline floatInVec& operator *= (const floatInVec &vec); + inline floatInVec& operator /= (const floatInVec &vec); + inline floatInVec& operator += (const floatInVec &vec); + inline floatInVec& operator -= (const floatInVec &vec); + + // friend functions + // + friend inline const floatInVec operator * (const floatInVec &vec0, const floatInVec &vec1); + friend inline const floatInVec operator / (const floatInVec &vec0, const floatInVec &vec1); + friend inline const floatInVec operator + (const floatInVec &vec0, const floatInVec &vec1); + friend inline const floatInVec operator - (const floatInVec &vec0, const floatInVec &vec1); + friend inline const floatInVec select(const floatInVec &vec0, const floatInVec &vec1, boolInVec select_vec1); +}; + +//-------------------------------------------------------------------------------------------------- +// floatInVec functions +// + +// operators +// +inline const floatInVec operator * (const floatInVec &vec0, const floatInVec &vec1); +inline const floatInVec operator / (const floatInVec &vec0, const floatInVec &vec1); +inline const floatInVec operator + (const floatInVec &vec0, const floatInVec &vec1); +inline const floatInVec operator - (const floatInVec &vec0, const floatInVec &vec1); +inline const boolInVec operator < (const floatInVec &vec0, const floatInVec &vec1); +inline const boolInVec operator <= (const floatInVec &vec0, const floatInVec &vec1); +inline const boolInVec operator > (const floatInVec &vec0, const floatInVec &vec1); +inline const boolInVec operator >= (const floatInVec &vec0, const floatInVec &vec1); +inline const boolInVec operator == (const floatInVec &vec0, const floatInVec &vec1); +inline const boolInVec operator != (const floatInVec &vec0, const floatInVec &vec1); + +// select between vec0 and vec1 using boolInVec. +// false selects vec0, true selects vec1 +// +inline const floatInVec select(const floatInVec &vec0, const floatInVec &vec1, const boolInVec &select_vec1); + +} // namespace Vectormath + +//-------------------------------------------------------------------------------------------------- +// floatInVec implementation +// + +#include "boolInVec.h" + +namespace Vectormath { + +inline +floatInVec::floatInVec(__m128 vec) +{ + mData = vec; +} + +inline +floatInVec::floatInVec(const boolInVec &vec) +{ + mData = vec_sel(_mm_setzero_ps(), _mm_set1_ps(1.0f), vec.get128()); +} + +inline +floatInVec::floatInVec(__m128 vec, int slot) +{ + SSEFloat v; + v.m128 = vec; + mData = _mm_set1_ps(v.f[slot]); +} + +inline +floatInVec::floatInVec(float scalar) +{ + mData = _mm_set1_ps(scalar); +} + +#ifdef _VECTORMATH_NO_SCALAR_CAST +inline +float +floatInVec::getAsFloat() const +#else +inline +floatInVec::operator float() const +#endif +{ + return *((float *)&mData); +} + +inline +__m128 +floatInVec::get128() const +{ + return mData; +} + +inline +const floatInVec +floatInVec::operator ++ (int) +{ + __m128 olddata = mData; + operator ++(); + return floatInVec(olddata); +} + +inline +const floatInVec +floatInVec::operator -- (int) +{ + __m128 olddata = mData; + operator --(); + return floatInVec(olddata); +} + +inline +floatInVec& +floatInVec::operator ++ () +{ + *this += floatInVec(_mm_set1_ps(1.0f)); + return *this; +} + +inline +floatInVec& +floatInVec::operator -- () +{ + *this -= floatInVec(_mm_set1_ps(1.0f)); + return *this; +} + +inline +const floatInVec +floatInVec::operator - () const +{ + return floatInVec(_mm_sub_ps(_mm_setzero_ps(), mData)); +} + +inline +floatInVec& +floatInVec::operator = (const floatInVec &vec) +{ + mData = vec.mData; + return *this; +} + +inline +floatInVec& +floatInVec::operator *= (const floatInVec &vec) +{ + *this = *this * vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator /= (const floatInVec &vec) +{ + *this = *this / vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator += (const floatInVec &vec) +{ + *this = *this + vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator -= (const floatInVec &vec) +{ + *this = *this - vec; + return *this; +} + +inline +const floatInVec +operator * (const floatInVec &vec0, const floatInVec &vec1) +{ + return floatInVec(_mm_mul_ps(vec0.get128(), vec1.get128())); +} + +inline +const floatInVec +operator / (const floatInVec &num, const floatInVec &den) +{ + return floatInVec(_mm_div_ps(num.get128(), den.get128())); +} + +inline +const floatInVec +operator + (const floatInVec &vec0, const floatInVec &vec1) +{ + return floatInVec(_mm_add_ps(vec0.get128(), vec1.get128())); +} + +inline +const floatInVec +operator - (const floatInVec &vec0, const floatInVec &vec1) +{ + return floatInVec(_mm_sub_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator < (const floatInVec &vec0, const floatInVec &vec1) +{ + return boolInVec(_mm_cmpgt_ps(vec1.get128(), vec0.get128())); +} + +inline +const boolInVec +operator <= (const floatInVec &vec0, const floatInVec &vec1) +{ + return boolInVec(_mm_cmpge_ps(vec1.get128(), vec0.get128())); +} + +inline +const boolInVec +operator > (const floatInVec &vec0, const floatInVec &vec1) +{ + return boolInVec(_mm_cmpgt_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator >= (const floatInVec &vec0, const floatInVec &vec1) +{ + return boolInVec(_mm_cmpge_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator == (const floatInVec &vec0, const floatInVec &vec1) +{ + return boolInVec(_mm_cmpeq_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator != (const floatInVec &vec0, const floatInVec &vec1) +{ + return boolInVec(_mm_cmpneq_ps(vec0.get128(), vec1.get128())); +} + +inline +const floatInVec +select(const floatInVec &vec0, const floatInVec &vec1, const boolInVec &select_vec1) +{ + return floatInVec(vec_sel(vec0.get128(), vec1.get128(), select_vec1.get128())); +} + +} // namespace Vectormath + +#endif // floatInVec_h diff --git a/Mod Sources/Bullet/include/bullet/vectormath/sse/mat_aos.h b/Mod Sources/Bullet/include/bullet/vectormath/sse/mat_aos.h new file mode 100644 index 0000000..1dd952d --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/sse/mat_aos.h @@ -0,0 +1,2190 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + + +#ifndef _VECTORMATH_MAT_AOS_CPP_H +#define _VECTORMATH_MAT_AOS_CPP_H + +namespace Vectormath { +namespace Aos { + +//----------------------------------------------------------------------------- +// Constants +// for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + +#define _VECTORMATH_PERM_ZBWX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XCYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_C, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XYAB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B }) +#define _VECTORMATH_PERM_ZWCD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_W, _VECTORMATH_PERM_C, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_XZBX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_CXXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_YAXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XAZC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_YXWZ ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X, _VECTORMATH_PERM_W, _VECTORMATH_PERM_Z }) +#define _VECTORMATH_PERM_YBWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_XYCX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_YCXY ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y }) +#define _VECTORMATH_PERM_CXYC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_ZAYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_BZXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_B, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XZYA ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A }) +#define _VECTORMATH_PERM_ZXXB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_B }) +#define _VECTORMATH_PERM_YXXC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_BBYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_B, _VECTORMATH_PERM_B, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PI_OVER_2 1.570796327f + +//----------------------------------------------------------------------------- +// Definitions + +__forceinline Matrix3::Matrix3( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; +} + +__forceinline Matrix3::Matrix3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +__forceinline Matrix3::Matrix3( const floatInVec &scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +__forceinline Matrix3::Matrix3( const Quat &unitQuat ) +{ + __m128 xyzw_2, wwww, yzxw, zxyw, yzxw_2, zxyw_2; + __m128 tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + __declspec(align(16)) unsigned int sx[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int sz[4] = {0, 0, 0xffffffff, 0}; + __m128 select_x = _mm_load_ps((float *)sx); + __m128 select_z = _mm_load_ps((float *)sz); + + xyzw_2 = _mm_add_ps( unitQuat.get128(), unitQuat.get128() ); + wwww = _mm_shuffle_ps( unitQuat.get128(), unitQuat.get128(), _MM_SHUFFLE(3,3,3,3) ); + yzxw = _mm_shuffle_ps( unitQuat.get128(), unitQuat.get128(), _MM_SHUFFLE(3,0,2,1) ); + zxyw = _mm_shuffle_ps( unitQuat.get128(), unitQuat.get128(), _MM_SHUFFLE(3,1,0,2) ); + yzxw_2 = _mm_shuffle_ps( xyzw_2, xyzw_2, _MM_SHUFFLE(3,0,2,1) ); + zxyw_2 = _mm_shuffle_ps( xyzw_2, xyzw_2, _MM_SHUFFLE(3,1,0,2) ); + + tmp0 = _mm_mul_ps( yzxw_2, wwww ); // tmp0 = 2yw, 2zw, 2xw, 2w2 + tmp1 = _mm_sub_ps( _mm_set1_ps(1.0f), _mm_mul_ps(yzxw, yzxw_2) ); // tmp1 = 1 - 2y2, 1 - 2z2, 1 - 2x2, 1 - 2w2 + tmp2 = _mm_mul_ps( yzxw, xyzw_2 ); // tmp2 = 2xy, 2yz, 2xz, 2w2 + tmp0 = _mm_add_ps( _mm_mul_ps(zxyw, xyzw_2), tmp0 ); // tmp0 = 2yw + 2zx, 2zw + 2xy, 2xw + 2yz, 2w2 + 2w2 + tmp1 = _mm_sub_ps( tmp1, _mm_mul_ps(zxyw, zxyw_2) ); // tmp1 = 1 - 2y2 - 2z2, 1 - 2z2 - 2x2, 1 - 2x2 - 2y2, 1 - 2w2 - 2w2 + tmp2 = _mm_sub_ps( tmp2, _mm_mul_ps(zxyw_2, wwww) ); // tmp2 = 2xy - 2zw, 2yz - 2xw, 2xz - 2yw, 2w2 -2w2 + + tmp3 = vec_sel( tmp0, tmp1, select_x ); + tmp4 = vec_sel( tmp1, tmp2, select_x ); + tmp5 = vec_sel( tmp2, tmp0, select_x ); + mCol0 = Vector3( vec_sel( tmp3, tmp2, select_z ) ); + mCol1 = Vector3( vec_sel( tmp4, tmp0, select_z ) ); + mCol2 = Vector3( vec_sel( tmp5, tmp1, select_z ) ); +} + +__forceinline Matrix3::Matrix3( const Vector3 &_col0, const Vector3 &_col1, const Vector3 &_col2 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; +} + +__forceinline Matrix3 & Matrix3::setCol0( const Vector3 &_col0 ) +{ + mCol0 = _col0; + return *this; +} + +__forceinline Matrix3 & Matrix3::setCol1( const Vector3 &_col1 ) +{ + mCol1 = _col1; + return *this; +} + +__forceinline Matrix3 & Matrix3::setCol2( const Vector3 &_col2 ) +{ + mCol2 = _col2; + return *this; +} + +__forceinline Matrix3 & Matrix3::setCol( int col, const Vector3 &vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +__forceinline Matrix3 & Matrix3::setRow( int row, const Vector3 &vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + return *this; +} + +__forceinline Matrix3 & Matrix3::setElem( int col, int row, float val ) +{ + (*this)[col].setElem(row, val); + return *this; +} + +__forceinline Matrix3 & Matrix3::setElem( int col, int row, const floatInVec &val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +__forceinline const floatInVec Matrix3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +__forceinline const Vector3 Matrix3::getCol0( ) const +{ + return mCol0; +} + +__forceinline const Vector3 Matrix3::getCol1( ) const +{ + return mCol1; +} + +__forceinline const Vector3 Matrix3::getCol2( ) const +{ + return mCol2; +} + +__forceinline const Vector3 Matrix3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +__forceinline const Vector3 Matrix3::getRow( int row ) const +{ + return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) ); +} + +__forceinline Vector3 & Matrix3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +__forceinline const Vector3 Matrix3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +__forceinline Matrix3 & Matrix3::operator =( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + return *this; +} + +__forceinline const Matrix3 transpose( const Matrix3 & mat ) +{ + __m128 tmp0, tmp1, res0, res1, res2; + tmp0 = vec_mergeh( mat.getCol0().get128(), mat.getCol2().get128() ); + tmp1 = vec_mergel( mat.getCol0().get128(), mat.getCol2().get128() ); + res0 = vec_mergeh( tmp0, mat.getCol1().get128() ); + //res1 = vec_perm( tmp0, mat.getCol1().get128(), _VECTORMATH_PERM_ZBWX ); + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + res1 = _mm_shuffle_ps( tmp0, tmp0, _MM_SHUFFLE(0,3,2,2)); + res1 = vec_sel(res1, mat.getCol1().get128(), select_y); + //res2 = vec_perm( tmp1, mat.getCol1().get128(), _VECTORMATH_PERM_XCYX ); + res2 = _mm_shuffle_ps( tmp1, tmp1, _MM_SHUFFLE(0,1,1,0)); + res2 = vec_sel(res2, vec_splat(mat.getCol1().get128(), 2), select_y); + return Matrix3( + Vector3( res0 ), + Vector3( res1 ), + Vector3( res2 ) + ); +} + +__forceinline const Matrix3 inverse( const Matrix3 & mat ) +{ + __m128 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet, inv0, inv1, inv2; + tmp2 = _vmathVfCross( mat.getCol0().get128(), mat.getCol1().get128() ); + tmp0 = _vmathVfCross( mat.getCol1().get128(), mat.getCol2().get128() ); + tmp1 = _vmathVfCross( mat.getCol2().get128(), mat.getCol0().get128() ); + dot = _vmathVfDot3( tmp2, mat.getCol2().get128() ); + dot = vec_splat( dot, 0 ); + invdet = recipf4( dot ); + tmp3 = vec_mergeh( tmp0, tmp2 ); + tmp4 = vec_mergel( tmp0, tmp2 ); + inv0 = vec_mergeh( tmp3, tmp1 ); + //inv1 = vec_perm( tmp3, tmp1, _VECTORMATH_PERM_ZBWX ); + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + inv1 = _mm_shuffle_ps( tmp3, tmp3, _MM_SHUFFLE(0,3,2,2)); + inv1 = vec_sel(inv1, tmp1, select_y); + //inv2 = vec_perm( tmp4, tmp1, _VECTORMATH_PERM_XCYX ); + inv2 = _mm_shuffle_ps( tmp4, tmp4, _MM_SHUFFLE(0,1,1,0)); + inv2 = vec_sel(inv2, vec_splat(tmp1, 2), select_y); + inv0 = vec_mul( inv0, invdet ); + inv1 = vec_mul( inv1, invdet ); + inv2 = vec_mul( inv2, invdet ); + return Matrix3( + Vector3( inv0 ), + Vector3( inv1 ), + Vector3( inv2 ) + ); +} + +__forceinline const floatInVec determinant( const Matrix3 & mat ) +{ + return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) ); +} + +__forceinline const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ) + ); +} + +__forceinline const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ) + ); +} + +__forceinline Matrix3 & Matrix3::operator +=( const Matrix3 & mat ) +{ + *this = *this + mat; + return *this; +} + +__forceinline Matrix3 & Matrix3::operator -=( const Matrix3 & mat ) +{ + *this = *this - mat; + return *this; +} + +__forceinline const Matrix3 Matrix3::operator -( ) const +{ + return Matrix3( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ) + ); +} + +__forceinline const Matrix3 absPerElem( const Matrix3 & mat ) +{ + return Matrix3( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ) + ); +} + +__forceinline const Matrix3 Matrix3::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +__forceinline const Matrix3 Matrix3::operator *( const floatInVec &scalar ) const +{ + return Matrix3( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ) + ); +} + +__forceinline Matrix3 & Matrix3::operator *=( float scalar ) +{ + return *this *= floatInVec(scalar); +} + +__forceinline Matrix3 & Matrix3::operator *=( const floatInVec &scalar ) +{ + *this = *this * scalar; + return *this; +} + +__forceinline const Matrix3 operator *( float scalar, const Matrix3 & mat ) +{ + return floatInVec(scalar) * mat; +} + +__forceinline const Matrix3 operator *( const floatInVec &scalar, const Matrix3 & mat ) +{ + return mat * scalar; +} + +__forceinline const Vector3 Matrix3::operator *( const Vector3 &vec ) const +{ + __m128 res; + __m128 xxxx, yyyy, zzzz; + xxxx = vec_splat( vec.get128(), 0 ); + yyyy = vec_splat( vec.get128(), 1 ); + zzzz = vec_splat( vec.get128(), 2 ); + res = vec_mul( mCol0.get128(), xxxx ); + res = vec_madd( mCol1.get128(), yyyy, res ); + res = vec_madd( mCol2.get128(), zzzz, res ); + return Vector3( res ); +} + +__forceinline const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const +{ + return Matrix3( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ) + ); +} + +__forceinline Matrix3 & Matrix3::operator *=( const Matrix3 & mat ) +{ + *this = *this * mat; + return *this; +} + +__forceinline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ) +{ + return Matrix3( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ) + ); +} + +__forceinline const Matrix3 Matrix3::identity( ) +{ + return Matrix3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ) + ); +} + +__forceinline const Matrix3 Matrix3::rotationX( float radians ) +{ + return rotationX( floatInVec(radians) ); +} + +__forceinline const Matrix3 Matrix3::rotationX( const floatInVec &radians ) +{ + __m128 s, c, res1, res2; + __m128 zero; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res1 = vec_sel( zero, c, select_y ); + res1 = vec_sel( res1, s, select_z ); + res2 = vec_sel( zero, negatef4(s), select_y ); + res2 = vec_sel( res2, c, select_z ); + return Matrix3( + Vector3::xAxis( ), + Vector3( res1 ), + Vector3( res2 ) + ); +} + +__forceinline const Matrix3 Matrix3::rotationY( float radians ) +{ + return rotationY( floatInVec(radians) ); +} + +__forceinline const Matrix3 Matrix3::rotationY( const floatInVec &radians ) +{ + __m128 s, c, res0, res2; + __m128 zero; + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, negatef4(s), select_z ); + res2 = vec_sel( zero, s, select_x ); + res2 = vec_sel( res2, c, select_z ); + return Matrix3( + Vector3( res0 ), + Vector3::yAxis( ), + Vector3( res2 ) + ); +} + +__forceinline const Matrix3 Matrix3::rotationZ( float radians ) +{ + return rotationZ( floatInVec(radians) ); +} + +__forceinline const Matrix3 Matrix3::rotationZ( const floatInVec &radians ) +{ + __m128 s, c, res0, res1; + __m128 zero; + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, s, select_y ); + res1 = vec_sel( zero, negatef4(s), select_x ); + res1 = vec_sel( res1, c, select_y ); + return Matrix3( + Vector3( res0 ), + Vector3( res1 ), + Vector3::zAxis( ) + ); +} + +__forceinline const Matrix3 Matrix3::rotationZYX( const Vector3 &radiansXYZ ) +{ + __m128 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + angles = Vector4( radiansXYZ, 0.0f ).get128(); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = vec_mergel( c, s ); + Z1 = vec_mergel( negS, c ); + __declspec(align(16)) unsigned int select_xyz[4] = {0xffffffff, 0xffffffff, 0xffffffff, 0}; + Z1 = vec_and( Z1, _mm_load_ps( (float *)select_xyz ) ); + Y0 = _mm_shuffle_ps( c, negS, _MM_SHUFFLE(0,1,1,1) ); + Y1 = _mm_shuffle_ps( s, c, _MM_SHUFFLE(0,1,1,1) ); + X0 = vec_splat( s, 0 ); + X1 = vec_splat( c, 0 ); + tmp = vec_mul( Z0, Y1 ); + return Matrix3( + Vector3( vec_mul( Z0, Y0 ) ), + Vector3( vec_madd( Z1, X1, vec_mul( tmp, X0 ) ) ), + Vector3( vec_nmsub( Z1, X0, vec_mul( tmp, X1 ) ) ) + ); +} + +__forceinline const Matrix3 Matrix3::rotation( float radians, const Vector3 &unitVec ) +{ + return rotation( floatInVec(radians), unitVec ); +} + +__forceinline const Matrix3 Matrix3::rotation( const floatInVec &radians, const Vector3 &unitVec ) +{ + __m128 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2; + axis = unitVec.get128(); + sincosf4( radians.get128(), &s, &c ); + xxxx = vec_splat( axis, 0 ); + yyyy = vec_splat( axis, 1 ); + zzzz = vec_splat( axis, 2 ); + oneMinusC = vec_sub( _mm_set1_ps(1.0f), c ); + axisS = vec_mul( axis, s ); + negAxisS = negatef4( axisS ); + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + //tmp0 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_XZBX ); + tmp0 = _mm_shuffle_ps( axisS, axisS, _MM_SHUFFLE(0,0,2,0) ); + tmp0 = vec_sel(tmp0, vec_splat(negAxisS, 1), select_z); + //tmp1 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_CXXX ); + tmp1 = vec_sel( vec_splat(axisS, 0), vec_splat(negAxisS, 2), select_x ); + //tmp2 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_YAXX ); + tmp2 = _mm_shuffle_ps( axisS, axisS, _MM_SHUFFLE(0,0,0,1) ); + tmp2 = vec_sel(tmp2, vec_splat(negAxisS, 0), select_y); + tmp0 = vec_sel( tmp0, c, select_x ); + tmp1 = vec_sel( tmp1, c, select_y ); + tmp2 = vec_sel( tmp2, c, select_z ); + return Matrix3( + Vector3( vec_madd( vec_mul( axis, xxxx ), oneMinusC, tmp0 ) ), + Vector3( vec_madd( vec_mul( axis, yyyy ), oneMinusC, tmp1 ) ), + Vector3( vec_madd( vec_mul( axis, zzzz ), oneMinusC, tmp2 ) ) + ); +} + +__forceinline const Matrix3 Matrix3::rotation( const Quat &unitQuat ) +{ + return Matrix3( unitQuat ); +} + +__forceinline const Matrix3 Matrix3::scale( const Vector3 &scaleVec ) +{ + __m128 zero = _mm_setzero_ps(); + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + return Matrix3( + Vector3( vec_sel( zero, scaleVec.get128(), select_x ) ), + Vector3( vec_sel( zero, scaleVec.get128(), select_y ) ), + Vector3( vec_sel( zero, scaleVec.get128(), select_z ) ) + ); +} + +__forceinline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 &scaleVec ) +{ + return Matrix3( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ) + ); +} + +__forceinline const Matrix3 prependScale( const Vector3 &scaleVec, const Matrix3 & mat ) +{ + return Matrix3( + mulPerElem( mat.getCol0(), scaleVec ), + mulPerElem( mat.getCol1(), scaleVec ), + mulPerElem( mat.getCol2(), scaleVec ) + ); +} + +__forceinline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +__forceinline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, const boolInVec &select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +__forceinline void print( const Matrix3 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); +} + +__forceinline void print( const Matrix3 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +__forceinline Matrix4::Matrix4( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; +} + +__forceinline Matrix4::Matrix4( float scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +__forceinline Matrix4::Matrix4( const floatInVec &scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +__forceinline Matrix4::Matrix4( const Transform3 & mat ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( mat.getCol3(), 1.0f ); +} + +__forceinline Matrix4::Matrix4( const Vector4 &_col0, const Vector4 &_col1, const Vector4 &_col2, const Vector4 &_col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +__forceinline Matrix4::Matrix4( const Matrix3 & mat, const Vector3 &translateVec ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +__forceinline Matrix4::Matrix4( const Quat &unitQuat, const Vector3 &translateVec ) +{ + Matrix3 mat; + mat = Matrix3( unitQuat ); + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +__forceinline Matrix4 & Matrix4::setCol0( const Vector4 &_col0 ) +{ + mCol0 = _col0; + return *this; +} + +__forceinline Matrix4 & Matrix4::setCol1( const Vector4 &_col1 ) +{ + mCol1 = _col1; + return *this; +} + +__forceinline Matrix4 & Matrix4::setCol2( const Vector4 &_col2 ) +{ + mCol2 = _col2; + return *this; +} + +__forceinline Matrix4 & Matrix4::setCol3( const Vector4 &_col3 ) +{ + mCol3 = _col3; + return *this; +} + +__forceinline Matrix4 & Matrix4::setCol( int col, const Vector4 &vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +__forceinline Matrix4 & Matrix4::setRow( int row, const Vector4 &vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +__forceinline Matrix4 & Matrix4::setElem( int col, int row, float val ) +{ + (*this)[col].setElem(row, val); + return *this; +} + +__forceinline Matrix4 & Matrix4::setElem( int col, int row, const floatInVec &val ) +{ + Vector4 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +__forceinline const floatInVec Matrix4::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +__forceinline const Vector4 Matrix4::getCol0( ) const +{ + return mCol0; +} + +__forceinline const Vector4 Matrix4::getCol1( ) const +{ + return mCol1; +} + +__forceinline const Vector4 Matrix4::getCol2( ) const +{ + return mCol2; +} + +__forceinline const Vector4 Matrix4::getCol3( ) const +{ + return mCol3; +} + +__forceinline const Vector4 Matrix4::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +__forceinline const Vector4 Matrix4::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +__forceinline Vector4 & Matrix4::operator []( int col ) +{ + return *(&mCol0 + col); +} + +__forceinline const Vector4 Matrix4::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +__forceinline Matrix4 & Matrix4::operator =( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; + return *this; +} + +__forceinline const Matrix4 transpose( const Matrix4 & mat ) +{ + __m128 tmp0, tmp1, tmp2, tmp3, res0, res1, res2, res3; + tmp0 = vec_mergeh( mat.getCol0().get128(), mat.getCol2().get128() ); + tmp1 = vec_mergeh( mat.getCol1().get128(), mat.getCol3().get128() ); + tmp2 = vec_mergel( mat.getCol0().get128(), mat.getCol2().get128() ); + tmp3 = vec_mergel( mat.getCol1().get128(), mat.getCol3().get128() ); + res0 = vec_mergeh( tmp0, tmp1 ); + res1 = vec_mergel( tmp0, tmp1 ); + res2 = vec_mergeh( tmp2, tmp3 ); + res3 = vec_mergel( tmp2, tmp3 ); + return Matrix4( + Vector4( res0 ), + Vector4( res1 ), + Vector4( res2 ), + Vector4( res3 ) + ); +} + +// TODO: Tidy +static __declspec(align(16)) const unsigned int _vmathPNPN[4] = {0x00000000, 0x80000000, 0x00000000, 0x80000000}; +static __declspec(align(16)) const unsigned int _vmathNPNP[4] = {0x80000000, 0x00000000, 0x80000000, 0x00000000}; +static __declspec(align(16)) const float _vmathZERONE[4] = {1.0f, 0.0f, 0.0f, 1.0f}; + +__forceinline const Matrix4 inverse( const Matrix4 & mat ) +{ + __m128 Va,Vb,Vc; + __m128 r1,r2,r3,tt,tt2; + __m128 sum,Det,RDet; + __m128 trns0,trns1,trns2,trns3; + + __m128 _L1 = mat.getCol0().get128(); + __m128 _L2 = mat.getCol1().get128(); + __m128 _L3 = mat.getCol2().get128(); + __m128 _L4 = mat.getCol3().get128(); + // Calculating the minterms for the first line. + + // _mm_ror_ps is just a macro using _mm_shuffle_ps(). + tt = _L4; tt2 = _mm_ror_ps(_L3,1); + Vc = _mm_mul_ps(tt2,_mm_ror_ps(tt,0)); // V3'·V4 + Va = _mm_mul_ps(tt2,_mm_ror_ps(tt,2)); // V3'·V4" + Vb = _mm_mul_ps(tt2,_mm_ror_ps(tt,3)); // V3'·V4^ + + r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V3"·V4^ - V3^·V4" + r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V3^·V4' - V3'·V4^ + r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V3'·V4" - V3"·V4' + + tt = _L2; + Va = _mm_ror_ps(tt,1); sum = _mm_mul_ps(Va,r1); + Vb = _mm_ror_ps(tt,2); sum = _mm_add_ps(sum,_mm_mul_ps(Vb,r2)); + Vc = _mm_ror_ps(tt,3); sum = _mm_add_ps(sum,_mm_mul_ps(Vc,r3)); + + // Calculating the determinant. + Det = _mm_mul_ps(sum,_L1); + Det = _mm_add_ps(Det,_mm_movehl_ps(Det,Det)); + + const __m128 Sign_PNPN = _mm_load_ps((float *)_vmathPNPN); + const __m128 Sign_NPNP = _mm_load_ps((float *)_vmathNPNP); + + __m128 mtL1 = _mm_xor_ps(sum,Sign_PNPN); + + // Calculating the minterms of the second line (using previous results). + tt = _mm_ror_ps(_L1,1); sum = _mm_mul_ps(tt,r1); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2)); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3)); + __m128 mtL2 = _mm_xor_ps(sum,Sign_NPNP); + + // Testing the determinant. + Det = _mm_sub_ss(Det,_mm_shuffle_ps(Det,Det,1)); + + // Calculating the minterms of the third line. + tt = _mm_ror_ps(_L1,1); + Va = _mm_mul_ps(tt,Vb); // V1'·V2" + Vb = _mm_mul_ps(tt,Vc); // V1'·V2^ + Vc = _mm_mul_ps(tt,_L2); // V1'·V2 + + r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V1"·V2^ - V1^·V2" + r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V1^·V2' - V1'·V2^ + r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V1'·V2" - V1"·V2' + + tt = _mm_ror_ps(_L4,1); sum = _mm_mul_ps(tt,r1); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2)); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3)); + __m128 