16 #if defined (_WIN32) || defined (__i386__) 17 #define BT_USE_SSE_IN_API 30 #if defined (__CELLOS_LV2__) && defined (__SPU__) 31 #include <spu_intrinsics.h> 32 static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
35 result = spu_mul( vec0, vec1 );
36 result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
37 return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
72 btVector3 vec = localDirOrg * localScaling;
74 #if defined (__CELLOS_LV2__) && defined (__SPU__) 78 vec_float4 v_distMax = {-FLT_MAX,0,0,0};
79 vec_int4 v_idxMax = {-999,0,0,0};
81 int numverts = numPoints;
83 for(;v<(int)numverts-4;v+=4) {
84 vec_float4 p0 = vec_dot3(points[v ].get128(),localDir.get128());
85 vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128());
86 vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128());
87 vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128());
88 const vec_int4 i0 = {v ,0,0,0};
89 const vec_int4 i1 = {v+1,0,0,0};
90 const vec_int4 i2 = {v+2,0,0,0};
91 const vec_int4 i3 = {v+3,0,0,0};
92 vec_uint4 retGt01 = spu_cmpgt(p0,p1);
93 vec_float4 pmax01 = spu_sel(p1,p0,retGt01);
94 vec_int4 imax01 = spu_sel(i1,i0,retGt01);
95 vec_uint4 retGt23 = spu_cmpgt(p2,p3);
96 vec_float4 pmax23 = spu_sel(p3,p2,retGt23);
97 vec_int4 imax23 = spu_sel(i3,i2,retGt23);
98 vec_uint4 retGt0123 = spu_cmpgt(pmax01,pmax23);
99 vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123);
100 vec_int4 imax0123 = spu_sel(imax23,imax01,retGt0123);
101 vec_uint4 retGtMax = spu_cmpgt(v_distMax,pmax0123);
102 v_distMax = spu_sel(pmax0123,v_distMax,retGtMax);
103 v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax);
105 for(;v<(int)numverts;v++) {
106 vec_float4 p = vec_dot3(points[v].get128(),localDir.get128());
107 const vec_int4 i = {v,0,0,0};
108 vec_uint4 retGtMax = spu_cmpgt(v_distMax,p);
109 v_distMax = spu_sel(p,v_distMax,retGtMax);
110 v_idxMax = spu_sel(i,v_idxMax,retGtMax);
112 int ptIndex = spu_extract(v_idxMax,0);
113 const btVector3& supVec= points[ptIndex] * localScaling;
118 long ptIndex = vec.
maxDot( points, numPoints, maxDot);
120 btVector3 supVec = points[ptIndex] * localScaling;
138 #if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON )) 139 #if defined( BT_USE_SSE ) 140 return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 ));
141 #elif defined( BT_USE_NEON ) 142 return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 ));
144 #error unknown vector arch 148 btFsels(localDir.
y(), halfExtents.
y(), -halfExtents.
y()),
149 btFsels(localDir.
z(), halfExtents.
z(), -halfExtents.
z()));
157 btVector3 dots = dir.
dot3(vertices[0], vertices[1], vertices[2]);
168 int cylinderUpAxis = cylShape->
getUpAxis();
169 int XX(1),YY(0),ZZ(2);
171 switch (cylinderUpAxis)
201 btScalar halfHeight = halfExtents[cylinderUpAxis];
211 tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
216 tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
227 int capsuleUpAxis = capsuleShape->getUpAxis();
229 btScalar radius = capsuleShape->getRadius();
248 pos[capsuleUpAxis] = halfHeight;
251 vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
252 newDot = vec.
dot(vtx);
263 pos[capsuleUpAxis] = -halfHeight;
266 vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
267 newDot = vec.
dot(vtx);
381 aabbMin = center - extent;
382 aabbMax = center + extent;
392 halfExtents +=
btVector3(margin,margin,margin);
395 btVector3 extent = halfExtents.
dot3(abs_b[0], abs_b[1], abs_b[2]);
397 aabbMin = center - extent;
398 aabbMax = center + extent;
405 for (
int i=0;i<3;i++)
413 aabbMax[i] = tmp[i]+margin;
416 aabbMin[i] = tmp[i]-margin;
424 int m_upAxis = capsuleShape->
getUpAxis();
429 btVector3 extent = halfExtents.
dot3(abs_b[0], abs_b[1], abs_b[2]);
430 aabbMin = center - extent;
431 aabbMax = center + extent;
444 this->
getAabb (t, aabbMin, aabbMax);
btVector3 localGetSupportVertexNonVirtual(const btVector3 &vec) const
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
btScalar getRadius() const
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
static btVector3 convexHullSupport(const btVector3 &localDirOrg, const btVector3 *points, int numPoints, const btVector3 &localScaling)
btScalar length2() const
Return the length of the vector squared.
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
btScalar btSqrt(btScalar y)
const btScalar & getY() const
Return the y value.
The btSphereShape implements an implicit sphere, centered around a local origin with radius...
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
const btScalar & getZ() const
Return the z value.
long maxDot(const btVector3 *array, long array_count, btScalar &dotOut) const
returns index of maximum dot product between this and vectors in array[]
btVector3 * getUnscaledPoints()
btScalar getHalfHeight() const
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
btScalar getMarginNV() const
const btScalar & x() const
Return the x value.
void getAabbNonVirtual(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
btScalar dot(const btVector3 &v) const
Return the dot product.
btScalar getRadius() const
const btScalar & y() const
Return the y value.
const btScalar & z() const
Return the z value.
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
virtual btScalar getMargin() const =0
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
btVector3 can be used to represent 3D points and vectors.
btScalar getMarginNonVirtual() const
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
The btCylinderShape class implements a cylinder shape primitive, centered around the origin...
btVector3 * getUnscaledPoints()
virtual void project(const btTransform &trans, const btVector3 &dir, btScalar &min, btScalar &max) const
int maxAxis() const
Return the axis with the largest value Note return values are 0,1,2 for x, y, or z.
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
The btConvexHullShape implements an implicit convex hull of an array of vertices. ...
const btVector3 & getLocalScalingNV() const
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
const btVector3 & getImplicitShapeDimensions() const
btVector3 localGetSupportVertexWithoutMarginNonVirtual(const btVector3 &vec) const
const btScalar & getX() const
Return the x value.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3