mtL3 = _mm_xor_ps(sum,Sign_PNPN); + + // Dividing is FASTER than rcp_nr! (Because rcp_nr causes many register-memory RWs). + RDet = _mm_div_ss(_mm_load_ss((float *)&_vmathZERONE), Det); // TODO: just 1.0f? + RDet = _mm_shuffle_ps(RDet,RDet,0x00); + + // Devide the first 12 minterms with the determinant. + mtL1 = _mm_mul_ps(mtL1, RDet); + mtL2 = _mm_mul_ps(mtL2, RDet); + mtL3 = _mm_mul_ps(mtL3, RDet); + + // Calculate the minterms of the forth line and devide by the determinant. + tt = _mm_ror_ps(_L3,1); sum = _mm_mul_ps(tt,r1); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2)); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3)); + __m128 mtL4 = _mm_xor_ps(sum,Sign_NPNP); + mtL4 = _mm_mul_ps(mtL4, RDet); + + // Now we just have to transpose the minterms matrix. + trns0 = _mm_unpacklo_ps(mtL1,mtL2); + trns1 = _mm_unpacklo_ps(mtL3,mtL4); + trns2 = _mm_unpackhi_ps(mtL1,mtL2); + trns3 = _mm_unpackhi_ps(mtL3,mtL4); + _L1 = _mm_movelh_ps(trns0,trns1); + _L2 = _mm_movehl_ps(trns1,trns0); + _L3 = _mm_movelh_ps(trns2,trns3); + _L4 = _mm_movehl_ps(trns3,trns2); + + return Matrix4( + Vector4( _L1 ), + Vector4( _L2 ), + Vector4( _L3 ), + Vector4( _L4 ) + ); +} + +__forceinline const Matrix4 affineInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( inverse( affineMat ) ); +} + +__forceinline const Matrix4 orthoInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( orthoInverse( affineMat ) ); +} + +__forceinline const floatInVec determinant( const Matrix4 & mat ) +{ + __m128 Va,Vb,Vc; + __m128 r1,r2,r3,tt,tt2; + __m128 sum,Det; + + __m128 _L1 = mat.getCol0().get128(); + __m128 _L2 = mat.getCol1().get128(); + __m128 _L3 = mat.getCol2().get128(); + __m128 _L4 = mat.getCol3().get128(); + // Calculating the minterms for the first line. + + // _mm_ror_ps is just a macro using _mm_shuffle_ps(). + tt = _L4; tt2 = _mm_ror_ps(_L3,1); + Vc = _mm_mul_ps(tt2,_mm_ror_ps(tt,0)); // V3'·V4 + Va = _mm_mul_ps(tt2,_mm_ror_ps(tt,2)); // V3'·V4" + Vb = _mm_mul_ps(tt2,_mm_ror_ps(tt,3)); // V3'·V4^ + + r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V3"·V4^ - V3^·V4" + r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V3^·V4' - V3'·V4^ + r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V3'·V4" - V3"·V4' + + tt = _L2; + Va = _mm_ror_ps(tt,1); sum = _mm_mul_ps(Va,r1); + Vb = _mm_ror_ps(tt,2); sum = _mm_add_ps(sum,_mm_mul_ps(Vb,r2)); + Vc = _mm_ror_ps(tt,3); sum = _mm_add_ps(sum,_mm_mul_ps(Vc,r3)); + + // Calculating the determinant. + Det = _mm_mul_ps(sum,_L1); + Det = _mm_add_ps(Det,_mm_movehl_ps(Det,Det)); + + // Calculating the minterms of the second line (using previous results). + tt = _mm_ror_ps(_L1,1); sum = _mm_mul_ps(tt,r1); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2)); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3)); + + // Testing the determinant. + Det = _mm_sub_ss(Det,_mm_shuffle_ps(Det,Det,1)); + return floatInVec(Det, 0); +} + +__forceinline const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ), + ( mCol3 + mat.mCol3 ) + ); +} + +__forceinline const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ), + ( mCol3 - mat.mCol3 ) + ); +} + +__forceinline Matrix4 & Matrix4::operator +=( const Matrix4 & mat ) +{ + *this = *this + mat; + return *this; +} + +__forceinline Matrix4 & Matrix4::operator -=( const Matrix4 & mat ) +{ + *this = *this - mat; + return *this; +} + +__forceinline const Matrix4 Matrix4::operator -( ) const +{ + return Matrix4( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ), + ( -mCol3 ) + ); +} + +__forceinline const Matrix4 absPerElem( const Matrix4 & mat ) +{ + return Matrix4( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ), + absPerElem( mat.getCol3() ) + ); +} + +__forceinline const Matrix4 Matrix4::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +__forceinline const Matrix4 Matrix4::operator *( const floatInVec &scalar ) const +{ + return Matrix4( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ), + ( mCol3 * scalar ) + ); +} + +__forceinline Matrix4 & Matrix4::operator *=( float scalar ) +{ + return *this *= floatInVec(scalar); +} + +__forceinline Matrix4 & Matrix4::operator *=( const floatInVec &scalar ) +{ + *this = *this * scalar; + return *this; +} + +__forceinline const Matrix4 operator *( float scalar, const Matrix4 & mat ) +{ + return floatInVec(scalar) * mat; +} + +__forceinline const Matrix4 operator *( const floatInVec &scalar, const Matrix4 & mat ) +{ + return mat * scalar; +} + +__forceinline const Vector4 Matrix4::operator *( const Vector4 &vec ) const +{ + return Vector4( + _mm_add_ps( + _mm_add_ps(_mm_mul_ps(mCol0.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(0,0,0,0))), _mm_mul_ps(mCol1.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(1,1,1,1)))), + _mm_add_ps(_mm_mul_ps(mCol2.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(2,2,2,2))), _mm_mul_ps(mCol3.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(3,3,3,3))))) + ); +} + +__forceinline const Vector4 Matrix4::operator *( const Vector3 &vec ) const +{ + return Vector4( + _mm_add_ps( + _mm_add_ps(_mm_mul_ps(mCol0.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(0,0,0,0))), _mm_mul_ps(mCol1.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(1,1,1,1)))), + _mm_mul_ps(mCol2.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(2,2,2,2)))) + ); +} + +__forceinline const Vector4 Matrix4::operator *( const Point3 &pnt ) const +{ + return Vector4( + _mm_add_ps( + _mm_add_ps(_mm_mul_ps(mCol0.get128(), _mm_shuffle_ps(pnt.get128(), pnt.get128(), _MM_SHUFFLE(0,0,0,0))), _mm_mul_ps(mCol1.get128(), _mm_shuffle_ps(pnt.get128(), pnt.get128(), _MM_SHUFFLE(1,1,1,1)))), + _mm_add_ps(_mm_mul_ps(mCol2.get128(), _mm_shuffle_ps(pnt.get128(), pnt.get128(), _MM_SHUFFLE(2,2,2,2))), mCol3.get128())) + ); +} + +__forceinline const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const +{ + return Matrix4( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ), + ( *this * mat.mCol3 ) + ); +} + +__forceinline Matrix4 & Matrix4::operator *=( const Matrix4 & mat ) +{ + *this = *this * mat; + return *this; +} + +__forceinline const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const +{ + return Matrix4( + ( *this * tfrm.getCol0() ), + ( *this * tfrm.getCol1() ), + ( *this * tfrm.getCol2() ), + ( *this * Point3( tfrm.getCol3() ) ) + ); +} + +__forceinline Matrix4 & Matrix4::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +__forceinline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ) +{ + return Matrix4( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ), + mulPerElem( mat0.getCol3(), mat1.getCol3() ) + ); +} + +__forceinline const Matrix4 Matrix4::identity( ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +__forceinline Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 ) +{ + mCol0.setXYZ( mat3.getCol0() ); + mCol1.setXYZ( mat3.getCol1() ); + mCol2.setXYZ( mat3.getCol2() ); + return *this; +} + +__forceinline const Matrix3 Matrix4::getUpper3x3( ) const +{ + return Matrix3( + mCol0.getXYZ( ), + mCol1.getXYZ( ), + mCol2.getXYZ( ) + ); +} + +__forceinline Matrix4 & Matrix4::setTranslation( const Vector3 &translateVec ) +{ + mCol3.setXYZ( translateVec ); + return *this; +} + +__forceinline const Vector3 Matrix4::getTranslation( ) const +{ + return mCol3.getXYZ( ); +} + +__forceinline const Matrix4 Matrix4::rotationX( float radians ) +{ + return rotationX( floatInVec(radians) ); +} + +__forceinline const Matrix4 Matrix4::rotationX( const floatInVec &radians ) +{ + __m128 s, c, res1, res2; + __m128 zero; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res1 = vec_sel( zero, c, select_y ); + res1 = vec_sel( res1, s, select_z ); + res2 = vec_sel( zero, negatef4(s), select_y ); + res2 = vec_sel( res2, c, select_z ); + return Matrix4( + Vector4::xAxis( ), + Vector4( res1 ), + Vector4( res2 ), + Vector4::wAxis( ) + ); +} + +__forceinline const Matrix4 Matrix4::rotationY( float radians ) +{ + return rotationY( floatInVec(radians) ); +} + +__forceinline const Matrix4 Matrix4::rotationY( const floatInVec &radians ) +{ + __m128 s, c, res0, res2; + __m128 zero; + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, negatef4(s), select_z ); + res2 = vec_sel( zero, s, select_x ); + res2 = vec_sel( res2, c, select_z ); + return Matrix4( + Vector4( res0 ), + Vector4::yAxis( ), + Vector4( res2 ), + Vector4::wAxis( ) + ); +} + +__forceinline const Matrix4 Matrix4::rotationZ( float radians ) +{ + return rotationZ( floatInVec(radians) ); +} + +__forceinline const Matrix4 Matrix4::rotationZ( const floatInVec &radians ) +{ + __m128 s, c, res0, res1; + __m128 zero; + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, s, select_y ); + res1 = vec_sel( zero, negatef4(s), select_x ); + res1 = vec_sel( res1, c, select_y ); + return Matrix4( + Vector4( res0 ), + Vector4( res1 ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +__forceinline const Matrix4 Matrix4::rotationZYX( const Vector3 &radiansXYZ ) +{ + __m128 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + angles = Vector4( radiansXYZ, 0.0f ).get128(); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = vec_mergel( c, s ); + Z1 = vec_mergel( negS, c ); + __declspec(align(16)) unsigned int select_xyz[4] = {0xffffffff, 0xffffffff, 0xffffffff, 0}; + Z1 = vec_and( Z1, _mm_load_ps( (float *)select_xyz ) ); + Y0 = _mm_shuffle_ps( c, negS, _MM_SHUFFLE(0,1,1,1) ); + Y1 = _mm_shuffle_ps( s, c, _MM_SHUFFLE(0,1,1,1) ); + X0 = vec_splat( s, 0 ); + X1 = vec_splat( c, 0 ); + tmp = vec_mul( Z0, Y1 ); + return Matrix4( + Vector4( vec_mul( Z0, Y0 ) ), + Vector4( vec_madd( Z1, X1, vec_mul( tmp, X0 ) ) ), + Vector4( vec_nmsub( Z1, X0, vec_mul( tmp, X1 ) ) ), + Vector4::wAxis( ) + ); +} + +__forceinline const Matrix4 Matrix4::rotation( float radians, const Vector3 &unitVec ) +{ + return rotation( floatInVec(radians), unitVec ); +} + +__forceinline const Matrix4 Matrix4::rotation( const floatInVec &radians, const Vector3 &unitVec ) +{ + __m128 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2; + axis = unitVec.get128(); + sincosf4( radians.get128(), &s, &c ); + xxxx = vec_splat( axis, 0 ); + yyyy = vec_splat( axis, 1 ); + zzzz = vec_splat( axis, 2 ); + oneMinusC = vec_sub( _mm_set1_ps(1.0f), c ); + axisS = vec_mul( axis, s ); + negAxisS = negatef4( axisS ); + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + //tmp0 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_XZBX ); + tmp0 = _mm_shuffle_ps( axisS, axisS, _MM_SHUFFLE(0,0,2,0) ); + tmp0 = vec_sel(tmp0, vec_splat(negAxisS, 1), select_z); + //tmp1 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_CXXX ); + tmp1 = vec_sel( vec_splat(axisS, 0), vec_splat(negAxisS, 2), select_x ); + //tmp2 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_YAXX ); + tmp2 = _mm_shuffle_ps( axisS, axisS, _MM_SHUFFLE(0,0,0,1) ); + tmp2 = vec_sel(tmp2, vec_splat(negAxisS, 0), select_y); + tmp0 = vec_sel( tmp0, c, select_x ); + tmp1 = vec_sel( tmp1, c, select_y ); + tmp2 = vec_sel( tmp2, c, select_z ); + __declspec(align(16)) unsigned int select_xyz[4] = {0xffffffff, 0xffffffff, 0xffffffff, 0}; + axis = vec_and( axis, _mm_load_ps( (float *)select_xyz ) ); + tmp0 = vec_and( tmp0, _mm_load_ps( (float *)select_xyz ) ); + tmp1 = vec_and( tmp1, _mm_load_ps( (float *)select_xyz ) ); + tmp2 = vec_and( tmp2, _mm_load_ps( (float *)select_xyz ) ); + return Matrix4( + Vector4( vec_madd( vec_mul( axis, xxxx ), oneMinusC, tmp0 ) ), + Vector4( vec_madd( vec_mul( axis, yyyy ), oneMinusC, tmp1 ) ), + Vector4( vec_madd( vec_mul( axis, zzzz ), oneMinusC, tmp2 ) ), + Vector4::wAxis( ) + ); +} + +__forceinline const Matrix4 Matrix4::rotation( const Quat &unitQuat ) +{ + return Matrix4( Transform3::rotation( unitQuat ) ); +} + +__forceinline const Matrix4 Matrix4::scale( const Vector3 &scaleVec ) +{ + __m128 zero = _mm_setzero_ps(); + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + return Matrix4( + Vector4( vec_sel( zero, scaleVec.get128(), select_x ) ), + Vector4( vec_sel( zero, scaleVec.get128(), select_y ) ), + Vector4( vec_sel( zero, scaleVec.get128(), select_z ) ), + Vector4::wAxis( ) + ); +} + +__forceinline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 &scaleVec ) +{ + return Matrix4( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ), + mat.getCol3() + ); +} + +__forceinline const Matrix4 prependScale( const Vector3 &scaleVec, const Matrix4 & mat ) +{ + Vector4 scale4; + scale4 = Vector4( scaleVec, 1.0f ); + return Matrix4( + mulPerElem( mat.getCol0(), scale4 ), + mulPerElem( mat.getCol1(), scale4 ), + mulPerElem( mat.getCol2(), scale4 ), + mulPerElem( mat.getCol3(), scale4 ) + ); +} + +__forceinline const Matrix4 Matrix4::translation( const Vector3 &translateVec ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4( translateVec, 1.0f ) + ); +} + +__forceinline const Matrix4 Matrix4::lookAt( const Point3 &eyePos, const Point3 &lookAtPos, const Vector3 &upVec ) +{ + Matrix4 m4EyeFrame; + Vector3 v3X, v3Y, v3Z; + v3Y = normalize( upVec ); + v3Z = normalize( ( eyePos - lookAtPos ) ); + v3X = normalize( cross( v3Y, v3Z ) ); + v3Y = cross( v3Z, v3X ); + m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) ); + return orthoInverse( m4EyeFrame ); +} + +__forceinline const Matrix4 Matrix4::perspective( float fovyRadians, float aspect, float zNear, float zFar ) +{ + float f, rangeInv; + __m128 zero, col0, col1, col2, col3; + union { __m128 v; float s[4]; } tmp; + f = tanf( _VECTORMATH_PI_OVER_2 - fovyRadians * 0.5f ); + rangeInv = 1.0f / ( zNear - zFar ); + zero = _mm_setzero_ps(); + tmp.v = zero; + tmp.s[0] = f / aspect; + col0 = tmp.v; + tmp.v = zero; + tmp.s[1] = f; + col1 = tmp.v; + tmp.v = zero; + tmp.s[2] = ( zNear + zFar ) * rangeInv; + tmp.s[3] = -1.0f; + col2 = tmp.v; + tmp.v = zero; + tmp.s[2] = zNear * zFar * rangeInv * 2.0f; + col3 = tmp.v; + return Matrix4( + Vector4( col0 ), + Vector4( col1 ), + Vector4( col2 ), + Vector4( col3 ) + ); +} + +__forceinline const Matrix4 Matrix4::frustum( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + __m128 lbf, rtn; + __m128 diff, sum, inv_diff; + __m128 diagonal, column, near2; + __m128 zero = _mm_setzero_ps(); + union { __m128 v; float s[4]; } l, f, r, n, b, t; // TODO: Union? + l.s[0] = left; + f.s[0] = zFar; + r.s[0] = right; + n.s[0] = zNear; + b.s[0] = bottom; + t.s[0] = top; + lbf = vec_mergeh( l.v, f.v ); + rtn = vec_mergeh( r.v, n.v ); + lbf = vec_mergeh( lbf, b.v ); + rtn = vec_mergeh( rtn, t.v ); + diff = vec_sub( rtn, lbf ); + sum = vec_add( rtn, lbf ); + inv_diff = recipf4( diff ); + near2 = vec_splat( n.v, 0 ); + near2 = vec_add( near2, near2 ); + diagonal = vec_mul( near2, inv_diff ); + column = vec_mul( sum, inv_diff ); + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + __declspec(align(16)) unsigned int select_w[4] = {0, 0, 0, 0xffffffff}; + return Matrix4( + Vector4( vec_sel( zero, diagonal, select_x ) ), + Vector4( vec_sel( zero, diagonal, select_y ) ), + Vector4( vec_sel( column, _mm_set1_ps(-1.0f), select_w ) ), + Vector4( vec_sel( zero, vec_mul( diagonal, vec_splat( f.v, 0 ) ), select_z ) ) + ); +} + +__forceinline const Matrix4 Matrix4::orthographic( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + __m128 lbf, rtn; + __m128 diff, sum, inv_diff, neg_inv_diff; + __m128 diagonal, column; + __m128 zero = _mm_setzero_ps(); + union { __m128 v; float s[4]; } l, f, r, n, b, t; + l.s[0] = left; + f.s[0] = zFar; + r.s[0] = right; + n.s[0] = zNear; + b.s[0] = bottom; + t.s[0] = top; + lbf = vec_mergeh( l.v, f.v ); + rtn = vec_mergeh( r.v, n.v ); + lbf = vec_mergeh( lbf, b.v ); + rtn = vec_mergeh( rtn, t.v ); + diff = vec_sub( rtn, lbf ); + sum = vec_add( rtn, lbf ); + inv_diff = recipf4( diff ); + neg_inv_diff = negatef4( inv_diff ); + diagonal = vec_add( inv_diff, inv_diff ); + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + __declspec(align(16)) unsigned int select_w[4] = {0, 0, 0, 0xffffffff}; + column = vec_mul( sum, vec_sel( neg_inv_diff, inv_diff, select_z ) ); // TODO: no madds with zero + return Matrix4( + Vector4( vec_sel( zero, diagonal, select_x ) ), + Vector4( vec_sel( zero, diagonal, select_y ) ), + Vector4( vec_sel( zero, diagonal, select_z ) ), + Vector4( vec_sel( column, _mm_set1_ps(1.0f), select_w ) ) + ); +} + +__forceinline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +__forceinline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, const boolInVec &select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +__forceinline void print( const Matrix4 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); + print( mat.getRow( 3 ) ); +} + +__forceinline void print( const Matrix4 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +__forceinline Transform3::Transform3( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; +} + +__forceinline Transform3::Transform3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +__forceinline Transform3::Transform3( const floatInVec &scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +__forceinline Transform3::Transform3( const Vector3 &_col0, const Vector3 &_col1, const Vector3 &_col2, const Vector3 &_col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +__forceinline Transform3::Transform3( const Matrix3 & tfrm, const Vector3 &translateVec ) +{ + this->setUpper3x3( tfrm ); + this->setTranslation( translateVec ); +} + +__forceinline Transform3::Transform3( const Quat &unitQuat, const Vector3 &translateVec ) +{ + this->setUpper3x3( Matrix3( unitQuat ) ); + this->setTranslation( translateVec ); +} + +__forceinline Transform3 & Transform3::setCol0( const Vector3 &_col0 ) +{ + mCol0 = _col0; + return *this; +} + +__forceinline Transform3 & Transform3::setCol1( const Vector3 &_col1 ) +{ + mCol1 = _col1; + return *this; +} + +__forceinline Transform3 & Transform3::setCol2( const Vector3 &_col2 ) +{ + mCol2 = _col2; + return *this; +} + +__forceinline Transform3 & Transform3::setCol3( const Vector3 &_col3 ) +{ + mCol3 = _col3; + return *this; +} + +__forceinline Transform3 & Transform3::setCol( int col, const Vector3 &vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +__forceinline Transform3 & Transform3::setRow( int row, const Vector4 &vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +__forceinline Transform3 & Transform3::setElem( int col, int row, float val ) +{ + (*this)[col].setElem(row, val); + return *this; +} + +__forceinline Transform3 & Transform3::setElem( int col, int row, const floatInVec &val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +__forceinline const floatInVec Transform3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +__forceinline const Vector3 Transform3::getCol0( ) const +{ + return mCol0; +} + +__forceinline const Vector3 Transform3::getCol1( ) const +{ + return mCol1; +} + +__forceinline const Vector3 Transform3::getCol2( ) const +{ + return mCol2; +} + +__forceinline const Vector3 Transform3::getCol3( ) const +{ + return mCol3; +} + +__forceinline const Vector3 Transform3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +__forceinline const Vector4 Transform3::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +__forceinline Vector3 & Transform3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +__forceinline const Vector3 Transform3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +__forceinline Transform3 & Transform3::operator =( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; + return *this; +} + +__forceinline const Transform3 inverse( const Transform3 & tfrm ) +{ + __m128 inv0, inv1, inv2, inv3; + __m128 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet; + __m128 xxxx, yyyy, zzzz; + tmp2 = _vmathVfCross( tfrm.getCol0().get128(), tfrm.getCol1().get128() ); + tmp0 = _vmathVfCross( tfrm.getCol1().get128(), tfrm.getCol2().get128() ); + tmp1 = _vmathVfCross( tfrm.getCol2().get128(), tfrm.getCol0().get128() ); + inv3 = negatef4( tfrm.getCol3().get128() ); + dot = _vmathVfDot3( tmp2, tfrm.getCol2().get128() ); + dot = vec_splat( dot, 0 ); + invdet = recipf4( dot ); + tmp3 = vec_mergeh( tmp0, tmp2 ); + tmp4 = vec_mergel( tmp0, tmp2 ); + inv0 = vec_mergeh( tmp3, tmp1 ); + xxxx = vec_splat( inv3, 0 ); + //inv1 = vec_perm( tmp3, tmp1, _VECTORMATH_PERM_ZBWX ); + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + inv1 = _mm_shuffle_ps( tmp3, tmp3, _MM_SHUFFLE(0,3,2,2)); + inv1 = vec_sel(inv1, tmp1, select_y); + //inv2 = vec_perm( tmp4, tmp1, _VECTORMATH_PERM_XCYX ); + inv2 = _mm_shuffle_ps( tmp4, tmp4, _MM_SHUFFLE(0,1,1,0)); + inv2 = vec_sel(inv2, vec_splat(tmp1, 2), select_y); + yyyy = vec_splat( inv3, 1 ); + zzzz = vec_splat( inv3, 2 ); + inv3 = vec_mul( inv0, xxxx ); + inv3 = vec_madd( inv1, yyyy, inv3 ); + inv3 = vec_madd( inv2, zzzz, inv3 ); + inv0 = vec_mul( inv0, invdet ); + inv1 = vec_mul( inv1, invdet ); + inv2 = vec_mul( inv2, invdet ); + inv3 = vec_mul( inv3, invdet ); + return Transform3( + Vector3( inv0 ), + Vector3( inv1 ), + Vector3( inv2 ), + Vector3( inv3 ) + ); +} + +__forceinline const Transform3 orthoInverse( const Transform3 & tfrm ) +{ + __m128 inv0, inv1, inv2, inv3; + __m128 tmp0, tmp1; + __m128 xxxx, yyyy, zzzz; + tmp0 = vec_mergeh( tfrm.getCol0().get128(), tfrm.getCol2().get128() ); + tmp1 = vec_mergel( tfrm.getCol0().get128(), tfrm.getCol2().get128() ); + inv3 = negatef4( tfrm.getCol3().get128() ); + inv0 = vec_mergeh( tmp0, tfrm.getCol1().get128() ); + xxxx = vec_splat( inv3, 0 ); + //inv1 = vec_perm( tmp0, tfrm.getCol1().get128(), _VECTORMATH_PERM_ZBWX ); + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + inv1 = _mm_shuffle_ps( tmp0, tmp0, _MM_SHUFFLE(0,3,2,2)); + inv1 = vec_sel(inv1, tfrm.getCol1().get128(), select_y); + //inv2 = vec_perm( tmp1, tfrm.getCol1().get128(), _VECTORMATH_PERM_XCYX ); + inv2 = _mm_shuffle_ps( tmp1, tmp1, _MM_SHUFFLE(0,1,1,0)); + inv2 = vec_sel(inv2, vec_splat(tfrm.getCol1().get128(), 2), select_y); + yyyy = vec_splat( inv3, 1 ); + zzzz = vec_splat( inv3, 2 ); + inv3 = vec_mul( inv0, xxxx ); + inv3 = vec_madd( inv1, yyyy, inv3 ); + inv3 = vec_madd( inv2, zzzz, inv3 ); + return Transform3( + Vector3( inv0 ), + Vector3( inv1 ), + Vector3( inv2 ), + Vector3( inv3 ) + ); +} + +__forceinline const Transform3 absPerElem( const Transform3 & tfrm ) +{ + return Transform3( + absPerElem( tfrm.getCol0() ), + absPerElem( tfrm.getCol1() ), + absPerElem( tfrm.getCol2() ), + absPerElem( tfrm.getCol3() ) + ); +} + +__forceinline const Vector3 Transform3::operator *( const Vector3 &vec ) const +{ + __m128 res; + __m128 xxxx, yyyy, zzzz; + xxxx = vec_splat( vec.get128(), 0 ); + yyyy = vec_splat( vec.get128(), 1 ); + zzzz = vec_splat( vec.get128(), 2 ); + res = vec_mul( mCol0.get128(), xxxx ); + res = vec_madd( mCol1.get128(), yyyy, res ); + res = vec_madd( mCol2.get128(), zzzz, res ); + return Vector3( res ); +} + +__forceinline const Point3 Transform3::operator *( const Point3 &pnt ) const +{ + __m128 tmp0, tmp1, res; + __m128 xxxx, yyyy, zzzz; + xxxx = vec_splat( pnt.get128(), 0 ); + yyyy = vec_splat( pnt.get128(), 1 ); + zzzz = vec_splat( pnt.get128(), 2 ); + tmp0 = vec_mul( mCol0.get128(), xxxx ); + tmp1 = vec_mul( mCol1.get128(), yyyy ); + tmp0 = vec_madd( mCol2.get128(), zzzz, tmp0 ); + tmp1 = vec_add( mCol3.get128(), tmp1 ); + res = vec_add( tmp0, tmp1 ); + return Point3( res ); +} + +__forceinline const Transform3 Transform3::operator *( const Transform3 & tfrm ) const +{ + return Transform3( + ( *this * tfrm.mCol0 ), + ( *this * tfrm.mCol1 ), + ( *this * tfrm.mCol2 ), + Vector3( ( *this * Point3( tfrm.mCol3 ) ) ) + ); +} + +__forceinline Transform3 & Transform3::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +__forceinline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ) +{ + return Transform3( + mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ), + mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ), + mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ), + mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() ) + ); +} + +__forceinline const Transform3 Transform3::identity( ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +__forceinline Transform3 & Transform3::setUpper3x3( const Matrix3 & tfrm ) +{ + mCol0 = tfrm.getCol0(); + mCol1 = tfrm.getCol1(); + mCol2 = tfrm.getCol2(); + return *this; +} + +__forceinline const Matrix3 Transform3::getUpper3x3( ) const +{ + return Matrix3( mCol0, mCol1, mCol2 ); +} + +__forceinline Transform3 & Transform3::setTranslation( const Vector3 &translateVec ) +{ + mCol3 = translateVec; + return *this; +} + +__forceinline const Vector3 Transform3::getTranslation( ) const +{ + return mCol3; +} + +__forceinline const Transform3 Transform3::rotationX( float radians ) +{ + return rotationX( floatInVec(radians) ); +} + +__forceinline const Transform3 Transform3::rotationX( const floatInVec &radians ) +{ + __m128 s, c, res1, res2; + __m128 zero; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res1 = vec_sel( zero, c, select_y ); + res1 = vec_sel( res1, s, select_z ); + res2 = vec_sel( zero, negatef4(s), select_y ); + res2 = vec_sel( res2, c, select_z ); + return Transform3( + Vector3::xAxis( ), + Vector3( res1 ), + Vector3( res2 ), + Vector3( _mm_setzero_ps() ) + ); +} + +__forceinline const Transform3 Transform3::rotationY( float radians ) +{ + return rotationY( floatInVec(radians) ); +} + +__forceinline const Transform3 Transform3::rotationY( const floatInVec &radians ) +{ + __m128 s, c, res0, res2; + __m128 zero; + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, negatef4(s), select_z ); + res2 = vec_sel( zero, s, select_x ); + res2 = vec_sel( res2, c, select_z ); + return Transform3( + Vector3( res0 ), + Vector3::yAxis( ), + Vector3( res2 ), + Vector3( 0.0f ) + ); +} + +__forceinline const Transform3 Transform3::rotationZ( float radians ) +{ + return rotationZ( floatInVec(radians) ); +} + +__forceinline const Transform3 Transform3::rotationZ( const floatInVec &radians ) +{ + __m128 s, c, res0, res1; + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __m128 zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, s, select_y ); + res1 = vec_sel( zero, negatef4(s), select_x ); + res1 = vec_sel( res1, c, select_y ); + return Transform3( + Vector3( res0 ), + Vector3( res1 ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +__forceinline const Transform3 Transform3::rotationZYX( const Vector3 &radiansXYZ ) +{ + __m128 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + angles = Vector4( radiansXYZ, 0.0f ).get128(); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = vec_mergel( c, s ); + Z1 = vec_mergel( negS, c ); + __declspec(align(16)) unsigned int select_xyz[4] = {0xffffffff, 0xffffffff, 0xffffffff, 0}; + Z1 = vec_and( Z1, _mm_load_ps( (float *)select_xyz ) ); + Y0 = _mm_shuffle_ps( c, negS, _MM_SHUFFLE(0,1,1,1) ); + Y1 = _mm_shuffle_ps( s, c, _MM_SHUFFLE(0,1,1,1) ); + X0 = vec_splat( s, 0 ); + X1 = vec_splat( c, 0 ); + tmp = vec_mul( Z0, Y1 ); + return Transform3( + Vector3( vec_mul( Z0, Y0 ) ), + Vector3( vec_madd( Z1, X1, vec_mul( tmp, X0 ) ) ), + Vector3( vec_nmsub( Z1, X0, vec_mul( tmp, X1 ) ) ), + Vector3( 0.0f ) + ); +} + +__forceinline const Transform3 Transform3::rotation( float radians, const Vector3 &unitVec ) +{ + return rotation( floatInVec(radians), unitVec ); +} + +__forceinline const Transform3 Transform3::rotation( const floatInVec &radians, const Vector3 &unitVec ) +{ + return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( 0.0f ) ); +} + +__forceinline const Transform3 Transform3::rotation( const Quat &unitQuat ) +{ + return Transform3( Matrix3( unitQuat ), Vector3( 0.0f ) ); +} + +__forceinline const Transform3 Transform3::scale( const Vector3 &scaleVec ) +{ + __m128 zero = _mm_setzero_ps(); + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + return Transform3( + Vector3( vec_sel( zero, scaleVec.get128(), select_x ) ), + Vector3( vec_sel( zero, scaleVec.get128(), select_y ) ), + Vector3( vec_sel( zero, scaleVec.get128(), select_z ) ), + Vector3( 0.0f ) + ); +} + +__forceinline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 &scaleVec ) +{ + return Transform3( + ( tfrm.getCol0() * scaleVec.getX( ) ), + ( tfrm.getCol1() * scaleVec.getY( ) ), + ( tfrm.getCol2() * scaleVec.getZ( ) ), + tfrm.getCol3() + ); +} + +__forceinline const Transform3 prependScale( const Vector3 &scaleVec, const Transform3 & tfrm ) +{ + return Transform3( + mulPerElem( tfrm.getCol0(), scaleVec ), + mulPerElem( tfrm.getCol1(), scaleVec ), + mulPerElem( tfrm.getCol2(), scaleVec ), + mulPerElem( tfrm.getCol3(), scaleVec ) + ); +} + +__forceinline const Transform3 Transform3::translation( const Vector3 &translateVec ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + translateVec + ); +} + +__forceinline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +__forceinline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, const boolInVec &select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +__forceinline void print( const Transform3 & tfrm ) +{ + print( tfrm.getRow( 0 ) ); + print( tfrm.getRow( 1 ) ); + print( tfrm.getRow( 2 ) ); +} + +__forceinline void print( const Transform3 & tfrm, const char * name ) +{ + printf("%s:\n", name); + print( tfrm ); +} + +#endif + +__forceinline Quat::Quat( const Matrix3 & tfrm ) +{ + __m128 res; + __m128 col0, col1, col2; + __m128 xx_yy, xx_yy_zz_xx, yy_zz_xx_yy, zz_xx_yy_zz, diagSum, diagDiff; + __m128 zy_xz_yx, yz_zx_xy, sum, diff; + __m128 radicand, invSqrt, scale; + __m128 res0, res1, res2, res3; + __m128 xx, yy, zz; + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + __declspec(align(16)) unsigned int select_w[4] = {0, 0, 0, 0xffffffff}; + + col0 = tfrm.getCol0().get128(); + col1 = tfrm.getCol1().get128(); + col2 = tfrm.getCol2().get128(); + + /* four cases: */ + /* trace > 0 */ + /* else */ + /* xx largest diagonal element */ + /* yy largest diagonal element */ + /* zz largest diagonal element */ + + /* compute quaternion for each case */ + + xx_yy = vec_sel( col0, col1, select_y ); + //xx_yy_zz_xx = vec_perm( xx_yy, col2, _VECTORMATH_PERM_XYCX ); + //yy_zz_xx_yy = vec_perm( xx_yy, col2, _VECTORMATH_PERM_YCXY ); + //zz_xx_yy_zz = vec_perm( xx_yy, col2, _VECTORMATH_PERM_CXYC ); + xx_yy_zz_xx = _mm_shuffle_ps( xx_yy, xx_yy, _MM_SHUFFLE(0,0,1,0) ); + xx_yy_zz_xx = vec_sel( xx_yy_zz_xx, col2, select_z ); // TODO: Ck + yy_zz_xx_yy = _mm_shuffle_ps( xx_yy_zz_xx, xx_yy_zz_xx, _MM_SHUFFLE(1,0,2,1) ); + zz_xx_yy_zz = _mm_shuffle_ps( xx_yy_zz_xx, xx_yy_zz_xx, _MM_SHUFFLE(2,1,0,2) ); + + diagSum = vec_add( vec_add( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz ); + diagDiff = vec_sub( vec_sub( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz ); + radicand = vec_add( vec_sel( diagDiff, diagSum, select_w ), _mm_set1_ps(1.0f) ); + // invSqrt = rsqrtf4( radicand ); + invSqrt = newtonrapson_rsqrt4( radicand ); + + + + zy_xz_yx = vec_sel( col0, col1, select_z ); // zy_xz_yx = 00 01 12 03 + //zy_xz_yx = vec_perm( zy_xz_yx, col2, _VECTORMATH_PERM_ZAYX ); + zy_xz_yx = _mm_shuffle_ps( zy_xz_yx, zy_xz_yx, _MM_SHUFFLE(0,1,2,2) ); // zy_xz_yx = 12 12 01 00 + zy_xz_yx = vec_sel( zy_xz_yx, vec_splat(col2, 0), select_y ); // zy_xz_yx = 12 20 01 00 + yz_zx_xy = vec_sel( col0, col1, select_x ); // yz_zx_xy = 10 01 02 03 + //yz_zx_xy = vec_perm( yz_zx_xy, col2, _VECTORMATH_PERM_BZXX ); + yz_zx_xy = _mm_shuffle_ps( yz_zx_xy, yz_zx_xy, _MM_SHUFFLE(0,0,2,0) ); // yz_zx_xy = 10 02 10 10 + yz_zx_xy = vec_sel( yz_zx_xy, vec_splat(col2, 1), select_x ); // yz_zx_xy = 21 02 10 10 + + sum = vec_add( zy_xz_yx, yz_zx_xy ); + diff = vec_sub( zy_xz_yx, yz_zx_xy ); + + scale = vec_mul( invSqrt, _mm_set1_ps(0.5f) ); + + //res0 = vec_perm( sum, diff, _VECTORMATH_PERM_XZYA ); + res0 = _mm_shuffle_ps( sum, sum, _MM_SHUFFLE(0,1,2,0) ); + res0 = vec_sel( res0, vec_splat(diff, 0), select_w ); // TODO: Ck + //res1 = vec_perm( sum, diff, _VECTORMATH_PERM_ZXXB ); + res1 = _mm_shuffle_ps( sum, sum, _MM_SHUFFLE(0,0,0,2) ); + res1 = vec_sel( res1, vec_splat(diff, 1), select_w ); // TODO: Ck + //res2 = vec_perm( sum, diff, _VECTORMATH_PERM_YXXC ); + res2 = _mm_shuffle_ps( sum, sum, _MM_SHUFFLE(0,0,0,1) ); + res2 = vec_sel( res2, vec_splat(diff, 2), select_w ); // TODO: Ck + res3 = diff; + res0 = vec_sel( res0, radicand, select_x ); + res1 = vec_sel( res1, radicand, select_y ); + res2 = vec_sel( res2, radicand, select_z ); + res3 = vec_sel( res3, radicand, select_w ); + res0 = vec_mul( res0, vec_splat( scale, 0 ) ); + res1 = vec_mul( res1, vec_splat( scale, 1 ) ); + res2 = vec_mul( res2, vec_splat( scale, 2 ) ); + res3 = vec_mul( res3, vec_splat( scale, 3 ) ); + + /* determine case and select answer */ + + xx = vec_splat( col0, 0 ); + yy = vec_splat( col1, 1 ); + zz = vec_splat( col2, 2 ); + res = vec_sel( res0, res1, vec_cmpgt( yy, xx ) ); + res = vec_sel( res, res2, vec_and( vec_cmpgt( zz, xx ), vec_cmpgt( zz, yy ) ) ); + res = vec_sel( res, res3, vec_cmpgt( vec_splat( diagSum, 0 ), _mm_setzero_ps() ) ); + mVec128 = res; +} + +__forceinline const Matrix3 outer( const Vector3 &tfrm0, const Vector3 &tfrm1 ) +{ + return Matrix3( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ) + ); +} + +__forceinline const Matrix4 outer( const Vector4 &tfrm0, const Vector4 &tfrm1 ) +{ + return Matrix4( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ), + ( tfrm0 * tfrm1.getW( ) ) + ); +} + +__forceinline const Vector3 rowMul( const Vector3 &vec, const Matrix3 & mat ) +{ + __m128 tmp0, tmp1, mcol0, mcol1, mcol2, res; + __m128 xxxx, yyyy, zzzz; + tmp0 = vec_mergeh( mat.getCol0().get128(), mat.getCol2().get128() ); + tmp1 = vec_mergel( mat.getCol0().get128(), mat.getCol2().get128() ); + xxxx = vec_splat( vec.get128(), 0 ); + mcol0 = vec_mergeh( tmp0, mat.getCol1().get128() ); + //mcol1 = vec_perm( tmp0, mat.getCol1().get128(), _VECTORMATH_PERM_ZBWX ); + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + mcol1 = _mm_shuffle_ps( tmp0, tmp0, _MM_SHUFFLE(0,3,2,2)); + mcol1 = vec_sel(mcol1, mat.getCol1().get128(), select_y); + //mcol2 = vec_perm( tmp1, mat.getCol1().get128(), _VECTORMATH_PERM_XCYX ); + mcol2 = _mm_shuffle_ps( tmp1, tmp1, _MM_SHUFFLE(0,1,1,0)); + mcol2 = vec_sel(mcol2, vec_splat(mat.getCol1().get128(), 2), select_y); + yyyy = vec_splat( vec.get128(), 1 ); + res = vec_mul( mcol0, xxxx ); + zzzz = vec_splat( vec.get128(), 2 ); + res = vec_madd( mcol1, yyyy, res ); + res = vec_madd( mcol2, zzzz, res ); + return Vector3( res ); +} + +__forceinline const Matrix3 crossMatrix( const Vector3 &vec ) +{ + __m128 neg, res0, res1, res2; + neg = negatef4( vec.get128() ); + __declspec(align(16)) unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __declspec(align(16)) unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + //res0 = vec_perm( vec.get128(), neg, _VECTORMATH_PERM_XZBX ); + res0 = _mm_shuffle_ps( vec.get128(), vec.get128(), _MM_SHUFFLE(0,2,2,0) ); + res0 = vec_sel(res0, vec_splat(neg, 1), select_z); + //res1 = vec_perm( vec.get128(), neg, _VECTORMATH_PERM_CXXX ); + res1 = vec_sel(vec_splat(vec.get128(), 0), vec_splat(neg, 2), select_x); + //res2 = vec_perm( vec.get128(), neg, _VECTORMATH_PERM_YAXX ); + res2 = _mm_shuffle_ps( vec.get128(), vec.get128(), _MM_SHUFFLE(0,0,1,1) ); + res2 = vec_sel(res2, vec_splat(neg, 0), select_y); + __declspec(align(16)) unsigned int filter_x[4] = {0, 0xffffffff, 0xffffffff, 0xffffffff}; + __declspec(align(16)) unsigned int filter_y[4] = {0xffffffff, 0, 0xffffffff, 0xffffffff}; + __declspec(align(16)) unsigned int filter_z[4] = {0xffffffff, 0xffffffff, 0, 0xffffffff}; + res0 = vec_and( res0, _mm_load_ps((float *)filter_x ) ); + res1 = vec_and( res1, _mm_load_ps((float *)filter_y ) ); + res2 = vec_and( res2, _mm_load_ps((float *)filter_z ) ); // TODO: Use selects? + return Matrix3( + Vector3( res0 ), + Vector3( res1 ), + Vector3( res2 ) + ); +} + +__forceinline const Matrix3 crossMatrixMul( const Vector3 &vec, const Matrix3 & mat ) +{ + return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) ); +} + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Mod Sources/Bullet/include/bullet/vectormath/sse/quat_aos.h b/Mod Sources/Bullet/include/bullet/vectormath/sse/quat_aos.h new file mode 100644 index 0000000..36393c4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/sse/quat_aos.h @@ -0,0 +1,579 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + + +#ifndef _VECTORMATH_QUAT_AOS_CPP_H +#define _VECTORMATH_QUAT_AOS_CPP_H + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Aos { + +__forceinline void Quat::set128(vec_float4 vec) +{ + mVec128 = vec; +} + +__forceinline Quat::Quat( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z, const floatInVec &_w ) +{ + mVec128 = _mm_unpacklo_ps( + _mm_unpacklo_ps( _x.get128(), _z.get128() ), + _mm_unpacklo_ps( _y.get128(), _w.get128() ) ); +} + +__forceinline Quat::Quat( const Vector3 &xyz, float _w ) +{ + mVec128 = xyz.get128(); + _vmathVfSetElement(mVec128, _w, 3); +} + + + +__forceinline Quat::Quat(const Quat& quat) +{ + mVec128 = quat.get128(); +} + +__forceinline Quat::Quat( float _x, float _y, float _z, float _w ) +{ + mVec128 = _mm_setr_ps(_x, _y, _z, _w); +} + + + + + +__forceinline Quat::Quat( const Vector3 &xyz, const floatInVec &_w ) +{ + mVec128 = xyz.get128(); + mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3); +} + +__forceinline Quat::Quat( const Vector4 &vec ) +{ + mVec128 = vec.get128(); +} + +__forceinline Quat::Quat( float scalar ) +{ + mVec128 = floatInVec(scalar).get128(); +} + +__forceinline Quat::Quat( const floatInVec &scalar ) +{ + mVec128 = scalar.get128(); +} + +__forceinline Quat::Quat( __m128 vf4 ) +{ + mVec128 = vf4; +} + +__forceinline const Quat Quat::identity( ) +{ + return Quat( _VECTORMATH_UNIT_0001 ); +} + +__forceinline const Quat lerp( float t, const Quat &quat0, const Quat &quat1 ) +{ + return lerp( floatInVec(t), quat0, quat1 ); +} + +__forceinline const Quat lerp( const floatInVec &t, const Quat &quat0, const Quat &quat1 ) +{ + return ( quat0 + ( ( quat1 - quat0 ) * t ) ); +} + +__forceinline const Quat slerp( float t, const Quat &unitQuat0, const Quat &unitQuat1 ) +{ + return slerp( floatInVec(t), unitQuat0, unitQuat1 ); +} + +__forceinline const Quat slerp( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1 ) +{ + Quat start; + vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines; + __m128 selectMask; + cosAngle = _vmathVfDot4( unitQuat0.get128(), unitQuat1.get128() ); + selectMask = (__m128)vec_cmpgt( _mm_setzero_ps(), cosAngle ); + cosAngle = vec_sel( cosAngle, negatef4( cosAngle ), selectMask ); + start = Quat( vec_sel( unitQuat0.get128(), negatef4( unitQuat0.get128() ), selectMask ) ); + selectMask = (__m128)vec_cmpgt( _mm_set1_ps(_VECTORMATH_SLERP_TOL), cosAngle ); + angle = acosf4( cosAngle ); + tttt = t.get128(); + oneMinusT = vec_sub( _mm_set1_ps(1.0f), tttt ); + angles = vec_mergeh( _mm_set1_ps(1.0f), tttt ); + angles = vec_mergeh( angles, oneMinusT ); + angles = vec_madd( angles, angle, _mm_setzero_ps() ); + sines = sinf4( angles ); + scales = _mm_div_ps( sines, vec_splat( sines, 0 ) ); + scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask ); + scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask ); + return Quat( vec_madd( start.get128(), scale0, vec_mul( unitQuat1.get128(), scale1 ) ) ); +} + +__forceinline const Quat squad( float t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 ) +{ + return squad( floatInVec(t), unitQuat0, unitQuat1, unitQuat2, unitQuat3 ); +} + +__forceinline const Quat squad( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 ) +{ + return slerp( ( ( floatInVec(2.0f) * t ) * ( floatInVec(1.0f) - t ) ), slerp( t, unitQuat0, unitQuat3 ), slerp( t, unitQuat1, unitQuat2 ) ); +} + +__forceinline __m128 Quat::get128( ) const +{ + return mVec128; +} + +__forceinline Quat & Quat::operator =( const Quat &quat ) +{ + mVec128 = quat.mVec128; + return *this; +} + +__forceinline Quat & Quat::setXYZ( const Vector3 &vec ) +{ + __declspec(align(16)) unsigned int sw[4] = {0, 0, 0, 0xffffffff}; + mVec128 = vec_sel( vec.get128(), mVec128, sw ); + return *this; +} + +__forceinline const Vector3 Quat::getXYZ( ) const +{ + return Vector3( mVec128 ); +} + +__forceinline Quat & Quat::setX( float _x ) +{ + _vmathVfSetElement(mVec128, _x, 0); + return *this; +} + +__forceinline Quat & Quat::setX( const floatInVec &_x ) +{ + mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0); + return *this; +} + +__forceinline const floatInVec Quat::getX( ) const +{ + return floatInVec( mVec128, 0 ); +} + +__forceinline Quat & Quat::setY( float _y ) +{ + _vmathVfSetElement(mVec128, _y, 1); + return *this; +} + +__forceinline Quat & Quat::setY( const floatInVec &_y ) +{ + mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1); + return *this; +} + +__forceinline const floatInVec Quat::getY( ) const +{ + return floatInVec( mVec128, 1 ); +} + +__forceinline Quat & Quat::setZ( float _z ) +{ + _vmathVfSetElement(mVec128, _z, 2); + return *this; +} + +__forceinline Quat & Quat::setZ( const floatInVec &_z ) +{ + mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2); + return *this; +} + +__forceinline const floatInVec Quat::getZ( ) const +{ + return floatInVec( mVec128, 2 ); +} + +__forceinline Quat & Quat::setW( float _w ) +{ + _vmathVfSetElement(mVec128, _w, 3); + return *this; +} + +__forceinline Quat & Quat::setW( const floatInVec &_w ) +{ + mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3); + return *this; +} + +__forceinline const floatInVec Quat::getW( ) const +{ + return floatInVec( mVec128, 3 ); +} + +__forceinline Quat & Quat::setElem( int idx, float value ) +{ + _vmathVfSetElement(mVec128, value, idx); + return *this; +} + +__forceinline Quat & Quat::setElem( int idx, const floatInVec &value ) +{ + mVec128 = _vmathVfInsert(mVec128, value.get128(), idx); + return *this; +} + +__forceinline const floatInVec Quat::getElem( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +__forceinline VecIdx Quat::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +__forceinline const floatInVec Quat::operator []( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +__forceinline const Quat Quat::operator +( const Quat &quat ) const +{ + return Quat( _mm_add_ps( mVec128, quat.mVec128 ) ); +} + + +__forceinline const Quat Quat::operator -( const Quat &quat ) const +{ + return Quat( _mm_sub_ps( mVec128, quat.mVec128 ) ); +} + +__forceinline const Quat Quat::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +__forceinline const Quat Quat::operator *( const floatInVec &scalar ) const +{ + return Quat( _mm_mul_ps( mVec128, scalar.get128() ) ); +} + +__forceinline Quat & Quat::operator +=( const Quat &quat ) +{ + *this = *this + quat; + return *this; +} + +__forceinline Quat & Quat::operator -=( const Quat &quat ) +{ + *this = *this - quat; + return *this; +} + +__forceinline Quat & Quat::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +__forceinline Quat & Quat::operator *=( const floatInVec &scalar ) +{ + *this = *this * scalar; + return *this; +} + +__forceinline const Quat Quat::operator /( float scalar ) const +{ + return *this / floatInVec(scalar); +} + +__forceinline const Quat Quat::operator /( const floatInVec &scalar ) const +{ + return Quat( _mm_div_ps( mVec128, scalar.get128() ) ); +} + +__forceinline Quat & Quat::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +__forceinline Quat & Quat::operator /=( const floatInVec &scalar ) +{ + *this = *this / scalar; + return *this; +} + +__forceinline const Quat Quat::operator -( ) const +{ + return Quat(_mm_sub_ps( _mm_setzero_ps(), mVec128 ) ); +} + +__forceinline const Quat operator *( float scalar, const Quat &quat ) +{ + return floatInVec(scalar) * quat; +} + +__forceinline const Quat operator *( const floatInVec &scalar, const Quat &quat ) +{ + return quat * scalar; +} + +__forceinline const floatInVec dot( const Quat &quat0, const Quat &quat1 ) +{ + return floatInVec( _vmathVfDot4( quat0.get128(), quat1.get128() ), 0 ); +} + +__forceinline const floatInVec norm( const Quat &quat ) +{ + return floatInVec( _vmathVfDot4( quat.get128(), quat.get128() ), 0 ); +} + +__forceinline const floatInVec length( const Quat &quat ) +{ + return floatInVec( _mm_sqrt_ps(_vmathVfDot4( quat.get128(), quat.get128() )), 0 ); +} + +__forceinline const Quat normalize( const Quat &quat ) +{ + vec_float4 dot =_vmathVfDot4( quat.get128(), quat.get128()); + return Quat( _mm_mul_ps( quat.get128(), newtonrapson_rsqrt4( dot ) ) ); +} + + +__forceinline const Quat Quat::rotation( const Vector3 &unitVec0, const Vector3 &unitVec1 ) +{ + Vector3 crossVec; + __m128 cosAngle, cosAngleX2Plus2, recipCosHalfAngleX2, cosHalfAngleX2, res; + cosAngle = _vmathVfDot3( unitVec0.get128(), unitVec1.get128() ); + cosAngleX2Plus2 = vec_madd( cosAngle, _mm_set1_ps(2.0f), _mm_set1_ps(2.0f) ); + recipCosHalfAngleX2 = _mm_rsqrt_ps( cosAngleX2Plus2 ); + cosHalfAngleX2 = vec_mul( recipCosHalfAngleX2, cosAngleX2Plus2 ); + crossVec = cross( unitVec0, unitVec1 ); + res = vec_mul( crossVec.get128(), recipCosHalfAngleX2 ); + __declspec(align(16)) unsigned int sw[4] = {0, 0, 0, 0xffffffff}; + res = vec_sel( res, vec_mul( cosHalfAngleX2, _mm_set1_ps(0.5f) ), sw ); + return Quat( res ); +} + +__forceinline const Quat Quat::rotation( float radians, const Vector3 &unitVec ) +{ + return rotation( floatInVec(radians), unitVec ); +} + +__forceinline const Quat Quat::rotation( const floatInVec &radians, const Vector3 &unitVec ) +{ + __m128 s, c, angle, res; + angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) ); + sincosf4( angle, &s, &c ); + __declspec(align(16)) unsigned int sw[4] = {0, 0, 0, 0xffffffff}; + res = vec_sel( vec_mul( unitVec.get128(), s ), c, sw ); + return Quat( res ); +} + +__forceinline const Quat Quat::rotationX( float radians ) +{ + return rotationX( floatInVec(radians) ); +} + +__forceinline const Quat Quat::rotationX( const floatInVec &radians ) +{ + __m128 s, c, angle, res; + angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) ); + sincosf4( angle, &s, &c ); + __declspec(align(16)) unsigned int xsw[4] = {0xffffffff, 0, 0, 0}; + __declspec(align(16)) unsigned int wsw[4] = {0, 0, 0, 0xffffffff}; + res = vec_sel( _mm_setzero_ps(), s, xsw ); + res = vec_sel( res, c, wsw ); + return Quat( res ); +} + +__forceinline const Quat Quat::rotationY( float radians ) +{ + return rotationY( floatInVec(radians) ); +} + +__forceinline const Quat Quat::rotationY( const floatInVec &radians ) +{ + __m128 s, c, angle, res; + angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) ); + sincosf4( angle, &s, &c ); + __declspec(align(16)) unsigned int ysw[4] = {0, 0xffffffff, 0, 0}; + __declspec(align(16)) unsigned int wsw[4] = {0, 0, 0, 0xffffffff}; + res = vec_sel( _mm_setzero_ps(), s, ysw ); + res = vec_sel( res, c, wsw ); + return Quat( res ); +} + +__forceinline const Quat Quat::rotationZ( float radians ) +{ + return rotationZ( floatInVec(radians) ); +} + +__forceinline const Quat Quat::rotationZ( const floatInVec &radians ) +{ + __m128 s, c, angle, res; + angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) ); + sincosf4( angle, &s, &c ); + __declspec(align(16)) unsigned int zsw[4] = {0, 0, 0xffffffff, 0}; + __declspec(align(16)) unsigned int wsw[4] = {0, 0, 0, 0xffffffff}; + res = vec_sel( _mm_setzero_ps(), s, zsw ); + res = vec_sel( res, c, wsw ); + return Quat( res ); +} + +__forceinline const Quat Quat::operator *( const Quat &quat ) const +{ + __m128 ldata, rdata, qv, tmp0, tmp1, tmp2, tmp3; + __m128 product, l_wxyz, r_wxyz, xy, qw; + ldata = mVec128; + rdata = quat.mVec128; + tmp0 = _mm_shuffle_ps( ldata, ldata, _MM_SHUFFLE(3,0,2,1) ); + tmp1 = _mm_shuffle_ps( rdata, rdata, _MM_SHUFFLE(3,1,0,2) ); + tmp2 = _mm_shuffle_ps( ldata, ldata, _MM_SHUFFLE(3,1,0,2) ); + tmp3 = _mm_shuffle_ps( rdata, rdata, _MM_SHUFFLE(3,0,2,1) ); + qv = vec_mul( vec_splat( ldata, 3 ), rdata ); + qv = vec_madd( vec_splat( rdata, 3 ), ldata, qv ); + qv = vec_madd( tmp0, tmp1, qv ); + qv = vec_nmsub( tmp2, tmp3, qv ); + product = vec_mul( ldata, rdata ); + l_wxyz = vec_sld( ldata, ldata, 12 ); + r_wxyz = vec_sld( rdata, rdata, 12 ); + qw = vec_nmsub( l_wxyz, r_wxyz, product ); + xy = vec_madd( l_wxyz, r_wxyz, product ); + qw = vec_sub( qw, vec_sld( xy, xy, 8 ) ); + __declspec(align(16)) unsigned int sw[4] = {0, 0, 0, 0xffffffff}; + return Quat( vec_sel( qv, qw, sw ) ); +} + +__forceinline Quat & Quat::operator *=( const Quat &quat ) +{ + *this = *this * quat; + return *this; +} + +__forceinline const Vector3 rotate( const Quat &quat, const Vector3 &vec ) +{ __m128 qdata, vdata, product, tmp0, tmp1, tmp2, tmp3, wwww, qv, qw, res; + qdata = quat.get128(); + vdata = vec.get128(); + tmp0 = _mm_shuffle_ps( qdata, qdata, _MM_SHUFFLE(3,0,2,1) ); + tmp1 = _mm_shuffle_ps( vdata, vdata, _MM_SHUFFLE(3,1,0,2) ); + tmp2 = _mm_shuffle_ps( qdata, qdata, _MM_SHUFFLE(3,1,0,2) ); + tmp3 = _mm_shuffle_ps( vdata, vdata, _MM_SHUFFLE(3,0,2,1) ); + wwww = vec_splat( qdata, 3 ); + qv = vec_mul( wwww, vdata ); + qv = vec_madd( tmp0, tmp1, qv ); + qv = vec_nmsub( tmp2, tmp3, qv ); + product = vec_mul( qdata, vdata ); + qw = vec_madd( vec_sld( qdata, qdata, 4 ), vec_sld( vdata, vdata, 4 ), product ); + qw = vec_add( vec_sld( product, product, 8 ), qw ); + tmp1 = _mm_shuffle_ps( qv, qv, _MM_SHUFFLE(3,1,0,2) ); + tmp3 = _mm_shuffle_ps( qv, qv, _MM_SHUFFLE(3,0,2,1) ); + res = vec_mul( vec_splat( qw, 0 ), qdata ); + res = vec_madd( wwww, qv, res ); + res = vec_madd( tmp0, tmp1, res ); + res = vec_nmsub( tmp2, tmp3, res ); + return Vector3( res ); +} + +__forceinline const Quat conj( const Quat &quat ) +{ + __declspec(align(16)) unsigned int sw[4] = {0x80000000,0x80000000,0x80000000,0}; + return Quat( vec_xor( quat.get128(), _mm_load_ps((float *)sw) ) ); +} + +__forceinline const Quat select( const Quat &quat0, const Quat &quat1, bool select1 ) +{ + return select( quat0, quat1, boolInVec(select1) ); +} + +//__forceinline const Quat select( const Quat &quat0, const Quat &quat1, const boolInVec &select1 ) +//{ +// return Quat( vec_sel( quat0.get128(), quat1.get128(), select1.get128() ) ); +//} + +__forceinline void loadXYZW(Quat& quat, const float* fptr) +{ +#ifdef USE_SSE2_LDDQU + quat = Quat( SSEFloat(_mm_lddqu_si128((const __m128i*)((float*)(fptr)))).m128 ); +#else + SSEFloat fl; + fl.f[0] = fptr[0]; + fl.f[1] = fptr[1]; + fl.f[2] = fptr[2]; + fl.f[3] = fptr[3]; + quat = Quat( fl.m128); +#endif + + +} + +__forceinline void storeXYZW(const Quat& quat, float* fptr) +{ + fptr[0] = quat.getX(); + fptr[1] = quat.getY(); + fptr[2] = quat.getZ(); + fptr[3] = quat.getW(); +// _mm_storeu_ps((float*)quat.get128(),fptr); +} + + + +#ifdef _VECTORMATH_DEBUG + +__forceinline void print( const Quat &quat ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = quat.get128(); + printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +__forceinline void print( const Quat &quat, const char * name ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = quat.get128(); + printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Mod Sources/Bullet/include/bullet/vectormath/sse/vec_aos.h b/Mod Sources/Bullet/include/bullet/vectormath/sse/vec_aos.h new file mode 100644 index 0000000..faee2f4 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/sse/vec_aos.h @@ -0,0 +1,1431 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef _VECTORMATH_VEC_AOS_CPP_H +#define _VECTORMATH_VEC_AOS_CPP_H + +//----------------------------------------------------------------------------- +// Constants +// for permutes words are labeled [x,y,z,w] [a,b,c,d] + +#define _VECTORMATH_PERM_X 0x00010203 +#define _VECTORMATH_PERM_Y 0x04050607 +#define _VECTORMATH_PERM_Z 0x08090a0b +#define _VECTORMATH_PERM_W 0x0c0d0e0f +#define _VECTORMATH_PERM_A 0x10111213 +#define _VECTORMATH_PERM_B 0x14151617 +#define _VECTORMATH_PERM_C 0x18191a1b +#define _VECTORMATH_PERM_D 0x1c1d1e1f +#define _VECTORMATH_PERM_XYZA (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A } +#define _VECTORMATH_PERM_ZXYW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_YZXW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_YZAB (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B } +#define _VECTORMATH_PERM_ZABC (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B, _VECTORMATH_PERM_C } +#define _VECTORMATH_PERM_XYAW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_XAZW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_W } +#define _VECTORMATH_MASK_0xF000 (vec_uint4){ 0xffffffff, 0, 0, 0 } +#define _VECTORMATH_MASK_0x0F00 (vec_uint4){ 0, 0xffffffff, 0, 0 } +#define _VECTORMATH_MASK_0x00F0 (vec_uint4){ 0, 0, 0xffffffff, 0 } +#define _VECTORMATH_MASK_0x000F (vec_uint4){ 0, 0, 0, 0xffffffff } +#define _VECTORMATH_UNIT_1000 _mm_setr_ps(1.0f,0.0f,0.0f,0.0f) // (__m128){ 1.0f, 0.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0100 _mm_setr_ps(0.0f,1.0f,0.0f,0.0f) // (__m128){ 0.0f, 1.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0010 _mm_setr_ps(0.0f,0.0f,1.0f,0.0f) // (__m128){ 0.0f, 0.0f, 1.0f, 0.0f } +#define _VECTORMATH_UNIT_0001 _mm_setr_ps(0.0f,0.0f,0.0f,1.0f) // (__m128){ 0.0f, 0.0f, 0.0f, 1.0f } +#define _VECTORMATH_SLERP_TOL 0.999f +//_VECTORMATH_SLERP_TOLF + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#define _vmath_shufps(a, b, immx, immy, immz, immw) _mm_shuffle_ps(a, b, _MM_SHUFFLE(immw, immz, immy, immx)) +static __forceinline __m128 _vmathVfDot3( __m128 vec0, __m128 vec1 ) +{ + __m128 result = _mm_mul_ps( vec0, vec1); + return _mm_add_ps( vec_splat( result, 0 ), _mm_add_ps( vec_splat( result, 1 ), vec_splat( result, 2 ) ) ); +} + +static __forceinline __m128 _vmathVfDot4( __m128 vec0, __m128 vec1 ) +{ + __m128 result = _mm_mul_ps(vec0, vec1); + return _mm_add_ps(_mm_shuffle_ps(result, result, _MM_SHUFFLE(0,0,0,0)), + _mm_add_ps(_mm_shuffle_ps(result, result, _MM_SHUFFLE(1,1,1,1)), + _mm_add_ps(_mm_shuffle_ps(result, result, _MM_SHUFFLE(2,2,2,2)), _mm_shuffle_ps(result, result, _MM_SHUFFLE(3,3,3,3))))); +} + +static __forceinline __m128 _vmathVfCross( __m128 vec0, __m128 vec1 ) +{ + __m128 tmp0, tmp1, tmp2, tmp3, result; + tmp0 = _mm_shuffle_ps( vec0, vec0, _MM_SHUFFLE(3,0,2,1) ); + tmp1 = _mm_shuffle_ps( vec1, vec1, _MM_SHUFFLE(3,1,0,2) ); + tmp2 = _mm_shuffle_ps( vec0, vec0, _MM_SHUFFLE(3,1,0,2) ); + tmp3 = _mm_shuffle_ps( vec1, vec1, _MM_SHUFFLE(3,0,2,1) ); + result = vec_mul( tmp0, tmp1 ); + result = vec_nmsub( tmp2, tmp3, result ); + return result; +} +/* +static __forceinline vec_uint4 _vmathVfToHalfFloatsUnpacked(__m128 v) +{ +#if 0 + vec_int4 bexp; + vec_uint4 mant, sign, hfloat; + vec_uint4 notZero, isInf; + const vec_uint4 hfloatInf = (vec_uint4)(0x00007c00u); + const vec_uint4 mergeMant = (vec_uint4)(0x000003ffu); + const vec_uint4 mergeSign = (vec_uint4)(0x00008000u); + + sign = vec_sr((vec_uint4)v, (vec_uint4)16); + mant = vec_sr((vec_uint4)v, (vec_uint4)13); + bexp = vec_and(vec_sr((vec_int4)v, (vec_uint4)23), (vec_int4)0xff); + + notZero = (vec_uint4)vec_cmpgt(bexp, (vec_int4)112); + isInf = (vec_uint4)vec_cmpgt(bexp, (vec_int4)142); + + bexp = _mm_add_ps(bexp, (vec_int4)-112); + bexp = vec_sl(bexp, (vec_uint4)10); + + hfloat = vec_sel((vec_uint4)bexp, mant, mergeMant); + hfloat = vec_sel((vec_uint4)(0), hfloat, notZero); + hfloat = vec_sel(hfloat, hfloatInf, isInf); + hfloat = vec_sel(hfloat, sign, mergeSign); + + return hfloat; +#else + assert(0); + return _mm_setzero_ps(); +#endif +} + +static __forceinline vec_ushort8 _vmath2VfToHalfFloats(__m128 u, __m128 v) +{ +#if 0 + vec_uint4 hfloat_u, hfloat_v; + const vec_uchar16 pack = (vec_uchar16){2,3,6,7,10,11,14,15,18,19,22,23,26,27,30,31}; + hfloat_u = _vmathVfToHalfFloatsUnpacked(u); + hfloat_v = _vmathVfToHalfFloatsUnpacked(v); + return (vec_ushort8)vec_perm(hfloat_u, hfloat_v, pack); +#else + assert(0); + return _mm_setzero_si128(); +#endif +} +*/ + +static __forceinline __m128 _vmathVfInsert(__m128 dst, __m128 src, int slot) +{ + SSEFloat s; + s.m128 = src; + SSEFloat d; + d.m128 = dst; + d.f[slot] = s.f[slot]; + return d.m128; +} + +#define _vmathVfSetElement(vec, scalar, slot) ((float *)&(vec))[slot] = scalar + +static __forceinline __m128 _vmathVfSplatScalar(float scalar) +{ + return _mm_set1_ps(scalar); +} + +#endif + +namespace Vectormath { +namespace Aos { + + +#ifdef _VECTORMATH_NO_SCALAR_CAST +__forceinline VecIdx::operator floatInVec() const +{ + return floatInVec(ref, i); +} + +__forceinline float VecIdx::getAsFloat() const +#else +__forceinline VecIdx::operator float() const +#endif +{ + return ((float *)&ref)[i]; +} + +__forceinline float VecIdx::operator =( float scalar ) +{ + _vmathVfSetElement(ref, scalar, i); + return scalar; +} + +__forceinline floatInVec VecIdx::operator =( const floatInVec &scalar ) +{ + ref = _vmathVfInsert(ref, scalar.get128(), i); + return scalar; +} + +__forceinline floatInVec VecIdx::operator =( const VecIdx& scalar ) +{ + return *this = floatInVec(scalar.ref, scalar.i); +} + +__forceinline floatInVec VecIdx::operator *=( float scalar ) +{ + return *this *= floatInVec(scalar); +} + +__forceinline floatInVec VecIdx::operator *=( const floatInVec &scalar ) +{ + return *this = floatInVec(ref, i) * scalar; +} + +__forceinline floatInVec VecIdx::operator /=( float scalar ) +{ + return *this /= floatInVec(scalar); +} + +inline floatInVec VecIdx::operator /=( const floatInVec &scalar ) +{ + return *this = floatInVec(ref, i) / scalar; +} + +__forceinline floatInVec VecIdx::operator +=( float scalar ) +{ + return *this += floatInVec(scalar); +} + +__forceinline floatInVec VecIdx::operator +=( const floatInVec &scalar ) +{ + return *this = floatInVec(ref, i) + scalar; +} + +__forceinline floatInVec VecIdx::operator -=( float scalar ) +{ + return *this -= floatInVec(scalar); +} + +__forceinline floatInVec VecIdx::operator -=( const floatInVec &scalar ) +{ + return *this = floatInVec(ref, i) - scalar; +} + +__forceinline Vector3::Vector3(const Vector3& vec) +{ + set128(vec.get128()); +} + +__forceinline void Vector3::set128(vec_float4 vec) +{ + mVec128 = vec; +} + + +__forceinline Vector3::Vector3( float _x, float _y, float _z ) +{ + mVec128 = _mm_setr_ps(_x, _y, _z, 0.0f); +} + +__forceinline Vector3::Vector3( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z ) +{ + __m128 xz = _mm_unpacklo_ps( _x.get128(), _z.get128() ); + mVec128 = _mm_unpacklo_ps( xz, _y.get128() ); +} + +__forceinline Vector3::Vector3( const Point3 &pnt ) +{ + mVec128 = pnt.get128(); +} + +__forceinline Vector3::Vector3( float scalar ) +{ + mVec128 = floatInVec(scalar).get128(); +} + +__forceinline Vector3::Vector3( const floatInVec &scalar ) +{ + mVec128 = scalar.get128(); +} + +__forceinline Vector3::Vector3( __m128 vf4 ) +{ + mVec128 = vf4; +} + +__forceinline const Vector3 Vector3::xAxis( ) +{ + return Vector3( _VECTORMATH_UNIT_1000 ); +} + +__forceinline const Vector3 Vector3::yAxis( ) +{ + return Vector3( _VECTORMATH_UNIT_0100 ); +} + +__forceinline const Vector3 Vector3::zAxis( ) +{ + return Vector3( _VECTORMATH_UNIT_0010 ); +} + +__forceinline const Vector3 lerp( float t, const Vector3 &vec0, const Vector3 &vec1 ) +{ + return lerp( floatInVec(t), vec0, vec1 ); +} + +__forceinline const Vector3 lerp( const floatInVec &t, const Vector3 &vec0, const Vector3 &vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +__forceinline const Vector3 slerp( float t, const Vector3 &unitVec0, const Vector3 &unitVec1 ) +{ + return slerp( floatInVec(t), unitVec0, unitVec1 ); +} + +__forceinline const Vector3 slerp( const floatInVec &t, const Vector3 &unitVec0, const Vector3 &unitVec1 ) +{ + __m128 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines; + cosAngle = _vmathVfDot3( unitVec0.get128(), unitVec1.get128() ); + __m128 selectMask = _mm_cmpgt_ps( _mm_set1_ps(_VECTORMATH_SLERP_TOL), cosAngle ); + angle = acosf4( cosAngle ); + tttt = t.get128(); + oneMinusT = _mm_sub_ps( _mm_set1_ps(1.0f), tttt ); + angles = _mm_unpacklo_ps( _mm_set1_ps(1.0f), tttt ); // angles = 1, t, 1, t + angles = _mm_unpacklo_ps( angles, oneMinusT ); // angles = 1, 1-t, t, 1-t + angles = _mm_mul_ps( angles, angle ); + sines = sinf4( angles ); + scales = _mm_div_ps( sines, vec_splat( sines, 0 ) ); + scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask ); + scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask ); + return Vector3( vec_madd( unitVec0.get128(), scale0, _mm_mul_ps( unitVec1.get128(), scale1 ) ) ); +} + +__forceinline __m128 Vector3::get128( ) const +{ + return mVec128; +} + +__forceinline void loadXYZ(Vector3& vec, const float* fptr) +{ +#ifdef USE_SSE2_LDDQU + vec = Vector3( SSEFloat(_mm_lddqu_si128((const __m128i*)((float*)(fptr)))).m128 ); +#else + SSEFloat fl; + fl.f[0] = fptr[0]; + fl.f[1] = fptr[1]; + fl.f[2] = fptr[2]; + fl.f[3] = fptr[3]; + vec = Vector3( fl.m128); +#endif //USE_SSE2_LDDQU + +} + +__forceinline void storeXYZ( const Vector3 &vec, __m128 * quad ) +{ + __m128 dstVec = *quad; + __declspec(align(16)) unsigned int sw[4] = {0, 0, 0, 0xffffffff}; // TODO: Centralize + dstVec = vec_sel(vec.get128(), dstVec, sw); + *quad = dstVec; +} + +__forceinline void storeXYZ(const Vector3& vec, float* fptr) +{ + fptr[0] = vec.getX(); + fptr[1] = vec.getY(); + fptr[2] = vec.getZ(); +} + + +__forceinline void loadXYZArray( Vector3 & vec0, Vector3 & vec1, Vector3 & vec2, Vector3 & vec3, const __m128 * threeQuads ) +{ + const float *quads = (float *)threeQuads; + vec0 = Vector3( _mm_load_ps(quads) ); + vec1 = Vector3( _mm_loadu_ps(quads + 3) ); + vec2 = Vector3( _mm_loadu_ps(quads + 6) ); + vec3 = Vector3( _mm_loadu_ps(quads + 9) ); +} + +__forceinline void storeXYZArray( const Vector3 &vec0, const Vector3 &vec1, const Vector3 &vec2, const Vector3 &vec3, __m128 * threeQuads ) +{ + __m128 xxxx = _mm_shuffle_ps( vec1.get128(), vec1.get128(), _MM_SHUFFLE(0, 0, 0, 0) ); + __m128 zzzz = _mm_shuffle_ps( vec2.get128(), vec2.get128(), _MM_SHUFFLE(2, 2, 2, 2) ); + __declspec(align(16)) unsigned int xsw[4] = {0, 0, 0, 0xffffffff}; + __declspec(align(16)) unsigned int zsw[4] = {0xffffffff, 0, 0, 0}; + threeQuads[0] = vec_sel( vec0.get128(), xxxx, xsw ); + threeQuads[1] = _mm_shuffle_ps( vec1.get128(), vec2.get128(), _MM_SHUFFLE(1, 0, 2, 1) ); + threeQuads[2] = vec_sel( _mm_shuffle_ps( vec3.get128(), vec3.get128(), _MM_SHUFFLE(2, 1, 0, 3) ), zzzz, zsw ); +} +/* +__forceinline void storeHalfFloats( const Vector3 &vec0, const Vector3 &vec1, const Vector3 &vec2, const Vector3 &vec3, const Vector3 &vec4, const Vector3 &vec5, const Vector3 &vec6, const Vector3 &vec7, vec_ushort8 * threeQuads ) +{ + assert(0); +#if 0 + __m128 xyz0[3]; + __m128 xyz1[3]; + storeXYZArray( vec0, vec1, vec2, vec3, xyz0 ); + storeXYZArray( vec4, vec5, vec6, vec7, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +#endif +} +*/ +__forceinline Vector3 & Vector3::operator =( const Vector3 &vec ) +{ + mVec128 = vec.mVec128; + return *this; +} + +__forceinline Vector3 & Vector3::setX( float _x ) +{ + _vmathVfSetElement(mVec128, _x, 0); + return *this; +} + +__forceinline Vector3 & Vector3::setX( const floatInVec &_x ) +{ + mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0); + return *this; +} + +__forceinline const floatInVec Vector3::getX( ) const +{ + return floatInVec( mVec128, 0 ); +} + +__forceinline Vector3 & Vector3::setY( float _y ) +{ + _vmathVfSetElement(mVec128, _y, 1); + return *this; +} + +__forceinline Vector3 & Vector3::setY( const floatInVec &_y ) +{ + mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1); + return *this; +} + +__forceinline const floatInVec Vector3::getY( ) const +{ + return floatInVec( mVec128, 1 ); +} + +__forceinline Vector3 & Vector3::setZ( float _z ) +{ + _vmathVfSetElement(mVec128, _z, 2); + return *this; +} + +__forceinline Vector3 & Vector3::setZ( const floatInVec &_z ) +{ + mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2); + return *this; +} + +__forceinline const floatInVec Vector3::getZ( ) const +{ + return floatInVec( mVec128, 2 ); +} + +__forceinline Vector3 & Vector3::setElem( int idx, float value ) +{ + _vmathVfSetElement(mVec128, value, idx); + return *this; +} + +__forceinline Vector3 & Vector3::setElem( int idx, const floatInVec &value ) +{ + mVec128 = _vmathVfInsert(mVec128, value.get128(), idx); + return *this; +} + +__forceinline const floatInVec Vector3::getElem( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +__forceinline VecIdx Vector3::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +__forceinline const floatInVec Vector3::operator []( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +__forceinline const Vector3 Vector3::operator +( const Vector3 &vec ) const +{ + return Vector3( _mm_add_ps( mVec128, vec.mVec128 ) ); +} + +__forceinline const Vector3 Vector3::operator -( const Vector3 &vec ) const +{ + return Vector3( _mm_sub_ps( mVec128, vec.mVec128 ) ); +} + +__forceinline const Point3 Vector3::operator +( const Point3 &pnt ) const +{ + return Point3( _mm_add_ps( mVec128, pnt.get128() ) ); +} + +__forceinline const Vector3 Vector3::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +__forceinline const Vector3 Vector3::operator *( const floatInVec &scalar ) const +{ + return Vector3( _mm_mul_ps( mVec128, scalar.get128() ) ); +} + +__forceinline Vector3 & Vector3::operator +=( const Vector3 &vec ) +{ + *this = *this + vec; + return *this; +} + +__forceinline Vector3 & Vector3::operator -=( const Vector3 &vec ) +{ + *this = *this - vec; + return *this; +} + +__forceinline Vector3 & Vector3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +__forceinline Vector3 & Vector3::operator *=( const floatInVec &scalar ) +{ + *this = *this * scalar; + return *this; +} + +__forceinline const Vector3 Vector3::operator /( float scalar ) const +{ + return *this / floatInVec(scalar); +} + +__forceinline const Vector3 Vector3::operator /( const floatInVec &scalar ) const +{ + return Vector3( _mm_div_ps( mVec128, scalar.get128() ) ); +} + +__forceinline Vector3 & Vector3::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +__forceinline Vector3 & Vector3::operator /=( const floatInVec &scalar ) +{ + *this = *this / scalar; + return *this; +} + +__forceinline const Vector3 Vector3::operator -( ) const +{ + //return Vector3(_mm_sub_ps( _mm_setzero_ps(), mVec128 ) ); + + __declspec(align(16)) static const int array[] = {0x80000000, 0x80000000, 0x80000000, 0x80000000}; + __m128 NEG_MASK = SSEFloat(*(const vec_float4*)array).vf; + return Vector3(_mm_xor_ps(get128(),NEG_MASK)); +} + +__forceinline const Vector3 operator *( float scalar, const Vector3 &vec ) +{ + return floatInVec(scalar) * vec; +} + +__forceinline const Vector3 operator *( const floatInVec &scalar, const Vector3 &vec ) +{ + return vec * scalar; +} + +__forceinline const Vector3 mulPerElem( const Vector3 &vec0, const Vector3 &vec1 ) +{ + return Vector3( _mm_mul_ps( vec0.get128(), vec1.get128() ) ); +} + +__forceinline const Vector3 divPerElem( const Vector3 &vec0, const Vector3 &vec1 ) +{ + return Vector3( _mm_div_ps( vec0.get128(), vec1.get128() ) ); +} + +__forceinline const Vector3 recipPerElem( const Vector3 &vec ) +{ + return Vector3( _mm_rcp_ps( vec.get128() ) ); +} + +__forceinline const Vector3 absPerElem( const Vector3 &vec ) +{ + return Vector3( fabsf4( vec.get128() ) ); +} + +__forceinline const Vector3 copySignPerElem( const Vector3 &vec0, const Vector3 &vec1 ) +{ + __m128 vmask = toM128(0x7fffffff); + return Vector3( _mm_or_ps( + _mm_and_ps ( vmask, vec0.get128() ), // Value + _mm_andnot_ps( vmask, vec1.get128() ) ) ); // Signs +} + +__forceinline const Vector3 maxPerElem( const Vector3 &vec0, const Vector3 &vec1 ) +{ + return Vector3( _mm_max_ps( vec0.get128(), vec1.get128() ) ); +} + +__forceinline const floatInVec maxElem( const Vector3 &vec ) +{ + return floatInVec( _mm_max_ps( _mm_max_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), vec_splat( vec.get128(), 2 ) ) ); +} + +__forceinline const Vector3 minPerElem( const Vector3 &vec0, const Vector3 &vec1 ) +{ + return Vector3( _mm_min_ps( vec0.get128(), vec1.get128() ) ); +} + +__forceinline const floatInVec minElem( const Vector3 &vec ) +{ + return floatInVec( _mm_min_ps( _mm_min_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), vec_splat( vec.get128(), 2 ) ) ); +} + +__forceinline const floatInVec sum( const Vector3 &vec ) +{ + return floatInVec( _mm_add_ps( _mm_add_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), vec_splat( vec.get128(), 2 ) ) ); +} + +__forceinline const floatInVec dot( const Vector3 &vec0, const Vector3 &vec1 ) +{ + return floatInVec( _vmathVfDot3( vec0.get128(), vec1.get128() ), 0 ); +} + +__forceinline const floatInVec lengthSqr( const Vector3 &vec ) +{ + return floatInVec( _vmathVfDot3( vec.get128(), vec.get128() ), 0 ); +} + +__forceinline const floatInVec length( const Vector3 &vec ) +{ + return floatInVec( _mm_sqrt_ps(_vmathVfDot3( vec.get128(), vec.get128() )), 0 ); +} + + +__forceinline const Vector3 normalizeApprox( const Vector3 &vec ) +{ + return Vector3( _mm_mul_ps( vec.get128(), _mm_rsqrt_ps( _vmathVfDot3( vec.get128(), vec.get128() ) ) ) ); +} + +__forceinline const Vector3 normalize( const Vector3 &vec ) +{ + return Vector3( _mm_mul_ps( vec.get128(), newtonrapson_rsqrt4( _vmathVfDot3( vec.get128(), vec.get128() ) ) ) ); +} + +__forceinline const Vector3 cross( const Vector3 &vec0, const Vector3 &vec1 ) +{ + return Vector3( _vmathVfCross( vec0.get128(), vec1.get128() ) ); +} + +__forceinline const Vector3 select( const Vector3 &vec0, const Vector3 &vec1, bool select1 ) +{ + return select( vec0, vec1, boolInVec(select1) ); +} + + +__forceinline const Vector4 select(const Vector4& vec0, const Vector4& vec1, const boolInVec& select1) +{ + return Vector4(vec_sel(vec0.get128(), vec1.get128(), select1.get128())); +} + +#ifdef _VECTORMATH_DEBUG + +__forceinline void print( const Vector3 &vec ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +__forceinline void print( const Vector3 &vec, const char * name ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +#endif + +__forceinline Vector4::Vector4( float _x, float _y, float _z, float _w ) +{ + mVec128 = _mm_setr_ps(_x, _y, _z, _w); + } + +__forceinline Vector4::Vector4( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z, const floatInVec &_w ) +{ + mVec128 = _mm_unpacklo_ps( + _mm_unpacklo_ps( _x.get128(), _z.get128() ), + _mm_unpacklo_ps( _y.get128(), _w.get128() ) ); +} + +__forceinline Vector4::Vector4( const Vector3 &xyz, float _w ) +{ + mVec128 = xyz.get128(); + _vmathVfSetElement(mVec128, _w, 3); +} + +__forceinline Vector4::Vector4( const Vector3 &xyz, const floatInVec &_w ) +{ + mVec128 = xyz.get128(); + mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3); +} + +__forceinline Vector4::Vector4( const Vector3 &vec ) +{ + mVec128 = vec.get128(); + mVec128 = _vmathVfInsert(mVec128, _mm_setzero_ps(), 3); +} + +__forceinline Vector4::Vector4( const Point3 &pnt ) +{ + mVec128 = pnt.get128(); + mVec128 = _vmathVfInsert(mVec128, _mm_set1_ps(1.0f), 3); +} + +__forceinline Vector4::Vector4( const Quat &quat ) +{ + mVec128 = quat.get128(); +} + +__forceinline Vector4::Vector4( float scalar ) +{ + mVec128 = floatInVec(scalar).get128(); +} + +__forceinline Vector4::Vector4( const floatInVec &scalar ) +{ + mVec128 = scalar.get128(); +} + +__forceinline Vector4::Vector4( __m128 vf4 ) +{ + mVec128 = vf4; +} + +__forceinline const Vector4 Vector4::xAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_1000 ); +} + +__forceinline const Vector4 Vector4::yAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_0100 ); +} + +__forceinline const Vector4 Vector4::zAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_0010 ); +} + +__forceinline const Vector4 Vector4::wAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_0001 ); +} + +__forceinline const Vector4 lerp( float t, const Vector4 &vec0, const Vector4 &vec1 ) +{ + return lerp( floatInVec(t), vec0, vec1 ); +} + +__forceinline const Vector4 lerp( const floatInVec &t, const Vector4 &vec0, const Vector4 &vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +__forceinline const Vector4 slerp( float t, const Vector4 &unitVec0, const Vector4 &unitVec1 ) +{ + return slerp( floatInVec(t), unitVec0, unitVec1 ); +} + +__forceinline const Vector4 slerp( const floatInVec &t, const Vector4 &unitVec0, const Vector4 &unitVec1 ) +{ + __m128 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines; + cosAngle = _vmathVfDot4( unitVec0.get128(), unitVec1.get128() ); + __m128 selectMask = _mm_cmpgt_ps( _mm_set1_ps(_VECTORMATH_SLERP_TOL), cosAngle ); + angle = acosf4( cosAngle ); + tttt = t.get128(); + oneMinusT = _mm_sub_ps( _mm_set1_ps(1.0f), tttt ); + angles = _mm_unpacklo_ps( _mm_set1_ps(1.0f), tttt ); // angles = 1, t, 1, t + angles = _mm_unpacklo_ps( angles, oneMinusT ); // angles = 1, 1-t, t, 1-t + angles = _mm_mul_ps( angles, angle ); + sines = sinf4( angles ); + scales = _mm_div_ps( sines, vec_splat( sines, 0 ) ); + scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask ); + scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask ); + return Vector4( vec_madd( unitVec0.get128(), scale0, _mm_mul_ps( unitVec1.get128(), scale1 ) ) ); +} + +__forceinline __m128 Vector4::get128( ) const +{ + return mVec128; +} +/* +__forceinline void storeHalfFloats( const Vector4 &vec0, const Vector4 &vec1, const Vector4 &vec2, const Vector4 &vec3, vec_ushort8 * twoQuads ) +{ + twoQuads[0] = _vmath2VfToHalfFloats(vec0.get128(), vec1.get128()); + twoQuads[1] = _vmath2VfToHalfFloats(vec2.get128(), vec3.get128()); +} +*/ +__forceinline Vector4 & Vector4::operator =( const Vector4 &vec ) +{ + mVec128 = vec.mVec128; + return *this; +} + +__forceinline Vector4 & Vector4::setXYZ( const Vector3 &vec ) +{ + __declspec(align(16)) unsigned int sw[4] = {0, 0, 0, 0xffffffff}; + mVec128 = vec_sel( vec.get128(), mVec128, sw ); + return *this; +} + +__forceinline const Vector3 Vector4::getXYZ( ) const +{ + return Vector3( mVec128 ); +} + +__forceinline Vector4 & Vector4::setX( float _x ) +{ + _vmathVfSetElement(mVec128, _x, 0); + return *this; +} + +__forceinline Vector4 & Vector4::setX( const floatInVec &_x ) +{ + mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0); + return *this; +} + +__forceinline const floatInVec Vector4::getX( ) const +{ + return floatInVec( mVec128, 0 ); +} + +__forceinline Vector4 & Vector4::setY( float _y ) +{ + _vmathVfSetElement(mVec128, _y, 1); + return *this; +} + +__forceinline Vector4 & Vector4::setY( const floatInVec &_y ) +{ + mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1); + return *this; +} + +__forceinline const floatInVec Vector4::getY( ) const +{ + return floatInVec( mVec128, 1 ); +} + +__forceinline Vector4 & Vector4::setZ( float _z ) +{ + _vmathVfSetElement(mVec128, _z, 2); + return *this; +} + +__forceinline Vector4 & Vector4::setZ( const floatInVec &_z ) +{ + mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2); + return *this; +} + +__forceinline const floatInVec Vector4::getZ( ) const +{ + return floatInVec( mVec128, 2 ); +} + +__forceinline Vector4 & Vector4::setW( float _w ) +{ + _vmathVfSetElement(mVec128, _w, 3); + return *this; +} + +__forceinline Vector4 & Vector4::setW( const floatInVec &_w ) +{ + mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3); + return *this; +} + +__forceinline const floatInVec Vector4::getW( ) const +{ + return floatInVec( mVec128, 3 ); +} + +__forceinline Vector4 & Vector4::setElem( int idx, float value ) +{ + _vmathVfSetElement(mVec128, value, idx); + return *this; +} + +__forceinline Vector4 & Vector4::setElem( int idx, const floatInVec &value ) +{ + mVec128 = _vmathVfInsert(mVec128, value.get128(), idx); + return *this; +} + +__forceinline const floatInVec Vector4::getElem( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +__forceinline VecIdx Vector4::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +__forceinline const floatInVec Vector4::operator []( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +__forceinline const Vector4 Vector4::operator +( const Vector4 &vec ) const +{ + return Vector4( _mm_add_ps( mVec128, vec.mVec128 ) ); +} + +__forceinline const Vector4 Vector4::operator -( const Vector4 &vec ) const +{ + return Vector4( _mm_sub_ps( mVec128, vec.mVec128 ) ); +} + +__forceinline const Vector4 Vector4::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +__forceinline const Vector4 Vector4::operator *( const floatInVec &scalar ) const +{ + return Vector4( _mm_mul_ps( mVec128, scalar.get128() ) ); +} + +__forceinline Vector4 & Vector4::operator +=( const Vector4 &vec ) +{ + *this = *this + vec; + return *this; +} + +__forceinline Vector4 & Vector4::operator -=( const Vector4 &vec ) +{ + *this = *this - vec; + return *this; +} + +__forceinline Vector4 & Vector4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +__forceinline Vector4 & Vector4::operator *=( const floatInVec &scalar ) +{ + *this = *this * scalar; + return *this; +} + +__forceinline const Vector4 Vector4::operator /( float scalar ) const +{ + return *this / floatInVec(scalar); +} + +__forceinline const Vector4 Vector4::operator /( const floatInVec &scalar ) const +{ + return Vector4( _mm_div_ps( mVec128, scalar.get128() ) ); +} + +__forceinline Vector4 & Vector4::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +__forceinline Vector4 & Vector4::operator /=( const floatInVec &scalar ) +{ + *this = *this / scalar; + return *this; +} + +__forceinline const Vector4 Vector4::operator -( ) const +{ + return Vector4(_mm_sub_ps( _mm_setzero_ps(), mVec128 ) ); +} + +__forceinline const Vector4 operator *( float scalar, const Vector4 &vec ) +{ + return floatInVec(scalar) * vec; +} + +__forceinline const Vector4 operator *( const floatInVec &scalar, const Vector4 &vec ) +{ + return vec * scalar; +} + +__forceinline const Vector4 mulPerElem( const Vector4 &vec0, const Vector4 &vec1 ) +{ + return Vector4( _mm_mul_ps( vec0.get128(), vec1.get128() ) ); +} + +__forceinline const Vector4 divPerElem( const Vector4 &vec0, const Vector4 &vec1 ) +{ + return Vector4( _mm_div_ps( vec0.get128(), vec1.get128() ) ); +} + +__forceinline const Vector4 recipPerElem( const Vector4 &vec ) +{ + return Vector4( _mm_rcp_ps( vec.get128() ) ); +} + +__forceinline const Vector4 absPerElem( const Vector4 &vec ) +{ + return Vector4( fabsf4( vec.get128() ) ); +} + +__forceinline const Vector4 copySignPerElem( const Vector4 &vec0, const Vector4 &vec1 ) +{ + __m128 vmask = toM128(0x7fffffff); + return Vector4( _mm_or_ps( + _mm_and_ps ( vmask, vec0.get128() ), // Value + _mm_andnot_ps( vmask, vec1.get128() ) ) ); // Signs +} + +__forceinline const Vector4 maxPerElem( const Vector4 &vec0, const Vector4 &vec1 ) +{ + return Vector4( _mm_max_ps( vec0.get128(), vec1.get128() ) ); +} + +__forceinline const floatInVec maxElem( const Vector4 &vec ) +{ + return floatInVec( _mm_max_ps( + _mm_max_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), + _mm_max_ps( vec_splat( vec.get128(), 2 ), vec_splat( vec.get128(), 3 ) ) ) ); +} + +__forceinline const Vector4 minPerElem( const Vector4 &vec0, const Vector4 &vec1 ) +{ + return Vector4( _mm_min_ps( vec0.get128(), vec1.get128() ) ); +} + +__forceinline const floatInVec minElem( const Vector4 &vec ) +{ + return floatInVec( _mm_min_ps( + _mm_min_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), + _mm_min_ps( vec_splat( vec.get128(), 2 ), vec_splat( vec.get128(), 3 ) ) ) ); +} + +__forceinline const floatInVec sum( const Vector4 &vec ) +{ + return floatInVec( _mm_add_ps( + _mm_add_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), + _mm_add_ps( vec_splat( vec.get128(), 2 ), vec_splat( vec.get128(), 3 ) ) ) ); +} + +__forceinline const floatInVec dot( const Vector4 &vec0, const Vector4 &vec1 ) +{ + return floatInVec( _vmathVfDot4( vec0.get128(), vec1.get128() ), 0 ); +} + +__forceinline const floatInVec lengthSqr( const Vector4 &vec ) +{ + return floatInVec( _vmathVfDot4( vec.get128(), vec.get128() ), 0 ); +} + +__forceinline const floatInVec length( const Vector4 &vec ) +{ + return floatInVec( _mm_sqrt_ps(_vmathVfDot4( vec.get128(), vec.get128() )), 0 ); +} + +__forceinline const Vector4 normalizeApprox( const Vector4 &vec ) +{ + return Vector4( _mm_mul_ps( vec.get128(), _mm_rsqrt_ps( _vmathVfDot4( vec.get128(), vec.get128() ) ) ) ); +} + +__forceinline const Vector4 normalize( const Vector4 &vec ) +{ + return Vector4( _mm_mul_ps( vec.get128(), newtonrapson_rsqrt4( _vmathVfDot4( vec.get128(), vec.get128() ) ) ) ); +} + +__forceinline const Vector4 select( const Vector4 &vec0, const Vector4 &vec1, bool select1 ) +{ + return select( vec0, vec1, boolInVec(select1) ); +} + + +#ifdef _VECTORMATH_DEBUG + +__forceinline void print( const Vector4 &vec ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +__forceinline void print( const Vector4 &vec, const char * name ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +#endif + +__forceinline Point3::Point3( float _x, float _y, float _z ) +{ + mVec128 = _mm_setr_ps(_x, _y, _z, 0.0f); +} + +__forceinline Point3::Point3( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z ) +{ + mVec128 = _mm_unpacklo_ps( _mm_unpacklo_ps( _x.get128(), _z.get128() ), _y.get128() ); +} + +__forceinline Point3::Point3( const Vector3 &vec ) +{ + mVec128 = vec.get128(); +} + +__forceinline Point3::Point3( float scalar ) +{ + mVec128 = floatInVec(scalar).get128(); +} + +__forceinline Point3::Point3( const floatInVec &scalar ) +{ + mVec128 = scalar.get128(); +} + +__forceinline Point3::Point3( __m128 vf4 ) +{ + mVec128 = vf4; +} + +__forceinline const Point3 lerp( float t, const Point3 &pnt0, const Point3 &pnt1 ) +{ + return lerp( floatInVec(t), pnt0, pnt1 ); +} + +__forceinline const Point3 lerp( const floatInVec &t, const Point3 &pnt0, const Point3 &pnt1 ) +{ + return ( pnt0 + ( ( pnt1 - pnt0 ) * t ) ); +} + +__forceinline __m128 Point3::get128( ) const +{ + return mVec128; +} + +__forceinline void storeXYZ( const Point3 &pnt, __m128 * quad ) +{ + __m128 dstVec = *quad; + __declspec(align(16)) unsigned int sw[4] = {0, 0, 0, 0xffffffff}; // TODO: Centralize + dstVec = vec_sel(pnt.get128(), dstVec, sw); + *quad = dstVec; +} + +__forceinline void loadXYZArray( Point3 & pnt0, Point3 & pnt1, Point3 & pnt2, Point3 & pnt3, const __m128 * threeQuads ) +{ + const float *quads = (float *)threeQuads; + pnt0 = Point3( _mm_load_ps(quads) ); + pnt1 = Point3( _mm_loadu_ps(quads + 3) ); + pnt2 = Point3( _mm_loadu_ps(quads + 6) ); + pnt3 = Point3( _mm_loadu_ps(quads + 9) ); +} + +__forceinline void storeXYZArray( const Point3 &pnt0, const Point3 &pnt1, const Point3 &pnt2, const Point3 &pnt3, __m128 * threeQuads ) +{ + __m128 xxxx = _mm_shuffle_ps( pnt1.get128(), pnt1.get128(), _MM_SHUFFLE(0, 0, 0, 0) ); + __m128 zzzz = _mm_shuffle_ps( pnt2.get128(), pnt2.get128(), _MM_SHUFFLE(2, 2, 2, 2) ); + __declspec(align(16)) unsigned int xsw[4] = {0, 0, 0, 0xffffffff}; + __declspec(align(16)) unsigned int zsw[4] = {0xffffffff, 0, 0, 0}; + threeQuads[0] = vec_sel( pnt0.get128(), xxxx, xsw ); + threeQuads[1] = _mm_shuffle_ps( pnt1.get128(), pnt2.get128(), _MM_SHUFFLE(1, 0, 2, 1) ); + threeQuads[2] = vec_sel( _mm_shuffle_ps( pnt3.get128(), pnt3.get128(), _MM_SHUFFLE(2, 1, 0, 3) ), zzzz, zsw ); +} +/* +__forceinline void storeHalfFloats( const Point3 &pnt0, const Point3 &pnt1, const Point3 &pnt2, const Point3 &pnt3, const Point3 &pnt4, const Point3 &pnt5, const Point3 &pnt6, const Point3 &pnt7, vec_ushort8 * threeQuads ) +{ +#if 0 + __m128 xyz0[3]; + __m128 xyz1[3]; + storeXYZArray( pnt0, pnt1, pnt2, pnt3, xyz0 ); + storeXYZArray( pnt4, pnt5, pnt6, pnt7, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +#else + assert(0); +#endif +} +*/ +__forceinline Point3 & Point3::operator =( const Point3 &pnt ) +{ + mVec128 = pnt.mVec128; + return *this; +} + +__forceinline Point3 & Point3::setX( float _x ) +{ + _vmathVfSetElement(mVec128, _x, 0); + return *this; +} + +__forceinline Point3 & Point3::setX( const floatInVec &_x ) +{ + mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0); + return *this; +} + +__forceinline const floatInVec Point3::getX( ) const +{ + return floatInVec( mVec128, 0 ); +} + +__forceinline Point3 & Point3::setY( float _y ) +{ + _vmathVfSetElement(mVec128, _y, 1); + return *this; +} + +__forceinline Point3 & Point3::setY( const floatInVec &_y ) +{ + mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1); + return *this; +} + +__forceinline const floatInVec Point3::getY( ) const +{ + return floatInVec( mVec128, 1 ); +} + +__forceinline Point3 & Point3::setZ( float _z ) +{ + _vmathVfSetElement(mVec128, _z, 2); + return *this; +} + +__forceinline Point3 & Point3::setZ( const floatInVec &_z ) +{ + mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2); + return *this; +} + +__forceinline const floatInVec Point3::getZ( ) const +{ + return floatInVec( mVec128, 2 ); +} + +__forceinline Point3 & Point3::setElem( int idx, float value ) +{ + _vmathVfSetElement(mVec128, value, idx); + return *this; +} + +__forceinline Point3 & Point3::setElem( int idx, const floatInVec &value ) +{ + mVec128 = _vmathVfInsert(mVec128, value.get128(), idx); + return *this; +} + +__forceinline const floatInVec Point3::getElem( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +__forceinline VecIdx Point3::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +__forceinline const floatInVec Point3::operator []( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +__forceinline const Vector3 Point3::operator -( const Point3 &pnt ) const +{ + return Vector3( _mm_sub_ps( mVec128, pnt.mVec128 ) ); +} + +__forceinline const Point3 Point3::operator +( const Vector3 &vec ) const +{ + return Point3( _mm_add_ps( mVec128, vec.get128() ) ); +} + +__forceinline const Point3 Point3::operator -( const Vector3 &vec ) const +{ + return Point3( _mm_sub_ps( mVec128, vec.get128() ) ); +} + +__forceinline Point3 & Point3::operator +=( const Vector3 &vec ) +{ + *this = *this + vec; + return *this; +} + +__forceinline Point3 & Point3::operator -=( const Vector3 &vec ) +{ + *this = *this - vec; + return *this; +} + +__forceinline const Point3 mulPerElem( const Point3 &pnt0, const Point3 &pnt1 ) +{ + return Point3( _mm_mul_ps( pnt0.get128(), pnt1.get128() ) ); +} + +__forceinline const Point3 divPerElem( const Point3 &pnt0, const Point3 &pnt1 ) +{ + return Point3( _mm_div_ps( pnt0.get128(), pnt1.get128() ) ); +} + +__forceinline const Point3 recipPerElem( const Point3 &pnt ) +{ + return Point3( _mm_rcp_ps( pnt.get128() ) ); +} + +__forceinline const Point3 absPerElem( const Point3 &pnt ) +{ + return Point3( fabsf4( pnt.get128() ) ); +} + +__forceinline const Point3 copySignPerElem( const Point3 &pnt0, const Point3 &pnt1 ) +{ + __m128 vmask = toM128(0x7fffffff); + return Point3( _mm_or_ps( + _mm_and_ps ( vmask, pnt0.get128() ), // Value + _mm_andnot_ps( vmask, pnt1.get128() ) ) ); // Signs +} + +__forceinline const Point3 maxPerElem( const Point3 &pnt0, const Point3 &pnt1 ) +{ + return Point3( _mm_max_ps( pnt0.get128(), pnt1.get128() ) ); +} + +__forceinline const floatInVec maxElem( const Point3 &pnt ) +{ + return floatInVec( _mm_max_ps( _mm_max_ps( vec_splat( pnt.get128(), 0 ), vec_splat( pnt.get128(), 1 ) ), vec_splat( pnt.get128(), 2 ) ) ); +} + +__forceinline const Point3 minPerElem( const Point3 &pnt0, const Point3 &pnt1 ) +{ + return Point3( _mm_min_ps( pnt0.get128(), pnt1.get128() ) ); +} + +__forceinline const floatInVec minElem( const Point3 &pnt ) +{ + return floatInVec( _mm_min_ps( _mm_min_ps( vec_splat( pnt.get128(), 0 ), vec_splat( pnt.get128(), 1 ) ), vec_splat( pnt.get128(), 2 ) ) ); +} + +__forceinline const floatInVec sum( const Point3 &pnt ) +{ + return floatInVec( _mm_add_ps( _mm_add_ps( vec_splat( pnt.get128(), 0 ), vec_splat( pnt.get128(), 1 ) ), vec_splat( pnt.get128(), 2 ) ) ); +} + +__forceinline const Point3 scale( const Point3 &pnt, float scaleVal ) +{ + return scale( pnt, floatInVec( scaleVal ) ); +} + +__forceinline const Point3 scale( const Point3 &pnt, const floatInVec &scaleVal ) +{ + return mulPerElem( pnt, Point3( scaleVal ) ); +} + +__forceinline const Point3 scale( const Point3 &pnt, const Vector3 &scaleVec ) +{ + return mulPerElem( pnt, Point3( scaleVec ) ); +} + +__forceinline const floatInVec projection( const Point3 &pnt, const Vector3 &unitVec ) +{ + return floatInVec( _vmathVfDot3( pnt.get128(), unitVec.get128() ), 0 ); +} + +__forceinline const floatInVec distSqrFromOrigin( const Point3 &pnt ) +{ + return lengthSqr( Vector3( pnt ) ); +} + +__forceinline const floatInVec distFromOrigin( const Point3 &pnt ) +{ + return length( Vector3( pnt ) ); +} + +__forceinline const floatInVec distSqr( const Point3 &pnt0, const Point3 &pnt1 ) +{ + return lengthSqr( ( pnt1 - pnt0 ) ); +} + +__forceinline const floatInVec dist( const Point3 &pnt0, const Point3 &pnt1 ) +{ + return length( ( pnt1 - pnt0 ) ); +} + +__forceinline const Point3 select( const Point3 &pnt0, const Point3 &pnt1, bool select1 ) +{ + return select( pnt0, pnt1, boolInVec(select1) ); +} + +__forceinline const Point3 select( const Point3 &pnt0, const Point3 &pnt1, const boolInVec &select1 ) +{ + return Point3( vec_sel( pnt0.get128(), pnt1.get128(), select1.get128() ) ); +} + + + +#ifdef _VECTORMATH_DEBUG + +__forceinline void print( const Point3 &pnt ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = pnt.get128(); + printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +__forceinline void print( const Point3 &pnt, const char * name ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = pnt.get128(); + printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Mod Sources/Bullet/include/bullet/vectormath/sse/vecidx_aos.h b/Mod Sources/Bullet/include/bullet/vectormath/sse/vecidx_aos.h new file mode 100644 index 0000000..14dc408 --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/sse/vecidx_aos.h @@ -0,0 +1,80 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef _VECTORMATH_VECIDX_AOS_H +#define _VECTORMATH_VECIDX_AOS_H + + +#include "floatInVec.h" + +namespace Vectormath { +namespace Aos { + +//----------------------------------------------------------------------------- +// VecIdx +// Used in setting elements of Vector3, Vector4, Point3, or Quat with the +// subscripting operator. +// + +__declspec(align(16)) class VecIdx +{ +private: + __m128 &ref; + int i; +public: + inline VecIdx( __m128& vec, int idx ): ref(vec) { i = idx; } + + // implicitly casts to float unless _VECTORMATH_NO_SCALAR_CAST defined + // in which case, implicitly casts to floatInVec, and one must call + // getAsFloat to convert to float. + // +#ifdef _VECTORMATH_NO_SCALAR_CAST + inline operator floatInVec() const; + inline float getAsFloat() const; +#else + inline operator float() const; +#endif + + inline float operator =( float scalar ); + inline floatInVec operator =( const floatInVec &scalar ); + inline floatInVec operator =( const VecIdx& scalar ); + inline floatInVec operator *=( float scalar ); + inline floatInVec operator *=( const floatInVec &scalar ); + inline floatInVec operator /=( float scalar ); + inline floatInVec operator /=( const floatInVec &scalar ); + inline floatInVec operator +=( float scalar ); + inline floatInVec operator +=( const floatInVec &scalar ); + inline floatInVec operator -=( float scalar ); + inline floatInVec operator -=( const floatInVec &scalar ); +}; + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Mod Sources/Bullet/include/bullet/vectormath/sse/vectormath_aos.h b/Mod Sources/Bullet/include/bullet/vectormath/sse/vectormath_aos.h new file mode 100644 index 0000000..86f62cc --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/sse/vectormath_aos.h @@ -0,0 +1,2532 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + + +#ifndef _VECTORMATH_AOS_CPP_SSE_H +#define _VECTORMATH_AOS_CPP_SSE_H + +#include +#include +#include +#include + +#define Vector3Ref Vector3& +#define QuatRef Quat& +#define Matrix3Ref Matrix3& +#define VM_ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a + +#define USE_SSE2_LDDQU +#ifdef USE_SSE2_LDDQU +#include //used for _mm_lddqu_si128 +#endif //USE_SSE2_LDDQU + +// TODO: Tidy +typedef __m128 vec_float4; +typedef __m128 vec_uint4; +typedef __m128 vec_int4; +typedef __m128i vec_uchar16; +typedef __m128i vec_ushort8; + +#define vec_splat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e,e,e,e)) + +#define _mm_ror_ps(vec,i) \ + (((i)%4) ? (_mm_shuffle_ps(vec,vec, _MM_SHUFFLE((unsigned char)(i+3)%4,(unsigned char)(i+2)%4,(unsigned char)(i+1)%4,(unsigned char)(i+0)%4))) : (vec)) +#define _mm_rol_ps(vec,i) \ + (((i)%4) ? (_mm_shuffle_ps(vec,vec, _MM_SHUFFLE((unsigned char)(7-i)%4,(unsigned char)(6-i)%4,(unsigned char)(5-i)%4,(unsigned char)(4-i)%4))) : (vec)) + +#define vec_sld(vec,vec2,x) _mm_ror_ps(vec, ((x)/4)) + +#define _mm_abs_ps(vec) _mm_andnot_ps(_MASKSIGN_,vec) +#define _mm_neg_ps(vec) _mm_xor_ps(_MASKSIGN_,vec) + +#define vec_madd(a, b, c) _mm_add_ps(c, _mm_mul_ps(a, b) ) + +union SSEFloat +{ + __m128i vi; + __m128 m128; + __m128 vf; + unsigned int ui[4]; + unsigned short s[8]; + float f[4]; + SSEFloat(__m128 v) : m128(v) {} + SSEFloat(__m128i v) : vi(v) {} + SSEFloat() {}//uninitialized +}; + +static __forceinline __m128 vec_sel(__m128 a, __m128 b, __m128 mask) +{ + return _mm_or_ps(_mm_and_ps(mask, b), _mm_andnot_ps(mask, a)); +} +static __forceinline __m128 vec_sel(__m128 a, __m128 b, const unsigned int *_mask) +{ + return vec_sel(a, b, _mm_load_ps((float *)_mask)); +} +static __forceinline __m128 vec_sel(__m128 a, __m128 b, unsigned int _mask) +{ + return vec_sel(a, b, _mm_set1_ps(*(float *)&_mask)); +} + +static __forceinline __m128 toM128(unsigned int x) +{ + return _mm_set1_ps( *(float *)&x ); +} + +static __forceinline __m128 fabsf4(__m128 x) +{ + return _mm_and_ps( x, toM128( 0x7fffffff ) ); +} +/* +union SSE64 +{ + __m128 m128; + struct + { + __m64 m01; + __m64 m23; + } m64; +}; + +static __forceinline __m128 vec_cts(__m128 x, int a) +{ + assert(a == 0); // Only 2^0 supported + (void)a; + SSE64 sse64; + sse64.m64.m01 = _mm_cvttps_pi32(x); + sse64.m64.m23 = _mm_cvttps_pi32(_mm_ror_ps(x,2)); + _mm_empty(); + return sse64.m128; +} + +static __forceinline __m128 vec_ctf(__m128 x, int a) +{ + assert(a == 0); // Only 2^0 supported + (void)a; + SSE64 sse64; + sse64.m128 = x; + __m128 result =_mm_movelh_ps( + _mm_cvt_pi2ps(_mm_setzero_ps(), sse64.m64.m01), + _mm_cvt_pi2ps(_mm_setzero_ps(), sse64.m64.m23)); + _mm_empty(); + return result; +} +*/ +static __forceinline __m128 vec_cts(__m128 x, int a) +{ + assert(a == 0); // Only 2^0 supported + (void)a; + __m128i result = _mm_cvtps_epi32(x); + return (__m128 &)result; +} + +static __forceinline __m128 vec_ctf(__m128 x, int a) +{ + assert(a == 0); // Only 2^0 supported + (void)a; + return _mm_cvtepi32_ps((__m128i &)x); +} + +#define vec_nmsub(a,b,c) _mm_sub_ps( c, _mm_mul_ps( a, b ) ) +#define vec_sub(a,b) _mm_sub_ps( a, b ) +#define vec_add(a,b) _mm_add_ps( a, b ) +#define vec_mul(a,b) _mm_mul_ps( a, b ) +#define vec_xor(a,b) _mm_xor_ps( a, b ) +#define vec_and(a,b) _mm_and_ps( a, b ) +#define vec_cmpeq(a,b) _mm_cmpeq_ps( a, b ) +#define vec_cmpgt(a,b) _mm_cmpgt_ps( a, b ) + +#define vec_mergeh(a,b) _mm_unpacklo_ps( a, b ) +#define vec_mergel(a,b) _mm_unpackhi_ps( a, b ) + +#define vec_andc(a,b) _mm_andnot_ps( b, a ) + +#define sqrtf4(x) _mm_sqrt_ps( x ) +#define rsqrtf4(x) _mm_rsqrt_ps( x ) +#define recipf4(x) _mm_rcp_ps( x ) +#define negatef4(x) _mm_sub_ps( _mm_setzero_ps(), x ) + +static __forceinline __m128 newtonrapson_rsqrt4( const __m128 v ) +{ +#define _half4 _mm_setr_ps(.5f,.5f,.5f,.5f) +#define _three _mm_setr_ps(3.f,3.f,3.f,3.f) +const __m128 approx = _mm_rsqrt_ps( v ); +const __m128 muls = _mm_mul_ps(_mm_mul_ps(v, approx), approx); +return _mm_mul_ps(_mm_mul_ps(_half4, approx), _mm_sub_ps(_three, muls) ); +} + +static __forceinline __m128 acosf4(__m128 x) +{ + __m128 xabs = fabsf4(x); + __m128 select = _mm_cmplt_ps( x, _mm_setzero_ps() ); + __m128 t1 = sqrtf4(vec_sub(_mm_set1_ps(1.0f), xabs)); + + /* Instruction counts can be reduced if the polynomial was + * computed entirely from nested (dependent) fma's. However, + * to reduce the number of pipeline stalls, the polygon is evaluated + * in two halves (hi amd lo). + */ + __m128 xabs2 = _mm_mul_ps(xabs, xabs); + __m128 xabs4 = _mm_mul_ps(xabs2, xabs2); + __m128 hi = vec_madd(vec_madd(vec_madd(_mm_set1_ps(-0.0012624911f), + xabs, _mm_set1_ps(0.0066700901f)), + xabs, _mm_set1_ps(-0.0170881256f)), + xabs, _mm_set1_ps( 0.0308918810f)); + __m128 lo = vec_madd(vec_madd(vec_madd(_mm_set1_ps(-0.0501743046f), + xabs, _mm_set1_ps(0.0889789874f)), + xabs, _mm_set1_ps(-0.2145988016f)), + xabs, _mm_set1_ps( 1.5707963050f)); + + __m128 result = vec_madd(hi, xabs4, lo); + + // Adjust the result if x is negactive. + return vec_sel( + vec_mul(t1, result), // Positive + vec_nmsub(t1, result, _mm_set1_ps(3.1415926535898f)), // Negative + select); +} + +static __forceinline __m128 sinf4(vec_float4 x) +{ + +// +// Common constants used to evaluate sinf4/cosf4/tanf4 +// +#define _SINCOS_CC0 -0.0013602249f +#define _SINCOS_CC1 0.0416566950f +#define _SINCOS_CC2 -0.4999990225f +#define _SINCOS_SC0 -0.0001950727f +#define _SINCOS_SC1 0.0083320758f +#define _SINCOS_SC2 -0.1666665247f + +#define _SINCOS_KC1 1.57079625129f +#define _SINCOS_KC2 7.54978995489e-8f + + vec_float4 xl,xl2,xl3,res; + + // Range reduction using : xl = angle * TwoOverPi; + // + xl = vec_mul(x, _mm_set1_ps(0.63661977236f)); + + // Find the quadrant the angle falls in + // using: q = (int) (ceil(abs(xl))*sign(xl)) + // + vec_int4 q = vec_cts(xl,0); + + // Compute an offset based on the quadrant that the angle falls in + // + vec_int4 offset = _mm_and_ps(q,toM128(0x3)); + + // Remainder in range [-pi/4..pi/4] + // + vec_float4 qf = vec_ctf(q,0); + xl = vec_nmsub(qf,_mm_set1_ps(_SINCOS_KC2),vec_nmsub(qf,_mm_set1_ps(_SINCOS_KC1),x)); + + // Compute x^2 and x^3 + // + xl2 = vec_mul(xl,xl); + xl3 = vec_mul(xl2,xl); + + // Compute both the sin and cos of the angles + // using a polynomial expression: + // cx = 1.0f + xl2 * ((C0 * xl2 + C1) * xl2 + C2), and + // sx = xl + xl3 * ((S0 * xl2 + S1) * xl2 + S2) + // + + vec_float4 cx = + vec_madd( + vec_madd( + vec_madd(_mm_set1_ps(_SINCOS_CC0),xl2,_mm_set1_ps(_SINCOS_CC1)),xl2,_mm_set1_ps(_SINCOS_CC2)),xl2,_mm_set1_ps(1.0f)); + vec_float4 sx = + vec_madd( + vec_madd( + vec_madd(_mm_set1_ps(_SINCOS_SC0),xl2,_mm_set1_ps(_SINCOS_SC1)),xl2,_mm_set1_ps(_SINCOS_SC2)),xl3,xl); + + // Use the cosine when the offset is odd and the sin + // when the offset is even + // + res = vec_sel(cx,sx,vec_cmpeq(vec_and(offset, + toM128(0x1)), + _mm_setzero_ps())); + + // Flip the sign of the result when (offset mod 4) = 1 or 2 + // + return vec_sel( + vec_xor(toM128(0x80000000U), res), // Negative + res, // Positive + vec_cmpeq(vec_and(offset,toM128(0x2)),_mm_setzero_ps())); +} + +static __forceinline void sincosf4(vec_float4 x, vec_float4* s, vec_float4* c) +{ + vec_float4 xl,xl2,xl3; + vec_int4 offsetSin, offsetCos; + + // Range reduction using : xl = angle * TwoOverPi; + // + xl = vec_mul(x, _mm_set1_ps(0.63661977236f)); + + // Find the quadrant the angle falls in + // using: q = (int) (ceil(abs(xl))*sign(xl)) + // + //vec_int4 q = vec_cts(vec_add(xl,vec_sel(_mm_set1_ps(0.5f),xl,(0x80000000))),0); + vec_int4 q = vec_cts(xl,0); + + // Compute the offset based on the quadrant that the angle falls in. + // Add 1 to the offset for the cosine. + // + offsetSin = vec_and(q,toM128((int)0x3)); + __m128i temp = _mm_add_epi32(_mm_set1_epi32(1),(__m128i &)offsetSin); + offsetCos = (__m128 &)temp; + + // Remainder in range [-pi/4..pi/4] + // + vec_float4 qf = vec_ctf(q,0); + xl = vec_nmsub(qf,_mm_set1_ps(_SINCOS_KC2),vec_nmsub(qf,_mm_set1_ps(_SINCOS_KC1),x)); + + // Compute x^2 and x^3 + // + xl2 = vec_mul(xl,xl); + xl3 = vec_mul(xl2,xl); + + // Compute both the sin and cos of the angles + // using a polynomial expression: + // cx = 1.0f + xl2 * ((C0 * xl2 + C1) * xl2 + C2), and + // sx = xl + xl3 * ((S0 * xl2 + S1) * xl2 + S2) + // + vec_float4 cx = + vec_madd( + vec_madd( + vec_madd(_mm_set1_ps(_SINCOS_CC0),xl2,_mm_set1_ps(_SINCOS_CC1)),xl2,_mm_set1_ps(_SINCOS_CC2)),xl2,_mm_set1_ps(1.0f)); + vec_float4 sx = + vec_madd( + vec_madd( + vec_madd(_mm_set1_ps(_SINCOS_SC0),xl2,_mm_set1_ps(_SINCOS_SC1)),xl2,_mm_set1_ps(_SINCOS_SC2)),xl3,xl); + + // Use the cosine when the offset is odd and the sin + // when the offset is even + // + vec_uint4 sinMask = (vec_uint4)vec_cmpeq(vec_and(offsetSin,toM128(0x1)),_mm_setzero_ps()); + vec_uint4 cosMask = (vec_uint4)vec_cmpeq(vec_and(offsetCos,toM128(0x1)),_mm_setzero_ps()); + *s = vec_sel(cx,sx,sinMask); + *c = vec_sel(cx,sx,cosMask); + + // Flip the sign of the result when (offset mod 4) = 1 or 2 + // + sinMask = vec_cmpeq(vec_and(offsetSin,toM128(0x2)),_mm_setzero_ps()); + cosMask = vec_cmpeq(vec_and(offsetCos,toM128(0x2)),_mm_setzero_ps()); + + *s = vec_sel((vec_float4)vec_xor(toM128(0x80000000),(vec_uint4)*s),*s,sinMask); + *c = vec_sel((vec_float4)vec_xor(toM128(0x80000000),(vec_uint4)*c),*c,cosMask); +} + +#include "vecidx_aos.h" +#include "floatInVec.h" +#include "boolInVec.h" + +#ifdef _VECTORMATH_DEBUG +#include +#endif +namespace Vectormath { + +namespace Aos { + +//----------------------------------------------------------------------------- +// Forward Declarations +// + +class Vector3; +class Vector4; +class Point3; +class Quat; +class Matrix3; +class Matrix4; +class Transform3; + +// A 3-D vector in array-of-structures format +// +class Vector3 +{ + __m128 mVec128; + + __forceinline void set128(vec_float4 vec); + + __forceinline vec_float4& get128Ref(); + +public: + // Default constructor; does no initialization + // + __forceinline Vector3( ) { }; + + // Default copy constructor + // + __forceinline Vector3(const Vector3& vec); + + // Construct a 3-D vector from x, y, and z elements + // + __forceinline Vector3( float x, float y, float z ); + + // Construct a 3-D vector from x, y, and z elements (scalar data contained in vector data type) + // + __forceinline Vector3( const floatInVec &x, const floatInVec &y, const floatInVec &z ); + + // Copy elements from a 3-D point into a 3-D vector + // + explicit __forceinline Vector3( const Point3 &pnt ); + + // Set all elements of a 3-D vector to the same scalar value + // + explicit __forceinline Vector3( float scalar ); + + // Set all elements of a 3-D vector to the same scalar value (scalar data contained in vector data type) + // + explicit __forceinline Vector3( const floatInVec &scalar ); + + // Set vector float data in a 3-D vector + // + explicit __forceinline Vector3( __m128 vf4 ); + + // Get vector float data from a 3-D vector + // + __forceinline __m128 get128( ) const; + + // Assign one 3-D vector to another + // + __forceinline Vector3 & operator =( const Vector3 &vec ); + + // Set the x element of a 3-D vector + // + __forceinline Vector3 & setX( float x ); + + // Set the y element of a 3-D vector + // + __forceinline Vector3 & setY( float y ); + + // Set the z element of a 3-D vector + // + __forceinline Vector3 & setZ( float z ); + + // Set the x element of a 3-D vector (scalar data contained in vector data type) + // + __forceinline Vector3 & setX( const floatInVec &x ); + + // Set the y element of a 3-D vector (scalar data contained in vector data type) + // + __forceinline Vector3 & setY( const floatInVec &y ); + + // Set the z element of a 3-D vector (scalar data contained in vector data type) + // + __forceinline Vector3 & setZ( const floatInVec &z ); + + // Get the x element of a 3-D vector + // + __forceinline const floatInVec getX( ) const; + + // Get the y element of a 3-D vector + // + __forceinline const floatInVec getY( ) const; + + // Get the z element of a 3-D vector + // + __forceinline const floatInVec getZ( ) const; + + // Set an x, y, or z element of a 3-D vector by index + // + __forceinline Vector3 & setElem( int idx, float value ); + + // Set an x, y, or z element of a 3-D vector by index (scalar data contained in vector data type) + // + __forceinline Vector3 & setElem( int idx, const floatInVec &value ); + + // Get an x, y, or z element of a 3-D vector by index + // + __forceinline const floatInVec getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + __forceinline VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + __forceinline const floatInVec operator []( int idx ) const; + + // Add two 3-D vectors + // + __forceinline const Vector3 operator +( const Vector3 &vec ) const; + + // Subtract a 3-D vector from another 3-D vector + // + __forceinline const Vector3 operator -( const Vector3 &vec ) const; + + // Add a 3-D vector to a 3-D point + // + __forceinline const Point3 operator +( const Point3 &pnt ) const; + + // Multiply a 3-D vector by a scalar + // + __forceinline const Vector3 operator *( float scalar ) const; + + // Divide a 3-D vector by a scalar + // + __forceinline const Vector3 operator /( float scalar ) const; + + // Multiply a 3-D vector by a scalar (scalar data contained in vector data type) + // + __forceinline const Vector3 operator *( const floatInVec &scalar ) const; + + // Divide a 3-D vector by a scalar (scalar data contained in vector data type) + // + __forceinline const Vector3 operator /( const floatInVec &scalar ) const; + + // Perform compound assignment and addition with a 3-D vector + // + __forceinline Vector3 & operator +=( const Vector3 &vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + __forceinline Vector3 & operator -=( const Vector3 &vec ); + + // Perform compound assignment and multiplication by a scalar + // + __forceinline Vector3 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + __forceinline Vector3 & operator /=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + __forceinline Vector3 & operator *=( const floatInVec &scalar ); + + // Perform compound assignment and division by a scalar (scalar data contained in vector data type) + // + __forceinline Vector3 & operator /=( const floatInVec &scalar ); + + // Negate all elements of a 3-D vector + // + __forceinline const Vector3 operator -( ) const; + + // Construct x axis + // + static __forceinline const Vector3 xAxis( ); + + // Construct y axis + // + static __forceinline const Vector3 yAxis( ); + + // Construct z axis + // + static __forceinline const Vector3 zAxis( ); + +}; + +// Multiply a 3-D vector by a scalar +// +__forceinline const Vector3 operator *( float scalar, const Vector3 &vec ); + +// Multiply a 3-D vector by a scalar (scalar data contained in vector data type) +// +__forceinline const Vector3 operator *( const floatInVec &scalar, const Vector3 &vec ); + +// Multiply two 3-D vectors per element +// +__forceinline const Vector3 mulPerElem( const Vector3 &vec0, const Vector3 &vec1 ); + +// Divide two 3-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +__forceinline const Vector3 divPerElem( const Vector3 &vec0, const Vector3 &vec1 ); + +// Compute the reciprocal of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +__forceinline const Vector3 recipPerElem( const Vector3 &vec ); + +// Compute the absolute value of a 3-D vector per element +// +__forceinline const Vector3 absPerElem( const Vector3 &vec ); + +// Copy sign from one 3-D vector to another, per element +// +__forceinline const Vector3 copySignPerElem( const Vector3 &vec0, const Vector3 &vec1 ); + +// Maximum of two 3-D vectors per element +// +__forceinline const Vector3 maxPerElem( const Vector3 &vec0, const Vector3 &vec1 ); + +// Minimum of two 3-D vectors per element +// +__forceinline const Vector3 minPerElem( const Vector3 &vec0, const Vector3 &vec1 ); + +// Maximum element of a 3-D vector +// +__forceinline const floatInVec maxElem( const Vector3 &vec ); + +// Minimum element of a 3-D vector +// +__forceinline const floatInVec minElem( const Vector3 &vec ); + +// Compute the sum of all elements of a 3-D vector +// +__forceinline const floatInVec sum( const Vector3 &vec ); + +// Compute the dot product of two 3-D vectors +// +__forceinline const floatInVec dot( const Vector3 &vec0, const Vector3 &vec1 ); + +// Compute the square of the length of a 3-D vector +// +__forceinline const floatInVec lengthSqr( const Vector3 &vec ); + +// Compute the length of a 3-D vector +// +__forceinline const floatInVec length( const Vector3 &vec ); + +// Normalize a 3-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +__forceinline const Vector3 normalize( const Vector3 &vec ); + +// Compute cross product of two 3-D vectors +// +__forceinline const Vector3 cross( const Vector3 &vec0, const Vector3 &vec1 ); + +// Outer product of two 3-D vectors +// +__forceinline const Matrix3 outer( const Vector3 &vec0, const Vector3 &vec1 ); + +// Pre-multiply a row vector by a 3x3 matrix +// NOTE: +// Slower than column post-multiply. +// +__forceinline const Vector3 rowMul( const Vector3 &vec, const Matrix3 & mat ); + +// Cross-product matrix of a 3-D vector +// +__forceinline const Matrix3 crossMatrix( const Vector3 &vec ); + +// Create cross-product matrix and multiply +// NOTE: +// Faster than separately creating a cross-product matrix and multiplying. +// +__forceinline const Matrix3 crossMatrixMul( const Vector3 &vec, const Matrix3 & mat ); + +// Linear interpolation between two 3-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +__forceinline const Vector3 lerp( float t, const Vector3 &vec0, const Vector3 &vec1 ); + +// Linear interpolation between two 3-D vectors (scalar data contained in vector data type) +// NOTE: +// Does not clamp t between 0 and 1. +// +__forceinline const Vector3 lerp( const floatInVec &t, const Vector3 &vec0, const Vector3 &vec1 ); + +// Spherical linear interpolation between two 3-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +__forceinline const Vector3 slerp( float t, const Vector3 &unitVec0, const Vector3 &unitVec1 ); + +// Spherical linear interpolation between two 3-D vectors (scalar data contained in vector data type) +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +__forceinline const Vector3 slerp( const floatInVec &t, const Vector3 &unitVec0, const Vector3 &unitVec1 ); + +// Conditionally select between two 3-D vectors +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +__forceinline const Vector3 select( const Vector3 &vec0, const Vector3 &vec1, bool select1 ); + +// Conditionally select between two 3-D vectors (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +__forceinline const Vector3 select( const Vector3 &vec0, const Vector3 &vec1, const boolInVec &select1 ); + +// Store x, y, and z elements of 3-D vector in first three words of a quadword, preserving fourth word +// +__forceinline void storeXYZ( const Vector3 &vec, __m128 * quad ); + +// Load four three-float 3-D vectors, stored in three quadwords +// +__forceinline void loadXYZArray( Vector3 & vec0, Vector3 & vec1, Vector3 & vec2, Vector3 & vec3, const __m128 * threeQuads ); + +// Store four 3-D vectors in three quadwords +// +__forceinline void storeXYZArray( const Vector3 &vec0, const Vector3 &vec1, const Vector3 &vec2, const Vector3 &vec3, __m128 * threeQuads ); + +// Store eight 3-D vectors as half-floats +// +__forceinline void storeHalfFloats( const Vector3 &vec0, const Vector3 &vec1, const Vector3 &vec2, const Vector3 &vec3, const Vector3 &vec4, const Vector3 &vec5, const Vector3 &vec6, const Vector3 &vec7, vec_ushort8 * threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Vector3 &vec ); + +// Print a 3-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Vector3 &vec, const char * name ); + +#endif + +// A 4-D vector in array-of-structures format +// +class Vector4 +{ + __m128 mVec128; + +public: + // Default constructor; does no initialization + // + __forceinline Vector4( ) { }; + + // Construct a 4-D vector from x, y, z, and w elements + // + __forceinline Vector4( float x, float y, float z, float w ); + + // Construct a 4-D vector from x, y, z, and w elements (scalar data contained in vector data type) + // + __forceinline Vector4( const floatInVec &x, const floatInVec &y, const floatInVec &z, const floatInVec &w ); + + // Construct a 4-D vector from a 3-D vector and a scalar + // + __forceinline Vector4( const Vector3 &xyz, float w ); + + // Construct a 4-D vector from a 3-D vector and a scalar (scalar data contained in vector data type) + // + __forceinline Vector4( const Vector3 &xyz, const floatInVec &w ); + + // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + // + explicit __forceinline Vector4( const Vector3 &vec ); + + // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + // + explicit __forceinline Vector4( const Point3 &pnt ); + + // Copy elements from a quaternion into a 4-D vector + // + explicit __forceinline Vector4( const Quat &quat ); + + // Set all elements of a 4-D vector to the same scalar value + // + explicit __forceinline Vector4( float scalar ); + + // Set all elements of a 4-D vector to the same scalar value (scalar data contained in vector data type) + // + explicit __forceinline Vector4( const floatInVec &scalar ); + + // Set vector float data in a 4-D vector + // + explicit __forceinline Vector4( __m128 vf4 ); + + // Get vector float data from a 4-D vector + // + __forceinline __m128 get128( ) const; + + // Assign one 4-D vector to another + // + __forceinline Vector4 & operator =( const Vector4 &vec ); + + // Set the x, y, and z elements of a 4-D vector + // NOTE: + // This function does not change the w element. + // + __forceinline Vector4 & setXYZ( const Vector3 &vec ); + + // Get the x, y, and z elements of a 4-D vector + // + __forceinline const Vector3 getXYZ( ) const; + + // Set the x element of a 4-D vector + // + __forceinline Vector4 & setX( float x ); + + // Set the y element of a 4-D vector + // + __forceinline Vector4 & setY( float y ); + + // Set the z element of a 4-D vector + // + __forceinline Vector4 & setZ( float z ); + + // Set the w element of a 4-D vector + // + __forceinline Vector4 & setW( float w ); + + // Set the x element of a 4-D vector (scalar data contained in vector data type) + // + __forceinline Vector4 & setX( const floatInVec &x ); + + // Set the y element of a 4-D vector (scalar data contained in vector data type) + // + __forceinline Vector4 & setY( const floatInVec &y ); + + // Set the z element of a 4-D vector (scalar data contained in vector data type) + // + __forceinline Vector4 & setZ( const floatInVec &z ); + + // Set the w element of a 4-D vector (scalar data contained in vector data type) + // + __forceinline Vector4 & setW( const floatInVec &w ); + + // Get the x element of a 4-D vector + // + __forceinline const floatInVec getX( ) const; + + // Get the y element of a 4-D vector + // + __forceinline const floatInVec getY( ) const; + + // Get the z element of a 4-D vector + // + __forceinline const floatInVec getZ( ) const; + + // Get the w element of a 4-D vector + // + __forceinline const floatInVec getW( ) const; + + // Set an x, y, z, or w element of a 4-D vector by index + // + __forceinline Vector4 & setElem( int idx, float value ); + + // Set an x, y, z, or w element of a 4-D vector by index (scalar data contained in vector data type) + // + __forceinline Vector4 & setElem( int idx, const floatInVec &value ); + + // Get an x, y, z, or w element of a 4-D vector by index + // + __forceinline const floatInVec getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + __forceinline VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + __forceinline const floatInVec operator []( int idx ) const; + + // Add two 4-D vectors + // + __forceinline const Vector4 operator +( const Vector4 &vec ) const; + + // Subtract a 4-D vector from another 4-D vector + // + __forceinline const Vector4 operator -( const Vector4 &vec ) const; + + // Multiply a 4-D vector by a scalar + // + __forceinline const Vector4 operator *( float scalar ) const; + + // Divide a 4-D vector by a scalar + // + __forceinline const Vector4 operator /( float scalar ) const; + + // Multiply a 4-D vector by a scalar (scalar data contained in vector data type) + // + __forceinline const Vector4 operator *( const floatInVec &scalar ) const; + + // Divide a 4-D vector by a scalar (scalar data contained in vector data type) + // + __forceinline const Vector4 operator /( const floatInVec &scalar ) const; + + // Perform compound assignment and addition with a 4-D vector + // + __forceinline Vector4 & operator +=( const Vector4 &vec ); + + // Perform compound assignment and subtraction by a 4-D vector + // + __forceinline Vector4 & operator -=( const Vector4 &vec ); + + // Perform compound assignment and multiplication by a scalar + // + __forceinline Vector4 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + __forceinline Vector4 & operator /=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + __forceinline Vector4 & operator *=( const floatInVec &scalar ); + + // Perform compound assignment and division by a scalar (scalar data contained in vector data type) + // + __forceinline Vector4 & operator /=( const floatInVec &scalar ); + + // Negate all elements of a 4-D vector + // + __forceinline const Vector4 operator -( ) const; + + // Construct x axis + // + static __forceinline const Vector4 xAxis( ); + + // Construct y axis + // + static __forceinline const Vector4 yAxis( ); + + // Construct z axis + // + static __forceinline const Vector4 zAxis( ); + + // Construct w axis + // + static __forceinline const Vector4 wAxis( ); + +}; + +// Multiply a 4-D vector by a scalar +// +__forceinline const Vector4 operator *( float scalar, const Vector4 &vec ); + +// Multiply a 4-D vector by a scalar (scalar data contained in vector data type) +// +__forceinline const Vector4 operator *( const floatInVec &scalar, const Vector4 &vec ); + +// Multiply two 4-D vectors per element +// +__forceinline const Vector4 mulPerElem( const Vector4 &vec0, const Vector4 &vec1 ); + +// Divide two 4-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +__forceinline const Vector4 divPerElem( const Vector4 &vec0, const Vector4 &vec1 ); + +// Compute the reciprocal of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +__forceinline const Vector4 recipPerElem( const Vector4 &vec ); + +// Compute the absolute value of a 4-D vector per element +// +__forceinline const Vector4 absPerElem( const Vector4 &vec ); + +// Copy sign from one 4-D vector to another, per element +// +__forceinline const Vector4 copySignPerElem( const Vector4 &vec0, const Vector4 &vec1 ); + +// Maximum of two 4-D vectors per element +// +__forceinline const Vector4 maxPerElem( const Vector4 &vec0, const Vector4 &vec1 ); + +// Minimum of two 4-D vectors per element +// +__forceinline const Vector4 minPerElem( const Vector4 &vec0, const Vector4 &vec1 ); + +// Maximum element of a 4-D vector +// +__forceinline const floatInVec maxElem( const Vector4 &vec ); + +// Minimum element of a 4-D vector +// +__forceinline const floatInVec minElem( const Vector4 &vec ); + +// Compute the sum of all elements of a 4-D vector +// +__forceinline const floatInVec sum( const Vector4 &vec ); + +// Compute the dot product of two 4-D vectors +// +__forceinline const floatInVec dot( const Vector4 &vec0, const Vector4 &vec1 ); + +// Compute the square of the length of a 4-D vector +// +__forceinline const floatInVec lengthSqr( const Vector4 &vec ); + +// Compute the length of a 4-D vector +// +__forceinline const floatInVec length( const Vector4 &vec ); + +// Normalize a 4-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +__forceinline const Vector4 normalize( const Vector4 &vec ); + +// Outer product of two 4-D vectors +// +__forceinline const Matrix4 outer( const Vector4 &vec0, const Vector4 &vec1 ); + +// Linear interpolation between two 4-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +__forceinline const Vector4 lerp( float t, const Vector4 &vec0, const Vector4 &vec1 ); + +// Linear interpolation between two 4-D vectors (scalar data contained in vector data type) +// NOTE: +// Does not clamp t between 0 and 1. +// +__forceinline const Vector4 lerp( const floatInVec &t, const Vector4 &vec0, const Vector4 &vec1 ); + +// Spherical linear interpolation between two 4-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +__forceinline const Vector4 slerp( float t, const Vector4 &unitVec0, const Vector4 &unitVec1 ); + +// Spherical linear interpolation between two 4-D vectors (scalar data contained in vector data type) +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +__forceinline const Vector4 slerp( const floatInVec &t, const Vector4 &unitVec0, const Vector4 &unitVec1 ); + +// Conditionally select between two 4-D vectors +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +__forceinline const Vector4 select( const Vector4 &vec0, const Vector4 &vec1, bool select1 ); + +// Conditionally select between two 4-D vectors (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +__forceinline const Vector4 select( const Vector4 &vec0, const Vector4 &vec1, const boolInVec &select1 ); + +// Store four 4-D vectors as half-floats +// +__forceinline void storeHalfFloats( const Vector4 &vec0, const Vector4 &vec1, const Vector4 &vec2, const Vector4 &vec3, vec_ushort8 * twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Vector4 &vec ); + +// Print a 4-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Vector4 &vec, const char * name ); + +#endif + +// A 3-D point in array-of-structures format +// +class Point3 +{ + __m128 mVec128; + +public: + // Default constructor; does no initialization + // + __forceinline Point3( ) { }; + + // Construct a 3-D point from x, y, and z elements + // + __forceinline Point3( float x, float y, float z ); + + // Construct a 3-D point from x, y, and z elements (scalar data contained in vector data type) + // + __forceinline Point3( const floatInVec &x, const floatInVec &y, const floatInVec &z ); + + // Copy elements from a 3-D vector into a 3-D point + // + explicit __forceinline Point3( const Vector3 &vec ); + + // Set all elements of a 3-D point to the same scalar value + // + explicit __forceinline Point3( float scalar ); + + // Set all elements of a 3-D point to the same scalar value (scalar data contained in vector data type) + // + explicit __forceinline Point3( const floatInVec &scalar ); + + // Set vector float data in a 3-D point + // + explicit __forceinline Point3( __m128 vf4 ); + + // Get vector float data from a 3-D point + // + __forceinline __m128 get128( ) const; + + // Assign one 3-D point to another + // + __forceinline Point3 & operator =( const Point3 &pnt ); + + // Set the x element of a 3-D point + // + __forceinline Point3 & setX( float x ); + + // Set the y element of a 3-D point + // + __forceinline Point3 & setY( float y ); + + // Set the z element of a 3-D point + // + __forceinline Point3 & setZ( float z ); + + // Set the x element of a 3-D point (scalar data contained in vector data type) + // + __forceinline Point3 & setX( const floatInVec &x ); + + // Set the y element of a 3-D point (scalar data contained in vector data type) + // + __forceinline Point3 & setY( const floatInVec &y ); + + // Set the z element of a 3-D point (scalar data contained in vector data type) + // + __forceinline Point3 & setZ( const floatInVec &z ); + + // Get the x element of a 3-D point + // + __forceinline const floatInVec getX( ) const; + + // Get the y element of a 3-D point + // + __forceinline const floatInVec getY( ) const; + + // Get the z element of a 3-D point + // + __forceinline const floatInVec getZ( ) const; + + // Set an x, y, or z element of a 3-D point by index + // + __forceinline Point3 & setElem( int idx, float value ); + + // Set an x, y, or z element of a 3-D point by index (scalar data contained in vector data type) + // + __forceinline Point3 & setElem( int idx, const floatInVec &value ); + + // Get an x, y, or z element of a 3-D point by index + // + __forceinline const floatInVec getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + __forceinline VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + __forceinline const floatInVec operator []( int idx ) const; + + // Subtract a 3-D point from another 3-D point + // + __forceinline const Vector3 operator -( const Point3 &pnt ) const; + + // Add a 3-D point to a 3-D vector + // + __forceinline const Point3 operator +( const Vector3 &vec ) const; + + // Subtract a 3-D vector from a 3-D point + // + __forceinline const Point3 operator -( const Vector3 &vec ) const; + + // Perform compound assignment and addition with a 3-D vector + // + __forceinline Point3 & operator +=( const Vector3 &vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + __forceinline Point3 & operator -=( const Vector3 &vec ); + +}; + +// Multiply two 3-D points per element +// +__forceinline const Point3 mulPerElem( const Point3 &pnt0, const Point3 &pnt1 ); + +// Divide two 3-D points per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +__forceinline const Point3 divPerElem( const Point3 &pnt0, const Point3 &pnt1 ); + +// Compute the reciprocal of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +__forceinline const Point3 recipPerElem( const Point3 &pnt ); + +// Compute the absolute value of a 3-D point per element +// +__forceinline const Point3 absPerElem( const Point3 &pnt ); + +// Copy sign from one 3-D point to another, per element +// +__forceinline const Point3 copySignPerElem( const Point3 &pnt0, const Point3 &pnt1 ); + +// Maximum of two 3-D points per element +// +__forceinline const Point3 maxPerElem( const Point3 &pnt0, const Point3 &pnt1 ); + +// Minimum of two 3-D points per element +// +__forceinline const Point3 minPerElem( const Point3 &pnt0, const Point3 &pnt1 ); + +// Maximum element of a 3-D point +// +__forceinline const floatInVec maxElem( const Point3 &pnt ); + +// Minimum element of a 3-D point +// +__forceinline const floatInVec minElem( const Point3 &pnt ); + +// Compute the sum of all elements of a 3-D point +// +__forceinline const floatInVec sum( const Point3 &pnt ); + +// Apply uniform scale to a 3-D point +// +__forceinline const Point3 scale( const Point3 &pnt, float scaleVal ); + +// Apply uniform scale to a 3-D point (scalar data contained in vector data type) +// +__forceinline const Point3 scale( const Point3 &pnt, const floatInVec &scaleVal ); + +// Apply non-uniform scale to a 3-D point +// +__forceinline const Point3 scale( const Point3 &pnt, const Vector3 &scaleVec ); + +// Scalar projection of a 3-D point on a unit-length 3-D vector +// +__forceinline const floatInVec projection( const Point3 &pnt, const Vector3 &unitVec ); + +// Compute the square of the distance of a 3-D point from the coordinate-system origin +// +__forceinline const floatInVec distSqrFromOrigin( const Point3 &pnt ); + +// Compute the distance of a 3-D point from the coordinate-system origin +// +__forceinline const floatInVec distFromOrigin( const Point3 &pnt ); + +// Compute the square of the distance between two 3-D points +// +__forceinline const floatInVec distSqr( const Point3 &pnt0, const Point3 &pnt1 ); + +// Compute the distance between two 3-D points +// +__forceinline const floatInVec dist( const Point3 &pnt0, const Point3 &pnt1 ); + +// Linear interpolation between two 3-D points +// NOTE: +// Does not clamp t between 0 and 1. +// +__forceinline const Point3 lerp( float t, const Point3 &pnt0, const Point3 &pnt1 ); + +// Linear interpolation between two 3-D points (scalar data contained in vector data type) +// NOTE: +// Does not clamp t between 0 and 1. +// +__forceinline const Point3 lerp( const floatInVec &t, const Point3 &pnt0, const Point3 &pnt1 ); + +// Conditionally select between two 3-D points +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +__forceinline const Point3 select( const Point3 &pnt0, const Point3 &pnt1, bool select1 ); + +// Conditionally select between two 3-D points (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +__forceinline const Point3 select( const Point3 &pnt0, const Point3 &pnt1, const boolInVec &select1 ); + +// Store x, y, and z elements of 3-D point in first three words of a quadword, preserving fourth word +// +__forceinline void storeXYZ( const Point3 &pnt, __m128 * quad ); + +// Load four three-float 3-D points, stored in three quadwords +// +__forceinline void loadXYZArray( Point3 & pnt0, Point3 & pnt1, Point3 & pnt2, Point3 & pnt3, const __m128 * threeQuads ); + +// Store four 3-D points in three quadwords +// +__forceinline void storeXYZArray( const Point3 &pnt0, const Point3 &pnt1, const Point3 &pnt2, const Point3 &pnt3, __m128 * threeQuads ); + +// Store eight 3-D points as half-floats +// +__forceinline void storeHalfFloats( const Point3 &pnt0, const Point3 &pnt1, const Point3 &pnt2, const Point3 &pnt3, const Point3 &pnt4, const Point3 &pnt5, const Point3 &pnt6, const Point3 &pnt7, vec_ushort8 * threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D point +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Point3 &pnt ); + +// Print a 3-D point and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Point3 &pnt, const char * name ); + +#endif + +// A quaternion in array-of-structures format +// +class Quat +{ + __m128 mVec128; + +public: + // Default constructor; does no initialization + // + __forceinline Quat( ) { }; + + __forceinline Quat::Quat(const Quat& quat); + + // Construct a quaternion from x, y, z, and w elements + // + __forceinline Quat( float x, float y, float z, float w ); + + // Construct a quaternion from x, y, z, and w elements (scalar data contained in vector data type) + // + __forceinline Quat( const floatInVec &x, const floatInVec &y, const floatInVec &z, const floatInVec &w ); + + // Construct a quaternion from a 3-D vector and a scalar + // + __forceinline Quat( const Vector3 &xyz, float w ); + + // Construct a quaternion from a 3-D vector and a scalar (scalar data contained in vector data type) + // + __forceinline Quat( const Vector3 &xyz, const floatInVec &w ); + + // Copy elements from a 4-D vector into a quaternion + // + explicit __forceinline Quat( const Vector4 &vec ); + + // Convert a rotation matrix to a unit-length quaternion + // + explicit __forceinline Quat( const Matrix3 & rotMat ); + + // Set all elements of a quaternion to the same scalar value + // + explicit __forceinline Quat( float scalar ); + + // Set all elements of a quaternion to the same scalar value (scalar data contained in vector data type) + // + explicit __forceinline Quat( const floatInVec &scalar ); + + // Set vector float data in a quaternion + // + explicit __forceinline Quat( __m128 vf4 ); + + // Get vector float data from a quaternion + // + __forceinline __m128 get128( ) const; + + // Set a quaterion from vector float data + // + __forceinline void set128(vec_float4 vec); + + // Assign one quaternion to another + // + __forceinline Quat & operator =( const Quat &quat ); + + // Set the x, y, and z elements of a quaternion + // NOTE: + // This function does not change the w element. + // + __forceinline Quat & setXYZ( const Vector3 &vec ); + + // Get the x, y, and z elements of a quaternion + // + __forceinline const Vector3 getXYZ( ) const; + + // Set the x element of a quaternion + // + __forceinline Quat & setX( float x ); + + // Set the y element of a quaternion + // + __forceinline Quat & setY( float y ); + + // Set the z element of a quaternion + // + __forceinline Quat & setZ( float z ); + + // Set the w element of a quaternion + // + __forceinline Quat & setW( float w ); + + // Set the x element of a quaternion (scalar data contained in vector data type) + // + __forceinline Quat & setX( const floatInVec &x ); + + // Set the y element of a quaternion (scalar data contained in vector data type) + // + __forceinline Quat & setY( const floatInVec &y ); + + // Set the z element of a quaternion (scalar data contained in vector data type) + // + __forceinline Quat & setZ( const floatInVec &z ); + + // Set the w element of a quaternion (scalar data contained in vector data type) + // + __forceinline Quat & setW( const floatInVec &w ); + + // Get the x element of a quaternion + // + __forceinline const floatInVec getX( ) const; + + // Get the y element of a quaternion + // + __forceinline const floatInVec getY( ) const; + + // Get the z element of a quaternion + // + __forceinline const floatInVec getZ( ) const; + + // Get the w element of a quaternion + // + __forceinline const floatInVec getW( ) const; + + // Set an x, y, z, or w element of a quaternion by index + // + __forceinline Quat & setElem( int idx, float value ); + + // Set an x, y, z, or w element of a quaternion by index (scalar data contained in vector data type) + // + __forceinline Quat & setElem( int idx, const floatInVec &value ); + + // Get an x, y, z, or w element of a quaternion by index + // + __forceinline const floatInVec getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + __forceinline VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + __forceinline const floatInVec operator []( int idx ) const; + + // Add two quaternions + // + __forceinline const Quat operator +( const Quat &quat ) const; + + // Subtract a quaternion from another quaternion + // + __forceinline const Quat operator -( const Quat &quat ) const; + + // Multiply two quaternions + // + __forceinline const Quat operator *( const Quat &quat ) const; + + // Multiply a quaternion by a scalar + // + __forceinline const Quat operator *( float scalar ) const; + + // Divide a quaternion by a scalar + // + __forceinline const Quat operator /( float scalar ) const; + + // Multiply a quaternion by a scalar (scalar data contained in vector data type) + // + __forceinline const Quat operator *( const floatInVec &scalar ) const; + + // Divide a quaternion by a scalar (scalar data contained in vector data type) + // + __forceinline const Quat operator /( const floatInVec &scalar ) const; + + // Perform compound assignment and addition with a quaternion + // + __forceinline Quat & operator +=( const Quat &quat ); + + // Perform compound assignment and subtraction by a quaternion + // + __forceinline Quat & operator -=( const Quat &quat ); + + // Perform compound assignment and multiplication by a quaternion + // + __forceinline Quat & operator *=( const Quat &quat ); + + // Perform compound assignment and multiplication by a scalar + // + __forceinline Quat & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + __forceinline Quat & operator /=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + __forceinline Quat & operator *=( const floatInVec &scalar ); + + // Perform compound assignment and division by a scalar (scalar data contained in vector data type) + // + __forceinline Quat & operator /=( const floatInVec &scalar ); + + // Negate all elements of a quaternion + // + __forceinline const Quat operator -( ) const; + + // Construct an identity quaternion + // + static __forceinline const Quat identity( ); + + // Construct a quaternion to rotate between two unit-length 3-D vectors + // NOTE: + // The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + // + static __forceinline const Quat rotation( const Vector3 &unitVec0, const Vector3 &unitVec1 ); + + // Construct a quaternion to rotate around a unit-length 3-D vector + // + static __forceinline const Quat rotation( float radians, const Vector3 &unitVec ); + + // Construct a quaternion to rotate around a unit-length 3-D vector (scalar data contained in vector data type) + // + static __forceinline const Quat rotation( const floatInVec &radians, const Vector3 &unitVec ); + + // Construct a quaternion to rotate around the x axis + // + static __forceinline const Quat rotationX( float radians ); + + // Construct a quaternion to rotate around the y axis + // + static __forceinline const Quat rotationY( float radians ); + + // Construct a quaternion to rotate around the z axis + // + static __forceinline const Quat rotationZ( float radians ); + + // Construct a quaternion to rotate around the x axis (scalar data contained in vector data type) + // + static __forceinline const Quat rotationX( const floatInVec &radians ); + + // Construct a quaternion to rotate around the y axis (scalar data contained in vector data type) + // + static __forceinline const Quat rotationY( const floatInVec &radians ); + + // Construct a quaternion to rotate around the z axis (scalar data contained in vector data type) + // + static __forceinline const Quat rotationZ( const floatInVec &radians ); + +}; + +// Multiply a quaternion by a scalar +// +__forceinline const Quat operator *( float scalar, const Quat &quat ); + +// Multiply a quaternion by a scalar (scalar data contained in vector data type) +// +__forceinline const Quat operator *( const floatInVec &scalar, const Quat &quat ); + +// Compute the conjugate of a quaternion +// +__forceinline const Quat conj( const Quat &quat ); + +// Use a unit-length quaternion to rotate a 3-D vector +// +__forceinline const Vector3 rotate( const Quat &unitQuat, const Vector3 &vec ); + +// Compute the dot product of two quaternions +// +__forceinline const floatInVec dot( const Quat &quat0, const Quat &quat1 ); + +// Compute the norm of a quaternion +// +__forceinline const floatInVec norm( const Quat &quat ); + +// Compute the length of a quaternion +// +__forceinline const floatInVec length( const Quat &quat ); + +// Normalize a quaternion +// NOTE: +// The result is unpredictable when all elements of quat are at or near zero. +// +__forceinline const Quat normalize( const Quat &quat ); + +// Linear interpolation between two quaternions +// NOTE: +// Does not clamp t between 0 and 1. +// +__forceinline const Quat lerp( float t, const Quat &quat0, const Quat &quat1 ); + +// Linear interpolation between two quaternions (scalar data contained in vector data type) +// NOTE: +// Does not clamp t between 0 and 1. +// +__forceinline const Quat lerp( const floatInVec &t, const Quat &quat0, const Quat &quat1 ); + +// Spherical linear interpolation between two quaternions +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +__forceinline const Quat slerp( float t, const Quat &unitQuat0, const Quat &unitQuat1 ); + +// Spherical linear interpolation between two quaternions (scalar data contained in vector data type) +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +__forceinline const Quat slerp( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1 ); + +// Spherical quadrangle interpolation +// +__forceinline const Quat squad( float t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 ); + +// Spherical quadrangle interpolation (scalar data contained in vector data type) +// +__forceinline const Quat squad( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 ); + +// Conditionally select between two quaternions +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +__forceinline const Quat select( const Quat &quat0, const Quat &quat1, bool select1 ); + +// Conditionally select between two quaternions (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +__forceinline const Quat select( const Quat &quat0, const Quat &quat1, const boolInVec &select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a quaternion +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Quat &quat ); + +// Print a quaternion and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Quat &quat, const char * name ); + +#endif + +// A 3x3 matrix in array-of-structures format +// +class Matrix3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + +public: + // Default constructor; does no initialization + // + __forceinline Matrix3( ) { }; + + // Copy a 3x3 matrix + // + __forceinline Matrix3( const Matrix3 & mat ); + + // Construct a 3x3 matrix containing the specified columns + // + __forceinline Matrix3( const Vector3 &col0, const Vector3 &col1, const Vector3 &col2 ); + + // Construct a 3x3 rotation matrix from a unit-length quaternion + // + explicit __forceinline Matrix3( const Quat &unitQuat ); + + // Set all elements of a 3x3 matrix to the same scalar value + // + explicit __forceinline Matrix3( float scalar ); + + // Set all elements of a 3x3 matrix to the same scalar value (scalar data contained in vector data type) + // + explicit __forceinline Matrix3( const floatInVec &scalar ); + + // Assign one 3x3 matrix to another + // + __forceinline Matrix3 & operator =( const Matrix3 & mat ); + + // Set column 0 of a 3x3 matrix + // + __forceinline Matrix3 & setCol0( const Vector3 &col0 ); + + // Set column 1 of a 3x3 matrix + // + __forceinline Matrix3 & setCol1( const Vector3 &col1 ); + + // Set column 2 of a 3x3 matrix + // + __forceinline Matrix3 & setCol2( const Vector3 &col2 ); + + // Get column 0 of a 3x3 matrix + // + __forceinline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x3 matrix + // + __forceinline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x3 matrix + // + __forceinline const Vector3 getCol2( ) const; + + // Set the column of a 3x3 matrix referred to by the specified index + // + __forceinline Matrix3 & setCol( int col, const Vector3 &vec ); + + // Set the row of a 3x3 matrix referred to by the specified index + // + __forceinline Matrix3 & setRow( int row, const Vector3 &vec ); + + // Get the column of a 3x3 matrix referred to by the specified index + // + __forceinline const Vector3 getCol( int col ) const; + + // Get the row of a 3x3 matrix referred to by the specified index + // + __forceinline const Vector3 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + __forceinline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + __forceinline const Vector3 operator []( int col ) const; + + // Set the element of a 3x3 matrix referred to by column and row indices + // + __forceinline Matrix3 & setElem( int col, int row, float val ); + + // Set the element of a 3x3 matrix referred to by column and row indices (scalar data contained in vector data type) + // + __forceinline Matrix3 & setElem( int col, int row, const floatInVec &val ); + + // Get the element of a 3x3 matrix referred to by column and row indices + // + __forceinline const floatInVec getElem( int col, int row ) const; + + // Add two 3x3 matrices + // + __forceinline const Matrix3 operator +( const Matrix3 & mat ) const; + + // Subtract a 3x3 matrix from another 3x3 matrix + // + __forceinline const Matrix3 operator -( const Matrix3 & mat ) const; + + // Negate all elements of a 3x3 matrix + // + __forceinline const Matrix3 operator -( ) const; + + // Multiply a 3x3 matrix by a scalar + // + __forceinline const Matrix3 operator *( float scalar ) const; + + // Multiply a 3x3 matrix by a scalar (scalar data contained in vector data type) + // + __forceinline const Matrix3 operator *( const floatInVec &scalar ) const; + + // Multiply a 3x3 matrix by a 3-D vector + // + __forceinline const Vector3 operator *( const Vector3 &vec ) const; + + // Multiply two 3x3 matrices + // + __forceinline const Matrix3 operator *( const Matrix3 & mat ) const; + + // Perform compound assignment and addition with a 3x3 matrix + // + __forceinline Matrix3 & operator +=( const Matrix3 & mat ); + + // Perform compound assignment and subtraction by a 3x3 matrix + // + __forceinline Matrix3 & operator -=( const Matrix3 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + __forceinline Matrix3 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + __forceinline Matrix3 & operator *=( const floatInVec &scalar ); + + // Perform compound assignment and multiplication by a 3x3 matrix + // + __forceinline Matrix3 & operator *=( const Matrix3 & mat ); + + // Construct an identity 3x3 matrix + // + static __forceinline const Matrix3 identity( ); + + // Construct a 3x3 matrix to rotate around the x axis + // + static __forceinline const Matrix3 rotationX( float radians ); + + // Construct a 3x3 matrix to rotate around the y axis + // + static __forceinline const Matrix3 rotationY( float radians ); + + // Construct a 3x3 matrix to rotate around the z axis + // + static __forceinline const Matrix3 rotationZ( float radians ); + + // Construct a 3x3 matrix to rotate around the x axis (scalar data contained in vector data type) + // + static __forceinline const Matrix3 rotationX( const floatInVec &radians ); + + // Construct a 3x3 matrix to rotate around the y axis (scalar data contained in vector data type) + // + static __forceinline const Matrix3 rotationY( const floatInVec &radians ); + + // Construct a 3x3 matrix to rotate around the z axis (scalar data contained in vector data type) + // + static __forceinline const Matrix3 rotationZ( const floatInVec &radians ); + + // Construct a 3x3 matrix to rotate around the x, y, and z axes + // + static __forceinline const Matrix3 rotationZYX( const Vector3 &radiansXYZ ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector + // + static __forceinline const Matrix3 rotation( float radians, const Vector3 &unitVec ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector (scalar data contained in vector data type) + // + static __forceinline const Matrix3 rotation( const floatInVec &radians, const Vector3 &unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static __forceinline const Matrix3 rotation( const Quat &unitQuat ); + + // Construct a 3x3 matrix to perform scaling + // + static __forceinline const Matrix3 scale( const Vector3 &scaleVec ); + +}; +// Multiply a 3x3 matrix by a scalar +// +__forceinline const Matrix3 operator *( float scalar, const Matrix3 & mat ); + +// Multiply a 3x3 matrix by a scalar (scalar data contained in vector data type) +// +__forceinline const Matrix3 operator *( const floatInVec &scalar, const Matrix3 & mat ); + +// Append (post-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +__forceinline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 &scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +__forceinline const Matrix3 prependScale( const Vector3 &scaleVec, const Matrix3 & mat ); + +// Multiply two 3x3 matrices per element +// +__forceinline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ); + +// Compute the absolute value of a 3x3 matrix per element +// +__forceinline const Matrix3 absPerElem( const Matrix3 & mat ); + +// Transpose of a 3x3 matrix +// +__forceinline const Matrix3 transpose( const Matrix3 & mat ); + +// Compute the inverse of a 3x3 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +__forceinline const Matrix3 inverse( const Matrix3 & mat ); + +// Determinant of a 3x3 matrix +// +__forceinline const floatInVec determinant( const Matrix3 & mat ); + +// Conditionally select between two 3x3 matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +__forceinline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ); + +// Conditionally select between two 3x3 matrices (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +__forceinline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, const boolInVec &select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x3 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Matrix3 & mat ); + +// Print a 3x3 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Matrix3 & mat, const char * name ); + +#endif + +// A 4x4 matrix in array-of-structures format +// +class Matrix4 +{ + Vector4 mCol0; + Vector4 mCol1; + Vector4 mCol2; + Vector4 mCol3; + +public: + // Default constructor; does no initialization + // + __forceinline Matrix4( ) { }; + + // Copy a 4x4 matrix + // + __forceinline Matrix4( const Matrix4 & mat ); + + // Construct a 4x4 matrix containing the specified columns + // + __forceinline Matrix4( const Vector4 &col0, const Vector4 &col1, const Vector4 &col2, const Vector4 &col3 ); + + // Construct a 4x4 matrix from a 3x4 transformation matrix + // + explicit __forceinline Matrix4( const Transform3 & mat ); + + // Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + // + __forceinline Matrix4( const Matrix3 & mat, const Vector3 &translateVec ); + + // Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + // + __forceinline Matrix4( const Quat &unitQuat, const Vector3 &translateVec ); + + // Set all elements of a 4x4 matrix to the same scalar value + // + explicit __forceinline Matrix4( float scalar ); + + // Set all elements of a 4x4 matrix to the same scalar value (scalar data contained in vector data type) + // + explicit __forceinline Matrix4( const floatInVec &scalar ); + + // Assign one 4x4 matrix to another + // + __forceinline Matrix4 & operator =( const Matrix4 & mat ); + + // Set the upper-left 3x3 submatrix + // NOTE: + // This function does not change the bottom row elements. + // + __forceinline Matrix4 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 4x4 matrix + // + __forceinline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // NOTE: + // This function does not change the bottom row elements. + // + __forceinline Matrix4 & setTranslation( const Vector3 &translateVec ); + + // Get the translation component of a 4x4 matrix + // + __forceinline const Vector3 getTranslation( ) const; + + // Set column 0 of a 4x4 matrix + // + __forceinline Matrix4 & setCol0( const Vector4 &col0 ); + + // Set column 1 of a 4x4 matrix + // + __forceinline Matrix4 & setCol1( const Vector4 &col1 ); + + // Set column 2 of a 4x4 matrix + // + __forceinline Matrix4 & setCol2( const Vector4 &col2 ); + + // Set column 3 of a 4x4 matrix + // + __forceinline Matrix4 & setCol3( const Vector4 &col3 ); + + // Get column 0 of a 4x4 matrix + // + __forceinline const Vector4 getCol0( ) const; + + // Get column 1 of a 4x4 matrix + // + __forceinline const Vector4 getCol1( ) const; + + // Get column 2 of a 4x4 matrix + // + __forceinline const Vector4 getCol2( ) const; + + // Get column 3 of a 4x4 matrix + // + __forceinline const Vector4 getCol3( ) const; + + // Set the column of a 4x4 matrix referred to by the specified index + // + __forceinline Matrix4 & setCol( int col, const Vector4 &vec ); + + // Set the row of a 4x4 matrix referred to by the specified index + // + __forceinline Matrix4 & setRow( int row, const Vector4 &vec ); + + // Get the column of a 4x4 matrix referred to by the specified index + // + __forceinline const Vector4 getCol( int col ) const; + + // Get the row of a 4x4 matrix referred to by the specified index + // + __forceinline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + __forceinline Vector4 & operator []( int col ); + + // Subscripting operator to get a column + // + __forceinline const Vector4 operator []( int col ) const; + + // Set the element of a 4x4 matrix referred to by column and row indices + // + __forceinline Matrix4 & setElem( int col, int row, float val ); + + // Set the element of a 4x4 matrix referred to by column and row indices (scalar data contained in vector data type) + // + __forceinline Matrix4 & setElem( int col, int row, const floatInVec &val ); + + // Get the element of a 4x4 matrix referred to by column and row indices + // + __forceinline const floatInVec getElem( int col, int row ) const; + + // Add two 4x4 matrices + // + __forceinline const Matrix4 operator +( const Matrix4 & mat ) const; + + // Subtract a 4x4 matrix from another 4x4 matrix + // + __forceinline const Matrix4 operator -( const Matrix4 & mat ) const; + + // Negate all elements of a 4x4 matrix + // + __forceinline const Matrix4 operator -( ) const; + + // Multiply a 4x4 matrix by a scalar + // + __forceinline const Matrix4 operator *( float scalar ) const; + + // Multiply a 4x4 matrix by a scalar (scalar data contained in vector data type) + // + __forceinline const Matrix4 operator *( const floatInVec &scalar ) const; + + // Multiply a 4x4 matrix by a 4-D vector + // + __forceinline const Vector4 operator *( const Vector4 &vec ) const; + + // Multiply a 4x4 matrix by a 3-D vector + // + __forceinline const Vector4 operator *( const Vector3 &vec ) const; + + // Multiply a 4x4 matrix by a 3-D point + // + __forceinline const Vector4 operator *( const Point3 &pnt ) const; + + // Multiply two 4x4 matrices + // + __forceinline const Matrix4 operator *( const Matrix4 & mat ) const; + + // Multiply a 4x4 matrix by a 3x4 transformation matrix + // + __forceinline const Matrix4 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and addition with a 4x4 matrix + // + __forceinline Matrix4 & operator +=( const Matrix4 & mat ); + + // Perform compound assignment and subtraction by a 4x4 matrix + // + __forceinline Matrix4 & operator -=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + __forceinline Matrix4 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + __forceinline Matrix4 & operator *=( const floatInVec &scalar ); + + // Perform compound assignment and multiplication by a 4x4 matrix + // + __forceinline Matrix4 & operator *=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + __forceinline Matrix4 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 4x4 matrix + // + static __forceinline const Matrix4 identity( ); + + // Construct a 4x4 matrix to rotate around the x axis + // + static __forceinline const Matrix4 rotationX( float radians ); + + // Construct a 4x4 matrix to rotate around the y axis + // + static __forceinline const Matrix4 rotationY( float radians ); + + // Construct a 4x4 matrix to rotate around the z axis + // + static __forceinline const Matrix4 rotationZ( float radians ); + + // Construct a 4x4 matrix to rotate around the x axis (scalar data contained in vector data type) + // + static __forceinline const Matrix4 rotationX( const floatInVec &radians ); + + // Construct a 4x4 matrix to rotate around the y axis (scalar data contained in vector data type) + // + static __forceinline const Matrix4 rotationY( const floatInVec &radians ); + + // Construct a 4x4 matrix to rotate around the z axis (scalar data contained in vector data type) + // + static __forceinline const Matrix4 rotationZ( const floatInVec &radians ); + + // Construct a 4x4 matrix to rotate around the x, y, and z axes + // + static __forceinline const Matrix4 rotationZYX( const Vector3 &radiansXYZ ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector + // + static __forceinline const Matrix4 rotation( float radians, const Vector3 &unitVec ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector (scalar data contained in vector data type) + // + static __forceinline const Matrix4 rotation( const floatInVec &radians, const Vector3 &unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static __forceinline const Matrix4 rotation( const Quat &unitQuat ); + + // Construct a 4x4 matrix to perform scaling + // + static __forceinline const Matrix4 scale( const Vector3 &scaleVec ); + + // Construct a 4x4 matrix to perform translation + // + static __forceinline const Matrix4 translation( const Vector3 &translateVec ); + + // Construct viewing matrix based on eye, position looked at, and up direction + // + static __forceinline const Matrix4 lookAt( const Point3 &eyePos, const Point3 &lookAtPos, const Vector3 &upVec ); + + // Construct a perspective projection matrix + // + static __forceinline const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar ); + + // Construct a perspective projection matrix based on frustum + // + static __forceinline const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar ); + + // Construct an orthographic projection matrix + // + static __forceinline const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar ); + +}; +// Multiply a 4x4 matrix by a scalar +// +__forceinline const Matrix4 operator *( float scalar, const Matrix4 & mat ); + +// Multiply a 4x4 matrix by a scalar (scalar data contained in vector data type) +// +__forceinline const Matrix4 operator *( const floatInVec &scalar, const Matrix4 & mat ); + +// Append (post-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +__forceinline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 &scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +__forceinline const Matrix4 prependScale( const Vector3 &scaleVec, const Matrix4 & mat ); + +// Multiply two 4x4 matrices per element +// +__forceinline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ); + +// Compute the absolute value of a 4x4 matrix per element +// +__forceinline const Matrix4 absPerElem( const Matrix4 & mat ); + +// Transpose of a 4x4 matrix +// +__forceinline const Matrix4 transpose( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +__forceinline const Matrix4 inverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. +// +__forceinline const Matrix4 affineInverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. +// +__forceinline const Matrix4 orthoInverse( const Matrix4 & mat ); + +// Determinant of a 4x4 matrix +// +__forceinline const floatInVec determinant( const Matrix4 & mat ); + +// Conditionally select between two 4x4 matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +__forceinline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ); + +// Conditionally select between two 4x4 matrices (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +__forceinline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, const boolInVec &select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4x4 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Matrix4 & mat ); + +// Print a 4x4 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Matrix4 & mat, const char * name ); + +#endif + +// A 3x4 transformation matrix in array-of-structures format +// +class Transform3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + Vector3 mCol3; + +public: + // Default constructor; does no initialization + // + __forceinline Transform3( ) { }; + + // Copy a 3x4 transformation matrix + // + __forceinline Transform3( const Transform3 & tfrm ); + + // Construct a 3x4 transformation matrix containing the specified columns + // + __forceinline Transform3( const Vector3 &col0, const Vector3 &col1, const Vector3 &col2, const Vector3 &col3 ); + + // Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + // + __forceinline Transform3( const Matrix3 & tfrm, const Vector3 &translateVec ); + + // Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + // + __forceinline Transform3( const Quat &unitQuat, const Vector3 &translateVec ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value + // + explicit __forceinline Transform3( float scalar ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value (scalar data contained in vector data type) + // + explicit __forceinline Transform3( const floatInVec &scalar ); + + // Assign one 3x4 transformation matrix to another + // + __forceinline Transform3 & operator =( const Transform3 & tfrm ); + + // Set the upper-left 3x3 submatrix + // + __forceinline Transform3 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + // + __forceinline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // + __forceinline Transform3 & setTranslation( const Vector3 &translateVec ); + + // Get the translation component of a 3x4 transformation matrix + // + __forceinline const Vector3 getTranslation( ) const; + + // Set column 0 of a 3x4 transformation matrix + // + __forceinline Transform3 & setCol0( const Vector3 &col0 ); + + // Set column 1 of a 3x4 transformation matrix + // + __forceinline Transform3 & setCol1( const Vector3 &col1 ); + + // Set column 2 of a 3x4 transformation matrix + // + __forceinline Transform3 & setCol2( const Vector3 &col2 ); + + // Set column 3 of a 3x4 transformation matrix + // + __forceinline Transform3 & setCol3( const Vector3 &col3 ); + + // Get column 0 of a 3x4 transformation matrix + // + __forceinline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x4 transformation matrix + // + __forceinline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x4 transformation matrix + // + __forceinline const Vector3 getCol2( ) const; + + // Get column 3 of a 3x4 transformation matrix + // + __forceinline const Vector3 getCol3( ) const; + + // Set the column of a 3x4 transformation matrix referred to by the specified index + // + __forceinline Transform3 & setCol( int col, const Vector3 &vec ); + + // Set the row of a 3x4 transformation matrix referred to by the specified index + // + __forceinline Transform3 & setRow( int row, const Vector4 &vec ); + + // Get the column of a 3x4 transformation matrix referred to by the specified index + // + __forceinline const Vector3 getCol( int col ) const; + + // Get the row of a 3x4 transformation matrix referred to by the specified index + // + __forceinline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + __forceinline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + __forceinline const Vector3 operator []( int col ) const; + + // Set the element of a 3x4 transformation matrix referred to by column and row indices + // + __forceinline Transform3 & setElem( int col, int row, float val ); + + // Set the element of a 3x4 transformation matrix referred to by column and row indices (scalar data contained in vector data type) + // + __forceinline Transform3 & setElem( int col, int row, const floatInVec &val ); + + // Get the element of a 3x4 transformation matrix referred to by column and row indices + // + __forceinline const floatInVec getElem( int col, int row ) const; + + // Multiply a 3x4 transformation matrix by a 3-D vector + // + __forceinline const Vector3 operator *( const Vector3 &vec ) const; + + // Multiply a 3x4 transformation matrix by a 3-D point + // + __forceinline const Point3 operator *( const Point3 &pnt ) const; + + // Multiply two 3x4 transformation matrices + // + __forceinline const Transform3 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + __forceinline Transform3 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 3x4 transformation matrix + // + static __forceinline const Transform3 identity( ); + + // Construct a 3x4 transformation matrix to rotate around the x axis + // + static __forceinline const Transform3 rotationX( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis + // + static __forceinline const Transform3 rotationY( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis + // + static __forceinline const Transform3 rotationZ( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the x axis (scalar data contained in vector data type) + // + static __forceinline const Transform3 rotationX( const floatInVec &radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis (scalar data contained in vector data type) + // + static __forceinline const Transform3 rotationY( const floatInVec &radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis (scalar data contained in vector data type) + // + static __forceinline const Transform3 rotationZ( const floatInVec &radians ); + + // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + // + static __forceinline const Transform3 rotationZYX( const Vector3 &radiansXYZ ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + // + static __forceinline const Transform3 rotation( float radians, const Vector3 &unitVec ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector (scalar data contained in vector data type) + // + static __forceinline const Transform3 rotation( const floatInVec &radians, const Vector3 &unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static __forceinline const Transform3 rotation( const Quat &unitQuat ); + + // Construct a 3x4 transformation matrix to perform scaling + // + static __forceinline const Transform3 scale( const Vector3 &scaleVec ); + + // Construct a 3x4 transformation matrix to perform translation + // + static __forceinline const Transform3 translation( const Vector3 &translateVec ); + +}; +// Append (post-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +__forceinline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 &scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +__forceinline const Transform3 prependScale( const Vector3 &scaleVec, const Transform3 & tfrm ); + +// Multiply two 3x4 transformation matrices per element +// +__forceinline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ); + +// Compute the absolute value of a 3x4 transformation matrix per element +// +__forceinline const Transform3 absPerElem( const Transform3 & tfrm ); + +// Inverse of a 3x4 transformation matrix +// NOTE: +// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. +// +__forceinline const Transform3 inverse( const Transform3 & tfrm ); + +// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. +// +__forceinline const Transform3 orthoInverse( const Transform3 & tfrm ); + +// Conditionally select between two 3x4 transformation matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +__forceinline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ); + +// Conditionally select between two 3x4 transformation matrices (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +__forceinline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, const boolInVec &select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x4 transformation matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Transform3 & tfrm ); + +// Print a 3x4 transformation matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +__forceinline void print( const Transform3 & tfrm, const char * name ); + +#endif + +} // namespace Aos +} // namespace Vectormath + +#include "vec_aos.h" +#include "quat_aos.h" +#include "mat_aos.h" + +#endif diff --git a/Mod Sources/Bullet/include/bullet/vectormath/vmInclude.h b/Mod Sources/Bullet/include/bullet/vectormath/vmInclude.h new file mode 100644 index 0000000..a43152c --- /dev/null +++ b/Mod Sources/Bullet/include/bullet/vectormath/vmInclude.h @@ -0,0 +1,27 @@ + +#ifndef __VM_INCLUDE_H +#define __VM_INCLUDE_H + +#include "LinearMath/btScalar.h" + +#if defined (USE_SYSTEM_VECTORMATH) || defined (__CELLOS_LV2__) + #include +#else //(USE_SYSTEM_VECTORMATH) + #if defined (BT_USE_SSE) && defined (_WIN32) + #include "sse/vectormath_aos.h" + #else //all other platforms + #include "scalar/vectormath_aos.h" + #endif //(BT_USE_SSE) && defined (_WIN32) +#endif //(USE_SYSTEM_VECTORMATH) + + + +typedef Vectormath::Aos::Vector3 vmVector3; +typedef Vectormath::Aos::Quat vmQuat; +typedef Vectormath::Aos::Matrix3 vmMatrix3; +typedef Vectormath::Aos::Transform3 vmTransform3; +typedef Vectormath::Aos::Point3 vmPoint3; + +#endif //__VM_INCLUDE_H + + diff --git a/Mod Sources/Bullet/include/config.h b/Mod Sources/Bullet/include/config.h new file mode 100644 index 0000000..6ccbb87 --- /dev/null +++ b/Mod Sources/Bullet/include/config.h @@ -0,0 +1,7 @@ +/* + * config.h + * Contains configuration information for BulletDLL + * Copyright (c) 2013 Robert MacGregor +*/ + +#define MAXIMUM_BULLET_NODES 256 \ No newline at end of file diff --git a/Mod Sources/Bullet/include/stdafx.h b/Mod Sources/Bullet/include/stdafx.h new file mode 100644 index 0000000..e1df985 --- /dev/null +++ b/Mod Sources/Bullet/include/stdafx.h @@ -0,0 +1,34 @@ +// stdafx.h : include file for standard system include files, +// or project specific include files that are used frequently, but +// are changed infrequently +// + +#pragma once + +// Modify the following defines if you have to target a platform prior to the ones specified below. +// Refer to MSDN for the latest info on corresponding values for different platforms. +#ifndef WINVER // Allow use of features specific to Windows XP or later. +#define WINVER 0x0501 // Change this to the appropriate value to target other versions of Windows. +#endif + +#ifndef _WIN32_WINNT // Allow use of features specific to Windows XP or later. +#define _WIN32_WINNT 0x0501 // Change this to the appropriate value to target other versions of Windows. +#endif + +#ifndef _WIN32_WINDOWS // Allow use of features specific to Windows 98 or later. +#define _WIN32_WINDOWS 0x0410 // Change this to the appropriate value to target Windows Me or later. +#endif + +#ifndef _WIN32_IE // Allow use of features specific to IE 6.0 or later. +#define _WIN32_IE 0x0600 // Change this to the appropriate value to target other versions of IE. +#endif + +#define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers +// Windows Header Files: +#include + +// TODO: reference additional headers your program requires here +#include +#include +#include "CGameTime.h" +#include "config.h" \ No newline at end of file diff --git a/Mod Sources/Bullet/include/t2ConCmds.h b/Mod Sources/Bullet/include/t2ConCmds.h new file mode 100644 index 0000000..d945a99 --- /dev/null +++ b/Mod Sources/Bullet/include/t2ConCmds.h @@ -0,0 +1,31 @@ +/* + * t2conCmds.h + * Original code by Linker + * Modified by Robert MacGregor +*/ + +#include "stdafx.h" + +// Linker's original functions +const char* conGuiTsCtrlProject(Linker::SimObject *obj,S32 argc, const char* argv[]); +bool conNetObjectSetGhostable(Linker::SimObject *obj,S32 argc, const char* argv[]); +const char* conGetVariable(Linker::SimObject *obj,S32 argc, const char* argv[]); + +// --- BulletDLL functions ------------------------------------------------ +bool conBulletInitialize(Linker::SimObject *obj, S32 argc, const char *argv[]); +bool conBulletDeinitialize(Linker::SimObject *obj, S32 argc, const char *argv[]); +bool conBulletUpdate(Linker::SimObject *obj, S32 argc, const char *argv[]); + +// --- Get Commands ------------------------------------------------------- +const char *conBulletGetPosition(Linker::SimObject *obj, S32 argc, const char *argv[]); +const char *conBulletGetRotation(Linker::SimObject *obj, S32 argc, const char *argv[]); +bool conBulletInitialized(Linker::SimObject *obj, S32 argc, const char *argv[]); + +// --- Set commands ------------------------------------------------------- +bool conBulletSetPosition(Linker::SimObject *obj, S32 argc, const char *argv[]); +bool conBulletSetGravity(Linker::SimObject *obj, S32 argc, const char *argv[]); +bool conBulletSetMass(Linker::SimObject *obj, S32 argc, const char *argv[]); +bool conBulletSetRotation(Linker::SimObject *obj, S32 argc, const char *argv[]); + +// --- Scene Addition Commands -------------------------------------------- +const char *conBulletCreateCube(Linker::SimObject *obj, S32 argc, const char *argv[]); diff --git a/Mod Sources/Bullet/script/bullet.cs b/Mod Sources/Bullet/script/bullet.cs new file mode 100644 index 0000000..425d28b --- /dev/null +++ b/Mod Sources/Bullet/script/bullet.cs @@ -0,0 +1,280 @@ +//-------------------------------------------------------------------------------------------------------------------------- +// bullet.cs +// Experimental Bullet implementation for Tribes 2 Construction. +// Copyright (c) 2013 Robert MacGregor +//====================================================================== + + +//--------------------------------------------------------------------------------------------------------------------------- +// Configuration Parameters +//====================================================================== +$Bullet::PhysicsUpdateMS = 100; // The delay in milliseconds before updating static shapes + +//--------------------------------------------------------------------------------------------------------------------------- +// Geek code. +//====================================================================== +function StaticShape::setMass(%this,%mass) +{ + if (%this.bullet_id $= "") + { + if (!bulletInitialized()) + bulletInitialize(); + + %position = %this.getPosition(); + %size = %this.getRealSize(); + + %id = bulletCreateCube(%mass, getWord(%size, 0)/2, + getWord(%size, 1)/2, + getWord(%size, 2)/2); + %this.bullet_id = %id; + %this.bullet_mass = %mass; + bulletSetPosition(%id, getWord(%position, 0), + getWord(%position, 1), + getWord(%position,2)); + + if (%mass == 0) + { + %this.setWorldBoxCenter(bulletGetPosition(%id)); + %this.setRotation(bulletGetRotation(%id)); + } + else + { + $Bullet::ObjectArray[$Bullet::ObjectCount] = %this; + $Bullet::ObjectCount++; + } + } + else + { + if (%this.bullet_mass == 0 && %mass != 0) + { + $Bullet::ObjectArray[$Bullet::ObjectCount] = %this; + $Bullet::ObjectCount++; + } + else if (%this.bullet_mass != 0 && %mass == 0) + { + for (%i = %this.bullet_id; %i < $Bullet::ObjectCount; %i++) + $Bullet::ObjectArray[%i] = $Bullet::ObjectArray[%i+1]; + $Bullet::ObjectCount--; + } + + %this.bullet_mass = %mass; + bulletSetMass(%this.bullet_id, %mass); + } + + return true; +} + +function bulletPhysicsUpdate() +{ + cancel($Bullet::ScheduleID); + if (!bulletInitialized() || !$Bullet::Enabled) + { + $Bullet::ObjectCount = 0; + return false; + } + + bulletUpdate(); + for (%i = 0; %i < $Bullet::ObjectCount; %i++) + { + %object = $Bullet::ObjectArray[%i]; + %object.setWorldBoxCenter(bulletGetPosition(%object.bullet_id)); + + %rotation = bulletGetRotation(%object.bullet_id); + %object.setRotation(%rotation); + } + $Bullet::ScheduleID = schedule($Bullet::PhysicsUpdateMS,0,"bulletPhysicsUpdate"); + return true; +} + +$Bullet::Enabled = false; +$Bullet::ScheduleID = 0; +$Bullet::ObjectCount = 0; + +//--------------------------------------------------------------------------------------------------------------------------- +// Chat commands to mess with Bullet functionality. +//====================================================================== +function ccTogglePhysics(%sender) +{ + if (!%sender.isSuperAdmin) + { + messageClient(%sender,'msgClient',"\c3You are not a super administrator."); + return false; + } + + $Bullet::Enabled = !$Bullet::Enabled; + if ($Bullet::Enabled) + { + messageAll('msgAll', "\c3" @ %sender.namebase SPC "has enabled Bullet physics! ~wfx/misc/bounty_completed.wav"); + bulletPhysicsUpdate(); + } + else + messageAll('msgAll', "\c3" @ %sender.namebase SPC "has disabled Bullet physics! ~wfx/misc/bounty_completed.wav"); + return true; +} + +function ccSetGravity(%sender, %args) +{ + if (!%sender.isSuperAdmin) + { + messageClient(%sender,'msgClient',"\c3You are not a super administrator."); + return false; + } + + %x = getWord(%args, 0); + %y = getWord(%args, 1); + %z = getWord(%args, 2); + if (%x $= "" || %y $= "" || %z $= "") + { + messageClient(%sender,'msgClient',"\c3Usage: /setGravity left-right(X) forward-back(Y) up-down(Z)"); + return true; + } + + bulletSetGravity(%x,%y,%z); + messageAll('msgAll', "\c3" @ %sender.namebase SPC "has changed the Bullet gravity vector to (" @ %x @ "," @ %y @ "," @ %z @ ")! ~wfx/misc/bounty_completed.wav"); + return true; +} + +function ccSetMass(%sender, %args) +{ + if (!%sender.isSuperAdmin) + { + messageClient(%sender,'msgClient',"\c3You are not a super administrator."); + return false; + } + + %mass = getWord(%args, 0); + if (%mass $= "") %mass = 0; + + %pos = %sender.player.getMuzzlePoint($WeaponSlot); + %vec = %sender.player.getMuzzleVector($WeaponSlot); + %targetpos = vectorAdd(%pos,vectorscale(%vec,100)); + %obj = containerraycast(%pos,%targetpos,$Typemasks::StaticShapeObjectType,%sender.player); + %obj = getword(%obj,0); + + if (!isObject(%obj)) + { + messageClient(%sender,'msgClient',"\c3No object within 100 meters."); + return false; + } + + if (%obj.bullet_id $= "") + { + %obj.setMass(%mass); + messageClient(%sender, 'msgClient',"\c3Object initialized with Bullet using a mass of " @ %mass @ "."); + } + else + { + %obj.setMass(%mass); + messageClient(%sender, 'msgClient',"\c3Object now has a mass of " @ %mass @ "."); + } + return true; +} + +function ccSyncPieces(%sender, %args) +{ + if (!%sender.isSuperAdmin) + { + messageClient(%sender,'msgClient',"\c3You are not a super administrator."); + return false; + } + + %mass = getWord(%args, 0); + if (%mass $= "") + { + messageClient(%sender,'msgClient',"\c3Usage: /syncPieces "); + return false; + } + + for (%i = 0; %i < Deployables.getCount(); %i++) + { + %piece = Deployables.getObject(%i); + if(%piece.owner == %sender && %piece.bullet_id $="") + %piece.setMass(%mass); + } + messageAll('msgAll',"\c3" @ %sender.namebase SPC "made their inactive pieces sync with Bullet! ~wfx/misc/bounty_completed.wav"); + return true; +} + +function ccDesyncPiece(%sender) +{ + if (!%sender.isSuperAdmin) + { + messageClient(%sender,'msgClient',"\c3You are not a super administrator."); + return false; + } + + %pos = %sender.player.getMuzzlePoint($WeaponSlot); + %vec = %sender.player.getMuzzleVector($WeaponSlot); + %targetpos = vectorAdd(%pos,vectorscale(%vec,100)); + %obj = containerraycast(%pos,%targetpos,$Typemasks::StaticShapeObjectType,%sender.player); + %obj = getword(%obj,0); + + if (!isObject(%obj)) + { + messageClient(%sender,'msgClient',"\c3No object within 100 meters."); + return false; + } + + if (%obj.bullet_id $= "") + { + messageClient(%sender,'msgClient',"\c3That object is not physically bound."); + return false; + } + + %id = %obj.bullet_id; + bulletDeleteObject(%id); + + for (%i = %id; %i < $Bullet::ObjectCount; %i++) + $Bullet::ObjectArray[%i] = $Bullet::ObjectArray[%i+1]; + $Bullet::ObjectCount--; + %object.bullet_id = ""; + + messageClient(%sender, 'msgClient', "\c3Object has been desynchronized from Bullet."); + return true; +} + +function ccBulletHelp(%sender) +{ + if (!%sender.isSuperAdmin) + { + messageClient(%sender,'msgClient',"\c3You are not a super administrator."); + return false; + } + + messageClient(%sender, 'msgClient',"\c3/setMass , /togglePhysics, /setGravity , /desyncPiece, /syncPieces"); + return true; +} + +//-------------------------------------------------------------------------------------------------------------------------- +// Callbacks (they don't do anything) +//====================================================================== +function onBulletObjectSleep(%id) +{ +} + +function onBulletObjectWake(%id) +{ +} + + +//-------------------------------------------------------------------------------------------------------------------------- +// Package Code +//====================================================================== +package bulletPackage +{ + function disconnect() + { + parent::disconnect(); + if (bulletInitialized()) + bulletDeinitialize(); + } + + function quit() + { + if (bulletInitialized()) + bulletDeinitialize(); + parent::quit(); + } +}; +if (!isActivePackage(bulletPackage)) + activatePackage(bulletPackage); diff --git a/Mod Sources/Bullet/source/CGameTime.cpp b/Mod Sources/Bullet/source/CGameTime.cpp new file mode 100644 index 0000000..4706f05 --- /dev/null +++ b/Mod Sources/Bullet/source/CGameTime.cpp @@ -0,0 +1,75 @@ +/* +* CGameTime.cpp +* Small singleton class that is used for some time-sensitive operations. +* Copyright (c) 2013 Robert MacGregor +*/ + +#include +#include + +//! Root Game Namespace +namespace Game +{ + // This stores an instance of our CGameTime class that is returned at all times except when it is NULL, for which it is then created. + CGameTime *time_instance = NULL; + + //! Default Constructor + CGameTime::CGameTime(void) : time_current_seconds(0), // The current sim time in seconds + time_last_seconds(0), // The last stored sim time in seconds + time_delta_seconds(0), // The delta between the current and last sim times in seconds + time_current_clocks(0), // The current sim time in clocks + time_last_clocks(0), // The last sim time in clocks + time_delta_clocks(0) // The delta between the current and last sim times in clocks + { + + } // End Default Constructor + + //! Default Destructor + CGameTime::~CGameTime(void) + { + + } // End Default Destructor + + //! Gets the stored instance of CGameTime if it already exists + CGameTime *CGameTime::getPointer(void) + { + if (time_instance == NULL) + time_instance = new CGameTime(); + return time_instance; + } + + //! Destroys the stored instance of CGameTime + void CGameTime::destroy(void) + { + if (time_instance != NULL) + { + delete time_instance; + time_instance = NULL; + } + } + + //! Updates all of the stored times on the instance of CGameTime + void CGameTime::update(void) + { + time_last_clocks = time_current_clocks; + time_current_clocks = clock(); + time_delta_clocks = time_current_clocks-time_last_clocks; + + // Conversions prevent you trying to divide an integer which would only return 0 + time_last_seconds = (float)time_last_clocks/CLOCKS_PER_SEC; + time_current_seconds = (float)time_current_clocks/CLOCKS_PER_SEC; + time_delta_seconds = (float)time_delta_clocks/CLOCKS_PER_SEC; + } + + //! Returns the simtime in seconds + float CGameTime::getSimTime(void) + { + return time_current_seconds; + } + + //! Returns the delta sim time in seconds + float CGameTime::getDelta(void) + { + return time_delta_seconds; + } +} // End Namespace Game diff --git a/Mod Sources/Bullet/source/CRigidBody.cpp b/Mod Sources/Bullet/source/CRigidBody.cpp new file mode 100644 index 0000000..90c5900 --- /dev/null +++ b/Mod Sources/Bullet/source/CRigidBody.cpp @@ -0,0 +1,16 @@ +/* + * CRigidBody.cpp + * Rigid Body Nodes for Tribes 2 + * Copyright (c) 2013 Robert MacGregor +*/ + +#include +#include + +CRigidBody::CRigidBody(btRigidBody *body) : rigid_body(body) +{ +} + +CRigidBody::~CRigidBody(void) +{ +} \ No newline at end of file diff --git a/Mod Sources/Bullet/source/dllmain.cpp b/Mod Sources/Bullet/source/dllmain.cpp new file mode 100644 index 0000000..955ead5 --- /dev/null +++ b/Mod Sources/Bullet/source/dllmain.cpp @@ -0,0 +1,49 @@ +/* + * t2dll.cpp + * Original code by Linker + * Modified by Robert MacGregor +*/ + +#include "stdafx.h" +#include "t2ConCmds.h" +#include +#include + +BOOL APIENTRY DllMain( HMODULE hModule, + DWORD ul_reason_for_call, + LPVOID lpReserved + ) +{ + return true; +} + + +extern "C" +{ + __declspec(dllexport) void ModInitialize(void) + { + Con::addMethodB(NULL, "bulletInitialize", &conBulletInitialize, "Initializes the Bullet physics system.", 0, 0); + Con::addMethodB(NULL, "bulletDeinitialize", &conBulletDeinitialize, "Deinitializes the Bullet physics system.", 0, 0); + Con::addMethodB(NULL, "bulletUpdate", &conBulletUpdate, "Updates the Bullet physics system. Call this as often as your system can handle.", 0, 0); + + Con::addMethodS(NULL, "bulletGetPosition", &conBulletGetPosition, "Queries Bullet for the position of the object identified by the input id.", 2, 2); + Con::addMethodS(NULL, "bulletGetRotation", &conBulletGetRotation, "Queries Bullet for the rotation of the object identified by the input id.", 2, 2); + + Con::addMethodB(NULL, "bulletSetPosition", &conBulletSetPosition, "bulletSetPosition(id, position_x, position_y, position_z)", 5, 5); + Con::addMethodB(NULL, "bulletSetGravity", &conBulletSetGravity, "bulletSetGravity(x,y,z)", 4, 4); + Con::addMethodB(NULL, "bulletInitialized", &conBulletInitialized, "Returns whether or not if Bullet has been initialized.", 0,0); + + Con::addMethodS(NULL, "bulletCreateCube", &conBulletCreateCube, "bulletMakeCube(mass, scaleX, scaleY, scaleZ)", 5, 5); + + } + + __declspec(dllexport) void ServerProcess(unsigned int deltaTime) + { + // Game will pump updates to here + } +} + +#ifdef _MANAGED +#pragma managed(pop) +#endif + diff --git a/Mod Sources/Bullet/source/t2ConCmds.cpp b/Mod Sources/Bullet/source/t2ConCmds.cpp new file mode 100644 index 0000000..7dc3dbc --- /dev/null +++ b/Mod Sources/Bullet/source/t2ConCmds.cpp @@ -0,0 +1,377 @@ +/* + * t2ConCmds.cpp + * Original code by Linker + * Modified by Robert MacGregor +*/ + +#include "stdafx.h" +#include "t2ConCmds.h" + +// Linker's implementations +const char* conGuiTsCtrlProject(Linker::SimObject *obj,S32 argc, const char* argv[]) { + Linker::Point3F pt; + Linker::Point3F rt; + dSscanf(argv[2],"%g %g %g",&pt.x,&pt.y,&pt.z); + GuiTSCtrl_project(reinterpret_cast(obj),pt,&rt); + + char* buffer = Con::getReturnBuffer(255); + dSprintf(buffer,255,"%g %g %g",rt.x,rt.y,rt.z); + + return buffer; +} + +bool conNetObjectSetGhostable(Linker::SimObject *obj,S32 argc, const char* argv[]) { + if (dAtob(argv[2])) { + __asm { + push ecx + mov ecx, [obj] + mov eax,[ecx+40h] + or eax, 100h + mov [ecx+40h], eax + pop ecx + } + } else { + __asm { + xor eax, eax + or eax, 100h + not eax + push ecx + mov ecx,[obj] + and eax, [ecx+40h] + mov [ecx+40h],eax + push 40h + mov eax, 0x585BE0 + call eax + pop ecx + } + } + return 1; +} + +const char* conGetVariable(Linker::SimObject *obj,S32 argc, const char* argv[]) { + return Con::getVariable(argv[1]); +} + +// BulletDLL Implementations +// *** NOTE *** +// All vectors should have their Y and Z axiis switched due to the Z axis being up and down in Tribes 2 +Game::CGameTime *game_time; +btDefaultCollisionConfiguration *bullet_config = NULL; +btCollisionDispatcher *bullet_dispatcher = NULL; +btDbvtBroadphase *bullet_broadphase = NULL; +btSequentialImpulseConstraintSolver *bullet_constraint = NULL; +btDiscreteDynamicsWorld *bullet_world = NULL; + +btBoxShape *box_shapes[MAXIMUM_BULLET_NODES]; +btRigidBody *rigid_bodies[MAXIMUM_BULLET_NODES]; + +unsigned int bullet_node_count; + +bool conBulletInitialize(Linker::SimObject *obj, S32 argc, const char *argv[]) +{ + Con::printf("Bullet: Attempting to initialize ..."); + if (!bullet_world) + { + // Try to create the game timer + game_time = Game::CGameTime::getPointer(); + if (!game_time) + { + Con::errorf(1, "Bullet: Failed to initialize! Unable to create timing singleton."); + return false; + } + else + Con::printf("Bullet: Created timing singleton ..."); + + // Try to create the config + bullet_config = new btDefaultCollisionConfiguration; + if (!bullet_config) + { + Con::errorf(1, "Bullet: Failed to initialize! Unable to create configuration object."); + return false; + } + else + Con::printf("Bullet: Bullet configuration object created ..."); + + //Try to create the dispatcher + bullet_dispatcher = new btCollisionDispatcher(bullet_config); + if (!bullet_dispatcher) + { + Con::errorf(1, "Bullet: Failed to initialize! Unable to create collision dispatch object."); + delete bullet_config; + return false; + } + else + Con::printf("Bullet: Bullet collision dispatch object created ..."); + + // Try to create the broadphase object + bullet_broadphase = new btDbvtBroadphase; + if (!bullet_broadphase) + { + Con::errorf(1, "Bullet: Failed to initialize! Unable to create broadphase object."); + delete bullet_dispatcher; + delete bullet_config; + return false; + } + Con::printf("Bullet: Bullet broadphase object created ..."); + + // Try to create the sequential impulse constraint solver + bullet_constraint = new btSequentialImpulseConstraintSolver; + if (!bullet_constraint) + { + Con::errorf(1, "Bullet: Failed to initialize! Unable to create sequential impulse constraint solver object."); + delete bullet_dispatcher; + delete bullet_config; + delete bullet_broadphase; + return false; + } + else + Con::printf("Bullet: Bullet sequential impulse constraint solver object created ..."); + + // Now try to create the bullet world + bullet_world = new btDiscreteDynamicsWorld(bullet_dispatcher, bullet_broadphase, bullet_constraint, bullet_config); + if (!bullet_world) + { + Con::errorf(1, "Bullet: Failed to initialize! Unable to create discrete dynamics world."); + delete bullet_dispatcher; + delete bullet_config; + delete bullet_broadphase; + delete bullet_constraint; + return false; + } + else + Con::printf("Bullet: Bullet discrete dynamics world created! Bullet is now ready."); + + bullet_world->setGravity(btVector3(0,-100,0)); + bullet_node_count = 0; + return true; + } + Con::errorf(1, "Bullet: Already initialized!"); + return true; +} + +bool conBulletDeinitialize(Linker::SimObject *obj, S32 argc, const char *argv[]) +{ + if (bullet_world) + { + delete bullet_world; + bullet_world = NULL; + delete bullet_dispatcher; + bullet_dispatcher = NULL; + delete bullet_config; + bullet_config = NULL; + delete bullet_broadphase; + bullet_broadphase = NULL; + delete bullet_constraint; + bullet_constraint = NULL; + Game::CGameTime::destroy(); + Con::printf("Bullet: Successfully deinitialized."); + return true; + } + Con::errorf(1, "Bullet: Not initialized!"); + return false; +} + +bool conBulletUpdate(Linker::SimObject *obj, S32 argc, const char *argv[]) +{ + if (bullet_world) + { + if (argc >= 2) + { + btScalar delta = btScalar(atof(argv[1])); + bullet_world->stepSimulation(delta); + } + else + bullet_world->stepSimulation(game_time->getDelta()); + game_time->update(); + return true; + } + return false; +} + +const char *conBulletGetPosition(Linker::SimObject *obj, S32 argc, const char *argv[]) +{ + if (!bullet_world) + { + Con::errorf(1, "Bullet: Attempted to retrieve the position of a node without having initialized Bullet!"); + return "0 0 0"; + } + + unsigned int id = atoi(argv[1]); + if (id >= MAXIMUM_BULLET_NODES) + { + Con::errorf(1, "Bullet: Attempted to retrieve the position of a out-of-range node! (%u > %u)", id, MAXIMUM_BULLET_NODES); + return "0 0 0"; + } + if (id > bullet_node_count) + { + Con::errorf(1, "Bullet: Attempted to retrieve the position of a non-existent node! (%u)", id); + return "0 0 0"; + } + + btRigidBody *body = rigid_bodies[id]; + if (!body) + { + Con::errorf(1, "Bullet: Node retrieval for object %u successful, however it is nonexistent!", id); + return "0 0 0"; + } + + btTransform transform = body->getCenterOfMassTransform(); + btVector3 position = transform.getOrigin(); + + char *output = (char*)malloc(sizeof(char)*256); + sprintf_s(output, 256, "%f %f %f", position.x(), position.z(), position.y()); + return output; +} + +const char *conBulletGetRotation(Linker::SimObject *obj, S32 argc, const char *argv[]) +{ + if (!bullet_world) + { + Con::errorf(1, "Bullet: Attempted to retrieve the rotation of a node without having initialized Bullet!"); + return "0 0 0"; + } + + unsigned int id = atoi(argv[1]); + if (id >= MAXIMUM_BULLET_NODES) + { + Con::errorf(1, "Bullet: Attempted to retrieve the rotation of a out-of-range node! (%u > %u)", id, MAXIMUM_BULLET_NODES); + return "0 0 0"; + } + if (id > bullet_node_count) + { + Con::errorf(1, "Bullet: Attempted to retrieve the rotation of a non-existent node! (%u)", id); + return "0 0 0"; + } + + btRigidBody *body = rigid_bodies[id]; + if (!body) + { + Con::errorf(1, "Bullet: Node retrieval for object %u successful, however it is nonexistent!", id); + return "0 0 0"; + } + + btQuaternion rotation = body->getOrientation(); + + char *output = (char*)malloc(sizeof(char)*256); + sprintf_s(output, 256, "%f %f %f %f", rotation.x(), rotation.y(), rotation.z(), rotation.w()); + return output; +} + +bool conBulletInitialized(Linker::SimObject *obj, S32 argc, const char *argv[]) +{ + if (!bullet_world) + return false; + return true; +} + +const char *conBulletCreateCube(Linker::SimObject *obj, S32 argc, const char *argv[]) +{ + if (!bullet_world) + { + Con::errorf(1, "Bullet: Attempted to create a cube without having initialized Bullet!"); + return "0"; + } + btScalar mass = btScalar(atof(argv[1])); + btScalar X = btScalar(atof(argv[2])); + btScalar Y = btScalar(atof(argv[4])); + btScalar Z = btScalar(atof(argv[3])); + + // Create the Bullet Object + btTransform start_transform; + + btBoxShape *shape = new btBoxShape(btVector3(X,Y,Z)); + btRigidBody::btRigidBodyConstructionInfo info(mass, NULL, shape, btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(0.0f))); + btRigidBody *body = new btRigidBody(info); + bullet_world->addRigidBody(body); + + unsigned int identification = bullet_node_count; + rigid_bodies[identification] = body; + bullet_node_count++; + + char *output = (char*)malloc(sizeof(char)*256); + sprintf_s(output, 256, "%u", identification); + return output; +} + +bool conBulletSetPosition(Linker::SimObject *obj, S32 argc, const char *argv[]) +{ + unsigned int id = atoi(argv[1]); + if (!bullet_world) + { + Con::errorf(1, "Bullet: Attempted to set the position of an object %u without having Bullet initialized!", id); + return false; + } + + if (id >= MAXIMUM_BULLET_NODES) + { + Con::errorf(1, "Bullet: Attempted to set the rotation of a out-of-range node! (%u > %u)", id, MAXIMUM_BULLET_NODES); + return "0 0 0"; + } + if (id > bullet_node_count) + { + Con::errorf(1, "Bullet: Attempted to set the rotation of a non-existent node! (%u)", id); + return "0 0 0"; + } + + btRigidBody *body = rigid_bodies[id]; + if (!body) + { + Con::errorf(1, "Bullet: Node retrieval for object %u successful, however it is nonexistent!", id); + return "0 0 0"; + } + + btScalar X = btScalar(atof(argv[2])); + btScalar Y = btScalar(atof(argv[4])); + btScalar Z = btScalar(atof(argv[3])); + + btTransform transform = body->getCenterOfMassTransform(); + btTransform new_transform(transform.getRotation(),btVector3(btScalar(X),btScalar(Y),btScalar(Z))); + body->setWorldTransform(new_transform); + return true; +} + +bool conBulletSetGravity(Linker::SimObject *obj, S32 argc, const char *argv[]) +{ + if (!bullet_world) + { + Con::errorf(1, "Bullet: Attempted to set the gravity of the Bullet world without having Bullet initialized!"); + return false; + } + + btScalar X = btScalar(atof(argv[1])); + btScalar Y = btScalar(atof(argv[3])); + btScalar Z = btScalar(atof(argv[2])); + bullet_world->setGravity(btVector3(btScalar(X),btScalar(Y),btScalar(Z))); + return true; +} + +bool conBulletSetMass(Linker::SimObject *obj, S32 argc, const char *argv[]) +{ + unsigned int id = atoi(argv[1]); + if (!bullet_world) + { + Con::errorf(1, "Bullet: Attempted to set mass of object %u without having Bullet initialized!", id); + return false; + } + if (id >= MAXIMUM_BULLET_NODES) + { + Con::errorf(1, "Bullet: Attempted to set the rotation of a out-of-range node! (%u > %u)", id, MAXIMUM_BULLET_NODES); + return "0 0 0"; + } + if (id > bullet_node_count) + { + Con::errorf(1, "Bullet: Attempted to set the rotation of a non-existent node! (%u)", id); + return "0 0 0"; + } + + btRigidBody *body = rigid_bodies[id]; + if (!body) + { + Con::errorf(1, "Bullet: Node retrieval for object %u successful, however it is nonexistent!", id); + return "0 0 0"; + } + btScalar mass = btScalar(atof(argv[2])); + // body->setMass(mass); + + return true; +}